version: 66.03
glider: 141
mission: 7
dive: 164
start: 5 10 108 6 58 35
data:
$ID,141
$MISSION,7
$DIVE,164
$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,350
$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,-9390.5557
$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,26
$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
$GPS1,065102,6112.142,-2625.560,42,1.2,42,-18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-53.3
$GPS2,065815,6112.194,-2625.482,11,1.1,11,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.830,-2626.380
$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,8.5,20000,-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,-194.7,0.0,0.0,0,123,0.00,0.00,-93.72,0.000,2,0.000,0.000,570,2047,3762
$GC,126,-1.34,-194.7,3.6,-6.7,13,150,11.07,2.72,-2.10,0.000,4,0.196,0.073,2481,624,3858
$GC,386,-1.34,-194.7,39.8,-12.3,61,394,0.00,2.58,0.00,0.000,6,0.000,0.052,2481,2021,3859
$GC,522,-1.34,-194.7,54.2,-9.1,86,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2024,3859
$GC,862,-1.34,-194.7,91.7,-11.9,147,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3859
$GC,1206,-1.34,-194.7,132.4,-12.0,208,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3859
$GC,1547,-1.34,-194.7,175.4,-12.3,269,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3859
$GC,1889,-1.34,-194.7,216.0,-11.9,330,1895,0.00,2.65,0.00,0.000,4,0.000,0.061,2481,3438,3859
$GC,1959,-1.34,-194.7,224.3,-12.2,342,1965,0.00,2.58,0.00,0.000,6,0.000,0.048,2481,2020,3859
$GC,2303,-1.34,-194.7,263.7,-11.5,403,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3859
$GC,2647,-1.34,-194.7,301.7,-10.9,464,2653,0.00,2.58,0.00,0.000,4,0.000,0.063,2480,624,3859
$GC,2716,-1.34,-194.7,309.3,-11.0,476,2722,0.00,2.50,0.00,0.000,6,0.000,0.051,2481,2025,3860
$GC,3060,-1.34,-194.7,344.3,-9.7,537,3066,0.00,2.62,0.00,0.000,4,0.000,0.064,2481,3435,3859
$GC,3111,-1.34,-194.7,349.7,-10.8,546,3117,0.00,2.55,0.00,0.000,6,0.000,0.049,2481,2019,3859
$GC,3437,-1.34,-194.7,382.8,-10.0,577,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,3754,-1.34,-194.7,414.5,-9.7,607,3759,0.00,2.58,0.00,0.000,4,0.000,0.065,2481,623,3859
$GC,3809,-1.34,-194.7,420.1,-10.0,611,3816,0.00,2.50,0.00,0.000,6,0.000,0.051,2481,2016,3859
$GC,4136,-1.34,-194.7,450.3,-9.1,642,4140,0.00,2.65,0.00,0.000,4,0.000,0.074,2481,3436,3859
$GC,4197,-1.34,-194.7,456.5,-9.8,647,4201,0.00,2.55,0.00,0.000,6,0.000,0.051,2481,2022,3859
$GC,4523,-1.34,-194.7,487.1,-9.6,677,4527,0.00,2.60,0.00,0.000,4,0.000,0.068,2481,619,3859
$GC,4573,-1.34,-194.7,492.3,-10.1,681,4577,0.00,2.53,0.00,0.000,6,0.000,0.048,2481,2029,3859
$GC,4897,-1.34,-194.7,524.1,-10.1,711,4902,0.00,2.65,0.00,0.000,4,0.000,0.080,2481,3435,3859
$GC,4948,-1.34,-194.7,529.6,-10.7,715,4952,0.00,2.58,0.00,0.000,6,0.000,0.054,2481,2022,3859
$GC,5273,-1.34,-194.7,563.1,-10.4,745,5278,0.00,2.65,0.00,0.000,4,0.000,0.077,2481,613,3859
$GC,5328,-1.34,-194.7,569.4,-11.1,749,5335,0.00,2.55,0.00,0.000,6,0.000,0.052,2481,2024,3859
$GC,5654,-1.34,-194.7,604.4,-10.7,778,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3859
$GC,5961,-1.34,-194.7,636.9,-10.4,793,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3859
$GC,6271,-1.34,-194.7,667.3,-9.8,808,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3859
$GC,6579,-1.34,-194.7,697.1,-9.7,823,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3858
$GC,6889,-1.34,-194.7,725.5,-9.1,838,6893,0.00,2.78,0.00,0.000,4,0.000,0.098,2481,622,3858
$GC,6944,-1.34,-194.7,730.8,-9.7,840,6950,0.00,2.58,0.00,0.000,6,0.000,0.062,2481,2010,3858
$GC,7259,-1.34,-194.7,760.9,-9.7,856,7263,0.00,2.83,0.00,0.000,4,0.000,0.098,2481,3446,3858
$GC,7313,-1.34,-194.7,766.5,-10.5,858,7320,0.00,2.70,0.00,0.000,6,0.000,0.064,2481,2022,3858
$GC,7629,-1.34,-194.7,795.8,-9.1,874,7634,0.00,2.75,0.00,0.000,4,0.000,0.096,2481,616,3858
$GC,7740,-1.34,-194.7,806.8,-10.5,879,7745,0.00,2.55,0.00,0.000,6,0.000,0.059,2481,2004,3857
$GC,8068,-1.34,-194.7,840.9,-10.7,895,8072,0.00,2.80,0.00,0.000,4,0.000,0.094,2481,3439,3857
$GC,8173,-1.34,-194.7,852.8,-11.5,900,8178,0.00,2.67,0.00,0.000,6,0.000,0.062,2481,2002,3857
$GC,8499,-1.34,-194.7,886.2,-9.9,916,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2002,3857
$GC,8809,-1.34,-194.7,916.0,-9.7,931,8813,0.00,2.70,0.00,0.000,4,0.000,0.097,2481,621,3856
$GC,8870,-1.34,-194.7,922.3,-10.5,934,8874,0.00,2.53,0.00,0.000,6,0.000,0.060,2481,1995,3856
$GC,9195,-1.34,-194.7,957.8,-11.4,950,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1997,3855
$STATE,9503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9503,begin apogee
$GC,9508,-0.37,0.0,991.3,10.2,965,9685,1.00,0.00,169.27,1.297,6,0.100,0.000,2694,1997,3062
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9688,1.34,194.7,996.1,0.0,974,9865,1.73,0.00,168.70,1.267,6,0.076,0.000,3068,1997,2267
$GC,10175,1.28,194.7,948.0,10.6,998,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1997,2263
$GC,10483,1.24,205.4,918.6,9.6,1013,10495,0.00,0.00,10.07,1.078,6,0.000,0.000,3068,1997,2224
$GC,10792,1.18,205.4,884.8,11.7,1028,10797,0.15,2.70,0.00,0.000,4,0.104,0.075,3034,571,2222
$GC,10819,1.18,205.4,881.5,11.8,1029,10823,0.00,2.60,0.00,0.000,6,0.000,0.053,3034,1991,2222
$GC,11140,1.20,221.6,849.5,9.4,1045,11162,0.00,2.75,15.75,1.131,4,0.000,0.083,3034,3394,2157
$GC,11185,1.24,252.1,845.1,8.9,1047,11219,0.00,2.62,29.20,1.162,6,0.000,0.056,3034,1983,2034
$GC,11537,1.24,255.2,811.0,9.9,1064,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1983,2029
$GC,11845,1.24,255.2,779.0,10.4,1079,11849,0.00,2.72,0.00,0.000,4,0.000,0.081,3034,569,2028
$GC,11861,1.24,255.2,777.3,10.4,1080,11865,0.00,2.60,0.00,0.000,6,0.000,0.052,3034,1995,2028
$GC,12186,1.24,255.2,742.6,10.7,1096,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1997,2028
$GC,12495,1.24,255.2,710.3,10.4,1111,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1997,2027
$GC,12805,1.24,255.2,675.3,10.9,1126,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1998,2027
$GC,13114,1.26,274.7,645.5,9.3,1141,13139,0.00,2.78,20.38,1.046,4,0.000,0.076,3034,573,1942
$GC,13145,1.29,295.4,642.6,9.3,1142,13172,0.12,2.62,20.83,1.026,6,0.064,0.052,3070,1996,1857
$GC,13480,1.29,295.4,606.3,11.0,1159,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1998,1853
$GC,13797,1.29,295.4,571.8,10.9,1186,13801,0.00,2.70,0.00,0.000,4,0.000,0.073,3070,570,1852
$GC,13817,1.29,295.4,569.4,10.6,1187,13824,0.00,2.60,0.00,0.000,6,0.000,0.051,3070,2005,1852
$GC,14143,1.29,295.4,532.9,11.6,1218,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2004,1852
$GC,14461,1.29,295.4,496.0,11.7,1248,14465,0.00,2.65,0.00,0.000,4,0.000,0.070,3070,574,1852
$GC,14477,1.29,295.4,494.0,11.4,1249,14481,0.00,2.53,0.00,0.000,6,0.000,0.048,3071,1984,1851
$GC,14802,1.29,295.4,455.0,12.3,1279,14803,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1986,1852
$GC,15121,1.29,295.4,416.0,12.3,1309,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1986,1851
$GC,15438,1.29,295.4,377.2,12.2,1339,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1986,1852
$GC,15761,1.29,295.4,339.3,11.2,1377,15766,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1987,1852
$GC,16104,1.29,295.4,301.6,11.0,1438,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1987,1851
$GC,16446,1.29,295.4,264.6,10.8,1499,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1987,1852
$GC,16788,1.29,295.4,227.0,11.3,1560,16794,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1987,1852
$GC,17132,1.29,295.4,188.2,10.9,1621,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1988,1851
$GC,17474,1.29,295.4,150.1,11.4,1682,17480,0.00,2.65,0.00,0.000,4,0.000,0.065,3070,570,1852
$GC,17496,1.29,295.4,147.7,12.5,1686,17504,0.00,2.55,0.00,0.000,6,0.000,0.044,3070,1978,1852
$GC,17840,1.29,295.4,111.4,10.8,1747,17846,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1981,1852
$GC,18181,1.31,312.4,77.1,9.4,1808,18202,0.00,2.72,14.98,0.693,4,0.000,0.061,3070,3396,1787
$GC,18224,1.31,312.4,72.8,10.1,1815,18232,0.00,2.62,0.00,0.000,6,0.000,0.049,3070,1986,1787
$GC,18561,1.31,312.4,36.7,10.6,1876,18568,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1982,1786
$GC,18695,1.31,312.4,21.7,10.5,1901,18703,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1983,1786
$GC,18830,1.31,314.2,7.0,9.9,1926,18837,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1982,1786
$STATE,18869,end climb,SURFACE_DEPTH_REACHED
$STATE,18869,begin surface coast
$FINISH,0.1,1.014011
$STATE,18896,end surface coast,CONTROL_FINISHED_OK
$STATE,18897,begin surface
$SM_CCo,18976,0.00,0.000,0,0,1782,313.74
$SM_GC,0.76,10.57,0.00,0.00,0.042,0.000,0.000,574,2051,1782,-10.06,0.59,313.74
$IRIDIUM_FIX,6041.65,-2627.93,040897,010115
$TT8_MAMPS,0.042185
$HUMID,1649
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.00
$XPDR_PINGS,432
$24V_AH,23.5,33.458
$10V_AH,10.6,40.731
$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,24.650,116.025,449.175,0.000,0.000,29.210,32.416,246.010,108.000,0.000,0.000,13.506,3049.949,11358.649,625.061,3739.961,622.352,0.000,2151.454,0.000,3751.126,0.000,0.465
$DEVICE_MAMPS,196.352,98.176,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1352.135,1403.131,727.604,926.425,918.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139147,1938
$CAP_FILE_SIZE,164818,0
$CFSIZE,260165632,240545792
$ERRORS,0,21,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,121607,6116.818,-2626.633,41,1.1,41,-18.6