version: 66.03
glider: 141
mission: 7
dive: 191
start: 5 16 108 9 18 34
data:
$ID,141
$MISSION,7
$DIVE,191
$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,355
$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,-9872.1436
$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,25
$R_STBD_OVSHOOT,14
$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
$GPS1,091131,6117.876,-2625.603,34,0.9,39,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-57.3
$GPS2,091814,6117.975,-2625.574,11,1.0,11,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6128.733,-2626.023
$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,13.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,133,0.00,0.00,-104.20,0.000,2,0.000,0.000,569,2013,3682
$GC,136,-1.34,-194.7,3.2,-5.9,19,154,11.12,0.00,-4.28,0.000,6,0.198,0.000,2482,2013,3858
$GC,292,-1.34,-194.7,26.9,-13.3,46,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2013,3859
$GC,432,-1.34,-194.7,46.5,-14.1,71,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,573,-1.34,-194.7,66.3,-13.4,96,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,916,-1.34,-194.7,108.7,-11.8,157,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,1258,-1.34,-194.7,145.6,-10.3,218,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,1601,-1.34,-194.7,182.1,-10.8,279,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,1943,-1.34,-194.7,218.1,-10.7,340,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,2287,-1.34,-194.7,255.3,-11.2,401,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,2629,-1.34,-194.7,296.1,-11.6,462,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,2971,-1.34,-194.7,334.4,-11.3,523,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,3302,-1.34,-194.7,372.4,-11.6,566,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,3621,-1.34,-194.7,409.0,-11.3,596,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,3941,-1.34,-194.7,443.7,-10.8,626,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3860
$GC,4259,-1.34,-194.7,476.3,-9.9,656,4263,0.00,2.62,0.00,0.000,4,0.000,0.069,2482,621,3860
$GC,4324,-1.34,-194.7,483.4,-10.6,661,4331,0.00,2.55,0.00,0.000,6,0.000,0.050,2482,2034,3860
$GC,4650,-1.34,-194.7,517.4,-10.7,692,4655,0.00,2.67,0.00,0.000,4,0.000,0.080,2482,3436,3860
$GC,4712,-1.34,-194.7,524.6,-11.9,697,4716,0.00,2.58,0.00,0.000,6,0.000,0.056,2482,2029,3859
$GC,5037,-1.34,-194.7,558.7,-10.1,727,5042,0.00,2.67,0.00,0.000,4,0.000,0.081,2482,617,3860
$GC,5115,-1.34,-194.7,567.2,-10.2,733,5121,0.00,2.58,0.00,0.000,6,0.000,0.055,2482,2037,3860
$GC,5440,-1.34,-194.7,602.7,-11.4,763,5444,0.00,2.70,0.00,0.000,4,0.000,0.085,2482,3435,3859
$GC,5524,-1.34,-194.7,612.9,-12.1,767,5528,0.00,2.62,0.00,0.000,6,0.000,0.060,2482,2024,3859
$GC,5849,-1.34,-194.7,649.7,-11.1,783,5854,0.00,2.83,0.00,0.000,4,0.000,0.104,2482,616,3859
$GC,5914,-1.34,-194.7,657.4,-11.8,786,5919,0.00,2.65,0.00,0.000,6,0.000,0.065,2482,2025,3859
$GC,6242,-1.34,-194.7,692.1,-10.3,802,6246,0.00,2.83,0.00,0.000,4,0.000,0.102,2483,3446,3859
$GC,6290,-1.34,-194.7,697.5,-10.8,804,6295,0.00,2.67,0.00,0.000,6,0.000,0.071,2482,2028,3859
$GC,6612,-1.34,-194.7,730.3,-10.1,820,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3859
$GC,6921,-1.34,-194.7,760.7,-9.6,835,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,7230,-1.34,-194.7,791.4,-10.0,850,7234,0.00,2.78,0.00,0.000,4,0.000,0.087,2482,3442,3858
$GC,7324,-1.34,-194.7,801.7,-10.8,854,7328,0.00,2.65,0.00,0.000,6,0.000,0.067,2482,2031,3858
$GC,7639,-1.34,-194.7,833.5,-10.2,869,7643,0.00,2.80,0.00,0.000,4,0.000,0.101,2482,610,3858
$GC,7723,-1.34,-194.7,842.5,-11.0,873,7727,0.00,2.62,0.00,0.000,6,0.000,0.063,2482,2033,3857
$GC,8051,-1.34,-194.7,874.4,-9.5,889,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,8357,-1.34,-194.7,906.1,-10.5,904,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,8667,-1.34,-194.7,937.6,-10.4,919,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3856
$GC,8976,-1.34,-194.7,969.6,-10.3,934,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3855
$STATE,9180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9180,begin apogee
$GC,9185,-0.37,0.0,990.9,10.2,944,9363,1.02,0.00,169.90,1.309,6,0.104,0.000,2697,1978,3061
$STATE,9364,end apogee,CONTROL_FINISHED_OK
$STATE,9364,begin climb
$GC,9366,1.34,194.7,996.2,0.0,953,9543,1.73,0.00,169.18,1.274,6,0.075,0.000,3072,1978,2267
$GC,9854,1.28,194.7,947.6,11.7,977,9858,0.00,2.80,0.00,0.000,4,0.000,0.084,3072,3395,2262
$GC,9875,1.22,194.7,944.7,11.8,978,9880,0.12,2.65,0.00,0.000,6,0.112,0.060,3048,1986,2262
$GC,10196,1.23,203.3,911.7,9.7,994,10205,0.00,0.00,8.07,1.032,6,0.000,0.000,3048,1985,2233
$GC,10505,1.24,207.6,881.4,9.9,1009,10512,0.00,0.00,5.60,0.917,6,0.000,0.000,3048,1985,2215
$GC,10813,1.24,207.6,849.5,10.6,1024,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1985,2214
$GC,11123,1.24,207.6,816.8,10.6,1039,11128,0.00,2.75,0.00,0.000,4,0.000,0.089,3048,576,2213
$GC,11149,1.24,207.6,813.7,10.9,1040,11154,0.00,2.60,0.00,0.000,6,0.000,0.056,3048,1980,2213
$GC,11470,1.24,207.6,780.7,10.3,1056,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1982,2213
$GC,11780,1.25,216.9,750.0,9.7,1071,11795,0.00,2.80,9.77,1.031,4,0.000,0.081,3048,3398,2176
$GC,11811,1.26,224.5,746.8,9.7,1071,11826,0.00,2.65,8.70,0.992,6,0.000,0.058,3048,1987,2145
$GC,12148,1.31,265.7,715.9,8.6,1088,12188,0.00,0.00,38.38,1.120,6,0.000,0.000,3048,1987,1978
$GC,12498,1.33,283.8,685.1,9.4,1105,12527,0.00,2.80,19.15,0.969,4,0.000,0.073,3048,3395,1904
$GC,12549,1.34,288.3,679.8,9.8,1107,12563,0.10,2.65,5.93,0.848,6,0.071,0.058,3077,1989,1886
$GC,12871,1.29,288.3,643.2,11.6,1123,12875,0.00,2.72,0.00,0.000,4,0.000,0.073,3077,3401,1883
$GC,12897,1.29,288.3,639.8,11.8,1124,12901,0.00,2.62,0.00,0.000,6,0.000,0.058,3077,1992,1882
$GC,13218,1.25,288.3,601.2,12.3,1140,13224,0.12,2.70,0.00,0.000,4,0.104,0.071,3053,3402,1882
$GC,13273,1.25,288.3,594.5,11.5,1144,13280,0.00,2.55,0.00,0.000,6,0.000,0.057,3053,2016,1881
$GC,13599,1.25,288.3,557.8,11.4,1175,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2014,1881
$GC,13918,1.25,288.3,521.0,11.4,1205,13922,0.00,2.65,0.00,0.000,4,0.000,0.071,3053,3402,1881
$GC,13961,1.25,288.3,515.7,11.4,1208,13967,0.00,2.58,0.00,0.000,6,0.000,0.055,3053,2022,1881
$GC,14287,1.25,288.3,480.4,11.5,1239,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2020,1881
$GC,14605,1.25,288.3,446.8,10.5,1269,14609,0.00,2.60,0.00,0.000,4,0.000,0.068,3053,3394,1880
$GC,14621,1.25,288.3,444.9,10.7,1270,14625,0.00,2.50,0.00,0.000,6,0.000,0.054,3053,2032,1880
$GC,14946,1.25,288.3,411.0,10.5,1300,14950,0.00,2.58,0.00,0.000,4,0.000,0.067,3053,3399,1881
$GC,14973,1.25,288.3,407.9,10.5,1302,14978,0.00,2.50,0.00,0.000,6,0.000,0.053,3053,2028,1881
$GC,15297,1.25,288.3,373.1,11.3,1332,15301,0.00,2.58,0.00,0.000,4,0.000,0.065,3053,3398,1881
$GC,15318,1.25,288.3,370.6,11.8,1333,15324,0.00,2.47,0.00,0.000,6,0.000,0.051,3053,2040,1881
$GC,15650,1.25,288.3,335.2,10.3,1376,15656,0.00,2.55,0.00,0.000,4,0.000,0.065,3053,3400,1880
$GC,15673,1.25,288.3,332.7,10.4,1380,15680,0.00,2.45,0.00,0.000,6,0.000,0.051,3053,2055,1881
$GC,16018,1.26,295.8,298.2,9.7,1441,16029,0.00,0.00,7.55,0.755,6,0.000,0.000,3052,2054,1856
$GC,16366,1.26,295.8,261.5,11.0,1503,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2053,1855
$GC,16708,1.26,295.8,221.9,10.5,1564,16715,0.00,2.53,0.00,0.000,4,0.000,0.068,3053,3397,1854
$GC,16732,1.26,295.8,219.2,11.5,1568,16739,0.00,2.45,0.00,0.000,6,0.000,0.057,3053,2053,1854
$GC,17077,1.27,297.1,180.6,10.0,1629,17082,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2052,1854
$GC,17419,1.27,299.0,142.9,9.9,1690,17426,0.00,0.00,4.47,0.569,6,0.000,0.000,3053,2052,1843
$GC,17765,1.27,299.0,104.9,11.4,1751,17770,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2051,1842
$GC,18107,1.29,314.8,69.6,9.4,1812,18135,0.00,0.00,17.00,0.638,6,0.000,0.000,3053,2051,1778
$GC,18471,1.29,314.8,33.6,10.3,1877,18477,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2051,1775
$GC,18611,1.29,314.8,19.5,10.2,1902,18617,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2052,1775
$GC,18754,1.29,318.5,5.5,9.9,1927,18766,0.00,2.58,4.55,0.512,4,0.000,0.067,3052,3393,1762
$STATE,18776,end climb,SURFACE_DEPTH_REACHED
$STATE,18776,begin surface coast
$FINISH,0.2,1.026958
$STATE,18811,end surface coast,CONTROL_FINISHED_OK
$STATE,18811,begin surface
$SM_CCo,18893,0.00,0.000,0,0,1759,319.38
$SM_GC,1.03,10.50,0.00,0.00,0.039,0.000,0.000,569,2026,1759,-10.07,-0.11,319.38
$IRIDIUM_FIX,6050.49,-2631.91,100897,040434
$TT8_MAMPS,0.041418
$HUMID,1653
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.50
$XPDR_PINGS,413
$24V_AH,23.4,38.519
$10V_AH,10.6,44.684
$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,24.725,110.800,468.250,0.000,0.000,23.408,32.875,216.387,103.250,0.000,0.000,13.071,3034.484,11688.396,669.629,3299.441,589.853,0.000,2178.710,0.000,3303.138,0.000,0.465
$DEVICE_MAMPS,197.886,104.312,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1365.911,1417.373,729.944,1081.170,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138965,1937
$CAP_FILE_SIZE,164358,0
$CFSIZE,260165632,238051328
$ERRORS,0,31,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160508,143438,6123.449,-2628.405,35,1.0,35,-18.6