version: 66.03
glider: 141
mission: 7
dive: 68
start: 4 19 108 7 39 32
data:
$ID,141
$MISSION,7
$DIVE,68
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52046
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,359
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7535.1543
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3732
$ROLL_DEG,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3955
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,86.599998
$AH0_10V,100
$PRESSURE_YINT,-2.8638275
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043133562
$SEABIRD_T_H,0.00062858552
$SEABIRD_T_I,2.3249919e-05
$SEABIRD_T_J,2.3890996e-06
$SEABIRD_C_G,-10.024263
$SEABIRD_C_H,1.1472844
$SEABIRD_C_I,-0.00073099177
$SEABIRD_C_J,0.00011512569
$GPS1,073055,5958.096,-2242.871,40,1.6,57,-15.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-54.4
$GPS2,073914,5958.189,-2242.913,10,1.6,10,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6008.986,-2243.007
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,14.8,20000,-14.9,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-94.70,0.000,2,0.000,0.000,568,2008,3690
$GC,124,-1.34,-194.7,3.1,-5.4,13,148,11.05,2.70,-4.07,0.000,4,0.195,0.064,2485,3444,3857
$GC,384,-1.30,-194.7,42.3,-11.8,61,391,0.00,2.55,0.00,0.000,6,0.000,0.042,2485,2032,3858
$GC,517,-1.30,-194.7,57.8,-12.6,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2028,3858
$GC,650,-1.30,-194.7,72.8,-11.8,111,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2027,3858
$GC,784,-1.30,-194.7,87.0,-10.7,136,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2026,3858
$GC,917,-1.30,-194.7,101.6,-11.2,161,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2025,3858
$GC,1050,-1.30,-194.7,116.5,-10.8,186,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2025,3858
$GC,1184,-1.30,-194.7,131.5,-10.9,211,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2025,3858
$GC,1317,-1.30,-194.7,146.4,-11.6,236,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2025,3858
$GC,1454,-1.30,-194.7,161.9,-11.2,261,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2025,3858
$GC,1782,-1.30,-194.7,197.3,-10.4,322,1790,0.00,2.65,0.00,0.000,4,0.000,0.062,2485,3444,3858
$GC,1849,-1.30,-194.7,204.7,-11.0,334,1857,0.00,2.55,0.00,0.000,6,0.000,0.045,2484,2027,3858
$GC,2182,-1.30,-194.7,241.0,-10.7,395,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2021,3858
$GC,2508,-1.30,-194.7,276.8,-10.9,456,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2021,3858
$GC,2842,-1.30,-194.7,312.0,-10.5,517,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2020,3859
$GC,3169,-1.30,-194.7,347.5,-10.7,578,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2020,3858
$GC,3507,-1.30,-194.7,383.7,-10.8,639,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2020,3858
$GC,3848,-1.30,-194.7,420.7,-10.6,700,3855,0.00,2.67,0.00,0.000,4,0.000,0.068,2485,3438,3858
$GC,3910,-1.30,-194.7,427.8,-11.1,711,3916,0.00,2.55,0.00,0.000,6,0.000,0.041,2485,2017,3858
$GC,4250,-1.30,-194.7,464.6,-11.0,772,4258,0.00,2.60,0.00,0.000,4,0.000,0.067,2485,624,3858
$GC,4304,-1.30,-194.7,470.5,-11.7,781,4310,0.00,2.53,0.00,0.000,6,0.000,0.044,2485,2033,3858
$GC,4645,-1.30,-194.7,506.4,-10.2,842,4651,0.00,2.67,0.00,0.000,4,0.000,0.072,2485,3445,3858
$GC,4707,-1.30,-194.7,513.0,-10.9,853,4714,0.00,2.55,0.00,0.000,6,0.000,0.044,2485,2030,3858
$GC,5047,-1.30,-194.7,548.3,-10.7,914,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2028,3858
$GC,5389,-1.30,-194.7,584.3,-10.0,975,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2028,3858
$GC,5724,-1.30,-194.7,620.7,-10.7,1019,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2027,3858
$GC,6043,-1.30,-194.7,652.8,-10.0,1049,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2028,3858
$GC,6363,-1.30,-194.7,683.4,-9.3,1079,6367,0.00,2.78,0.00,0.000,4,0.000,0.096,2485,618,3858
$GC,6428,-1.30,-194.7,690.0,-10.1,1084,6435,0.00,2.60,0.00,0.000,6,0.000,0.063,2485,2023,3858
$GC,6753,-1.30,-194.7,719.8,-9.2,1115,6758,0.00,2.75,0.00,0.000,4,0.000,0.094,2485,3440,3858
$GC,6808,-1.30,-194.7,725.3,-9.9,1119,6815,0.00,2.60,0.00,0.000,6,0.000,0.055,2485,2021,3858
$GC,7134,-1.30,-194.7,754.3,-8.7,1150,7138,0.00,2.72,0.00,0.000,4,0.000,0.092,2485,614,3857
$GC,7206,-1.30,-194.7,760.7,-8.8,1156,7210,0.00,2.58,0.00,0.000,6,0.000,0.056,2485,2023,3857
$GC,7532,-1.30,-194.7,790.8,-10.0,1186,7536,0.00,2.75,0.00,0.000,4,0.000,0.090,2485,3444,3857
$GC,7586,-1.30,-194.7,796.7,-10.6,1190,7593,0.00,2.65,0.00,0.000,6,0.000,0.054,2485,2010,3857
$GC,7912,-1.30,-194.7,828.6,-9.8,1221,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2008,3857
$GC,8229,-1.30,-194.7,860.9,-10.3,1251,8233,0.00,2.78,0.00,0.000,4,0.000,0.076,2485,3449,3856
$GC,8324,-1.30,-194.7,871.1,-10.5,1259,8328,0.00,2.62,0.00,0.000,6,0.000,0.053,2485,2017,3856
$GC,8647,-1.30,-194.7,903.6,-10.1,1289,8652,0.00,2.70,0.00,0.000,4,0.000,0.089,2485,616,3856
$GC,8701,-1.30,-194.7,909.4,-10.8,1293,8708,0.00,2.58,0.00,0.000,6,0.000,0.055,2485,2027,3856
$GC,9027,-1.30,-194.7,941.7,-9.7,1324,9032,0.00,2.72,0.00,0.000,4,0.000,0.089,2485,3443,3855
$GC,9111,-1.30,-194.7,950.3,-9.7,1331,9115,0.00,2.58,0.00,0.000,6,0.000,0.053,2485,2026,3855
$GC,9435,-1.30,-194.7,980.2,-9.0,1361,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2025,3855
$STATE,9549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9550,begin apogee
$GC,9554,-0.37,0.0,990.6,9.2,1372,9726,1.00,0.00,168.82,1.295,6,0.103,0.000,2695,1985,3062
$STATE,9727,end apogee,CONTROL_FINISHED_OK
$STATE,9727,begin climb
$GC,9729,1.34,194.7,993.9,0.0,1389,9906,1.70,0.00,168.82,1.261,6,0.077,0.000,3073,1984,2267
$GC,10224,1.28,194.7,943.4,11.0,1437,10228,0.00,2.70,0.00,0.000,4,0.000,0.068,3072,3395,2261
$GC,10262,1.22,194.7,939.0,12.2,1440,10267,0.15,2.58,0.00,0.000,6,0.108,0.048,3044,1993,2261
$GC,10586,1.24,217.3,907.6,9.2,1470,10608,0.00,0.00,20.45,1.167,6,0.000,0.000,3044,1991,2176
$GC,10925,1.27,240.7,875.9,9.2,1502,10949,0.00,0.00,22.40,1.164,6,0.000,0.000,3044,1990,2080
$GC,11263,1.28,243.2,843.0,9.9,1534,11267,0.00,2.67,0.00,0.000,4,0.000,0.068,3043,3396,2077
$GC,11283,1.28,243.2,840.8,10.7,1535,11290,0.00,2.60,0.00,0.000,6,0.000,0.048,3044,1994,2076
$GC,11608,1.28,243.2,807.7,10.2,1566,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1992,2076
$GC,11926,1.28,243.2,774.5,10.5,1596,11930,0.00,2.67,0.00,0.000,4,0.000,0.067,3044,3402,2075
$GC,11957,1.28,243.2,770.9,10.8,1598,11964,0.00,2.55,0.00,0.000,6,0.000,0.053,3044,2014,2074
$GC,12283,1.28,243.2,736.8,10.4,1629,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2015,2074
$GC,12602,1.31,267.8,705.7,9.1,1659,12631,0.00,0.00,25.12,1.095,6,0.000,0.000,3044,2014,1969
$GC,12949,1.33,290.9,673.0,9.2,1692,12981,0.12,2.85,22.20,1.061,4,0.063,0.074,3080,575,1875
$GC,12986,1.28,290.9,668.8,11.8,1695,12993,0.00,2.67,0.00,0.000,6,0.000,0.048,3080,2026,1874
$GC,13311,1.28,290.9,630.3,12.2,1726,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2027,1871
$GC,13636,1.24,290.9,592.2,11.5,1761,13643,0.15,2.72,0.00,0.000,4,0.100,0.064,3049,577,1871
$GC,13648,1.24,290.9,590.3,11.6,1763,13654,0.00,2.62,0.00,0.000,6,0.000,0.048,3049,2020,1871
$GC,13987,1.24,290.9,555.1,10.4,1824,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2022,1870
$GC,14331,1.24,290.9,519.1,10.5,1885,14337,0.00,2.70,0.00,0.000,4,0.000,0.064,3049,576,1870
$GC,14356,1.24,290.9,516.4,10.7,1889,14362,0.00,2.60,0.00,0.000,6,0.000,0.047,3049,2013,1870
$GC,14697,1.24,290.9,480.4,10.5,1950,14702,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2016,1870
$GC,15037,1.26,303.4,446.3,9.6,2011,15051,0.00,0.00,11.85,0.887,6,0.000,0.000,3049,2016,1825
$GC,15387,1.27,312.8,413.2,9.7,2073,15403,0.00,0.00,9.73,0.841,6,0.000,0.000,3049,2016,1786
$GC,15736,1.30,340.1,380.7,9.1,2136,15768,0.00,2.72,25.52,0.889,4,0.000,0.060,3049,570,1674
$GC,15779,1.33,356.8,376.7,9.4,2143,15803,0.00,2.60,16.75,0.848,6,0.000,0.043,3049,2007,1607
$GC,16138,1.33,357.3,342.4,10.0,2207,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2006,1601
$GC,16467,1.33,357.3,307.9,10.3,2268,16475,0.00,2.70,0.00,0.000,4,0.000,0.062,3049,574,1600
$GC,16491,1.33,357.3,305.2,11.0,2272,16500,0.00,2.58,0.00,0.000,6,0.000,0.050,3049,1992,1601
$GC,16828,1.33,357.3,270.6,11.1,2333,16834,0.00,2.62,0.00,0.000,4,0.000,0.059,3049,574,1600
$GC,16844,1.33,357.3,268.3,11.4,2336,16853,0.00,2.55,0.00,0.000,6,0.000,0.042,3049,1983,1600
$GC,17179,1.33,357.3,235.0,10.5,2397,17185,0.00,2.60,0.00,0.000,4,0.000,0.059,3049,574,1600
$GC,17192,1.33,357.3,233.5,10.1,2399,17198,0.00,2.53,0.00,0.000,6,0.000,0.041,3049,1986,1600
$GC,17523,1.33,357.3,200.1,10.0,2460,17530,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1988,1600
$GC,17856,1.33,357.3,167.1,11.0,2521,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1988,1600
$GC,18182,1.34,365.9,134.6,9.7,2582,18198,0.00,2.67,8.12,0.676,4,0.000,0.058,3049,573,1570
$GC,18206,1.36,384.0,132.3,9.4,2585,18229,0.08,2.55,17.62,0.720,6,0.048,0.041,3083,1975,1496
$GC,18356,1.36,384.0,114.7,13.5,2612,18364,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1976,1493
$GC,18490,1.36,384.0,99.0,13.4,2637,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1976,1492
$GC,18623,1.36,384.0,83.7,12.5,2662,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1976,1491
$GC,18756,1.36,384.0,68.7,12.0,2687,18764,0.00,2.62,0.00,0.000,4,0.000,0.065,3083,576,1491
$GC,18771,1.36,384.0,67.0,11.4,2689,18779,0.00,2.50,0.00,0.000,6,0.000,0.041,3083,1961,1491
$GC,18906,1.36,384.0,50.8,12.9,2714,18913,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1963,1491
$GC,19039,1.36,384.0,35.5,12.5,2739,19047,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1963,1491
$GC,19173,1.36,384.0,19.2,11.1,2764,19181,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1963,1491
$STATE,19306,end climb,SURFACE_DEPTH_REACHED
$STATE,19306,begin surface coast
$FINISH,0.2,1.027197
$STATE,19334,end surface coast,CONTROL_FINISHED_OK
$STATE,19334,begin surface
$SM_CCo,19412,0.00,0.000,0,0,1489,385.86
$SM_GC,0.78,10.57,0.00,0.00,0.039,0.000,0.000,570,2047,1489,-10.07,0.48,385.86
$IRIDIUM_FIX,5928.14,-2247.73,140797,020230
$TT8_MAMPS,0.041418
$HUMID,1598
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,12.60
$XPDR_PINGS,803
$24V_AH,23.5,15.332
$10V_AH,10.5,22.158
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.825,126.825,517.425,0.000,0.000,31.196,32.993,304.684,200.750,0.000,0.000,13.027,4237.986,7828.093,711.472,6377.023,726.251,0.000,2830.881,0.000,6448.100,0.000,0.466
$DEVICE_MAMPS,194.818,103.545,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1949.400,2034.624,1256.268,1806.289,3535.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,209104,2794
$CAP_FILE_SIZE,211179,0
$CFSIZE,260165632,249606144
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,130408,6003.648,-2242.860,30,1.8,30,-15.9