version: 66.03
glider: 141
mission: 7
dive: 139
start: 5 4 108 16 26 52
data:
$ID,141
$MISSION,7
$DIVE,139
$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,-8906.9316
$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,18
$R_STBD_OVSHOOT,33
$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
$GPS1,161938,6104.326,-2537.394,30,1.1,30,-18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-51.4
$GPS2,162633,6104.390,-2537.421,13,1.3,13,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.448,-2541.437
$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,248.0,20000,-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,-194.7,0.0,0.0,0,137,0.00,0.00,-108.25,0.000,2,0.000,0.000,568,2039,3831
$GC,139,-1.34,-194.7,3.7,-6.8,15,156,11.12,2.72,-0.55,0.000,4,0.197,0.075,2488,621,3857
$GC,278,-1.34,-194.7,26.4,-11.1,40,287,0.00,2.55,0.00,0.000,6,0.000,0.051,2488,2013,3858
$GC,413,-1.34,-194.7,42.0,-12.0,65,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2015,3858
$GC,549,-1.34,-194.7,57.8,-11.4,90,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2016,3858
$GC,892,-1.34,-194.7,95.0,-10.5,151,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2017,3858
$GC,1231,-1.34,-194.7,129.8,-10.2,212,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2017,3858
$GC,1572,-1.34,-194.7,165.8,-11.3,273,1578,0.00,2.65,0.00,0.000,4,0.000,0.062,2487,3438,3858
$GC,1618,-1.34,-194.7,171.3,-11.9,281,1624,0.00,2.58,0.00,0.000,6,0.000,0.048,2488,2022,3858
$GC,1960,-1.34,-194.7,208.3,-10.9,342,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2018,3858
$GC,2303,-1.34,-194.7,243.5,-10.6,403,2309,0.00,2.67,0.00,0.000,4,0.000,0.061,2488,3446,3858
$GC,2331,-1.34,-194.7,246.7,-11.4,408,2338,0.00,2.58,0.00,0.000,6,0.000,0.055,2488,2021,3858
$GC,2676,-1.34,-194.7,283.2,-10.6,469,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2017,3858
$GC,3018,-1.34,-194.7,318.4,-9.7,530,3024,0.00,2.65,0.00,0.000,4,0.000,0.062,2488,3442,3858
$GC,3047,-1.34,-194.7,321.4,-10.7,535,3052,0.00,2.55,0.00,0.000,6,0.000,0.049,2488,2034,3858
$GC,3387,-1.34,-194.7,355.5,-10.5,591,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,3705,-1.34,-194.7,389.1,-11.1,621,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,4024,-1.34,-194.7,423.8,-10.4,651,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2032,3858
$GC,4342,-1.34,-194.7,456.1,-10.0,681,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,4661,-1.34,-194.7,487.3,-9.8,711,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3859
$GC,4979,-1.34,-194.7,519.3,-10.5,741,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,5299,-1.34,-194.7,553.1,-10.5,771,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,5616,-1.34,-194.7,586.2,-10.5,801,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,5940,-1.34,-194.7,618.0,-9.4,823,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,6249,-1.34,-194.7,647.7,-9.8,838,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3858
$GC,6558,-1.34,-194.7,678.8,-9.9,853,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2032,3858
$GC,6868,-1.34,-194.7,709.3,-9.7,868,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2032,3858
$GC,7177,-1.34,-194.7,737.8,-8.9,883,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2032,3858
$GC,7486,-1.34,-194.7,766.2,-9.8,898,7491,0.00,2.83,0.00,0.000,4,0.000,0.094,2488,3441,3858
$GC,7518,-1.34,-194.7,769.6,-10.4,899,7525,0.00,2.62,0.00,0.000,6,0.000,0.068,2488,2051,3858
$GC,7834,-1.34,-194.7,800.7,-10.2,915,7839,0.00,2.85,0.00,0.000,4,0.000,0.105,2488,620,3858
$GC,7861,-1.34,-194.7,803.6,-11.4,916,7865,0.00,2.62,0.00,0.000,6,0.000,0.060,2488,2032,3858
$GC,8182,-1.34,-194.7,837.1,-10.7,932,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2034,3857
$GC,8492,-1.34,-194.7,871.1,-11.1,947,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2034,3857
$GC,8801,-1.34,-194.7,901.9,-9.2,962,8805,0.00,2.75,0.00,0.000,4,0.000,0.094,2488,3445,3857
$GC,8827,-1.34,-194.7,904.5,-10.3,963,8831,0.00,2.62,0.00,0.000,6,0.000,0.062,2488,2051,3857
$GC,9149,-1.34,-194.7,932.4,-8.6,979,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2050,3857
$GC,9458,-1.34,-194.7,960.9,-9.5,994,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2050,3856
$STATE,9765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9765,begin apogee
$GC,9770,-0.37,0.0,991.3,9.9,1009,9947,0.98,0.00,169.15,1.297,6,0.098,0.000,2695,1978,3062
$STATE,9948,end apogee,CONTROL_FINISHED_OK
$STATE,9948,begin climb
$GC,9949,1.34,194.7,996.8,0.0,1018,10127,1.73,0.00,168.35,1.267,6,0.074,0.000,3071,1978,2266
$GC,10435,1.29,194.7,952.8,10.2,1042,10440,0.00,2.72,0.00,0.000,4,0.000,0.071,3070,3401,2261
$GC,10485,1.23,194.7,947.5,11.0,1044,10490,0.12,2.65,0.00,0.000,6,0.111,0.058,3047,1980,2261
$GC,10800,1.24,209.4,917.7,9.5,1059,10821,0.00,2.83,13.45,1.127,4,0.000,0.087,3047,574,2208
$GC,10844,1.26,222.3,913.4,9.5,1061,10866,0.00,2.60,13.38,1.115,6,0.000,0.051,3047,1992,2154
$GC,11174,1.27,227.2,881.0,9.8,1077,11185,0.00,2.70,5.62,0.910,4,0.000,0.079,3047,3395,2135
$GC,11229,1.27,227.2,875.3,10.4,1079,11235,0.00,2.65,0.00,0.000,6,0.000,0.058,3047,1976,2134
$GC,11545,1.27,229.0,843.9,9.9,1095,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1977,2133
$GC,11854,1.30,253.9,814.0,9.1,1110,11885,0.00,2.78,25.50,1.151,4,0.000,0.071,3047,3395,2026
$GC,11917,1.30,253.9,807.7,10.3,1113,11922,0.00,2.62,0.00,0.000,6,0.000,0.058,3047,1991,2024
$GC,12244,1.30,253.9,775.8,10.1,1129,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1990,2022
$GC,12553,1.30,253.9,744.0,10.4,1144,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1990,2022
$GC,12863,1.30,253.9,711.2,10.5,1159,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1989,2022
$GC,13172,1.30,253.9,678.5,10.1,1174,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1989,2021
$GC,13481,1.30,253.9,647.5,10.1,1189,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1988,2021
$GC,13791,1.30,253.9,614.3,10.9,1204,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1988,2021
$GC,14104,1.30,253.9,579.8,11.1,1227,14109,0.00,2.70,0.00,0.000,4,0.000,0.070,3047,3403,2021
$GC,14136,1.30,253.9,576.0,11.9,1229,14143,0.00,2.65,0.00,0.000,6,0.000,0.057,3047,1993,2021
$GC,14462,1.30,253.9,542.1,10.1,1260,14466,0.00,2.70,0.00,0.000,4,0.000,0.077,3047,572,2021
$GC,14493,1.30,253.9,538.6,10.0,1262,14501,0.00,2.62,0.00,0.000,6,0.000,0.051,3047,1997,2021
$GC,14819,1.30,253.9,505.8,10.2,1293,14824,0.00,2.65,0.00,0.000,4,0.000,0.073,3047,3396,2021
$GC,14851,1.30,253.9,502.1,11.3,1295,14857,0.00,2.58,0.00,0.000,6,0.000,0.055,3047,1994,2021
$GC,15177,1.30,256.6,468.7,9.9,1326,15181,0.00,2.70,0.00,0.000,4,0.000,0.074,3047,569,2021
$GC,15209,1.30,259.1,465.3,9.9,1328,15219,0.00,2.55,5.35,0.741,6,0.000,0.055,3047,1992,2005
$GC,15545,1.34,284.4,433.3,9.1,1360,15578,0.10,2.72,23.92,0.920,4,0.069,0.068,3078,3388,1901
$GC,15612,1.34,284.4,425.9,11.4,1366,15616,0.00,2.60,0.00,0.000,6,0.000,0.053,3078,1985,1900
$GC,15935,1.34,284.4,390.2,10.4,1396,15940,0.00,2.67,0.00,0.000,4,0.000,0.072,3078,570,1899
$GC,15968,1.29,284.4,386.5,10.7,1398,15974,0.00,2.58,0.00,0.000,6,0.000,0.049,3078,1992,1899
$GC,16293,1.29,284.4,352.2,10.1,1429,16297,0.00,2.62,0.00,0.000,4,0.000,0.066,3078,3390,1898
$GC,16332,1.29,284.4,347.9,11.0,1433,16338,0.00,2.58,0.00,0.000,6,0.000,0.051,3078,1990,1898
$GC,16674,1.29,284.4,310.2,11.3,1494,16680,0.00,2.70,0.00,0.000,4,0.000,0.071,3078,569,1898
$GC,16708,1.29,284.4,306.5,10.8,1500,16715,0.00,2.58,0.00,0.000,6,0.000,0.048,3078,1996,1898
$GC,17052,1.29,284.4,270.0,10.1,1561,17058,0.00,2.62,0.00,0.000,4,0.000,0.064,3078,3392,1898
$GC,17086,1.29,284.4,266.1,12.2,1567,17093,0.00,2.60,0.00,0.000,6,0.000,0.051,3078,1976,1897
$GC,17430,1.33,311.9,233.6,9.0,1628,17457,0.00,0.00,25.05,0.802,6,0.000,0.000,3078,1972,1790
$GC,17795,1.33,311.9,197.4,11.4,1693,17800,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1972,1785
$GC,18137,1.33,311.9,158.4,10.9,1754,18143,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1972,1785
$GC,18479,1.33,311.9,119.1,12.4,1815,18488,0.00,2.67,0.00,0.000,4,0.000,0.074,3078,580,1785
$GC,18516,1.33,311.9,114.5,10.6,1821,18524,0.00,2.58,0.00,0.000,6,0.000,0.048,3078,1984,1785
$GC,18861,1.33,311.9,73.0,12.3,1882,18868,0.00,2.62,0.00,0.000,4,0.000,0.067,3078,3389,1785
$GC,18901,1.33,311.9,67.4,14.1,1889,18907,0.00,2.55,0.00,0.000,6,0.000,0.049,3078,1995,1784
$GC,19233,1.34,321.8,28.1,9.7,1950,19249,0.00,2.70,8.35,0.621,4,0.000,0.071,3078,573,1753
$GC,19272,1.34,321.8,23.8,10.2,1956,19280,0.00,2.62,0.00,0.000,6,0.000,0.053,3078,1994,1752
$GC,19407,1.35,326.0,9.1,9.9,1981,19415,0.00,0.00,6.22,0.572,6,0.000,0.000,3078,1997,1732
$STATE,19457,end climb,SURFACE_DEPTH_REACHED
$STATE,19457,begin surface coast
$FINISH,0.4,1.027203
$STATE,19480,end surface coast,CONTROL_FINISHED_OK
$STATE,19480,begin surface
$SM_CCo,19559,0.00,0.000,0,0,1728,327.23
$SM_GC,0.72,10.52,0.00,0.00,0.035,0.000,0.000,574,2043,1728,-10.06,0.37,327.23
$IRIDIUM_FIX,6041.65,-2526.27,290797,111134
$TT8_MAMPS,0.042185
$HUMID,1637
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,11.90
$XPDR_PINGS,397
$24V_AH,23.5,28.564
$10V_AH,10.5,36.512
$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,24.575,122.175,464.350,0.000,0.000,25.311,37.219,228.357,99.250,0.000,0.000,14.546,3120.880,11864.747,627.675,3769.748,574.375,0.000,2192.895,0.000,3773.450,0.000,0.466
$DEVICE_MAMPS,197.119,105.079,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1387.079,1443.612,726.151,931.355,888.209,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142525,1994
$CAP_FILE_SIZE,170543,0
$CFSIZE,260165632,242839552
$ERRORS,0,13,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,215432,6103.325,-2545.462,66,1.0,66,-18.1