version: 66.03
glider: 141
mission: 7
dive: 200
start: 5 18 108 10 20 2
data:
$ID,141
$MISSION,7
$DIVE,200
$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,135
$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,-10057.364
$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,24
$R_STBD_OVSHOOT,15
$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
$GPS1,101225,6125.848,-2617.540,23,1.0,41,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-52.9
$GPS2,101944,6125.898,-2617.553,12,1.0,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.262,-2613.887
$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,153.6,20000,-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,-194.7,0.0,0.0,0,139,0.00,0.00,-110.03,0.000,2,0.000,0.000,571,2010,3734
$GC,142,-1.34,-194.7,3.4,-6.5,20,161,11.18,0.00,-2.78,0.000,6,0.199,0.000,2484,2009,3858
$GC,298,-1.34,-194.7,27.5,-11.2,47,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2009,3859
$GC,439,-1.34,-194.7,43.0,-11.0,72,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2009,3859
$GC,580,-1.34,-194.7,58.5,-11.4,97,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2009,3860
$GC,922,-1.34,-194.7,95.5,-10.6,158,928,0.00,2.65,0.00,0.000,4,0.000,0.058,2484,3449,3859
$GC,940,-1.34,-194.7,97.4,-10.8,161,946,0.00,2.55,0.00,0.000,6,0.000,0.044,2483,2026,3859
$GC,1283,-1.34,-194.7,136.1,-11.2,222,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,1627,-1.34,-194.7,176.7,-11.5,283,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,1971,-1.34,-194.7,214.5,-10.7,344,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,2314,-1.34,-194.7,251.3,-10.3,405,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,2656,-1.34,-194.7,287.0,-10.3,466,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,3000,-1.34,-194.7,323.3,-10.5,527,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,3337,-1.34,-194.7,359.3,-10.5,580,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,3656,-1.34,-194.7,393.6,-11.1,610,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,3974,-1.34,-194.7,428.5,-10.9,640,3978,0.00,2.67,0.00,0.000,4,0.000,0.065,2484,3446,3859
$GC,4001,-1.34,-194.7,431.6,-12.0,642,4005,0.00,2.55,0.00,0.000,6,0.000,0.048,2484,2036,3859
$GC,4327,-1.34,-194.7,467.4,-10.8,672,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2034,3859
$GC,4643,-1.34,-194.7,501.7,-10.6,702,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2034,3860
$GC,4962,-1.34,-194.7,536.0,-10.6,732,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2034,3859
$GC,5280,-1.34,-194.7,570.4,-10.9,762,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,5609,-1.34,-194.7,605.4,-10.7,791,5614,0.00,2.72,0.00,0.000,4,0.000,0.091,2483,627,3859
$GC,5626,-1.34,-194.7,607.2,-10.5,792,5630,0.00,2.55,0.00,0.000,6,0.000,0.053,2484,2038,3859
$GC,5951,-1.34,-194.7,642.7,-10.9,808,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2040,3859
$GC,6261,-1.34,-194.7,675.6,-10.6,823,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3859
$GC,6570,-1.34,-194.7,706.2,-9.8,838,6575,0.00,2.80,0.00,0.000,4,0.000,0.100,2483,621,3859
$GC,6596,-1.34,-194.7,709.0,-10.6,839,6601,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2039,3859
$GC,6918,-1.34,-194.7,742.5,-10.6,855,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2041,3859
$GC,7226,-1.34,-194.7,775.0,-10.8,870,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2041,3858
$GC,7536,-1.34,-194.7,807.2,-10.2,885,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2041,3858
$GC,7846,-1.34,-194.7,837.2,-9.5,900,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2041,3858
$GC,8156,-1.34,-194.7,867.5,-10.1,915,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2041,3857
$GC,8464,-1.34,-194.7,898.5,-9.8,930,8468,0.00,2.70,0.00,0.000,4,0.000,0.081,2483,623,3857
$GC,8481,-1.34,-194.7,900.0,-9.3,931,8485,0.00,2.58,0.00,0.000,6,0.000,0.059,2483,2030,3857
$GC,8813,-1.34,-194.7,931.6,-9.4,947,8817,0.00,2.67,0.00,0.000,4,0.000,0.081,2483,623,3856
$GC,8851,-1.34,-194.7,935.4,-9.7,949,8856,0.00,2.55,0.00,0.000,6,0.000,0.058,2484,2020,3856
$GC,9178,-1.34,-194.7,964.1,-8.7,965,9183,0.00,2.78,0.00,0.000,4,0.000,0.099,2483,3442,3855
$GC,9200,-1.34,-194.7,966.3,-9.7,966,9205,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2041,3855
$STATE,9477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9478,begin apogee
$GC,9483,-0.37,0.0,991.7,9.2,980,9660,1.00,0.00,169.60,1.292,6,0.098,0.000,2695,1979,3062
$STATE,9661,end apogee,CONTROL_FINISHED_OK
$STATE,9661,begin climb
$GC,9664,1.34,194.7,995.5,0.0,989,9842,1.73,2.80,168.43,1.262,4,0.076,0.074,3070,3396,2267
$GC,9881,1.28,194.7,976.5,12.7,999,9887,0.00,2.65,0.00,0.000,6,0.000,0.055,3070,1981,2264
$GC,10197,1.22,194.7,938.3,12.6,1015,10202,0.12,2.70,0.00,0.000,4,0.109,0.069,3046,3396,2262
$GC,10240,1.22,194.7,932.3,13.2,1017,10245,0.00,2.58,0.00,0.000,6,0.000,0.052,3046,2000,2261
$GC,10568,1.22,194.7,895.7,10.8,1033,10572,0.00,2.78,0.00,0.000,4,0.000,0.084,3046,577,2261
$GC,10629,1.18,194.7,888.9,11.1,1036,10634,0.00,2.62,0.00,0.000,6,0.000,0.050,3046,2007,2261
$GC,10955,1.18,196.2,855.8,9.9,1052,10959,0.00,2.67,0.00,0.000,4,0.000,0.080,3046,3394,2260
$GC,11004,1.18,196.2,850.3,10.9,1054,11008,0.00,2.60,0.00,0.000,6,0.000,0.052,3046,1996,2260
$GC,11325,1.18,196.2,817.3,10.4,1070,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,2259
$GC,11635,1.18,196.2,785.3,10.4,1085,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1993,2259
$GC,11944,1.19,209.0,755.3,9.6,1100,11966,0.00,2.75,12.52,1.064,4,0.000,0.069,3046,3393,2209
$GC,11999,1.20,216.3,749.5,9.7,1102,12012,0.00,2.58,8.18,0.979,6,0.000,0.051,3046,1995,2180
$GC,12320,1.31,257.1,719.7,8.6,1118,12365,0.00,2.80,38.08,1.118,4,0.000,0.077,3046,581,2013
$GC,12451,1.34,280.5,707.5,9.2,1124,12481,0.10,2.90,22.35,1.072,6,0.070,0.126,3077,1945,1918
$GC,12805,1.41,287.1,672.9,9.8,1141,12818,0.00,2.67,6.72,0.886,4,0.000,0.072,3077,574,1891
$GC,12880,1.36,287.1,664.2,11.0,1144,12885,0.00,2.42,0.00,0.000,6,0.000,0.049,3077,1913,1891
$GC,13196,1.32,287.1,626.9,12.2,1159,13201,0.00,2.85,0.00,0.000,4,0.000,0.079,3077,3413,1889
$GC,13290,1.32,287.1,614.6,12.3,1163,13294,0.00,2.72,0.00,0.000,6,0.000,0.052,3077,1906,1888
$GC,13616,1.32,287.1,575.2,12.2,1188,13621,0.00,2.83,0.00,0.000,4,0.000,0.067,3077,3405,1888
$GC,13671,1.32,287.1,568.2,12.3,1192,13678,0.00,2.67,0.00,0.000,6,0.000,0.051,3077,1930,1887
$GC,13999,1.32,287.1,529.8,12.0,1223,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1928,1887
$GC,14314,1.32,287.1,491.0,12.4,1253,14319,0.00,2.80,0.00,0.000,4,0.000,0.064,3077,3413,1887
$GC,14392,1.32,287.1,480.8,12.1,1259,14398,0.00,2.70,0.00,0.000,6,0.000,0.049,3077,1933,1887
$GC,14718,1.32,287.1,441.8,12.0,1290,14722,0.00,2.75,0.00,0.000,4,0.000,0.063,3077,3406,1887
$GC,14756,1.32,287.1,436.7,13.8,1293,14761,0.00,2.62,0.00,0.000,6,0.000,0.048,3077,1952,1887
$GC,15081,1.32,287.1,396.6,12.4,1323,15085,0.00,2.72,0.00,0.000,4,0.000,0.061,3077,3414,1887
$GC,15135,1.32,287.1,389.4,12.8,1327,15142,0.00,2.62,0.00,0.000,6,0.000,0.049,3077,1967,1887
$GC,15461,1.32,287.1,351.1,11.5,1358,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1963,1887
$GC,15797,1.32,287.1,312.8,11.1,1417,15803,0.00,2.70,0.00,0.000,4,0.000,0.058,3077,3411,1887
$GC,15876,1.32,287.1,303.2,12.8,1431,15882,0.00,2.60,0.00,0.000,6,0.000,0.046,3077,1974,1887
$GC,16219,1.32,287.1,262.3,11.6,1492,16225,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1970,1887
$GC,16562,1.32,287.1,220.7,11.2,1553,16568,0.00,2.65,0.00,0.000,4,0.000,0.058,3077,3407,1887
$GC,16613,1.32,287.1,214.2,12.0,1562,16620,0.00,2.55,0.00,0.000,6,0.000,0.045,3077,1985,1887
$GC,16957,1.32,287.1,172.4,11.4,1623,16963,0.00,2.62,0.00,0.000,4,0.000,0.057,3077,3410,1888
$GC,16997,1.32,287.1,167.3,12.9,1630,17003,0.00,2.55,0.00,0.000,6,0.000,0.046,3077,1992,1888
$GC,17341,1.32,287.1,127.6,10.8,1691,17347,0.00,2.62,0.00,0.000,4,0.000,0.058,3077,3408,1888
$GC,17381,1.32,287.1,122.7,12.6,1698,17387,0.00,2.50,0.00,0.000,6,0.000,0.045,3077,2013,1888
$GC,17725,1.32,287.1,83.4,10.5,1759,17730,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2011,1888
$GC,18068,1.32,287.1,43.1,12.1,1820,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2011,1888
$GC,18210,1.32,287.1,26.4,11.7,1845,18217,0.00,2.60,0.00,0.000,4,0.000,0.062,3078,3411,1888
$GC,18262,1.32,287.1,19.9,12.2,1854,18269,0.00,2.53,0.00,0.000,6,0.000,0.046,3077,2016,1888
$GC,18406,1.32,287.1,3.3,12.1,1879,18413,0.00,2.67,0.00,0.000,4,0.000,0.071,3077,572,1888
$STATE,18417,end climb,SURFACE_DEPTH_REACHED
$STATE,18417,begin surface coast
$FINISH,0.3,1.027106
$STATE,18440,end surface coast,CONTROL_FINISHED_OK
$STATE,18440,begin surface
$SM_CCo,18521,0.00,0.000,0,0,1887,288.23
$SM_GC,1.01,10.40,0.00,0.00,0.031,0.000,0.000,566,2059,1887,-10.07,0.82,288.23
$IRIDIUM_FIX,6103.81,-2619.82,120897,050534
$TT8_MAMPS,0.042185
$HUMID,1647
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.90
$XPDR_PINGS,506
$24V_AH,23.4,40.215
$10V_AH,10.6,46.011
$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,24.525,133.225,425.875,0.000,0.000,26.133,32.093,246.389,126.500,0.000,0.000,14.009,2992.496,11309.444,617.726,3417.592,605.303,0.000,2125.187,0.000,3404.479,0.000,0.465
$DEVICE_MAMPS,199.420,125.788,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.434,1369.645,705.107,1673.073,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136193,1885
$CAP_FILE_SIZE,167347,0
$CFSIZE,260165632,237203456
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,152956,6124.123,-2613.479,37,1.1,37,-18.5