version: 66.03
glider: 141
mission: 7
dive: 165
start: 5 10 108 12 23 28
data:
$ID,141
$MISSION,7
$DIVE,165
$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,-9404.9492
$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,28
$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
$GPS1,121607,6116.818,-2626.633,41,1.1,41,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-55.7
$GPS2,122309,6116.893,-2626.658,12,1.2,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6127.528,-2627.554
$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,8.6,20000,-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,-194.7,0.0,0.0,0,130,0.00,0.00,-101.55,0.000,2,0.000,0.000,574,2055,3814
$GC,133,-1.34,-194.7,3.7,-6.8,14,150,11.20,2.65,-0.85,0.000,4,0.201,0.069,2480,3437,3858
$GC,387,-1.30,-194.7,41.8,-12.9,61,395,0.00,2.60,0.00,0.000,6,0.000,0.048,2480,2028,3858
$GC,523,-1.30,-194.7,59.0,-12.9,86,529,0.00,2.62,0.00,0.000,4,0.000,0.059,2480,3435,3858
$GC,653,-1.30,-194.7,75.2,-12.8,109,659,0.00,2.58,0.00,0.000,6,0.000,0.047,2480,2021,3858
$GC,991,-1.30,-194.7,115.2,-11.1,170,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,1330,-1.30,-194.7,152.9,-10.5,231,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,1672,-1.30,-194.7,188.7,-9.9,292,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,2016,-1.30,-194.7,222.7,-9.5,353,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,2358,-1.30,-194.7,254.9,-9.7,414,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,2700,-1.30,-194.7,287.9,-10.1,475,2706,0.00,2.60,0.00,0.000,4,0.000,0.063,2480,624,3859
$GC,2767,-1.30,-194.7,294.9,-10.5,487,2773,0.00,2.53,0.00,0.000,6,0.000,0.045,2480,2025,3859
$GC,3111,-1.30,-194.7,329.5,-10.3,548,3117,0.00,2.62,0.00,0.000,4,0.000,0.067,2480,3436,3859
$GC,3202,-1.30,-194.7,339.3,-10.6,564,3208,0.00,2.55,0.00,0.000,6,0.000,0.056,2480,2034,3859
$GC,3532,-1.30,-194.7,373.9,-10.8,604,3537,0.00,2.62,0.00,0.000,4,0.000,0.063,2480,624,3859
$GC,3596,-1.30,-194.7,380.5,-10.5,609,3600,0.00,2.53,0.00,0.000,6,0.000,0.045,2480,2033,3858
$GC,3921,-1.30,-194.7,415.5,-10.8,639,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2035,3859
$GC,4239,-1.30,-194.7,450.3,-10.9,669,4243,0.00,2.67,0.00,0.000,4,0.000,0.072,2480,3434,3859
$GC,4300,-1.30,-194.7,457.5,-11.6,674,4304,0.00,2.58,0.00,0.000,6,0.000,0.053,2481,2037,3859
$GC,4625,-1.30,-194.7,493.6,-11.1,704,4629,0.00,2.67,0.00,0.000,4,0.000,0.071,2480,613,3859
$GC,4697,-1.30,-194.7,501.8,-11.2,710,4701,0.00,2.58,0.00,0.000,6,0.000,0.049,2480,2042,3858
$GC,5024,-1.30,-194.7,536.4,-10.5,740,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2043,3859
$GC,5340,-1.30,-194.7,569.2,-9.9,770,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2043,3858
$GC,5658,-1.30,-194.7,600.6,-10.1,800,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2044,3858
$GC,5966,-1.30,-194.7,632.3,-10.3,815,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2044,3858
$GC,6276,-1.30,-194.7,663.4,-9.6,830,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2044,3858
$GC,6586,-1.30,-194.7,692.8,-9.5,845,6591,0.00,2.90,0.00,0.000,4,0.000,0.109,2480,620,3858
$GC,6657,-1.30,-194.7,700.1,-10.5,848,6661,0.00,2.62,0.00,0.000,6,0.000,0.065,2480,2029,3858
$GC,6978,-1.30,-194.7,731.2,-10.3,864,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2030,3858
$GC,7288,-1.30,-194.7,762.7,-10.2,879,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2030,3858
$GC,7597,-1.30,-194.7,793.7,-9.6,894,7601,0.00,2.78,0.00,0.000,4,0.000,0.098,2480,3445,3857
$GC,7651,-1.30,-194.7,799.4,-10.2,896,7658,0.00,2.65,0.00,0.000,6,0.000,0.064,2480,2027,3857
$GC,7967,-1.30,-194.7,828.9,-9.7,912,7972,0.00,2.78,0.00,0.000,4,0.000,0.099,2480,613,3857
$GC,8016,-1.30,-194.7,834.0,-10.2,914,8020,0.00,2.60,0.00,0.000,6,0.000,0.061,2480,2028,3856
$GC,8337,-1.30,-194.7,864.9,-9.5,930,8342,0.00,2.75,0.00,0.000,4,0.000,0.096,2480,3442,3857
$GC,8426,-1.30,-194.7,873.8,-10.2,934,8430,0.00,2.65,0.00,0.000,6,0.000,0.064,2480,2017,3856
$GC,8747,-1.30,-194.7,904.2,-9.5,950,8751,0.00,2.72,0.00,0.000,4,0.000,0.097,2480,616,3856
$GC,8801,-1.30,-194.7,909.6,-10.2,952,8807,0.00,2.58,0.00,0.000,6,0.000,0.059,2480,2025,3856
$GC,9117,-1.30,-194.7,940.6,-9.7,968,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2026,3856
$GC,9426,-1.30,-194.7,969.5,-9.3,983,9430,0.00,2.78,0.00,0.000,4,0.000,0.095,2480,3445,3855
$GC,9497,-1.30,-194.7,976.7,-10.4,986,9501,0.00,2.65,0.00,0.000,6,0.000,0.064,2480,2017,3855
$STATE,9651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9651,begin apogee
$GC,9657,-0.37,0.0,991.3,9.5,994,9834,1.02,0.00,169.20,1.303,6,0.104,0.000,2695,1978,3062
$STATE,9834,end apogee,CONTROL_FINISHED_OK
$STATE,9834,begin climb
$GC,9836,1.34,194.7,994.7,0.0,1003,10015,1.73,2.80,168.23,1.272,4,0.076,0.076,3070,3402,2266
$GC,10031,1.28,194.7,978.4,11.6,1012,10038,0.00,2.67,0.00,0.000,6,0.000,0.064,3069,1979,2265
$GC,10347,1.23,194.7,942.5,11.2,1028,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,2261
$GC,10657,1.18,194.7,909.4,10.4,1043,10662,0.15,2.75,0.00,0.000,4,0.107,0.072,3040,3395,2261
$GC,10683,1.18,199.7,906.6,9.8,1044,10695,0.00,2.62,4.57,0.827,6,0.000,0.056,3040,1987,2248
$GC,11004,1.24,242.4,878.4,8.5,1060,11046,0.00,0.00,40.28,1.203,6,0.000,0.000,3040,1987,2073
$GC,11354,1.26,261.5,846.8,9.3,1077,11375,0.00,0.00,18.25,1.141,6,0.000,0.000,3040,1987,1995
$GC,11683,1.28,278.8,816.2,9.4,1093,11712,0.00,2.80,18.60,1.024,4,0.000,0.071,3040,3395,1925
$GC,11730,1.29,286.6,811.5,9.7,1095,11747,0.00,2.65,9.15,1.018,6,0.000,0.056,3040,1981,1892
$GC,12055,1.29,286.6,778.9,10.2,1111,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1978,1890
$GC,12365,1.29,286.6,746.0,11.1,1126,12369,0.00,2.72,0.00,0.000,4,0.000,0.071,3040,3395,1888
$GC,12385,1.29,286.6,743.4,11.2,1127,12389,0.00,2.62,0.00,0.000,6,0.000,0.055,3040,1983,1887
$GC,12712,1.29,286.6,709.1,10.1,1143,12716,0.00,2.70,0.00,0.000,4,0.000,0.082,3040,574,1887
$GC,12721,1.29,286.6,708.0,10.2,1143,12728,0.00,2.60,0.00,0.000,6,0.000,0.055,3039,1995,1887
$GC,13037,1.31,299.9,677.4,9.5,1159,13059,0.10,0.00,15.00,0.920,6,0.072,0.000,3070,1997,1839
$GC,13366,1.31,299.9,643.0,10.3,1175,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1997,1836
$GC,13676,1.31,299.9,608.9,11.5,1190,13680,0.00,2.75,0.00,0.000,4,0.000,0.074,3070,567,1836
$GC,13701,1.31,299.9,605.5,12.2,1191,13706,0.00,2.62,0.00,0.000,6,0.000,0.051,3070,1981,1836
$GC,14034,1.31,299.9,566.0,12.7,1220,14038,0.00,2.70,0.00,0.000,4,0.000,0.074,3070,576,1835
$GC,14061,1.31,299.9,562.1,13.2,1222,14065,0.00,2.58,0.00,0.000,6,0.000,0.051,3070,1982,1836
$GC,14386,1.31,299.9,521.1,12.3,1252,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1985,1835
$GC,14703,1.31,299.9,484.1,11.2,1282,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1985,1835
$GC,15022,1.31,299.9,449.6,10.7,1312,15023,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1985,1835
$GC,15340,1.31,299.9,416.1,10.7,1342,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1985,1835
$GC,15659,1.31,299.9,381.0,11.4,1372,15663,0.00,2.67,0.00,0.000,4,0.000,0.069,3070,569,1835
$GC,15668,1.31,299.9,379.8,11.3,1372,15675,0.00,2.55,0.00,0.000,6,0.000,0.048,3070,1982,1835
$GC,15999,1.31,299.9,341.0,12.1,1409,16005,0.00,2.67,0.00,0.000,4,0.000,0.069,3070,573,1836
$GC,16011,1.31,299.9,339.3,12.3,1411,16017,0.00,2.55,0.00,0.000,6,0.000,0.048,3070,1975,1836
$GC,16355,1.31,299.9,297.3,12.0,1472,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1977,1836
$GC,16698,1.31,299.9,256.4,11.5,1533,16704,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1976,1836
$GC,17040,1.31,299.9,215.3,11.2,1594,17046,0.00,2.67,0.00,0.000,4,0.000,0.067,3070,571,1836
$GC,17058,1.31,299.9,213.3,11.2,1597,17064,0.00,2.55,0.00,0.000,6,0.000,0.048,3070,1972,1836
$GC,17401,1.31,299.9,176.3,11.8,1658,17406,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1974,1836
$GC,17742,1.32,310.5,141.5,9.6,1719,17756,0.00,0.00,10.48,0.710,6,0.000,0.000,3070,1974,1795
$GC,18088,1.32,310.5,105.5,11.9,1781,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1974,1793
$GC,18423,1.32,310.5,68.5,11.8,1842,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1975,1793
$GC,18757,1.32,310.5,31.5,11.1,1903,18764,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1975,1793
$GC,18890,1.32,310.5,16.4,13.1,1928,18898,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1975,1792
$STATE,19017,end climb,SURFACE_DEPTH_REACHED
$STATE,19017,begin surface coast
$FINISH,0.1,1.027126
$STATE,19051,end surface coast,CONTROL_FINISHED_OK
$STATE,19051,begin surface
$SM_CCo,19130,0.00,0.000,0,0,1792,311.53
$SM_GC,0.79,10.55,0.00,0.00,0.041,0.000,0.000,567,2034,1792,-10.08,0.11,311.53
$IRIDIUM_FIX,6046.07,-2625.92,040897,070747
$TT8_MAMPS,0.042185
$HUMID,1643
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.40
$XPDR_PINGS,444
$24V_AH,23.5,33.646
$10V_AH,10.6,40.901
$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,24.750,122.300,453.750,0.000,0.000,25.476,32.786,235.695,111.000,0.000,0.000,13.765,3079.472,11455.820,624.898,3778.262,597.362,0.000,2178.424,0.000,3782.961,0.000,0.465
$DEVICE_MAMPS,200.954,118.885,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1361.902,1422.332,726.285,925.787,898.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139045,1958
$CAP_FILE_SIZE,166638,0
$CFSIZE,260165632,240447488
$ERRORS,0,30,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100508,174341,6121.537,-2627.002,38,2.0,48,-18.6