version: 66.03
glider: 141
mission: 7
dive: 224
start: 5 23 108 21 12 3
data:
$ID,141
$MISSION,7
$DIVE,224
$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,-10453.608
$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,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
$GPS1,210408,6137.376,-2617.462,34,1.2,34,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-56.4
$GPS2,211145,6137.413,-2617.650,9,1.1,9,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6147.561,-2619.396
$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,358.7,20000,-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,27,-1.34,-194.7,0.0,0.0,0,134,0.00,0.00,-104.75,0.000,2,0.000,0.000,569,2045,3710
$GC,137,-1.34,-194.7,3.4,-6.1,19,162,11.05,2.70,-3.45,0.000,4,0.196,0.151,2483,3439,3858
$GC,417,-1.30,-194.7,43.3,-13.1,68,423,0.00,2.65,0.00,0.000,6,0.000,0.137,2483,2023,3859
$GC,559,-1.30,-194.7,59.9,-11.7,93,565,0.00,2.65,0.00,0.000,4,0.000,0.143,2483,3437,3859
$GC,663,-1.30,-194.7,72.6,-12.4,111,669,0.00,2.62,0.00,0.000,6,0.000,0.138,2483,2042,3859
$GC,1006,-1.30,-194.7,117.7,-14.1,172,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3859
$GC,1352,-1.30,-194.7,164.8,-12.7,233,1358,0.00,2.62,0.00,0.000,4,0.000,0.141,2483,3437,3859
$GC,1410,-1.30,-194.7,172.5,-13.0,243,1416,0.00,2.60,0.00,0.000,6,0.000,0.139,2483,2053,3859
$GC,1753,-1.30,-194.7,213.0,-10.9,304,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3859
$GC,2096,-1.30,-194.7,250.3,-10.8,365,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3859
$GC,2438,-1.30,-194.7,285.6,-9.4,426,2444,0.00,2.62,0.00,0.000,4,0.000,0.146,2483,3441,3859
$GC,2501,-1.30,-194.7,291.4,-9.2,437,2507,0.00,2.60,0.00,0.000,6,0.000,0.137,2484,2058,3859
$GC,2845,-1.30,-194.7,321.6,-8.7,498,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,3185,-1.30,-194.7,353.3,-9.5,556,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,3505,-1.30,-194.7,384.0,-9.7,586,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,3822,-1.30,-194.7,416.6,-10.9,616,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,4141,-1.30,-194.7,450.3,-10.4,646,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,4459,-1.30,-194.7,483.5,-10.9,676,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,4778,-1.30,-194.7,518.2,-10.7,706,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,5096,-1.30,-194.7,551.7,-10.4,736,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,5415,-1.30,-194.7,586.4,-11.4,766,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2054,3859
$GC,5729,-1.30,-194.7,622.6,-11.7,787,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,6037,-1.30,-194.7,657.6,-10.9,802,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,6347,-1.30,-194.7,688.1,-9.4,817,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3859
$GC,6656,-1.30,-194.7,715.2,-8.3,832,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2054,3859
$GC,6966,-1.30,-194.7,744.0,-10.0,847,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3858
$GC,7274,-1.30,-194.7,778.0,-11.5,862,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3858
$GC,7585,-1.30,-194.7,812.9,-10.9,877,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3857
$GC,7893,-1.30,-194.7,846.6,-11.0,892,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2055,3857
$GC,8202,-1.30,-194.7,882.1,-12.1,907,8207,0.00,2.95,0.00,0.000,4,0.000,0.189,2483,619,3857
$GC,8274,-1.30,-194.7,891.2,-12.7,910,8279,0.00,2.72,0.00,0.000,6,0.000,0.144,2483,2060,3856
$GC,8589,-1.30,-194.7,928.4,-11.2,925,8594,0.00,2.75,0.00,0.000,4,0.000,0.176,2483,3442,3857
$GC,8661,-1.30,-194.7,937.0,-12.0,928,8665,0.00,2.65,0.00,0.000,6,0.000,0.154,2483,2072,3856
$GC,8983,-1.30,-194.7,970.5,-10.2,944,8987,0.00,2.92,0.00,0.000,4,0.000,0.183,2483,619,3856
$GC,9082,-1.30,-194.7,980.6,-10.2,948,9089,0.00,2.70,0.00,0.000,6,0.000,0.143,2483,2062,3856
$STATE,9190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9190,begin apogee
$GC,9196,-0.37,0.0,991.4,9.9,954,9372,1.00,0.00,169.55,1.296,6,0.100,0.000,2694,1976,3063
$STATE,9373,end apogee,CONTROL_FINISHED_OK
$STATE,9373,begin climb
$GC,9375,1.34,194.7,996.9,0.0,963,9554,1.70,2.85,168.48,1.262,4,0.077,0.166,3067,574,2267
$GC,9571,1.30,215.1,983.2,9.3,971,9598,0.00,2.67,19.30,1.161,6,0.000,0.137,3067,1985,2183
$GC,9907,1.25,215.1,949.3,10.1,988,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1987,2178
$GC,10216,1.20,215.1,916.7,11.4,1003,10221,0.12,2.75,0.00,0.000,4,0.108,0.159,3043,3397,2177
$GC,10235,1.20,215.1,914.6,12.3,1004,10239,0.00,2.72,0.00,0.000,6,0.000,0.146,3043,1985,2177
$GC,10560,1.20,215.1,874.6,13.0,1020,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1983,2177
$GC,10870,1.20,215.1,833.8,12.8,1035,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1983,2176
$GC,11179,1.21,225.5,800.2,9.6,1050,11194,0.00,2.78,9.50,1.035,4,0.000,0.150,3042,3397,2141
$GC,11217,1.25,256.7,796.6,8.9,1051,11260,0.00,2.72,31.75,1.086,6,0.000,0.148,3043,1992,2015
$GC,11570,1.28,280.9,765.9,9.2,1068,11599,0.00,2.83,22.98,1.108,4,0.000,0.151,3043,3396,1915
$GC,11616,1.28,280.9,760.6,10.3,1070,11621,0.00,2.72,0.00,0.000,6,0.000,0.148,3042,1998,1913
$GC,11943,1.28,280.9,723.5,11.9,1086,11948,0.00,2.70,0.00,0.000,4,0.000,0.153,3043,3402,1911
$GC,11954,1.28,280.9,722.1,11.6,1086,11960,0.00,2.67,0.00,0.000,6,0.000,0.148,3043,2008,1911
$GC,12269,1.28,280.9,685.5,11.8,1102,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2005,1911
$GC,12578,1.28,280.9,647.5,12.3,1117,12583,0.00,2.70,0.00,0.000,4,0.000,0.153,3042,3398,1910
$GC,12611,1.28,280.9,643.2,13.7,1118,12617,0.00,2.65,0.00,0.000,6,0.000,0.148,3042,2015,1910
$GC,12926,1.28,280.9,605.5,11.3,1134,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2014,1910
$GC,13244,1.30,302.1,572.3,9.3,1161,13266,0.00,0.00,19.88,0.997,6,0.000,0.000,3043,2013,1830
$GC,13582,1.39,370.9,544.5,7.6,1193,13648,0.17,0.00,63.15,1.005,6,0.054,0.000,3094,2013,1549
$GC,13963,1.34,370.9,499.2,12.4,1229,13969,0.10,2.88,0.00,0.000,4,0.117,0.166,3074,565,1541
$GC,13980,1.34,370.9,496.9,12.2,1230,13985,0.00,2.75,0.00,0.000,6,0.000,0.133,3074,2030,1541
$GC,14306,1.34,370.9,460.2,11.4,1260,14311,0.00,2.90,0.00,0.000,4,0.000,0.162,3074,566,1539
$GC,14333,1.34,370.9,456.7,11.4,1262,14338,0.00,2.67,0.00,0.000,6,0.000,0.127,3074,2013,1540
$GC,14657,1.34,370.9,420.3,11.2,1292,14662,0.00,2.83,0.00,0.000,4,0.000,0.160,3074,571,1539
$GC,14675,1.34,370.9,418.5,11.8,1293,14679,0.00,2.65,0.00,0.000,6,0.000,0.127,3074,2007,1539
$GC,15002,1.34,370.9,382.1,11.1,1323,15007,0.00,2.83,0.00,0.000,4,0.000,0.161,3074,571,1539
$GC,15023,1.34,370.9,379.1,11.3,1324,15030,0.00,2.60,0.00,0.000,6,0.000,0.127,3074,1990,1539
$GC,15352,1.34,370.9,342.1,11.6,1361,15358,0.00,2.80,0.00,0.000,4,0.000,0.160,3074,567,1539
$GC,15369,1.34,370.9,340.1,11.7,1364,15375,0.00,2.60,0.00,0.000,6,0.000,0.127,3074,1986,1538
$GC,15713,1.35,375.3,302.6,9.8,1425,15719,0.00,2.78,0.00,0.000,4,0.000,0.159,3074,564,1539
$GC,15731,1.35,375.3,300.7,10.6,1428,15737,0.00,2.60,0.00,0.000,6,0.000,0.132,3074,1982,1539
$GC,16075,1.35,375.5,266.3,10.0,1489,16081,0.00,2.75,0.00,0.000,4,0.000,0.160,3074,572,1538
$GC,16099,1.35,376.9,263.8,10.0,1493,16111,0.00,2.58,4.80,0.627,6,0.000,0.127,3074,1972,1525
$GC,16448,1.35,376.9,226.0,11.5,1555,16455,0.00,2.75,0.00,0.000,4,0.000,0.160,3074,569,1524
$GC,16463,1.35,376.9,224.5,10.4,1557,16469,0.00,2.55,0.00,0.000,6,0.000,0.124,3074,1961,1524
$GC,16806,1.35,376.9,183.9,11.9,1618,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1964,1524
$GC,17151,1.35,376.9,143.6,12.3,1679,17157,0.00,2.72,0.00,0.000,4,0.000,0.160,3074,566,1524
$GC,17164,1.35,376.9,141.8,12.6,1681,17170,0.00,2.55,0.00,0.000,6,0.000,0.126,3074,1956,1524
$GC,17507,1.35,376.9,95.9,15.5,1742,17514,0.00,2.70,0.00,0.000,4,0.000,0.161,3074,563,1524
$GC,17520,1.35,376.9,94.0,15.0,1744,17527,0.00,2.53,0.00,0.000,6,0.000,0.129,3074,1950,1524
$GC,17867,1.35,376.9,46.0,13.3,1805,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1952,1524
$GC,18008,1.35,376.9,29.3,11.9,1830,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1953,1524
$GC,18150,1.36,382.2,14.3,9.8,1855,18163,0.00,2.70,6.57,0.588,4,0.000,0.155,3074,563,1502
$GC,18175,1.36,382.2,11.5,11.7,1859,18182,0.00,2.53,0.00,0.000,6,0.000,0.124,3074,1946,1502
$STATE,18253,end climb,SURFACE_DEPTH_REACHED
$STATE,18253,begin surface coast
$FINISH,0.3,1.002094
$STATE,18283,end surface coast,CONTROL_FINISHED_OK
$STATE,18283,begin surface
$SM_CCo,18363,0.00,0.000,0,0,1499,382.91
$SM_GC,1.07,10.50,0.00,0.00,0.036,0.000,0.000,569,2037,1499,-10.07,0.28,382.91
$IRIDIUM_FIX,6112.75,-2609.62,170897,151553
$TT8_MAMPS,0.041418
$HUMID,1659
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,650
$24V_AH,23.4,44.989
$10V_AH,10.6,49.927
$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,24.650,130.150,515.950,0.000,0.000,31.604,39.114,248.239,162.500,0.000,0.000,13.165,2941.761,11190.008,657.169,3329.828,682.381,0.000,2160.210,0.000,3351.009,0.000,0.466
$DEVICE_MAMPS,195.585,189.449,1296.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1326.390,1368.922,669.285,1667.512,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136012,1878
$CAP_FILE_SIZE,163577,0
$CFSIZE,260165632,234962944
$ERRORS,0,58,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240508,021907,6140.339,-2624.422,25,1.5,25,-18.8