version: 66.03
glider: 141
mission: 7
dive: 138
start: 5 4 108 10 59 39
data:
$ID,141
$MISSION,7
$DIVE,138
$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,230
$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,-8891.7568
$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,25
$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
$GPS1,104632,6105.869,-2530.333,41,1.1,41,-17.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-57.3
$GPS2,105921,6105.880,-2530.407,9,1.6,9,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.939,-2534.420
$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,247.9,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,138,0.00,0.00,-108.55,0.000,2,0.000,0.000,572,2036,3854
$GC,140,-1.34,-194.7,4.0,-8.2,15,157,11.07,2.72,0.00,0.000,4,0.199,0.060,2481,614,3855
$GC,372,-1.34,-194.7,38.4,-12.5,58,380,0.00,2.60,0.00,0.000,6,0.000,0.047,2481,2025,3856
$GC,506,-1.34,-194.7,53.5,-10.4,83,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,844,-1.34,-194.7,88.8,-9.5,144,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2027,3856
$GC,1190,-1.34,-194.7,116.7,-8.5,205,1196,0.00,2.65,0.00,0.000,4,0.000,0.066,2481,3441,3856
$GC,1234,-1.34,-194.7,120.6,-8.3,213,1242,0.00,2.60,0.00,0.000,6,0.000,0.048,2481,2034,3856
$GC,1575,-1.34,-194.7,156.6,-12.4,274,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,1918,-1.34,-194.7,204.9,-14.3,335,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,2259,-1.34,-194.7,245.9,-10.3,396,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,2603,-1.34,-194.7,280.3,-10.8,457,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,2945,-1.34,-194.7,318.4,-11.5,518,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,3288,-1.34,-194.7,361.3,-12.2,572,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,3607,-1.34,-194.7,399.9,-11.7,602,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,3925,-1.34,-194.7,438.6,-12.2,632,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3856
$GC,4244,-1.34,-194.7,474.5,-10.9,662,4248,0.00,2.70,0.00,0.000,4,0.000,0.072,2481,3441,3856
$GC,4271,-1.34,-194.7,477.7,-12.1,664,4275,0.00,2.58,0.00,0.000,6,0.000,0.053,2481,2039,3855
$GC,4596,-1.34,-194.7,515.7,-11.4,694,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3856
$GC,4913,-1.34,-194.7,551.8,-11.2,724,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3855
$GC,5231,-1.34,-194.7,588.0,-11.4,754,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3855
$GC,5544,-1.34,-194.7,623.1,-10.8,774,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3855
$GC,5853,-1.34,-194.7,656.7,-11.4,789,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3855
$GC,6162,-1.34,-194.7,690.8,-10.6,804,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3855
$GC,6472,-1.34,-194.7,720.5,-9.6,819,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3855
$GC,6781,-1.34,-194.7,749.6,-9.7,834,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3855
$GC,7090,-1.34,-194.7,782.9,-11.3,849,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3855
$GC,7400,-1.34,-194.7,815.7,-10.3,864,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3855
$GC,7709,-1.34,-194.7,845.2,-9.6,879,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3855
$GC,8018,-1.34,-194.7,875.6,-9.9,894,8023,0.00,2.75,0.00,0.000,4,0.000,0.091,2481,3433,3855
$GC,8051,-1.34,-194.7,879.1,-10.6,895,8058,0.00,2.62,0.00,0.000,6,0.000,0.067,2481,2050,3854
$GC,8366,-1.34,-194.7,910.3,-10.4,911,8371,0.00,2.67,0.00,0.000,4,0.000,0.082,2481,3437,3854
$GC,8392,-1.34,-194.7,913.2,-11.4,912,8396,0.00,2.62,0.00,0.000,6,0.000,0.064,2481,2049,3854
$GC,8714,-1.34,-194.7,947.8,-9.7,928,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3854
$GC,9023,-1.34,-194.7,975.3,-9.2,943,9027,0.00,2.83,0.00,0.000,4,0.000,0.101,2481,619,3854
$GC,9050,-1.34,-194.7,978.0,-10.9,944,9055,0.00,2.62,0.00,0.000,6,0.000,0.060,2481,2048,3854
$STATE,9178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9178,begin apogee
$GC,9183,-0.37,0.0,991.6,10.7,950,9355,1.02,0.00,168.52,1.299,6,0.100,0.000,2697,1978,3062
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9358,1.34,194.7,999.3,0.0,958,9530,1.67,0.00,168.40,1.270,6,0.076,0.000,3071,1978,2268
$GC,9835,1.29,199.2,962.2,9.8,982,9841,0.00,0.00,4.85,0.848,6,0.000,0.000,3071,1978,2250
$GC,10142,1.23,199.2,928.5,11.4,997,10148,0.12,2.75,0.00,0.000,4,0.110,0.077,3047,3394,2247
$GC,10174,1.23,199.2,924.6,10.7,998,10181,0.00,2.60,0.00,0.000,6,0.000,0.055,3047,1994,2247
$GC,10491,1.23,199.2,890.3,10.8,1014,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1992,2247
$GC,10799,1.23,199.2,857.6,10.2,1029,10804,0.00,2.70,0.00,0.000,4,0.000,0.071,3047,3405,2246
$GC,10844,1.23,199.2,853.0,11.2,1031,10849,0.00,2.62,0.00,0.000,6,0.000,0.057,3047,1997,2246
$GC,11165,1.29,244.5,825.5,8.4,1047,11208,0.00,0.00,41.55,1.180,6,0.000,0.000,3047,1994,2065
$GC,11513,1.29,244.5,791.2,10.8,1064,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1994,2060
$GC,11823,1.29,244.5,756.2,11.0,1079,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1994,2060
$GC,12133,1.29,245.4,725.2,10.0,1094,12137,0.00,2.70,0.00,0.000,4,0.000,0.071,3047,3401,2059
$GC,12164,1.29,245.4,721.6,10.4,1095,12171,0.00,2.62,0.00,0.000,6,0.000,0.057,3047,2009,2059
$GC,12479,1.29,245.4,688.5,10.3,1111,12484,0.00,2.78,0.00,0.000,4,0.000,0.082,3047,569,2059
$GC,12512,1.30,258.3,685.2,9.6,1112,12532,0.00,2.65,13.10,1.027,6,0.000,0.053,3047,2016,2007
$GC,12848,1.32,275.3,652.6,9.4,1129,12870,0.00,2.75,16.55,1.027,4,0.000,0.077,3047,3394,1938
$GC,12897,1.32,275.3,647.6,10.3,1131,12902,0.00,2.58,0.00,0.000,6,0.000,0.055,3047,2017,1937
$GC,13225,1.33,279.3,615.5,9.9,1147,13235,0.10,2.78,4.85,0.762,4,0.069,0.078,3077,574,1923
$GC,13268,1.29,279.3,610.4,11.2,1149,13272,0.00,2.65,0.00,0.000,6,0.000,0.052,3077,2021,1923
$GC,13592,1.29,279.3,575.1,11.3,1175,13597,0.00,2.60,0.00,0.000,4,0.000,0.075,3077,3392,1921
$GC,13636,1.29,279.3,569.7,11.8,1178,13642,0.00,2.55,0.00,0.000,6,0.000,0.055,3077,2014,1921
$GC,13963,1.29,279.3,531.1,12.0,1209,13967,0.00,2.72,0.00,0.000,4,0.000,0.077,3077,575,1921
$GC,14001,1.24,279.3,526.1,13.0,1212,14006,0.12,2.62,0.00,0.000,6,0.104,0.051,3053,2016,1921
$GC,14325,1.24,279.3,490.1,10.9,1242,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2017,1921
$GC,14645,1.25,280.5,457.3,10.0,1272,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2018,1921
$GC,14963,1.25,280.5,424.1,10.6,1302,14967,0.00,2.75,0.00,0.000,4,0.000,0.070,3052,566,1921
$GC,14995,1.25,280.5,420.5,11.0,1304,15002,0.00,2.62,0.00,0.000,6,0.000,0.049,3053,2021,1921
$GC,15320,1.25,280.5,386.1,10.4,1335,15324,0.00,2.58,0.00,0.000,4,0.000,0.067,3052,3401,1921
$GC,15352,1.25,280.5,382.5,10.5,1337,15358,0.00,2.55,0.00,0.000,6,0.000,0.052,3052,2004,1920
$GC,15677,1.26,288.3,350.3,9.7,1368,15694,0.00,2.72,9.73,0.809,4,0.000,0.072,3052,577,1886
$GC,15730,1.26,290.2,345.1,9.9,1376,15737,0.00,2.60,0.00,0.000,6,0.000,0.048,3052,2017,1885
$GC,16074,1.26,290.2,311.2,10.1,1437,16079,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2018,1884
$GC,16416,1.26,290.2,275.9,10.6,1498,16421,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2019,1884
$GC,16757,1.26,290.2,238.2,10.3,1559,16763,0.00,2.72,0.00,0.000,4,0.000,0.073,3052,577,1884
$GC,16792,1.26,290.2,234.4,10.9,1565,16798,0.00,2.60,0.00,0.000,6,0.000,0.048,3052,2011,1884
$GC,17135,1.28,309.8,199.4,9.3,1626,17157,0.00,0.00,19.98,0.776,6,0.000,0.000,3052,2013,1799
$GC,17494,1.28,309.8,162.5,10.5,1690,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2014,1795
$GC,17834,1.28,310.7,125.9,10.0,1751,17839,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2014,1795
$GC,18173,1.28,310.7,90.2,11.4,1812,18182,0.00,2.78,0.00,0.000,4,0.000,0.069,3052,573,1795
$GC,18226,1.28,310.7,84.5,10.8,1821,18234,0.00,2.62,0.00,0.000,6,0.000,0.048,3052,1998,1795
$GC,18570,1.28,310.7,49.3,11.6,1882,18577,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2000,1795
$GC,18705,1.28,310.7,35.3,10.3,1907,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2001,1795
$GC,18840,1.29,316.6,21.2,9.8,1932,18855,0.00,2.65,6.90,0.597,4,0.000,0.062,3052,3388,1770
$GC,18868,1.29,316.6,18.2,10.8,1936,18876,0.00,2.58,0.00,0.000,6,0.000,0.055,3053,2002,1769
$GC,19005,1.43,383.2,3.9,7.7,1961,19021,0.15,0.00,14.27,0.644,2,0.057,0.000,3100,2001,1707
$STATE,19022,end climb,SURFACE_DEPTH_REACHED
$STATE,19022,begin surface coast
$FINISH,-0.1,1.025208
$STATE,19055,end surface coast,CONTROL_FINISHED_OK
$STATE,19055,begin surface
$SM_CCo,19134,0.00,0.000,0,0,1703,333.36
$SM_GC,0.63,10.70,0.00,0.00,0.038,0.000,0.000,568,2044,1703,-10.07,0.37,333.36
$IRIDIUM_FIX,6041.65,-2528.18,290797,111143
$TT8_MAMPS,0.042185
$HUMID,1607
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,11.90
$XPDR_PINGS,418
$24V_AH,23.5,28.380
$10V_AH,10.5,36.341
$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,24.975,106.625,468.700,0.000,0.000,89.238,105.781,322.880,104.500,0.000,0.000,11.308,3085.724,11587.951,635.362,3747.464,831.559,0.000,2162.169,0.000,3770.665,0.000,0.466
$DEVICE_MAMPS,199.420,101.244,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1373.222,1432.657,763.245,957.444,959.152,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139383,1969
$CAP_FILE_SIZE,172177,0
$CFSIZE,260165632,242929664
$ERRORS,0,8,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,161938,6104.326,-2537.394,30,1.1,30,-18.0