version: 66.03
glider: 141
mission: 7
dive: 140
start: 5 4 108 22 1 51
data:
$ID,141
$MISSION,7
$DIVE,140
$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,-8924.3994
$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,20
$R_STBD_OVSHOOT,32
$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
$GPS1,215432,6103.325,-2545.462,66,1.0,66,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-53.2
$GPS2,220132,6103.358,-2545.553,10,1.8,15,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6056.417,-2549.571
$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,248.1,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,138,0.00,0.00,-107.35,0.000,6,0.000,0.000,574,2043,3856
$GC,140,-1.34,-194.7,3.9,-7.6,15,157,11.18,2.72,0.00,0.000,4,0.202,0.063,2484,619,3859
$GC,316,-1.34,-194.7,32.2,-11.4,47,324,0.00,2.55,0.00,0.000,6,0.000,0.047,2483,2015,3860
$GC,450,-1.34,-194.7,47.6,-12.0,72,458,0.00,2.65,0.00,0.000,4,0.000,0.063,2483,3431,3860
$GC,492,-1.34,-194.7,52.8,-12.5,79,498,0.00,2.53,0.00,0.000,6,0.000,0.051,2483,2040,3860
$GC,828,-1.34,-194.7,91.1,-10.7,140,835,0.00,2.60,0.00,0.000,4,0.000,0.061,2483,3438,3860
$GC,875,-1.34,-194.7,96.1,-11.3,148,881,0.00,2.50,0.00,0.000,6,0.000,0.051,2484,2046,3860
$GC,1213,-1.34,-194.7,131.0,-9.5,209,1219,0.00,2.58,0.00,0.000,4,0.000,0.060,2483,3438,3859
$GC,1244,-1.34,-194.7,133.9,-10.4,214,1250,0.00,2.47,0.00,0.000,6,0.000,0.055,2484,2058,3859
$GC,1584,-1.34,-194.7,169.4,-11.0,275,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2052,3860
$GC,1927,-1.34,-194.7,206.2,-10.7,336,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2052,3860
$GC,2270,-1.34,-194.7,243.4,-11.1,397,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2052,3860
$GC,2612,-1.34,-194.7,280.4,-11.1,458,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2052,3860
$GC,2954,-1.34,-194.7,320.7,-12.3,519,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2052,3860
$GC,3291,-1.34,-194.7,360.6,-12.0,572,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2052,3860
$GC,3610,-1.34,-194.7,397.7,-11.4,602,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2052,3859
$GC,3928,-1.34,-194.7,438.2,-13.4,632,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2052,3860
$GC,4247,-1.34,-194.7,475.2,-9.5,662,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2052,3859
$GC,4565,-1.34,-194.7,497.2,-5.3,692,4570,0.00,2.70,0.00,0.000,4,0.000,0.071,2483,626,3860
$GC,4593,-1.34,-194.7,498.6,-5.4,694,4597,0.00,2.58,0.00,0.000,6,0.000,0.049,2483,2059,3859
$GC,4924,-1.34,-194.7,520.6,-8.8,725,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2060,3859
$GC,5241,-1.34,-194.7,558.1,-13.8,755,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2061,3859
$GC,5562,-1.34,-194.7,599.2,-11.2,785,5566,0.00,2.75,0.00,0.000,4,0.000,0.081,2483,627,3859
$GC,5582,-1.34,-194.7,601.9,-11.5,786,5586,0.00,2.67,0.00,0.000,6,0.000,0.057,2483,2082,3859
$GC,5910,-1.34,-194.7,632.6,-8.6,802,5914,0.00,2.83,0.00,0.000,4,0.000,0.086,2483,629,3859
$GC,5953,-1.34,-194.7,636.4,-8.4,804,5957,0.00,2.62,0.00,0.000,6,0.000,0.059,2484,2048,3859
$GC,6279,-1.34,-194.7,666.3,-10.5,820,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3859
$GC,6589,-1.34,-194.7,702.8,-12.4,835,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3859
$GC,6898,-1.34,-194.7,744.1,-12.7,850,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3858
$GC,7207,-1.34,-194.7,778.3,-9.9,865,7212,0.00,2.75,0.00,0.000,4,0.000,0.087,2483,630,3858
$GC,7240,-1.34,-194.7,781.5,-9.6,866,7246,0.00,2.62,0.00,0.000,6,0.000,0.061,2484,2057,3858
$GC,7555,-1.34,-194.7,809.7,-9.4,882,7560,0.00,2.72,0.00,0.000,4,0.000,0.081,2483,628,3858
$GC,7582,-1.34,-194.7,812.2,-9.7,883,7586,0.00,2.62,0.00,0.000,6,0.000,0.061,2483,2060,3858
$GC,7903,-1.34,-194.7,839.8,-9.3,899,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2062,3857
$GC,8212,-1.34,-194.7,871.2,-10.6,914,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3857
$GC,8523,-1.34,-194.7,902.1,-9.3,929,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3857
$GC,8831,-1.34,-194.7,934.3,-11.9,944,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3856
$GC,9139,-1.34,-194.7,970.3,-11.5,959,9144,0.00,2.70,0.00,0.000,4,0.000,0.097,2483,3443,3856
$GC,9178,-1.34,-194.7,974.9,-12.3,961,9183,0.00,2.58,0.00,0.000,6,0.000,0.063,2483,2059,3856
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9343,-0.37,0.0,991.8,10.3,969,9520,1.00,0.00,169.40,1.299,6,0.100,0.000,2695,1982,3062
$STATE,9521,end apogee,CONTROL_FINISHED_OK
$STATE,9521,begin climb
$GC,9522,1.34,194.7,997.6,0.0,978,9696,1.70,0.00,168.43,1.268,6,0.075,0.000,3070,1982,2268
$GC,9994,1.30,207.1,955.8,9.6,1001,10015,0.00,2.85,11.65,1.099,4,0.000,0.071,3069,3395,2216
$GC,10053,1.25,207.1,949.6,10.2,1003,10060,0.00,2.62,0.00,0.000,6,0.000,0.057,3069,1998,2216
$GC,10370,1.24,241.7,920.6,8.8,1019,10411,0.00,2.78,32.38,1.197,4,0.000,0.071,3069,3395,2074
$GC,10444,1.19,241.7,913.4,10.9,1022,10449,0.15,2.62,0.00,0.000,6,0.106,0.057,3040,1997,2072
$GC,10760,1.23,268.3,886.2,9.1,1037,10793,0.00,0.00,26.92,1.104,6,0.000,0.000,3040,1996,1968
$GC,11088,1.23,268.3,853.2,10.4,1053,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1996,1964
$GC,11397,1.28,309.6,823.8,8.6,1068,11459,0.00,2.85,42.72,1.085,4,0.000,0.084,3040,578,1798
$GC,11482,1.31,332.9,815.8,9.2,1072,11512,0.10,2.67,22.45,1.122,6,0.067,0.054,3071,2016,1703
$GC,11834,1.31,332.9,773.7,11.8,1089,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2017,1697
$GC,12142,1.32,346.9,742.2,9.5,1104,12164,0.00,0.00,14.93,0.936,6,0.000,0.000,3070,2017,1648
$GC,12472,1.32,346.9,711.5,10.0,1120,12476,0.00,2.78,0.00,0.000,4,0.000,0.077,3071,575,1645
$GC,12498,1.34,356.4,708.7,9.7,1121,12514,0.00,2.65,10.57,1.006,6,0.000,0.054,3070,2013,1608
$GC,12835,1.34,356.4,673.5,10.7,1138,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2016,1605
$GC,13143,1.34,356.4,638.8,11.8,1153,13148,0.00,2.78,0.00,0.000,4,0.000,0.080,3071,571,1604
$GC,13170,1.34,356.4,636.0,10.0,1154,13174,0.00,2.65,0.00,0.000,6,0.000,0.054,3070,2017,1604
$GC,13491,1.34,356.4,599.2,11.8,1170,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2017,1604
$GC,13811,1.34,356.4,556.5,13.8,1200,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2020,1603
$GC,14130,1.34,357.7,519.0,10.0,1230,14134,0.00,2.75,0.00,0.000,4,0.000,0.074,3070,572,1603
$GC,14179,1.34,357.7,513.9,10.2,1234,14184,0.00,2.58,0.00,0.000,6,0.000,0.051,3070,1995,1603
$GC,14503,1.34,357.7,483.8,10.1,1264,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1997,1603
$GC,14822,1.34,357.7,447.7,12.4,1294,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1997,1603
$GC,15140,1.34,357.7,409.0,11.6,1324,15145,0.00,2.70,0.00,0.000,4,0.000,0.071,3071,569,1604
$GC,15168,1.34,357.7,405.7,12.0,1326,15173,0.00,2.58,0.00,0.000,6,0.000,0.050,3070,1985,1603
$GC,15492,1.34,357.7,367.0,11.8,1356,15496,0.00,2.60,0.00,0.000,4,0.000,0.067,3071,3395,1603
$GC,15525,1.34,357.7,362.8,12.0,1359,15529,0.00,2.60,0.00,0.000,6,0.000,0.053,3070,1970,1602
$GC,15862,1.34,357.7,326.2,11.2,1408,15867,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1967,1603
$GC,16204,1.34,357.7,290.3,10.3,1469,16209,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1968,1603
$GC,16546,1.34,357.7,251.9,11.0,1530,16551,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1967,1603
$GC,16887,1.34,357.7,211.6,11.6,1591,16893,0.00,2.67,0.00,0.000,4,0.000,0.061,3071,3395,1603
$GC,16922,1.34,357.7,207.3,11.8,1597,16928,0.00,2.60,0.00,0.000,6,0.000,0.051,3070,1975,1602
$GC,17265,1.34,357.7,166.2,10.3,1658,17271,0.00,2.62,0.00,0.000,4,0.000,0.071,3071,578,1603
$GC,17293,1.34,357.7,162.9,12.1,1663,17300,0.00,2.55,0.00,0.000,6,0.000,0.047,3071,1992,1603
$GC,17635,1.34,357.7,126.2,11.1,1724,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1996,1603
$GC,17978,1.39,397.4,93.3,8.6,1785,18023,0.00,2.78,36.35,0.729,4,0.000,0.068,3071,585,1440
$GC,18051,1.39,397.4,85.5,11.5,1797,18060,0.00,2.60,0.00,0.000,6,0.000,0.046,3070,1986,1439
$GC,18397,1.39,397.4,47.6,10.7,1858,18404,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1989,1436
$GC,18532,1.39,397.4,30.8,11.5,1883,18539,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1989,1435
$GC,18665,1.39,397.4,14.4,15.0,1908,18673,0.00,2.70,0.00,0.000,4,0.000,0.068,3071,577,1435
$GC,18701,1.39,397.4,9.9,11.2,1914,18710,0.00,2.58,0.00,0.000,6,0.000,0.047,3071,1983,1435
$STATE,18762,end climb,SURFACE_DEPTH_REACHED
$STATE,18762,begin surface coast
$FINISH,0.4,1.027210
$STATE,18785,end surface coast,CONTROL_FINISHED_OK
$STATE,18785,begin surface
$SM_CCo,18864,0.00,0.000,0,0,1431,399.84
$SM_GC,0.57,10.50,0.00,0.00,0.037,0.000,0.000,576,2040,1431,-10.06,0.28,399.84
$IRIDIUM_FIX,6041.65,-2600.10,290797,161626
$TT8_MAMPS,0.042185
$HUMID,1625
$INTERNAL_PRESSURE,9.99062
$TCM_TEMP,12.30
$XPDR_PINGS,387
$24V_AH,23.5,28.772
$10V_AH,10.6,36.681
$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,24.625,117.125,535.800,0.000,0.000,23.971,34.346,233.563,96.750,0.000,0.000,16.840,3027.957,11257.436,684.346,3684.445,612.719,0.000,2236.497,0.000,3707.678,0.000,0.466
$DEVICE_MAMPS,201.721,97.409,1298.531,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1345.851,1411.699,732.001,914.213,887.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138955,1929
$CAP_FILE_SIZE,166597,0
$CFSIZE,260165632,242757632
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,050508,031731,6100.833,-2553.147,36,1.6,41,-18.1