version: 66.03
glider: 141
mission: 7
dive: 69
start: 4 19 108 13 12 33
data:
$ID,141
$MISSION,7
$DIVE,69
$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,-7549.2363
$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,17
$R_STBD_OVSHOOT,39
$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
$GPS1,130408,6003.648,-2242.860,30,1.8,30,-15.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-51.4
$GPS2,131215,6003.734,-2242.885,11,1.8,11,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6014.532,-2242.978
$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,14.9,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-116.15,0.000,2,0.000,0.000,569,2048,3842
$GC,146,-1.34,-194.7,4.0,-7.4,16,163,11.15,2.58,-0.32,0.000,4,0.202,0.063,2481,3421,3858
$GC,398,-1.30,-194.7,42.2,-12.2,63,406,0.00,2.53,0.00,0.000,6,0.000,0.041,2481,2023,3859
$GC,533,-1.30,-194.7,58.0,-11.5,88,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3859
$GC,666,-1.30,-194.7,72.7,-11.0,113,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3859
$GC,800,-1.30,-194.7,87.7,-10.9,138,808,0.00,2.60,0.00,0.000,4,0.000,0.057,2481,3416,3859
$GC,856,-1.26,-194.7,94.4,-12.3,148,864,0.08,2.53,0.00,0.000,6,0.107,0.045,2500,2016,3859
$GC,991,-1.26,-194.7,108.6,-9.9,173,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2011,3859
$GC,1125,-1.26,-194.7,123.1,-11.1,198,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,1258,-1.26,-194.7,137.3,-10.5,223,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,1391,-1.26,-194.7,150.5,-10.3,248,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,1724,-1.26,-194.7,182.7,-10.1,309,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,2051,-1.26,-194.7,215.2,-10.2,370,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,2384,-1.26,-194.7,247.4,-9.8,431,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,2711,-1.26,-194.7,278.4,-9.4,492,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,3047,-1.26,-194.7,310.4,-9.7,553,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2009,3859
$GC,3375,-1.26,-194.7,344.1,-10.6,614,3383,0.00,2.65,0.00,0.000,4,0.000,0.064,2500,3416,3859
$GC,3428,-1.26,-194.7,349.7,-11.2,623,3434,0.00,2.50,0.00,0.000,6,0.000,0.040,2500,2020,3859
$GC,3769,-1.26,-194.7,383.7,-9.6,684,3777,0.00,2.58,0.00,0.000,4,0.000,0.059,2500,631,3859
$GC,3823,-1.26,-194.7,389.0,-10.0,693,3829,0.00,2.47,0.00,0.000,6,0.000,0.043,2500,2019,3859
$GC,4162,-1.26,-194.7,421.4,-9.6,754,4168,0.00,2.62,0.00,0.000,4,0.000,0.067,2500,3433,3858
$GC,4225,-1.26,-194.7,427.8,-10.5,765,4231,0.00,2.50,0.00,0.000,6,0.000,0.042,2500,2031,3858
$GC,4564,-1.26,-194.7,461.7,-10.0,826,4570,0.00,2.58,0.00,0.000,4,0.000,0.059,2500,626,3858
$GC,4635,-1.26,-194.7,468.9,-10.2,839,4641,0.00,2.50,0.00,0.000,6,0.000,0.044,2500,2022,3858
$GC,4973,-1.26,-194.7,502.2,-9.8,900,4981,0.00,2.67,0.00,0.000,4,0.000,0.074,2500,3433,3858
$GC,5043,-1.26,-194.7,509.1,-9.9,912,5051,0.00,2.55,0.00,0.000,6,0.000,0.046,2500,2028,3858
$GC,5388,-1.26,-194.7,541.4,-9.6,973,5394,0.00,2.60,0.00,0.000,4,0.000,0.067,2500,624,3859
$GC,5471,-1.26,-194.7,549.5,-9.5,988,5479,0.00,2.55,0.00,0.000,6,0.000,0.054,2500,2014,3858
$GC,5818,-1.26,-194.7,580.8,-9.2,1049,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2017,3858
$GC,6156,-1.26,-194.7,611.9,-9.4,1099,6161,0.00,2.72,0.00,0.000,4,0.000,0.081,2500,3437,3858
$GC,6229,-1.26,-194.7,619.1,-10.0,1105,6233,0.00,2.58,0.00,0.000,6,0.000,0.051,2500,2022,3858
$GC,6553,-1.26,-194.7,650.5,-10.0,1135,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2022,3858
$GC,6872,-1.26,-194.7,681.0,-9.0,1165,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2022,3858
$GC,7190,-1.26,-194.7,710.3,-9.0,1195,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2020,3858
$GC,7509,-1.26,-194.7,740.1,-9.7,1225,7513,0.00,2.75,0.00,0.000,4,0.000,0.083,2500,3442,3858
$GC,7562,-1.26,-194.7,745.7,-10.1,1229,7569,0.00,2.62,0.00,0.000,6,0.000,0.057,2500,2037,3858
$GC,7888,-1.26,-194.7,776.2,-9.4,1260,7893,0.00,2.78,0.00,0.000,4,0.000,0.098,2500,620,3857
$GC,7950,-1.26,-194.7,782.1,-9.3,1265,7954,0.00,2.60,0.00,0.000,6,0.000,0.058,2500,2040,3857
$GC,8275,-1.26,-194.7,809.9,-8.6,1295,8279,0.00,2.70,0.00,0.000,4,0.000,0.091,2500,3445,3857
$GC,8358,-1.26,-194.7,817.5,-9.3,1302,8362,0.00,2.55,0.00,0.000,6,0.000,0.054,2500,2045,3857
$GC,8683,-1.26,-194.7,844.9,-8.6,1332,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2045,3857
$GC,9001,-1.26,-194.7,873.4,-9.1,1362,9005,0.00,2.75,0.00,0.000,4,0.000,0.088,2500,613,3857
$GC,9054,-1.26,-194.7,878.8,-10.5,1366,9061,0.00,2.65,0.00,0.000,6,0.000,0.057,2500,2046,3856
$GC,9380,-1.26,-194.7,908.8,-9.1,1397,9385,0.00,2.70,0.00,0.000,4,0.000,0.091,2500,3446,3856
$GC,9445,-1.26,-194.7,915.4,-10.1,1402,9452,0.00,2.58,0.00,0.000,6,0.000,0.054,2500,2051,3856
$GC,9772,-1.26,-194.7,945.4,-9.3,1433,9776,0.00,2.75,0.00,0.000,4,0.000,0.088,2500,622,3855
$GC,9832,-1.26,-194.7,951.3,-9.4,1438,9837,0.00,2.62,0.00,0.000,6,0.000,0.058,2500,2059,3856
$GC,10157,-1.26,-194.7,981.2,-9.2,1468,10161,0.00,2.65,0.00,0.000,4,0.000,0.090,2500,3439,3855
$GC,10217,-1.26,-194.7,987.4,-10.2,1473,10222,0.00,2.53,0.00,0.000,6,0.000,0.054,2500,2046,3854
$STATE,10253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10253,begin apogee
$GC,10257,-0.37,0.0,990.9,10.0,1476,10430,0.93,0.00,169.23,1.299,6,0.100,0.000,2695,1984,3062
$STATE,10431,end apogee,CONTROL_FINISHED_OK
$STATE,10431,begin climb
$GC,10433,1.34,194.7,996.2,0.0,1493,10610,1.70,2.75,168.07,1.266,4,0.077,0.072,3066,3396,2267
$GC,10626,1.28,194.7,982.6,10.1,1511,10633,0.00,2.60,0.00,0.000,6,0.000,0.051,3066,1985,2265
$GC,10954,1.23,194.7,949.3,10.2,1542,10958,0.00,2.67,0.00,0.000,4,0.000,0.068,3066,3398,2261
$GC,10987,1.17,194.7,945.5,10.7,1544,10994,0.15,2.55,0.00,0.000,6,0.109,0.049,3037,1997,2260
$GC,11311,1.22,227.8,916.3,8.8,1575,11342,0.00,0.00,29.67,1.199,6,0.000,0.000,3038,1997,2133
$GC,11659,1.23,237.8,883.9,9.7,1608,11672,0.00,0.00,10.30,1.081,6,0.000,0.000,3037,1997,2092
$GC,11988,1.25,252.9,852.4,9.5,1639,12010,0.00,2.70,15.25,1.128,4,0.000,0.068,3037,3397,2029
$GC,12025,1.28,282.8,848.7,9.0,1642,12066,0.10,2.60,30.23,1.103,6,0.071,0.048,3067,1978,1909
$GC,12390,1.28,282.8,808.2,11.3,1677,12395,0.00,2.67,0.00,0.000,4,0.000,0.068,3067,3398,1904
$GC,12406,1.28,282.8,806.4,11.9,1678,12411,0.00,2.55,0.00,0.000,6,0.000,0.048,3067,1996,1903
$GC,12731,1.28,282.8,770.6,11.1,1708,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1996,1903
$GC,13049,1.28,282.8,734.3,11.3,1738,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1996,1902
$GC,13369,1.28,282.8,699.6,10.8,1768,13373,0.00,2.65,0.00,0.000,4,0.000,0.068,3067,3406,1902
$GC,13389,1.28,282.8,696.9,11.9,1769,13396,0.00,2.55,0.00,0.000,6,0.000,0.048,3067,2009,1902
$GC,13715,1.28,282.8,660.8,11.0,1800,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2009,1902
$GC,14032,1.28,282.8,622.5,12.1,1830,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2009,1901
$GC,14357,1.28,282.8,585.2,11.6,1871,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2007,1901
$GC,14696,1.28,282.8,547.5,10.2,1932,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2007,1901
$GC,15040,1.28,282.8,512.0,10.3,1993,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2007,1901
$GC,15380,1.28,282.8,473.8,11.4,2054,15385,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2007,1901
$GC,15719,1.28,282.8,435.6,10.9,2115,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2006,1901
$GC,16059,1.28,282.8,396.9,11.5,2176,16067,0.00,2.62,0.00,0.000,4,0.000,0.067,3067,3397,1901
$GC,16078,1.28,282.8,394.7,11.6,2179,16084,0.00,2.50,0.00,0.000,6,0.000,0.043,3067,2004,1901
$GC,16418,1.28,282.8,356.5,11.6,2240,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2002,1901
$GC,16755,1.28,282.8,319.4,10.4,2301,16760,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2002,1902
$GC,17086,1.28,282.8,283.6,11.3,2362,17094,0.00,2.62,0.00,0.000,4,0.000,0.066,3067,3402,1902
$GC,17107,1.28,282.8,281.3,10.7,2365,17113,0.00,2.47,0.00,0.000,6,0.000,0.041,3067,2009,1902
$GC,17437,1.28,282.8,246.1,11.3,2426,17444,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2007,1902
$GC,17770,1.28,282.8,212.1,11.2,2487,17775,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2006,1902
$GC,18099,1.29,289.5,178.2,9.8,2548,18108,0.00,0.00,6.53,0.663,6,0.000,0.000,3067,2006,1882
$GC,18432,1.29,289.9,144.7,10.0,2609,18440,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2005,1881
$GC,18566,1.30,295.1,130.7,9.8,2634,18581,0.00,0.00,6.97,0.651,6,0.000,0.000,3066,2005,1857
$GC,18708,1.30,298.0,116.1,9.9,2660,18716,0.00,0.00,3.95,0.513,6,0.000,0.000,3067,2005,1847
$GC,18842,1.30,298.0,101.3,11.4,2685,18849,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2005,1847
$GC,18975,1.30,298.0,86.1,10.9,2710,18983,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2006,1846
$GC,19108,1.30,298.0,71.3,12.0,2735,19116,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2006,1846
$GC,19242,1.30,298.0,56.7,11.1,2760,19249,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2005,1846
$GC,19376,1.30,298.0,42.0,11.8,2785,19384,0.00,2.62,0.00,0.000,4,0.000,0.059,3066,3400,1846
$GC,19391,1.30,298.0,40.3,11.0,2787,19399,0.00,2.50,0.00,0.000,6,0.000,0.040,3067,2022,1846
$GC,19525,1.30,298.0,26.4,11.4,2812,19533,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2021,1846
$GC,19659,1.30,298.0,12.1,10.1,2837,19667,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2020,1846
$STATE,19734,end climb,SURFACE_DEPTH_REACHED
$STATE,19734,begin surface coast
$FINISH,0.3,1.007705
$STATE,19762,end surface coast,CONTROL_FINISHED_OK
$STATE,19762,begin surface
$SM_CCo,19839,0.00,0.000,0,0,1844,298.53
$SM_GC,0.84,10.43,0.00,0.00,0.035,0.000,0.000,572,2015,1844,-10.06,-0.42,298.53
$IRIDIUM_FIX,5936.65,-2239.18,140797,070747
$TT8_MAMPS,0.042185
$HUMID,1600
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.10
$XPDR_PINGS,817
$24V_AH,23.5,15.529
$10V_AH,10.5,22.495
$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,24.525,125.300,440.200,0.000,0.000,22.453,29.304,299.813,204.250,0.000,0.000,13.452,4357.275,8010.292,640.485,6591.515,695.428,0.000,2825.846,0.000,6640.156,0.000,0.466
$DEVICE_MAMPS,201.721,98.176,1298.531,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1994.169,2069.328,1291.196,1861.549,3645.373,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,211887,2856
$CAP_FILE_SIZE,216860,0
$CFSIZE,260165632,249475072
$ERRORS,0,11,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190408,184446,6008.240,-2244.034,40,2.2,59,-15.9