version: 66.03
glider: 141
mission: 7
dive: 161
start: 5 9 108 14 36 52
data:
$ID,141
$MISSION,7
$DIVE,161
$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,5
$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,-9353.1855
$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,14
$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
$GPS1,142731,6103.774,-2619.708,37,1.9,42,-18.4
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-50.8
$GPS2,143633,6103.729,-2619.760,14,2.0,14,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6114.487,-2619.307
$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,23.4,20000,-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,-194.7,0.0,0.0,0,158,0.00,0.00,-129.27,0.000,2,0.000,0.000,566,2045,3739
$GC,161,-1.34,-194.7,3.3,-6.8,18,185,11.25,2.62,-2.65,0.000,4,0.202,0.070,2479,3433,3859
$GC,375,-1.29,-194.7,33.7,-11.1,57,383,0.00,2.60,0.00,0.000,6,0.000,0.048,2480,2021,3859
$GC,510,-1.29,-194.7,49.0,-11.7,82,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2018,3859
$GC,649,-1.29,-194.7,63.8,-10.1,107,655,0.00,2.58,0.00,0.000,4,0.000,0.061,2480,623,3860
$GC,762,-1.29,-194.7,75.4,-10.1,127,768,0.00,2.55,0.00,0.000,6,0.000,0.043,2480,2053,3859
$GC,1100,-1.29,-194.7,106.2,-8.8,188,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2055,3860
$GC,1438,-1.29,-194.7,135.6,-9.3,249,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2055,3860
$GC,1781,-1.29,-194.7,167.2,-9.5,310,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2055,3860
$GC,2122,-1.29,-194.7,201.4,-10.4,371,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2055,3860
$GC,2467,-1.29,-194.7,235.3,-9.9,432,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2055,3860
$GC,2810,-1.29,-194.7,270.0,-9.8,493,2817,0.00,2.62,0.00,0.000,4,0.000,0.060,2480,617,3860
$GC,2873,-1.29,-194.7,276.5,-10.2,504,2880,0.00,2.55,0.00,0.000,6,0.000,0.045,2480,2050,3860
$GC,3217,-1.29,-194.7,308.8,-9.5,565,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2054,3860
$GC,3560,-1.29,-194.7,340.0,-9.2,626,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2054,3859
$GC,3889,-1.29,-194.7,372.3,-9.9,666,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2054,3860
$GC,4208,-1.29,-194.7,404.2,-10.1,696,4212,0.00,2.65,0.00,0.000,4,0.000,0.062,2480,619,3860
$GC,4262,-1.29,-194.7,410.0,-10.5,700,4269,0.00,2.55,0.00,0.000,6,0.000,0.045,2480,2048,3859
$GC,4588,-1.29,-194.7,445.5,-11.0,731,4592,0.00,2.58,0.00,0.000,4,0.000,0.070,2480,3434,3859
$GC,4661,-1.29,-194.7,454.1,-11.6,737,4665,0.00,2.50,0.00,0.000,6,0.000,0.051,2480,2057,3859
$GC,4986,-1.29,-194.7,492.6,-12.0,767,4990,0.00,2.70,0.00,0.000,4,0.000,0.069,2480,619,3859
$GC,5058,-1.29,-194.7,501.5,-11.9,773,5063,0.00,2.58,0.00,0.000,6,0.000,0.048,2480,2040,3859
$GC,5385,-1.29,-194.7,539.4,-11.8,803,5389,0.00,2.67,0.00,0.000,4,0.000,0.079,2479,3437,3859
$GC,5439,-1.29,-194.7,546.5,-13.1,807,5446,0.00,2.55,0.00,0.000,6,0.000,0.054,2480,2043,3859
$GC,5765,-1.29,-194.7,583.2,-10.9,838,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2043,3859
$GC,6088,-1.29,-194.7,616.3,-9.4,861,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2043,3859
$GC,6398,-1.29,-194.7,645.9,-9.4,876,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2043,3859
$GC,6707,-1.29,-194.7,676.1,-9.6,891,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,7016,-1.29,-194.7,705.6,-10.0,906,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3859
$GC,7325,-1.29,-194.7,738.9,-11.0,921,7329,0.00,2.83,0.00,0.000,4,0.000,0.100,2480,621,3859
$GC,7386,-1.29,-194.7,746.4,-12.2,924,7390,0.00,2.67,0.00,0.000,6,0.000,0.061,2480,2058,3858
$GC,7711,-1.29,-194.7,783.6,-11.1,940,7716,0.00,2.75,0.00,0.000,4,0.000,0.098,2480,3446,3858
$GC,7772,-1.29,-194.7,790.6,-12.0,943,7777,0.00,2.60,0.00,0.000,6,0.000,0.063,2480,2055,3858
$GC,8099,-1.29,-194.7,824.0,-9.7,959,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2053,3858
$GC,8408,-1.29,-194.7,850.7,-8.7,974,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2052,3857
$GC,8717,-1.29,-194.7,876.1,-8.3,989,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2052,3857
$GC,9026,-1.29,-194.7,904.6,-9.6,1004,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2052,3857
$GC,9335,-1.29,-194.7,937.0,-11.1,1019,9340,0.00,2.67,0.00,0.000,4,0.000,0.080,2479,3441,3857
$GC,9397,-1.29,-194.7,944.2,-11.9,1022,9401,0.00,2.58,0.00,0.000,6,0.000,0.061,2480,2059,3856
$GC,9722,-1.29,-194.7,980.8,-10.7,1038,9727,0.00,2.83,0.00,0.000,4,0.000,0.097,2480,614,3856
$GC,9807,-1.29,-194.7,989.3,-9.9,1042,9811,0.00,2.65,0.00,0.000,6,0.000,0.059,2480,2059,3856
$STATE,9814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9814,begin apogee
$GC,9819,-0.37,0.0,990.3,9.5,1042,9993,1.00,0.00,169.48,1.293,6,0.104,0.000,2693,1975,3062
$STATE,9993,end apogee,CONTROL_FINISHED_OK
$STATE,9993,begin climb
$GC,9995,1.34,194.7,994.7,0.0,1051,10168,1.70,0.00,167.55,1.262,6,0.077,0.000,3065,1974,2268
$GC,10467,1.29,194.7,948.1,10.9,1074,10471,0.00,2.67,0.00,0.000,4,0.000,0.075,3065,578,2262
$GC,10483,1.23,194.7,946.3,11.2,1075,10488,0.00,2.62,0.00,0.000,6,0.000,0.052,3065,1991,2262
$GC,10810,1.20,208.8,912.4,9.5,1091,10832,0.12,2.85,12.88,1.114,4,0.109,0.083,3041,3396,2210
$GC,10855,1.25,248.9,908.1,8.6,1093,10900,0.00,2.62,37.55,1.195,6,0.000,0.054,3040,1993,2046
$GC,11228,1.25,248.9,869.6,10.9,1111,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1993,2041
$GC,11536,1.25,248.9,837.4,10.5,1126,11541,0.00,2.72,0.00,0.000,4,0.000,0.071,3041,3405,2040
$GC,11553,1.25,248.9,835.7,10.0,1127,11557,0.00,2.62,0.00,0.000,6,0.000,0.056,3041,1999,2039
$GC,11878,1.25,248.9,802.8,10.0,1143,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1999,2039
$GC,12187,1.25,248.9,770.5,10.6,1158,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1998,2038
$GC,12496,1.25,248.9,739.9,10.1,1173,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1998,2038
$GC,12806,1.25,248.9,707.0,10.5,1188,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1996,2038
$GC,13115,1.25,248.9,674.8,10.6,1203,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1997,2038
$GC,13424,1.25,248.9,637.5,12.3,1218,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1996,2038
$GC,13733,1.25,248.9,601.3,11.2,1233,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1994,2037
$GC,14052,1.25,248.9,568.3,10.1,1262,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1994,2038
$GC,14370,1.29,282.5,539.3,8.8,1292,14405,0.00,2.78,29.48,0.998,4,0.000,0.069,3041,3405,1909
$GC,14417,1.30,289.0,534.8,9.8,1296,14431,0.00,2.62,7.68,0.837,6,0.000,0.054,3041,2002,1883
$GC,14757,1.32,301.4,501.3,9.6,1328,14772,0.10,0.00,12.12,0.904,6,0.071,0.000,3072,2000,1833
$GC,15085,1.32,301.4,460.6,13.6,1359,15090,0.00,2.72,0.00,0.000,4,0.000,0.073,3072,569,1830
$GC,15102,1.32,301.4,458.3,13.8,1360,15106,0.00,2.65,0.00,0.000,6,0.000,0.048,3072,2016,1831
$GC,15426,1.32,301.4,417.6,12.3,1390,15427,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2018,1830
$GC,15744,1.32,301.4,381.5,11.0,1420,15748,0.00,2.75,0.00,0.000,4,0.000,0.069,3072,576,1830
$GC,15762,1.32,301.4,379.7,10.5,1421,15766,0.00,2.62,0.00,0.000,6,0.000,0.048,3072,2011,1830
$GC,16087,1.34,321.3,347.2,9.3,1453,16110,0.00,0.00,18.15,0.857,6,0.000,0.000,3072,2011,1751
$GC,16447,1.34,321.3,311.1,10.5,1517,16453,0.00,2.75,0.00,0.000,4,0.000,0.068,3072,570,1748
$GC,16459,1.34,321.3,309.8,10.4,1519,16465,0.00,2.62,0.00,0.000,6,0.000,0.047,3072,2007,1748
$GC,16802,1.34,321.3,273.6,10.8,1580,16807,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2010,1749
$GC,17145,1.34,321.3,236.0,12.5,1641,17151,0.00,2.70,0.00,0.000,4,0.000,0.067,3072,576,1748
$GC,17168,1.34,321.3,233.2,11.1,1645,17174,0.00,2.58,0.00,0.000,6,0.000,0.046,3072,1999,1748
$GC,17512,1.34,321.3,194.5,11.0,1706,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2002,1748
$GC,17853,1.34,321.3,155.4,12.1,1767,17858,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2002,1748
$GC,18195,1.34,321.3,115.0,11.4,1828,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2002,1748
$GC,18535,1.34,321.3,78.5,10.4,1889,18541,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2003,1748
$GC,18871,1.35,329.2,43.7,9.7,1950,18887,0.00,0.00,8.15,0.627,6,0.000,0.000,3071,2003,1718
$GC,19014,1.35,329.2,27.5,10.9,1976,19021,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2003,1717
$GC,19148,1.35,329.2,13.3,11.8,2001,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2003,1717
$STATE,19244,end climb,SURFACE_DEPTH_REACHED
$STATE,19244,begin surface coast
$FINISH,0.1,1.027160
$STATE,19271,end surface coast,CONTROL_FINISHED_OK
$STATE,19272,begin surface
$SM_CCo,19350,0.00,0.000,0,0,1713,330.91
$SM_GC,0.77,10.50,0.00,0.00,0.037,0.000,0.000,569,2005,1713,-10.09,-0.71,330.91
$IRIDIUM_FIX,6032.86,-2518.66,030897,090953
$TT8_MAMPS,0.042185
$HUMID,1654
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.50
$XPDR_PINGS,476
$24V_AH,23.5,32.910
$10V_AH,10.6,40.230
$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,24.675,100.975,463.025,0.000,0.000,28.586,31.884,349.621,119.000,0.000,0.000,15.625,3155.087,11475.720,598.943,3924.758,720.978,0.000,2220.950,0.000,3929.976,0.000,0.465
$DEVICE_MAMPS,201.721,100.477,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1413.600,1461.762,780.012,989.784,975.922,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145418,2024
$CAP_FILE_SIZE,170420,0
$CFSIZE,260165632,240812032
$ERRORS,0,22,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,200037,6105.798,-2621.589,40,1.0,40,-18.4