version: 66.03
glider: 141
mission: 7
dive: 74
start: 4 20 108 17 30 19
data:
$ID,141
$MISSION,7
$DIVE,74
$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,90
$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,-7642.2339
$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
$GPS1,171737,6021.157,-2227.639,35,1.0,35,-15.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-42.3
$GPS2,173002,6021.290,-2227.999,9,1.3,15,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6021.290,-2222.657
$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,105.9,20000,-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,-194.7,0.0,0.0,0,193,0.00,0.00,-163.73,0.000,6,0.000,0.000,572,2013,3857
$GC,196,-1.34,-194.7,4.0,-7.4,23,212,11.10,2.70,0.00,0.000,4,0.199,0.054,2482,3443,3859
$GC,323,-1.30,-194.7,25.0,-11.2,46,331,0.00,2.58,0.00,0.000,6,0.000,0.041,2483,2025,3860
$GC,457,-1.30,-194.7,39.7,-10.7,71,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2022,3860
$GC,590,-1.30,-194.7,54.3,-11.1,96,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2019,3860
$GC,723,-1.30,-194.7,68.8,-10.8,121,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3860
$GC,857,-1.30,-194.7,83.5,-11.2,146,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,990,-1.30,-194.7,98.5,-11.5,171,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,1125,-1.30,-194.7,113.4,-10.9,196,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3860
$GC,1258,-1.30,-194.7,128.3,-10.4,221,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3859
$GC,1391,-1.30,-194.7,142.9,-11.2,246,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3859
$GC,1528,-1.30,-194.7,157.6,-11.1,271,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,1857,-1.30,-194.7,193.1,-10.8,332,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,2189,-1.30,-194.7,228.3,-10.9,393,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2017,3859
$GC,2517,-1.30,-194.7,264.2,-10.9,454,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3859
$GC,2852,-1.30,-194.7,300.5,-11.1,515,2857,0.00,2.65,0.00,0.000,4,0.000,0.058,2483,3442,3859
$GC,2887,-1.30,-194.7,304.7,-11.8,521,2893,0.00,2.53,0.00,0.000,6,0.000,0.040,2483,2026,3859
$GC,3217,-1.30,-194.7,340.5,-10.6,582,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2020,3859
$GC,3556,-1.30,-194.7,377.3,-10.7,643,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2020,3859
$GC,3895,-1.30,-194.7,414.7,-11.0,704,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2020,3860
$GC,4240,-1.30,-194.7,451.5,-10.6,765,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2020,3859
$GC,4578,-1.30,-194.7,487.5,-10.5,826,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2020,3859
$GC,4918,-1.30,-194.7,522.6,-9.9,887,4924,0.00,2.70,0.00,0.000,4,0.000,0.068,2482,3446,3858
$GC,4962,-1.30,-194.7,527.4,-10.6,895,4968,0.00,2.58,0.00,0.000,6,0.000,0.047,2483,2032,3858
$GC,5301,-1.30,-194.7,561.8,-10.5,956,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,5645,-1.30,-194.7,596.9,-10.1,1017,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3858
$GC,5976,-1.30,-194.7,630.1,-9.6,1051,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3858
$GC,6296,-1.30,-194.7,660.8,-9.6,1081,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3857
$GC,6613,-1.30,-194.7,691.2,-9.6,1111,6617,0.00,2.80,0.00,0.000,4,0.000,0.091,2482,3443,3857
$GC,6644,-1.30,-194.7,694.6,-10.4,1113,6651,0.00,2.62,0.00,0.000,6,0.000,0.064,2482,2041,3857
$GC,6970,-1.30,-194.7,726.7,-10.0,1144,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2038,3857
$GC,7288,-1.30,-194.7,759.6,-10.4,1174,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3856
$GC,7606,-1.30,-194.7,792.1,-10.5,1204,7610,0.00,2.70,0.00,0.000,4,0.000,0.080,2483,3438,3856
$GC,7645,-1.30,-194.7,796.1,-10.8,1207,7649,0.00,2.58,0.00,0.000,6,0.000,0.056,2483,2040,3856
$GC,7969,-1.30,-194.7,828.4,-10.1,1237,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3856
$GC,8288,-1.30,-194.7,860.0,-9.8,1267,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2038,3856
$GC,8607,-1.30,-194.7,890.7,-9.6,1297,8611,0.00,2.70,0.00,0.000,4,0.000,0.078,2483,3441,3856
$GC,8645,-1.30,-194.7,894.8,-10.5,1300,8650,0.00,2.60,0.00,0.000,6,0.000,0.056,2483,2027,3856
$GC,8970,-1.30,-194.7,925.8,-9.8,1330,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2027,3855
$GC,9288,-1.30,-194.7,957.4,-9.8,1360,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3855
$GC,9606,-1.30,-194.7,988.9,-10.1,1390,9610,0.00,2.70,0.00,0.000,4,0.000,0.078,2483,3443,3854
$STATE,9620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9620,begin apogee
$GC,9627,-0.37,0.0,990.5,10.0,1391,9803,0.98,0.00,168.52,1.297,6,0.103,0.000,2692,1984,3062
$STATE,9804,end apogee,CONTROL_FINISHED_OK
$STATE,9804,begin climb
$GC,9806,1.34,194.7,995.6,0.0,1409,9979,1.73,0.00,168.32,1.262,6,0.077,0.000,3069,1984,2268
$GC,10297,1.29,194.7,950.0,10.5,1456,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1982,2262
$GC,10616,1.23,194.7,915.4,11.0,1486,10621,0.12,2.70,0.00,0.000,4,0.106,0.068,3045,3396,2260
$GC,10659,1.23,194.7,910.6,11.2,1489,10666,0.00,2.62,0.00,0.000,6,0.000,0.051,3045,1985,2260
$GC,10985,1.24,205.4,879.9,9.6,1520,10996,0.00,0.00,9.70,1.073,6,0.000,0.000,3045,1984,2224
$GC,11313,1.26,220.4,849.2,9.5,1551,11333,0.00,0.00,15.00,1.126,6,0.000,0.000,3045,1984,2162
$GC,11652,1.26,220.8,816.5,10.0,1583,11656,0.00,2.70,0.00,0.000,4,0.000,0.068,3045,3398,2159
$GC,11701,1.26,220.8,811.3,10.8,1587,11706,0.00,2.60,0.00,0.000,6,0.000,0.049,3045,1980,2159
$GC,12025,1.27,228.7,780.1,9.7,1617,12036,0.00,0.00,8.48,1.010,6,0.000,0.000,3045,1980,2130
$GC,12354,1.27,234.2,747.6,9.8,1648,12366,0.00,2.78,6.53,0.930,4,0.000,0.067,3045,3402,2106
$GC,12404,1.27,234.2,742.1,10.5,1652,12411,0.00,2.60,0.00,0.000,6,0.000,0.049,3045,1997,2105
$GC,12730,1.27,234.2,709.9,10.1,1683,12731,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1997,2105
$GC,13049,1.28,236.2,678.3,9.9,1713,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1997,2105
$GC,13366,1.28,236.2,646.4,10.3,1743,13371,0.00,2.67,0.00,0.000,4,0.000,0.067,3045,3400,2105
$GC,13410,1.28,236.2,641.6,10.3,1746,13417,0.00,2.60,0.00,0.000,6,0.000,0.048,3046,1981,2104
$GC,13734,1.28,236.2,609.3,10.1,1777,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1978,2104
$GC,14062,1.29,248.5,577.3,9.6,1828,14080,0.00,0.00,14.23,0.980,6,0.000,0.000,3045,1978,2048
$GC,14414,1.31,259.4,542.5,9.6,1891,14433,0.00,2.75,10.98,0.928,4,0.000,0.065,3045,3392,2004
$GC,14453,1.32,269.6,538.9,9.6,1897,14470,0.00,2.55,10.75,0.909,6,0.000,0.046,3045,1996,1962
$GC,14805,1.32,269.6,503.3,10.3,1960,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1959
$GC,15150,1.32,269.6,469.1,10.2,2021,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1959
$GC,15490,1.33,280.0,435.1,9.6,2082,15509,0.10,2.72,10.45,0.864,4,0.070,0.066,3077,578,1919
$GC,15526,1.33,280.0,431.1,11.4,2088,15535,0.00,2.62,0.00,0.000,6,0.000,0.047,3077,2006,1919
$GC,15872,1.33,280.0,391.8,10.9,2149,15877,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2008,1918
$GC,16213,1.33,280.0,350.9,11.3,2210,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2008,1917
$GC,16545,1.33,280.0,312.3,11.5,2271,16551,0.00,2.70,0.00,0.000,4,0.000,0.061,3077,567,1917
$GC,16580,1.33,280.0,308.1,12.6,2277,16586,0.00,2.58,0.00,0.000,6,0.000,0.044,3077,2001,1917
$GC,16909,1.33,280.0,270.3,12.2,2338,16916,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2003,1917
$GC,17241,1.33,280.0,233.2,12.3,2399,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2003,1917
$GC,17570,1.33,280.0,196.0,12.6,2460,17578,0.00,2.60,0.00,0.000,4,0.000,0.063,3077,3389,1917
$GC,17613,1.33,280.0,191.0,12.3,2467,17620,0.00,2.53,0.00,0.000,6,0.000,0.043,3077,1982,1917
$GC,17943,1.33,280.0,151.5,12.6,2528,17951,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1917
$GC,18265,1.33,280.0,114.8,12.7,2589,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1917
$GC,18398,1.33,280.0,99.8,12.1,2614,18406,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1917
$GC,18532,1.33,280.0,84.7,12.2,2639,18540,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1917
$GC,18666,1.33,280.0,69.3,11.9,2664,18674,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1918
$GC,18799,1.33,280.0,53.9,12.2,2689,18807,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1918
$GC,18933,1.35,292.7,39.1,9.6,2714,18949,0.00,0.00,12.60,0.660,6,0.000,0.000,3077,1979,1868
$GC,19075,1.35,292.7,23.3,10.3,2740,19082,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1866
$GC,19209,1.35,292.7,9.8,10.3,2765,19216,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1979,1866
$STATE,19273,end climb,SURFACE_DEPTH_REACHED
$STATE,19273,begin surface coast
$FINISH,0.2,1.016120
$STATE,19296,end surface coast,CONTROL_FINISHED_OK
$STATE,19296,begin surface
$SM_CCo,19374,0.00,0.000,0,0,1863,293.87
$SM_GC,0.82,10.45,0.00,0.00,0.033,0.000,0.000,571,2038,1863,-10.06,0.23,293.87
$IRIDIUM_FIX,5953.78,-2229.18,150797,111139
$TT8_MAMPS,0.042185
$HUMID,1599
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.40
$XPDR_PINGS,803
$24V_AH,23.5,16.591
$10V_AH,10.4,24.143
$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,24.475,79.575,435.550,0.000,0.000,28.010,35.626,543.253,200.750,0.000,0.000,17.678,4204.080,7937.258,640.086,6348.604,957.550,0.000,2737.788,0.000,6409.383,0.000,0.465
$DEVICE_MAMPS,198.653,91.273,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1929.775,2028.799,1260.701,1807.401,3539.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205397,2781
$CAP_FILE_SIZE,209192,0
$CFSIZE,260165632,248881152
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,225426,6022.373,-2223.698,39,1.5,39,-15.9