version: 66.03
glider: 141
mission: 7
dive: 170
start: 5 11 108 15 47 22
data:
$ID,141
$MISSION,7
$DIVE,170
$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,140
$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,-9502.0371
$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,17
$R_STBD_OVSHOOT,20
$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
$GPS1,153608,6134.514,-2602.578,38,1.1,38,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-53.8
$GPS2,154702,6134.622,-2602.430,9,1.4,14,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6126.349,-2559.112
$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,158.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-93.55,0.000,2,0.000,0.000,571,2044,3692
$GC,126,-1.34,-194.7,3.4,-7.0,17,151,11.23,2.67,-3.95,0.000,4,0.202,0.071,2483,3436,3859
$GC,163,-1.07,-194.7,12.1,-19.5,23,170,0.30,2.60,0.00,0.000,6,0.109,0.056,2543,2022,3859
$GC,308,-1.12,-194.7,25.9,-8.7,48,314,0.00,2.65,0.00,0.000,4,0.000,0.062,2543,3439,3860
$GC,371,-1.12,-194.7,31.7,-9.2,59,377,0.00,2.55,0.00,0.000,6,0.000,0.054,2543,2034,3860
$GC,515,-1.17,-194.7,45.0,-10.1,84,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2029,3860
$GC,656,-1.23,-194.7,59.9,-10.3,109,662,0.15,0.00,0.00,0.000,6,0.057,0.000,2495,2029,3860
$GC,998,-1.23,-194.7,98.9,-11.3,170,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2029,3860
$GC,1343,-1.23,-194.7,136.2,-10.5,231,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2029,3860
$GC,1685,-1.23,-194.7,173.2,-10.8,292,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2029,3860
$GC,2030,-1.23,-194.7,210.7,-11.0,353,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2029,3860
$GC,2372,-1.23,-194.7,248.7,-10.6,414,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2029,3860
$GC,2714,-1.23,-194.7,285.3,-10.5,475,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2029,3860
$GC,3056,-1.23,-194.7,319.7,-9.3,536,3062,0.00,2.65,0.00,0.000,4,0.000,0.064,2494,3437,3860
$GC,3079,-1.23,-194.7,321.9,-9.7,540,3086,0.00,2.58,0.00,0.000,6,0.000,0.053,2494,2018,3860
$GC,3421,-1.23,-194.7,354.1,-9.4,597,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2014,3860
$GC,3739,-1.23,-194.7,383.1,-8.9,627,3743,0.00,2.67,0.00,0.000,4,0.000,0.067,2494,3438,3860
$GC,3778,-1.23,-194.7,386.7,-9.3,630,3782,0.00,2.58,0.00,0.000,6,0.000,0.052,2494,2026,3860
$GC,4104,-1.23,-194.7,414.5,-8.4,660,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2024,3860
$GC,4424,-1.23,-194.7,442.0,-8.8,690,4429,0.00,2.67,0.00,0.000,4,0.000,0.070,2494,3436,3860
$GC,4463,-1.23,-194.7,446.0,-9.6,693,4468,0.00,2.58,0.00,0.000,6,0.000,0.054,2495,2033,3860
$GC,4789,-1.23,-194.7,475.7,-9.1,723,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2032,3860
$GC,5107,-1.23,-194.7,503.9,-8.7,753,5111,0.00,2.70,0.00,0.000,4,0.000,0.077,2494,616,3860
$GC,5139,-1.23,-194.7,507.0,-9.3,755,5146,0.00,2.58,0.00,0.000,6,0.000,0.054,2494,2025,3859
$GC,5465,-1.23,-194.7,535.3,-9.0,786,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2027,3859
$GC,5785,-1.23,-194.7,565.7,-9.9,816,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2027,3859
$GC,6102,-1.23,-194.7,598.8,-10.8,846,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2028,3859
$GC,6410,-1.23,-194.7,632.9,-11.2,862,6415,0.00,2.78,0.00,0.000,4,0.000,0.092,2494,3445,3859
$GC,6490,-1.23,-194.7,641.9,-11.4,865,6496,0.00,2.62,0.00,0.000,6,0.000,0.065,2494,2037,3859
$GC,6805,-1.23,-194.7,675.5,-10.7,881,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2036,3859
$GC,7114,-1.23,-194.7,708.7,-11.3,896,7118,0.00,2.90,0.00,0.000,4,0.000,0.119,2494,622,3859
$GC,7162,-1.23,-194.7,714.7,-12.3,898,7167,0.00,2.62,0.00,0.000,6,0.000,0.067,2494,2028,3859
$GC,7483,-1.23,-194.7,751.6,-11.2,914,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2029,3859
$GC,7793,-1.23,-194.7,784.5,-10.3,929,7797,0.00,2.80,0.00,0.000,4,0.000,0.097,2494,3449,3858
$GC,7825,-1.23,-194.7,788.1,-10.9,930,7831,0.00,2.67,0.00,0.000,6,0.000,0.067,2494,2022,3858
$GC,8141,-1.23,-194.7,819.2,-9.9,946,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2020,3858
$GC,8450,-1.23,-194.7,850.1,-10.0,961,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2019,3858
$GC,8759,-1.23,-194.7,880.2,-9.5,976,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2019,3857
$GC,9068,-1.23,-194.7,909.8,-9.6,991,9073,0.00,2.78,0.00,0.000,4,0.000,0.084,2494,3448,3857
$GC,9095,-1.23,-194.7,912.7,-10.9,992,9099,0.00,2.67,0.00,0.000,6,0.000,0.066,2494,2024,3856
$GC,9416,-1.23,-194.7,944.9,-10.3,1008,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2023,3856
$GC,9726,-1.23,-194.7,974.9,-9.7,1023,9730,0.00,2.75,0.00,0.000,4,0.000,0.084,2494,3441,3856
$GC,9753,-1.23,-194.7,977.6,-11.1,1024,9758,0.00,2.62,0.00,0.000,6,0.000,0.064,2494,2034,3855
$STATE,9902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9902,begin apogee
$GC,9908,-0.37,0.0,991.6,9.2,1031,10084,0.95,0.00,169.45,1.298,6,0.102,0.000,2695,1974,3061
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10087,1.34,194.7,995.9,0.0,1040,10264,1.73,0.00,168.70,1.268,6,0.074,0.000,3070,1974,2267
$GC,10574,1.28,194.7,950.8,10.5,1064,10578,0.00,2.78,0.00,0.000,4,0.000,0.076,3070,3396,2262
$GC,10629,1.22,194.7,944.5,11.4,1066,10636,0.12,2.65,0.00,0.000,6,0.111,0.058,3046,1980,2261
$GC,10944,1.25,220.6,914.5,9.1,1082,10969,0.00,0.00,23.40,1.183,6,0.000,0.000,3046,1977,2162
$GC,11273,1.29,251.8,884.0,8.9,1098,11305,0.00,0.00,29.67,1.187,6,0.000,0.000,3046,1977,2035
$GC,11602,1.33,283.4,854.4,8.9,1114,11635,0.10,0.00,29.92,1.174,6,0.073,0.000,3076,1977,1906
$GC,11931,1.33,283.4,817.5,11.8,1130,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1977,1901
$GC,12242,1.33,283.4,779.6,12.4,1145,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1977,1900
$GC,12550,1.33,283.4,741.5,12.2,1160,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1977,1899
$GC,12859,1.33,283.4,701.7,13.1,1175,12864,0.00,2.78,0.00,0.000,4,0.000,0.071,3075,3404,1899
$GC,12886,1.33,283.4,698.0,13.8,1176,12891,0.00,2.67,0.00,0.000,6,0.000,0.057,3075,1980,1898
$GC,13201,1.33,283.4,658.8,12.0,1191,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1978,1898
$GC,13511,1.33,283.4,624.0,10.9,1206,13515,0.00,2.72,0.00,0.000,4,0.000,0.071,3075,3401,1898
$GC,13554,1.33,283.4,618.8,12.1,1208,13558,0.00,2.62,0.00,0.000,6,0.000,0.057,3075,1989,1898
$GC,13874,1.33,283.4,582.8,11.1,1230,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1989,1898
$GC,14193,1.33,283.4,547.6,11.3,1260,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1898
$GC,14511,1.33,283.4,509.8,12.5,1290,14515,0.00,2.70,0.00,0.000,4,0.000,0.069,3075,3406,1898
$GC,14560,1.33,283.4,503.4,12.1,1294,14565,0.00,2.60,0.00,0.000,6,0.000,0.055,3075,1990,1898
$GC,14884,1.33,283.4,462.9,12.6,1324,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1898
$GC,15204,1.33,283.4,424.1,11.6,1354,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1898
$GC,15521,1.33,283.4,386.9,11.6,1384,15525,0.00,2.70,0.00,0.000,4,0.000,0.073,3075,567,1898
$GC,15559,1.33,283.4,382.3,11.8,1387,15564,0.00,2.62,0.00,0.000,6,0.000,0.050,3075,2012,1898
$GC,15885,1.33,283.4,345.0,11.2,1420,15892,0.00,2.58,0.00,0.000,4,0.000,0.067,3076,3394,1898
$GC,15925,1.33,283.4,340.0,12.1,1427,15931,0.00,2.55,0.00,0.000,6,0.000,0.052,3076,1996,1898
$GC,16268,1.33,283.4,301.1,11.1,1488,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1993,1898
$GC,16611,1.33,283.4,262.8,11.0,1549,16616,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1898
$GC,16954,1.33,283.4,225.7,10.1,1610,16959,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1898
$GC,17296,1.33,283.4,188.8,10.4,1671,17302,0.00,2.62,0.00,0.000,4,0.000,0.061,3076,3391,1898
$GC,17331,1.33,283.4,184.9,12.0,1677,17337,0.00,2.55,0.00,0.000,6,0.000,0.051,3076,1996,1898
$GC,17675,1.33,283.4,149.1,10.5,1738,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1899
$GC,18019,1.33,283.4,114.1,10.4,1799,18025,0.00,2.62,0.00,0.000,4,0.000,0.061,3075,3395,1899
$GC,18070,1.33,283.4,108.3,10.6,1808,18077,0.00,2.53,0.00,0.000,6,0.000,0.058,3075,2009,1899
$GC,18415,1.33,283.4,71.7,10.9,1869,18421,0.00,2.70,0.00,0.000,4,0.000,0.069,3075,569,1899
$GC,18454,1.33,283.4,66.9,12.6,1876,18461,0.00,2.60,0.00,0.000,6,0.000,0.050,3076,2012,1899
$GC,18798,1.33,283.4,30.0,10.5,1937,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2015,1899
$GC,18939,1.33,283.4,14.1,12.2,1962,18946,0.00,2.55,0.00,0.000,4,0.000,0.065,3075,3398,1899
$GC,18997,1.33,283.4,7.1,11.2,1972,19004,0.00,2.53,0.00,0.000,6,0.000,0.051,3075,1998,1899
$STATE,19042,end climb,SURFACE_DEPTH_REACHED
$STATE,19042,begin surface coast
$FINISH,0.2,1.026435
$STATE,19077,end surface coast,CONTROL_FINISHED_OK
$STATE,19077,begin surface
$SM_CCo,19156,0.00,0.000,0,0,1897,285.77
$SM_GC,0.90,10.57,0.00,0.00,0.041,0.000,0.000,573,2045,1897,-10.06,0.40,285.77
$IRIDIUM_FIX,6108.28,-2611.69,050897,151554
$TT8_MAMPS,0.041418
$HUMID,1659
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,390
$24V_AH,23.4,34.602
$10V_AH,10.6,41.720
$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,25.150,111.575,421.150,0.000,0.000,58.821,74.443,322.635,97.500,0.000,0.000,16.207,3120.215,11955.560,636.642,3306.118,777.455,0.000,2121.395,0.000,3315.989,0.000,0.466
$DEVICE_MAMPS,202.488,118.885,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1399.049,1451.296,756.984,1122.084,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139258,1986
$CAP_FILE_SIZE,171873,0
$CFSIZE,260165632,239980544
$ERRORS,0,46,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,210757,6132.784,-2557.497,24,2.1,43,-18.5