version: 66.03
glider: 141
mission: 7
dive: 171
start: 5 11 108 21 15 54
data:
$ID,141
$MISSION,7
$DIVE,171
$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,160
$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,-9524.7344
$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,27
$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
$GPS1,210757,6132.784,-2557.497,24,2.1,43,-18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-55.1
$GPS2,211537,6132.807,-2557.465,10,1.6,20,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.659,-2555.695
$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,178.5,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,117,0.00,0.00,-88.32,0.000,2,0.000,0.000,573,2043,3661
$GC,119,-1.34,-194.7,3.1,-5.7,16,144,11.18,2.70,-4.82,0.000,4,0.199,0.074,2483,616,3858
$GC,167,-1.34,-194.7,12.8,-13.5,24,174,0.00,2.53,0.00,0.000,6,0.000,0.052,2483,2027,3859
$GC,311,-1.34,-194.7,29.4,-11.4,49,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3859
$GC,451,-1.34,-194.7,45.6,-11.0,74,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3859
$GC,593,-1.34,-194.7,62.2,-11.4,99,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3859
$GC,936,-1.34,-194.7,101.2,-11.3,160,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3859
$GC,1279,-1.34,-194.7,137.7,-10.7,221,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3859
$GC,1621,-1.34,-194.7,174.9,-10.4,282,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3860
$GC,1963,-1.34,-194.7,211.1,-10.6,343,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3860
$GC,2304,-1.34,-194.7,248.4,-11.1,404,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3860
$GC,2648,-1.34,-194.7,287.3,-11.8,465,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3860
$GC,2989,-1.34,-194.7,327.1,-11.7,526,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,3324,-1.34,-194.7,365.3,-11.7,575,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,3643,-1.34,-194.7,401.3,-11.5,605,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3859
$GC,3961,-1.34,-194.7,439.0,-12.2,635,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3860
$GC,4281,-1.34,-194.7,477.0,-11.5,665,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3859
$GC,4598,-1.34,-194.7,513.6,-10.9,695,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3859
$GC,4918,-1.34,-194.7,548.1,-10.8,725,4922,0.00,2.72,0.00,0.000,4,0.000,0.080,2484,3436,3859
$GC,4945,-1.34,-194.7,551.4,-12.1,727,4949,0.00,2.60,0.00,0.000,6,0.000,0.056,2484,2027,3859
$GC,5270,-1.34,-194.7,586.8,-11.3,757,5275,0.00,2.72,0.00,0.000,4,0.000,0.077,2484,3438,3859
$GC,5287,-1.34,-194.7,588.9,-11.1,758,5291,0.00,2.60,0.00,0.000,6,0.000,0.057,2484,2033,3859
$GC,5605,-1.34,-194.7,624.0,-11.3,778,5609,0.00,2.72,0.00,0.000,4,0.000,0.082,2484,3438,3859
$GC,5614,-1.34,-194.7,625.1,-10.9,778,5620,0.00,2.60,0.00,0.000,6,0.000,0.067,2484,2039,3859
$GC,5930,-1.34,-194.7,659.3,-10.7,794,5934,0.00,2.70,0.00,0.000,4,0.000,0.084,2484,3431,3859
$GC,5950,-1.34,-194.7,661.7,-11.1,795,5955,0.00,2.58,0.00,0.000,6,0.000,0.064,2483,2051,3858
$GC,6277,-1.34,-194.7,695.1,-10.2,811,6282,0.00,2.85,0.00,0.000,4,0.000,0.105,2484,616,3858
$GC,6293,-1.34,-194.7,696.8,-10.2,812,6297,0.00,2.62,0.00,0.000,6,0.000,0.065,2483,2031,3858
$GC,6619,-1.34,-194.7,730.7,-10.6,828,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2031,3859
$GC,6928,-1.34,-194.7,762.1,-9.7,843,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2031,3858
$GC,7237,-1.34,-194.7,791.4,-9.2,858,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2031,3858
$GC,7547,-1.34,-194.7,820.4,-9.1,873,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,7855,-1.34,-194.7,850.0,-9.8,888,7860,0.00,2.78,0.00,0.000,4,0.000,0.094,2483,3441,3857
$GC,7876,-1.34,-194.7,852.2,-10.4,889,7880,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2039,3857
$GC,8204,-1.34,-194.7,883.6,-9.4,905,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2039,3857
$GC,8512,-1.34,-194.7,914.1,-9.9,920,8517,0.00,2.75,0.00,0.000,4,0.000,0.084,2483,3444,3857
$GC,8532,-1.34,-194.7,916.3,-10.4,921,8537,0.00,2.65,0.00,0.000,6,0.000,0.065,2483,2033,3856
$GC,8860,-1.34,-194.7,947.9,-9.8,937,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2031,3856
$GC,9169,-1.34,-194.7,979.1,-10.0,952,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2031,3856
$STATE,9290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9290,begin apogee
$GC,9296,-0.37,0.0,991.6,10.1,958,9468,1.00,0.00,168.95,1.304,6,0.100,0.000,2696,1983,3062
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9471,1.34,194.7,996.0,0.0,966,9644,1.70,0.00,168.50,1.269,6,0.077,0.000,3072,1983,2268
$GC,9948,1.29,194.7,949.7,11.3,990,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1980,2262
$GC,10256,1.23,194.7,914.9,11.6,1005,10261,0.12,2.75,0.00,0.000,4,0.110,0.074,3048,3405,2261
$GC,10305,1.23,194.7,909.1,11.1,1007,10309,0.00,2.65,0.00,0.000,6,0.000,0.057,3048,1985,2261
$GC,10626,1.23,194.7,875.9,10.5,1023,10631,0.00,2.75,0.00,0.000,4,0.000,0.087,3048,569,2260
$GC,10666,1.18,194.7,871.7,10.5,1025,10671,0.00,2.60,0.00,0.000,6,0.000,0.053,3048,1995,2260
$GC,10992,1.18,194.7,838.2,10.1,1041,10997,0.00,2.70,0.00,0.000,4,0.000,0.083,3048,3392,2259
$GC,11057,1.18,194.7,831.2,10.7,1044,11062,0.00,2.58,0.00,0.000,6,0.000,0.056,3048,1994,2259
$GC,11385,1.21,214.8,801.2,9.3,1060,11405,0.00,0.00,17.95,1.127,6,0.000,0.000,3048,1994,2186
$GC,11714,1.22,227.3,768.3,9.6,1076,11735,0.00,2.83,12.40,1.063,4,0.000,0.082,3048,578,2135
$GC,11774,1.24,238.3,762.4,9.6,1078,11793,0.00,2.60,11.68,1.042,6,0.000,0.052,3048,2002,2090
$GC,12109,1.25,251.8,730.0,9.5,1095,12130,0.00,2.75,13.38,1.048,4,0.000,0.079,3048,3387,2034
$GC,12163,1.25,251.8,724.5,10.6,1097,12167,0.00,2.60,0.00,0.000,6,0.000,0.055,3048,1986,2033
$GC,12485,1.25,251.8,693.0,10.0,1113,12489,0.00,2.70,0.00,0.000,4,0.000,0.081,3047,574,2032
$GC,12523,1.25,251.8,688.9,10.4,1115,12527,0.00,2.58,0.00,0.000,6,0.000,0.051,3048,1992,2033
$GC,12849,1.25,251.8,655.4,10.4,1131,12853,0.00,2.70,0.00,0.000,4,0.000,0.078,3048,3397,2032
$GC,12892,1.25,251.8,650.5,10.9,1133,12896,0.00,2.62,0.00,0.000,6,0.000,0.055,3048,1982,2031
$GC,13219,1.25,251.8,614.5,11.3,1149,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1979,2032
$GC,13533,1.25,251.8,579.0,11.4,1172,13535,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1979,2032
$GC,13853,1.25,251.8,544.1,10.5,1202,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1979,2031
$GC,14172,1.28,276.8,512.3,9.1,1232,14203,0.00,2.83,23.15,0.974,4,0.000,0.068,3048,3390,1932
$GC,14242,1.28,276.8,505.0,10.3,1238,14248,0.00,2.65,0.00,0.000,6,0.000,0.054,3048,1976,1930
$GC,14568,1.28,276.8,472.9,10.2,1269,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1974,1929
$GC,14886,1.29,285.6,441.9,9.7,1299,14897,0.00,0.00,8.95,0.843,6,0.000,0.000,3048,1974,1897
$GC,15213,1.29,285.6,408.0,10.5,1330,15218,0.00,2.70,0.00,0.000,4,0.000,0.065,3048,3395,1896
$GC,15256,1.29,285.6,403.1,11.6,1333,15263,0.00,2.60,0.00,0.000,6,0.000,0.052,3048,1987,1895
$GC,15582,1.29,285.6,368.1,11.2,1364,15587,0.00,2.70,0.00,0.000,4,0.000,0.072,3048,568,1895
$GC,15622,1.29,285.6,363.3,11.6,1367,15626,0.00,2.62,0.00,0.000,6,0.000,0.049,3048,2005,1895
$GC,15959,1.29,285.6,325.6,11.0,1416,15965,0.00,2.60,0.00,0.000,4,0.000,0.067,3048,3398,1895
$GC,15999,1.29,285.6,320.7,11.5,1423,16005,0.00,2.58,0.00,0.000,6,0.000,0.051,3048,1990,1895
$GC,16342,1.29,285.6,283.5,10.9,1484,16348,0.00,2.65,0.00,0.000,4,0.000,0.071,3048,573,1895
$GC,16384,1.29,285.6,278.6,12.1,1491,16390,0.00,2.58,0.00,0.000,6,0.000,0.048,3048,1994,1895
$GC,16727,1.31,299.6,242.5,9.5,1552,16746,0.00,2.72,13.90,0.790,4,0.000,0.065,3048,3394,1839
$GC,16791,1.31,299.6,235.7,10.2,1563,16797,0.00,2.58,0.00,0.000,6,0.000,0.050,3048,1987,1838
$GC,17137,1.36,338.0,203.0,8.7,1624,17174,0.12,0.00,34.10,0.792,6,0.062,0.000,3086,1985,1684
$GC,17511,1.36,338.0,156.9,13.0,1691,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1985,1679
$GC,17853,1.36,338.0,114.2,12.7,1752,17859,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1985,1678
$GC,18195,1.36,338.0,71.2,13.7,1813,18201,0.00,2.67,0.00,0.000,4,0.000,0.061,3086,3401,1677
$GC,18235,1.36,338.0,65.9,13.1,1820,18242,0.00,2.58,0.00,0.000,6,0.000,0.050,3086,1994,1678
$GC,18579,1.36,338.0,21.6,11.7,1881,18586,0.00,2.67,0.00,0.000,4,0.000,0.070,3086,576,1677
$GC,18626,1.36,338.0,15.6,14.3,1889,18632,0.00,2.60,0.00,0.000,6,0.000,0.051,3086,2002,1677
$STATE,18726,end climb,SURFACE_DEPTH_REACHED
$STATE,18726,begin surface coast
$FINISH,0.4,1.027129
$STATE,18752,end surface coast,CONTROL_FINISHED_OK
$STATE,18752,begin surface
$SM_CCo,18830,0.00,0.000,0,0,1674,340.48
$SM_GC,0.98,10.52,0.00,0.00,0.035,0.000,0.000,569,2007,1674,-10.07,-0.65,340.48
$IRIDIUM_FIX,6108.28,-2601.59,050897,151511
$TT8_MAMPS,0.041418
$HUMID,1664
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.80
$XPDR_PINGS,382
$24V_AH,23.4,34.791
$10V_AH,10.6,41.860
$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,24.650,122.575,472.950,0.000,0.000,23.276,32.964,266.287,95.500,0.000,0.000,22.067,3002.594,11765.675,649.838,3234.012,618.864,0.000,2126.894,0.000,3227.060,0.000,0.465
$DEVICE_MAMPS,199.420,105.079,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1340.539,1391.521,694.283,1042.929,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136062,1911
$CAP_FILE_SIZE,166290,0
$CFSIZE,260165632,239890432
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,023107,6130.777,-2555.640,36,1.4,48,-18.4