version: 66.03
glider: 141
mission: 7
dive: 202
start: 5 18 108 21 10 3
data:
$ID,141
$MISSION,7
$DIVE,202
$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,-10082.942
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,210146,6121.599,-2610.062,36,2.2,55,-18.5
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-54.8
$GPS2,210945,6121.594,-2610.029,9,2.0,9,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6113.322,-2606.687
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,130,0.00,0.00,-99.50,0.000,2,0.000,0.000,569,2037,3669
$GC,132,-1.34,-194.7,3.2,-6.3,18,151,11.10,0.00,-4.50,0.000,6,0.198,0.000,2480,2037,3857
$GC,290,-1.30,-194.7,25.4,-11.7,45,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,431,-1.30,-194.7,41.8,-10.7,70,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,573,-1.30,-194.7,56.3,-9.7,95,579,0.00,2.65,0.00,0.000,4,0.000,0.065,2480,620,3859
$GC,608,-1.30,-194.7,59.8,-10.1,101,614,0.00,2.60,0.00,0.000,6,0.000,0.050,2480,2057,3859
$GC,952,-1.30,-194.7,94.8,-10.5,162,958,0.00,2.70,0.00,0.000,4,0.000,0.058,2480,616,3859
$GC,970,-1.30,-194.7,96.7,-10.7,165,976,0.00,2.58,0.00,0.000,6,0.000,0.044,2480,2046,3859
$GC,1314,-1.30,-194.7,133.9,-10.8,226,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2049,3859
$GC,1658,-1.30,-194.7,171.3,-10.8,287,1664,0.00,2.67,0.00,0.000,4,0.000,0.058,2480,612,3859
$GC,1705,-1.30,-194.7,176.7,-11.2,295,1711,0.00,2.58,0.00,0.000,6,0.000,0.044,2481,2039,3859
$GC,2048,-1.30,-194.7,213.1,-10.4,356,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,2391,-1.30,-194.7,248.0,-10.1,417,2397,0.00,2.65,0.00,0.000,4,0.000,0.058,2480,613,3859
$GC,2420,-1.30,-194.7,250.9,-10.6,422,2426,0.00,2.55,0.00,0.000,6,0.000,0.044,2480,2035,3859
$GC,2764,-1.30,-194.7,284.3,-10.1,483,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,3108,-1.30,-194.7,318.9,-10.0,544,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,3454,-1.30,-194.7,354.7,-10.2,602,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3860
$GC,3773,-1.30,-194.7,387.3,-10.3,632,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,4091,-1.30,-194.7,420.7,-10.3,662,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,4410,-1.30,-194.7,454.3,-10.5,692,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2036,3859
$GC,4728,-1.30,-194.7,487.8,-10.5,722,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,5047,-1.30,-194.7,521.5,-10.6,752,5051,0.00,2.67,0.00,0.000,4,0.000,0.068,2480,623,3859
$GC,5074,-1.30,-194.7,524.4,-10.8,754,5079,0.00,2.58,0.00,0.000,6,0.000,0.050,2480,2037,3859
$GC,5402,-1.30,-194.7,557.9,-10.5,784,5407,0.00,2.65,0.00,0.000,4,0.000,0.072,2480,624,3859
$GC,5419,-1.30,-194.7,560.2,-10.4,785,5424,0.00,2.58,0.00,0.000,6,0.000,0.053,2480,2037,3859
$GC,5745,-1.30,-194.7,594.3,-10.8,815,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,6055,-1.30,-194.7,628.0,-10.6,833,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,6364,-1.30,-194.7,659.8,-10.1,848,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,6673,-1.30,-194.7,691.5,-10.2,863,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,6983,-1.30,-194.7,722.7,-10.1,878,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,7292,-1.30,-194.7,754.7,-10.6,893,7296,0.00,2.83,0.00,0.000,4,0.000,0.101,2480,629,3858
$GC,7318,-1.30,-194.7,757.6,-11.2,894,7322,0.00,2.62,0.00,0.000,6,0.000,0.061,2480,2036,3857
$GC,7640,-1.30,-194.7,791.0,-10.3,910,7644,0.00,2.75,0.00,0.000,4,0.000,0.085,2480,622,3857
$GC,7660,-1.30,-194.7,793.3,-10.9,911,7665,0.00,2.60,0.00,0.000,6,0.000,0.061,2480,2034,3857
$GC,7988,-1.30,-194.7,825.3,-9.5,927,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2035,3857
$GC,8297,-1.30,-194.7,854.0,-9.1,942,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2035,3856
$GC,8606,-1.30,-194.7,882.0,-9.4,957,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2035,3856
$GC,8915,-1.30,-194.7,910.8,-9.3,972,8920,0.00,2.80,0.00,0.000,4,0.000,0.097,2480,3440,3855
$GC,8944,-1.30,-194.7,913.6,-10.8,973,8948,0.00,2.60,0.00,0.000,6,0.000,0.061,2480,2043,3855
$GC,9259,-1.30,-194.7,943.8,-9.9,988,9264,0.00,2.78,0.00,0.000,4,0.000,0.096,2480,616,3855
$GC,9280,-1.30,-194.7,946.2,-10.9,989,9284,0.00,2.62,0.00,0.000,6,0.000,0.059,2480,2030,3855
$GC,9607,-1.30,-194.7,978.2,-9.8,1005,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2031,3854
$STATE,9728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9728,begin apogee
$GC,9734,-0.37,0.0,990.2,9.7,1011,9911,1.02,0.00,169.73,1.294,6,0.101,0.000,2697,1973,3062
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9914,1.34,194.7,995.3,0.0,1020,10092,1.73,0.00,169.52,1.262,6,0.074,0.000,3072,1972,2267
$GC,10403,1.28,194.7,950.3,10.4,1044,10407,0.00,2.78,0.00,0.000,4,0.000,0.081,3072,3399,2261
$GC,10457,1.21,194.7,944.0,11.1,1046,10464,0.15,2.60,0.00,0.000,6,0.111,0.054,3044,1992,2261
$GC,10773,1.26,230.6,916.5,8.8,1062,10814,0.00,2.85,32.20,1.197,4,0.000,0.086,3043,576,2121
$GC,10848,1.26,235.5,909.4,9.8,1065,10860,0.00,2.62,6.22,0.936,6,0.000,0.053,3044,1999,2101
$GC,11168,1.26,235.5,878.6,10.3,1081,11173,0.00,2.67,0.00,0.000,4,0.000,0.081,3043,3392,2098
$GC,11263,1.26,235.5,867.9,11.6,1085,11267,0.00,2.55,0.00,0.000,6,0.000,0.053,3043,1998,2097
$GC,11578,1.26,235.5,835.1,10.0,1100,11582,0.00,2.65,0.00,0.000,4,0.000,0.071,3043,3399,2096
$GC,11634,1.26,235.5,829.4,11.1,1102,11640,0.00,2.53,0.00,0.000,6,0.000,0.054,3043,2012,2096
$GC,11950,1.29,257.1,799.5,9.2,1118,11979,0.00,0.00,22.60,1.054,6,0.000,0.000,3044,2010,2013
$GC,12278,1.29,257.1,767.0,10.1,1134,12282,0.00,2.62,0.00,0.000,4,0.000,0.071,3043,3401,2010
$GC,12334,1.29,257.1,761.0,10.8,1136,12340,0.00,2.53,0.00,0.000,6,0.000,0.058,3043,2019,2009
$GC,12649,1.29,257.1,728.3,10.6,1152,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2019,2009
$GC,12958,1.29,257.1,695.7,10.8,1167,12963,0.00,2.62,0.00,0.000,4,0.000,0.070,3043,3392,2008
$GC,13008,1.29,257.1,689.9,11.5,1169,13012,0.00,2.53,0.00,0.000,6,0.000,0.052,3043,2026,2008
$GC,13330,1.29,257.1,656.0,10.1,1185,13334,0.00,2.60,0.00,0.000,4,0.000,0.069,3043,3403,2008
$GC,13369,1.29,257.1,651.8,10.9,1187,13373,0.00,2.50,0.00,0.000,6,0.000,0.052,3043,2049,2008
$GC,13696,1.29,257.1,618.1,10.5,1203,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2048,2008
$GC,14007,1.29,257.1,586.0,10.2,1224,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2048,2008
$GC,14326,1.29,257.1,554.0,10.2,1254,14330,0.00,2.58,0.00,0.000,4,0.000,0.068,3043,3392,2007
$GC,14388,1.29,257.1,547.4,10.5,1259,14392,0.00,2.45,0.00,0.000,6,0.000,0.051,3043,2058,2007
$GC,14713,1.29,257.1,514.4,10.1,1289,14714,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2058,2007
$GC,15032,1.29,257.1,482.2,10.6,1319,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2057,2008
$GC,15350,1.29,257.1,448.5,10.7,1349,15354,0.00,2.55,0.00,0.000,4,0.000,0.064,3044,3399,2008
$GC,15400,1.29,257.1,442.9,11.1,1353,15406,0.00,2.45,0.00,0.000,6,0.000,0.049,3043,2062,2008
$GC,15725,1.29,257.1,407.3,11.2,1384,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2060,2007
$GC,16043,1.29,257.1,372.6,10.5,1414,16047,0.00,2.55,0.00,0.000,4,0.000,0.061,3043,3402,2008
$GC,16097,1.29,257.1,366.2,11.4,1418,16103,0.00,2.47,0.00,0.000,6,0.000,0.048,3043,2064,2008
$GC,16432,1.29,257.1,329.8,11.0,1465,16437,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2062,2008
$GC,16774,1.30,267.0,294.5,9.7,1526,16786,0.00,0.00,9.45,0.773,6,0.000,0.000,3043,2061,1973
$GC,17123,1.32,285.7,259.5,9.3,1588,17147,0.10,2.62,18.12,0.803,4,0.070,0.060,3075,3403,1896
$GC,17198,1.32,285.7,250.6,12.4,1601,17204,0.00,2.45,0.00,0.000,6,0.000,0.046,3075,2065,1894
$GC,17542,1.32,285.7,211.6,10.7,1662,17548,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2063,1894
$GC,17885,1.32,285.7,173.6,10.2,1723,17891,0.00,2.53,0.00,0.000,4,0.000,0.061,3075,3404,1893
$GC,17931,1.32,285.7,168.0,11.8,1731,17937,0.00,2.42,0.00,0.000,6,0.000,0.046,3075,2069,1893
$GC,18275,1.32,285.7,128.0,11.7,1792,18281,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2069,1893
$GC,18620,1.32,285.7,87.8,12.0,1853,18625,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2067,1893
$GC,18962,1.33,290.9,50.1,9.8,1914,18975,0.00,2.53,5.75,0.575,4,0.000,0.059,3075,3399,1875
$GC,19021,1.33,290.9,43.3,10.9,1924,19027,0.00,2.42,0.00,0.000,6,0.000,0.045,3075,2088,1875
$GC,19163,1.33,290.9,27.3,11.8,1949,19169,0.00,2.83,0.00,0.000,4,0.000,0.065,3076,573,1875
$GC,19215,1.33,290.9,21.3,10.9,1958,19222,0.00,2.75,0.00,0.000,6,0.000,0.052,3075,2092,1875
$GC,19358,1.35,306.1,5.9,9.5,1983,19376,0.00,0.00,14.68,0.644,6,0.000,0.000,3075,2094,1814
$STATE,19393,end climb,SURFACE_DEPTH_REACHED
$STATE,19393,begin surface coast
$FINISH,0.2,1.027105
$STATE,19421,end surface coast,CONTROL_FINISHED_OK
$STATE,19421,begin surface
$SM_CCo,19501,0.00,0.000,0,0,1809,307.36
$SM_GC,0.90,10.55,0.00,0.00,0.035,0.000,0.000,569,2009,1809,-10.08,-0.59,307.36
$IRIDIUM_FIX,6059.36,-2607.78,120897,151555
$TT8_MAMPS,0.041418
$HUMID,1658
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,559
$24V_AH,23.4,40.595
$10V_AH,10.6,46.346
$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,24.650,125.575,448.275,0.000,0.000,24.510,30.893,290.864,139.750,0.000,0.000,10.527,3143.984,11950.596,649.767,3498.598,717.190,0.000,2186.112,0.000,3531.640,0.000,0.465
$DEVICE_MAMPS,197.886,101.244,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1406.319,1464.448,744.449,1768.098,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145525,1994
$CAP_FILE_SIZE,173504,0
$CFSIZE,260165632,236998656
$ERRORS,0,14,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190508,023627,6118.396,-2604.385,27,99.0,46,-18.4