version: 66.03
glider: 141
mission: 7
dive: 135
start: 5 3 108 18 13 25
data:
$ID,141
$MISSION,7
$DIVE,135
$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,250
$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,-8831.7773
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,180508,6109.932,-2507.400,38,1.6,38,-17.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.6
$GPS2,181308,6109.910,-2507.599,12,1.6,29,-17.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6106.216,-2512.502
$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,267.8,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,136,0.00,0.00,-107.75,0.000,2,0.000,0.000,575,2017,3831
$GC,139,-1.34,-194.7,3.8,-7.4,15,156,10.88,2.75,-0.47,0.000,4,0.191,0.069,2477,3446,3858
$GC,392,-1.30,-194.7,45.0,-11.9,62,400,0.00,2.62,0.00,0.000,6,0.000,0.048,2478,2026,3859
$GC,530,-1.30,-194.7,59.1,-10.9,87,538,0.00,2.67,0.00,0.000,4,0.000,0.067,2477,3439,3859
$GC,582,-1.25,-194.7,65.1,-11.9,96,590,0.10,2.58,0.00,0.000,6,0.105,0.048,2502,2037,3859
$GC,925,-1.25,-194.7,100.7,-9.7,157,931,0.00,2.62,0.00,0.000,4,0.000,0.063,2502,3444,3859
$GC,960,-1.25,-194.7,104.6,-10.5,163,967,0.00,2.55,0.00,0.000,6,0.000,0.054,2502,2036,3859
$GC,1302,-1.25,-194.7,139.2,-10.2,224,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3859
$GC,1645,-1.25,-194.7,174.0,-9.9,285,1651,0.00,2.62,0.00,0.000,4,0.000,0.060,2502,3445,3859
$GC,1686,-1.25,-194.7,178.3,-10.9,292,1693,0.00,2.55,0.00,0.000,6,0.000,0.048,2502,2033,3859
$GC,2030,-1.25,-194.7,213.5,-10.1,353,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3859
$GC,2373,-1.25,-194.7,247.9,-10.2,414,2379,0.00,2.65,0.00,0.000,4,0.000,0.061,2502,3449,3859
$GC,2407,-1.25,-194.7,251.4,-10.7,420,2413,0.00,2.55,0.00,0.000,6,0.000,0.052,2502,2036,3859
$GC,2752,-1.25,-194.7,284.6,-9.5,481,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2032,3859
$GC,3095,-1.25,-194.7,317.2,-9.8,542,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2032,3859
$GC,3437,-1.25,-194.7,349.2,-9.3,603,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2032,3859
$GC,3768,-1.25,-194.7,380.9,-9.9,635,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3859
$GC,4086,-1.25,-194.7,411.8,-9.6,665,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2032,3859
$GC,4404,-1.25,-194.7,442.4,-9.5,695,4408,0.00,2.65,0.00,0.000,4,0.000,0.067,2502,617,3859
$GC,4436,-1.25,-194.7,445.7,-9.8,697,4442,0.00,2.58,0.00,0.000,6,0.000,0.048,2502,2054,3858
$GC,4762,-1.25,-194.7,477.7,-10.2,728,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2054,3859
$GC,5079,-1.25,-194.7,510.4,-10.1,758,5083,0.00,2.70,0.00,0.000,4,0.000,0.069,2501,622,3859
$GC,5140,-1.25,-194.7,516.8,-10.7,763,5144,0.00,2.58,0.00,0.000,6,0.000,0.051,2502,2045,3858
$GC,5465,-1.25,-194.7,550.6,-10.2,793,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2046,3858
$GC,5783,-1.25,-194.7,582.8,-10.0,823,5787,0.00,2.70,0.00,0.000,4,0.000,0.079,2502,629,3858
$GC,5837,-1.25,-194.7,588.5,-10.3,827,5844,0.00,2.58,0.00,0.000,6,0.000,0.054,2502,2035,3858
$GC,6166,-1.25,-194.7,619.8,-9.2,849,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2037,3858
$GC,6476,-1.25,-194.7,647.7,-8.9,864,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2037,3858
$GC,6785,-1.25,-194.7,675.6,-9.1,879,6789,0.00,2.80,0.00,0.000,4,0.000,0.102,2502,627,3858
$GC,6846,-1.25,-194.7,681.4,-9.7,882,6850,0.00,2.60,0.00,0.000,6,0.000,0.064,2502,2031,3858
$GC,7172,-1.25,-194.7,711.6,-9.3,898,7176,0.00,2.75,0.00,0.000,4,0.000,0.095,2502,626,3858
$GC,7204,-1.25,-194.7,714.8,-9.6,899,7210,0.00,2.62,0.00,0.000,6,0.000,0.071,2502,2030,3858
$GC,7519,-1.25,-194.7,744.1,-9.5,915,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3858
$GC,7829,-1.25,-194.7,773.5,-9.5,930,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3858
$GC,8138,-1.25,-194.7,802.6,-9.5,945,8142,0.00,2.67,0.00,0.000,4,0.000,0.083,2501,629,3858
$GC,8186,-1.25,-194.7,807.5,-10.1,947,8191,0.00,2.58,0.00,0.000,6,0.000,0.060,2502,2017,3858
$GC,8508,-1.25,-194.7,837.2,-9.2,963,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2017,3857
$GC,8817,-1.25,-194.7,865.6,-8.9,978,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2019,3857
$GC,9126,-1.25,-194.7,893.2,-8.9,993,9131,0.00,2.65,0.00,0.000,4,0.000,0.081,2502,625,3857
$GC,9181,-1.25,-194.7,898.3,-9.2,995,9188,0.00,2.60,0.00,0.000,6,0.000,0.061,2502,2028,3857
$GC,9496,-1.25,-194.7,924.2,-7.7,1011,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2028,3857
$GC,9806,-1.25,-194.7,947.6,-7.8,1026,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3857
$GC,10115,-1.25,-194.7,972.7,-8.2,1041,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3856
$STATE,10319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10319,begin apogee
$GC,10324,-0.37,0.0,990.2,8.7,1051,10497,0.90,0.00,169.18,1.296,6,0.095,0.000,2695,1987,3062
$STATE,10497,end apogee,CONTROL_FINISHED_OK
$STATE,10497,begin climb
$GC,10500,1.34,194.7,994.9,0.0,1059,10673,1.67,0.00,168.57,1.266,6,0.075,0.000,3069,1987,2268
$GC,10976,1.28,194.7,948.8,11.0,1083,10980,0.00,2.78,0.00,0.000,4,0.000,0.084,3069,3403,2261
$GC,11025,1.22,194.7,942.9,11.5,1085,11030,0.12,2.65,0.00,0.000,6,0.109,0.057,3045,1982,2261
$GC,11340,1.24,209.1,912.2,9.5,1100,11361,0.00,2.80,13.20,1.121,4,0.000,0.071,3046,3390,2208
$GC,11384,1.27,234.1,907.7,9.1,1102,11413,0.00,2.62,23.98,1.172,6,0.000,0.057,3045,1991,2107
$GC,11734,1.27,234.1,872.9,10.0,1119,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1992,2103
$GC,12044,1.27,234.1,841.7,10.1,1134,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1989,2102
$GC,12353,1.29,251.1,811.1,9.4,1149,12383,0.00,2.75,17.88,1.016,4,0.000,0.071,3046,3387,2037
$GC,12417,1.29,251.1,804.7,10.2,1152,12422,0.00,2.58,0.00,0.000,6,0.000,0.057,3045,2005,2036
$GC,12743,1.31,262.7,773.2,9.6,1168,12757,0.00,0.00,11.95,1.058,6,0.000,0.000,3045,2003,1990
$GC,13052,1.32,270.9,742.9,9.7,1183,13063,0.00,0.00,8.77,0.989,6,0.000,0.000,3045,2003,1957
$GC,13361,1.34,291.3,713.3,9.3,1198,13402,0.12,0.00,24.15,0.931,6,0.064,0.000,3082,2003,1874
$GC,13710,1.34,291.3,672.2,11.8,1215,13714,0.00,2.67,0.00,0.000,4,0.000,0.071,3082,3399,1871
$GC,13753,1.34,291.3,666.7,12.9,1217,13757,0.00,2.60,0.00,0.000,6,0.000,0.058,3082,1997,1871
$GC,14080,1.30,291.3,626.9,12.3,1233,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1995,1871
$GC,14393,1.25,291.3,586.4,12.5,1253,14394,0.15,0.00,0.00,0.000,6,0.104,0.000,3053,1994,1870
$GC,14711,1.25,291.3,552.1,10.4,1283,14716,0.00,2.67,0.00,0.000,4,0.000,0.069,3052,3400,1870
$GC,14740,1.25,291.3,549.0,11.0,1285,14745,0.00,2.60,0.00,0.000,6,0.000,0.057,3053,2000,1870
$GC,15064,1.25,291.3,515.5,10.1,1315,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1998,1870
$GC,15385,1.26,293.1,483.7,9.9,1345,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1998,1870
$GC,15702,1.26,299.9,452.4,9.8,1375,15713,0.00,0.00,8.80,0.850,6,0.000,0.000,3052,1998,1839
$GC,16029,1.26,299.9,418.9,10.7,1406,16034,0.00,2.67,0.00,0.000,4,0.000,0.066,3052,3406,1837
$GC,16056,1.26,299.9,415.9,11.4,1408,16061,0.00,2.58,0.00,0.000,6,0.000,0.053,3053,2011,1837
$GC,16380,1.26,299.9,380.4,11.0,1438,16385,0.00,2.72,0.00,0.000,4,0.000,0.072,3052,568,1837
$GC,16407,1.26,299.9,377.3,11.2,1440,16412,0.00,2.62,0.00,0.000,6,0.000,0.048,3052,2024,1838
$GC,16736,1.26,299.9,340.4,11.2,1477,16741,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2027,1838
$GC,17078,1.26,299.9,303.1,10.3,1538,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2026,1838
$GC,17419,1.28,314.1,270.1,9.5,1599,17436,0.00,0.00,13.93,0.802,6,0.000,0.000,3052,2026,1781
$GC,17773,1.30,329.5,237.3,9.5,1662,17790,0.00,0.00,14.75,0.781,6,0.000,0.000,3052,2026,1717
$GC,18128,1.30,329.5,202.6,11.2,1725,18133,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2027,1715
$GC,18470,1.30,329.5,165.4,11.5,1786,18475,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2026,1714
$GC,18810,1.30,329.5,126.6,11.3,1847,18816,0.00,2.55,0.00,0.000,4,0.000,0.064,3052,3389,1714
$GC,18844,1.30,329.5,122.3,12.4,1853,18850,0.00,2.55,0.00,0.000,6,0.000,0.050,3052,1998,1713
$GC,19184,1.34,364.6,87.6,8.8,1914,19220,0.00,0.00,31.60,0.715,6,0.000,0.000,3052,1994,1575
$GC,19554,1.45,453.5,48.6,6.9,1980,19635,0.15,0.00,75.65,0.686,6,0.056,0.000,3102,1994,1212
$GC,19763,1.41,453.5,22.3,14.7,2015,19771,0.00,2.72,0.00,0.000,4,0.000,0.072,3101,582,1205
$GC,19789,1.41,453.5,17.7,18.1,2019,19798,0.00,2.65,0.00,0.000,6,0.000,0.047,3101,2020,1205
$STATE,19891,end climb,SURFACE_DEPTH_REACHED
$STATE,19892,begin surface coast
$FINISH,-0.1,1.001622
$STATE,19920,end surface coast,CONTROL_FINISHED_OK
$STATE,19920,begin surface
$SM_CCo,19998,0.00,0.000,0,0,1200,456.75
$SM_GC,0.45,10.85,0.00,0.00,0.046,0.000,0.000,576,2023,1200,-10.07,-0.20,456.75
$IRIDIUM_FIX,6046.07,-2458.32,280797,121250
$TT8_MAMPS,0.042185
$HUMID,1623
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,12.50
$XPDR_PINGS,411
$24V_AH,23.5,27.801
$10V_AH,10.6,35.824
$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,24.950,111.125,582.400,0.000,0.000,31.572,28.943,277.719,102.750,0.000,0.000,31.075,3188.951,12089.510,711.829,3839.284,628.748,0.000,2328.557,0.000,3828.291,0.000,0.465
$DEVICE_MAMPS,190.983,102.011,1296.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1421.508,1484.435,738.586,930.868,839.357,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145637,2043
$CAP_FILE_SIZE,176110,0
$CFSIZE,260165632,243204096
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030508,234756,6109.245,-2515.626,38,1.5,38,-17.9