version: 66.03
glider: 141
mission: 7
dive: 223
start: 5 23 108 15 38 40
data:
$ID,141
$MISSION,7
$DIVE,223
$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,340
$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,-10439.813
$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,9
$R_STBD_OVSHOOT,13
$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
$GPS1,153056,6133.926,-2609.116,36,1.7,36,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-55.4
$GPS2,153821,6133.965,-2609.259,11,1.2,11,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6144.113,-2611.008
$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,358.6,20000,-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,-104.00,0.000,2,0.000,0.000,568,2045,3668
$GC,136,-1.34,-194.7,3.2,-5.9,19,161,11.07,3.33,-4.62,0.000,4,0.195,0.253,2482,3432,3859
$GC,415,-1.30,-194.7,41.6,-11.6,68,422,0.00,2.67,0.00,0.000,6,0.000,0.145,2482,2026,3860
$GC,559,-1.30,-194.7,58.5,-12.3,93,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,901,-1.30,-194.7,99.2,-11.5,154,908,0.00,2.67,0.00,0.000,4,0.000,0.152,2482,3439,3860
$GC,999,-1.26,-194.7,110.7,-11.4,171,1005,0.10,2.67,0.00,0.000,6,0.120,0.143,2501,2031,3860
$GC,1342,-1.26,-194.7,145.9,-10.0,232,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2029,3860
$GC,1685,-1.26,-194.7,181.9,-11.2,293,1691,0.00,2.65,0.00,0.000,4,0.000,0.140,2502,3441,3860
$GC,1743,-1.26,-194.7,188.6,-11.7,303,1750,0.00,2.62,0.00,0.000,6,0.000,0.141,2502,2044,3860
$GC,2087,-1.26,-194.7,226.6,-11.4,364,2093,0.00,2.75,0.00,0.000,4,0.000,0.157,2502,612,3860
$GC,2150,-1.26,-194.7,233.9,-11.5,375,2156,0.00,2.62,0.00,0.000,6,0.000,0.127,2501,2039,3860
$GC,2494,-1.26,-194.7,269.2,-10.7,436,2500,0.00,2.62,0.00,0.000,4,0.000,0.142,2501,3446,3860
$GC,2585,-1.26,-194.7,279.0,-10.4,452,2591,0.00,2.62,0.00,0.000,6,0.000,0.141,2502,2048,3860
$GC,2930,-1.26,-194.7,312.5,-9.6,513,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2045,3860
$GC,3273,-1.26,-194.7,345.1,-9.5,574,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2046,3860
$GC,3607,-1.26,-194.7,378.4,-10.8,610,3611,0.00,2.65,0.00,0.000,4,0.000,0.144,2502,3442,3860
$GC,3672,-1.26,-194.7,386.0,-11.4,615,3679,0.00,2.62,0.00,0.000,6,0.000,0.146,2502,2060,3860
$GC,3999,-1.26,-194.7,420.6,-11.3,646,4004,0.00,2.80,0.00,0.000,4,0.000,0.162,2502,620,3860
$GC,4084,-1.26,-194.7,431.1,-12.4,653,4089,0.00,3.12,0.00,0.000,6,0.000,0.207,2502,2058,3860
$GC,4411,-1.26,-194.7,471.6,-12.8,683,4415,0.00,2.70,0.00,0.000,4,0.000,0.162,2502,3445,3860
$GC,4461,-1.26,-194.7,478.3,-13.2,687,4466,0.00,2.67,0.00,0.000,6,0.000,0.150,2501,2054,3860
$GC,4789,-1.26,-194.7,516.8,-11.5,717,4794,0.00,2.83,0.00,0.000,4,0.000,0.167,2502,612,3859
$GC,4862,-1.26,-194.7,525.7,-11.4,723,4867,0.00,2.67,0.00,0.000,6,0.000,0.131,2501,2059,3860
$GC,5189,-1.26,-194.7,559.4,-11.1,753,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2061,3860
$GC,5505,-1.26,-194.7,595.2,-11.3,783,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2061,3860
$GC,5815,-1.26,-194.7,628.9,-10.2,800,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2061,3860
$GC,6126,-1.26,-194.7,654.8,-7.7,815,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3859
$GC,6434,-1.26,-194.7,675.6,-6.5,830,6439,0.00,2.72,0.00,0.000,4,0.000,0.173,2502,3445,3859
$GC,6502,-1.26,-194.7,680.6,-7.3,833,6506,0.00,2.72,0.00,0.000,6,0.000,0.160,2501,2048,3859
$GC,6823,-1.26,-194.7,707.9,-9.6,849,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2047,3859
$GC,7131,-1.26,-194.7,739.1,-10.0,864,7136,0.00,2.95,0.00,0.000,4,0.000,0.192,2502,615,3859
$GC,7208,-1.26,-194.7,747.2,-10.5,867,7214,0.00,2.72,0.00,0.000,6,0.000,0.144,2502,2059,3859
$GC,7525,-1.26,-194.7,777.6,-9.4,883,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2060,3858
$GC,7833,-1.26,-194.7,803.8,-8.1,898,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2060,3858
$GC,8142,-1.26,-194.7,830.8,-9.6,913,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2060,3858
$GC,8452,-1.26,-194.7,861.6,-10.6,928,8456,0.00,2.75,0.00,0.000,4,0.000,0.177,2502,3439,3857
$GC,8513,-1.26,-194.7,868.7,-12.2,931,8517,0.00,2.72,0.00,0.000,6,0.000,0.157,2502,2035,3857
$GC,8839,-1.26,-194.7,903.2,-10.2,947,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2034,3857
$GC,9149,-1.26,-194.7,929.5,-7.4,962,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2034,3857
$GC,9457,-1.26,-194.7,953.0,-8.2,977,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2032,3856
$GC,9766,-1.26,-194.7,983.6,-10.3,992,9771,0.00,2.75,0.00,0.000,4,0.000,0.163,2501,3442,3855
$STATE,9826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9826,begin apogee
$GC,9834,-0.37,0.0,990.3,11.0,995,10009,0.90,0.00,169.95,1.297,6,0.096,0.000,2694,1986,3062
$STATE,10010,end apogee,CONTROL_FINISHED_OK
$STATE,10010,begin climb
$GC,10012,1.34,194.7,999.2,0.0,1004,10192,1.70,2.92,168.48,1.267,4,0.074,0.176,3068,572,2267
$GC,10197,1.34,252.9,989.9,8.0,1012,10257,0.00,2.70,52.40,1.230,6,0.000,0.135,3068,1990,2031
$GC,10585,1.30,252.9,951.1,11.1,1031,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1991,2024
$GC,10894,1.25,252.9,916.3,11.0,1046,10898,0.00,2.75,0.00,0.000,4,0.000,0.161,3068,3395,2023
$GC,10915,1.21,252.9,913.7,11.4,1047,10920,0.12,2.72,0.00,0.000,6,0.108,0.149,3045,1983,2023
$GC,11236,1.21,252.9,879.9,10.5,1063,11237,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1981,2023
$GC,11544,1.23,266.3,849.4,9.5,1078,11567,0.00,2.83,12.10,1.097,4,0.000,0.150,3045,3398,1975
$GC,11599,1.23,266.3,843.7,10.4,1080,11604,0.00,2.72,0.00,0.000,6,0.000,0.148,3045,1990,1974
$GC,11920,1.23,266.3,811.0,11.0,1096,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1988,1973
$GC,12230,1.23,266.3,774.4,12.6,1111,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1988,1973
$GC,12538,1.23,266.3,739.3,10.3,1126,12543,0.00,2.72,0.00,0.000,4,0.000,0.153,3045,3401,1972
$GC,12560,1.26,296.3,737.1,9.0,1127,12610,0.00,2.70,32.70,1.012,6,0.000,0.150,3045,1996,1854
$GC,12929,1.26,296.3,701.2,10.1,1145,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1850
$GC,13235,1.27,303.0,670.7,9.8,1160,13245,0.00,0.00,7.50,0.925,6,0.000,0.000,3045,1993,1826
$GC,13546,1.27,303.6,640.6,10.0,1175,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1823
$GC,13854,1.27,303.6,606.7,11.8,1190,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1824
$GC,14171,1.27,303.6,569.6,11.0,1217,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1823
$GC,14491,1.27,304.8,537.0,10.0,1247,14492,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1823
$GC,14808,1.27,304.8,505.3,10.2,1277,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1992,1823
$GC,15126,1.27,304.8,470.1,11.7,1307,15131,0.00,2.65,0.00,0.000,4,0.000,0.146,3045,3396,1823
$GC,15143,1.27,304.8,468.0,12.2,1308,15147,0.00,2.67,0.00,0.000,6,0.000,0.143,3045,1992,1823
$GC,15468,1.27,304.8,430.7,11.0,1338,15469,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1989,1822
$GC,15786,1.27,304.8,396.7,10.1,1368,15788,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1989,1823
$GC,16106,1.29,315.5,366.3,9.6,1398,16124,0.00,0.00,12.18,0.838,6,0.000,0.000,3045,1989,1775
$GC,16451,1.29,320.9,332.9,9.8,1445,16463,0.00,0.00,6.28,0.717,6,0.000,0.000,3045,1989,1752
$GC,16801,1.29,320.9,295.9,11.2,1507,16806,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1989,1751
$GC,17143,1.29,320.9,257.9,11.3,1568,17149,0.00,2.75,0.00,0.000,4,0.000,0.165,3045,570,1751
$GC,17172,1.29,320.9,254.8,10.8,1573,17179,0.00,2.62,0.00,0.000,6,0.000,0.127,3045,2009,1751
$GC,17517,1.31,335.2,221.3,9.5,1634,17540,0.00,2.88,14.02,0.765,4,0.000,0.157,3045,576,1695
$GC,17546,1.31,337.5,218.5,9.9,1639,17553,0.00,2.65,0.00,0.000,6,0.000,0.126,3045,2005,1694
$GC,17891,1.34,358.0,184.9,9.3,1700,17920,0.12,2.85,21.70,0.762,4,0.062,0.156,3083,564,1603
$GC,17937,1.34,358.0,179.3,12.4,1708,17944,0.00,2.62,0.00,0.000,6,0.000,0.131,3083,1984,1602
$GC,18281,1.34,358.0,135.7,15.0,1769,18287,0.00,2.78,0.00,0.000,4,0.000,0.158,3083,565,1599
$GC,18299,1.34,358.0,133.2,14.1,1772,18305,0.00,2.60,0.00,0.000,6,0.000,0.131,3083,1979,1599
$GC,18642,1.34,358.0,89.4,11.4,1833,18648,0.00,2.75,0.00,0.000,4,0.000,0.157,3083,570,1599
$GC,18666,1.34,358.0,86.6,12.9,1837,18672,0.00,2.58,0.00,0.000,6,0.000,0.125,3083,1974,1598
$GC,19009,1.34,358.0,45.4,11.8,1898,19016,0.00,2.72,0.00,0.000,4,0.000,0.157,3083,570,1598
$GC,19023,1.34,358.0,43.7,12.1,1900,19029,0.00,2.55,0.00,0.000,6,0.000,0.126,3083,1964,1598
$GC,19164,1.34,358.0,24.9,12.2,1925,19170,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1966,1598
$GC,19306,1.34,358.0,7.8,11.9,1950,19311,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1966,1598
$STATE,19349,end climb,SURFACE_DEPTH_REACHED
$STATE,19349,begin surface coast
$FINISH,0.2,1.003226
$STATE,19378,end surface coast,CONTROL_FINISHED_OK
$STATE,19378,begin surface
$SM_CCo,19458,0.00,0.000,0,0,1596,359.36
$SM_GC,1.06,10.57,0.00,0.00,0.039,0.000,0.000,569,2043,1596,-10.08,0.42,359.36
$IRIDIUM_FIX,6108.28,-2603.66,170897,101034
$TT8_MAMPS,0.042185
$HUMID,1667
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.60
$XPDR_PINGS,631
$24V_AH,23.4,44.775
$10V_AH,10.6,49.768
$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,24.600,131.425,497.300,0.000,0.000,28.249,34.948,242.029,157.750,0.000,0.000,14.981,3073.525,12001.118,651.575,3508.339,650.727,0.000,2218.619,0.000,3502.128,0.000,0.465
$DEVICE_MAMPS,194.818,253.110,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1377.122,1433.089,701.996,1727.953,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145382,1963
$CAP_FILE_SIZE,170153,0
$CFSIZE,260165632,235040768
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230508,210408,6137.376,-2617.462,34,1.2,34,-18.7