version: 66.03
glider: 141
mission: 7
dive: 145
start: 5 6 108 1 20 3
data:
$ID,141
$MISSION,7
$DIVE,145
$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,300
$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,-8995.3604
$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,30
$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
$GPS1,011238,6052.290,-2629.034,36,0.8,36,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-54.8
$GPS2,011944,6052.282,-2629.192,9,0.9,14,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.682,-2633.732
$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,318.3,20000,-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,25,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-101.03,0.000,2,0.000,0.000,574,2050,3813
$GC,132,-1.34,-194.7,3.7,-6.7,14,149,11.07,2.65,-0.88,0.000,4,0.199,0.067,2479,3428,3857
$GC,385,-1.29,-194.7,39.7,-10.7,61,393,0.00,2.60,0.00,0.000,6,0.000,0.050,2479,2025,3858
$GC,521,-1.29,-194.7,55.5,-12.5,86,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2020,3858
$GC,862,-1.29,-194.7,96.5,-11.9,147,871,0.00,2.65,0.00,0.000,4,0.000,0.060,2479,3421,3858
$GC,955,-1.25,-194.7,107.8,-12.3,163,962,0.12,2.53,0.00,0.000,6,0.116,0.048,2503,2033,3858
$GC,1296,-1.25,-194.7,143.1,-10.1,224,1302,0.00,2.62,0.00,0.000,4,0.000,0.064,2503,622,3858
$GC,1368,-1.25,-194.7,150.6,-10.3,237,1374,0.00,2.55,0.00,0.000,6,0.000,0.046,2503,2037,3858
$GC,1711,-1.25,-194.7,185.9,-10.4,298,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2039,3858
$GC,2053,-1.25,-194.7,219.5,-10.0,359,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2039,3858
$GC,2397,-1.25,-194.7,250.0,-8.7,420,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3858
$GC,2739,-1.25,-194.7,283.3,-10.7,481,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3859
$GC,3081,-1.25,-194.7,319.5,-10.5,542,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3858
$GC,3421,-1.25,-194.7,354.5,-10.0,599,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3858
$GC,3739,-1.25,-194.7,383.0,-8.6,629,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3858
$GC,4058,-1.25,-194.7,406.1,-6.6,659,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3858
$GC,4377,-1.25,-194.7,429.6,-8.1,689,4381,0.00,2.67,0.00,0.000,4,0.000,0.071,2503,3441,3858
$GC,4427,-1.25,-194.7,434.1,-8.8,693,4431,0.00,2.58,0.00,0.000,6,0.000,0.052,2503,2037,3858
$GC,4752,-1.25,-194.7,463.4,-9.7,723,4757,0.00,2.65,0.00,0.000,4,0.000,0.069,2503,623,3858
$GC,4814,-1.25,-194.7,470.0,-10.6,728,4818,0.00,2.55,0.00,0.000,6,0.000,0.049,2503,2033,3858
$GC,5139,-1.25,-194.7,506.7,-12.3,758,5144,0.00,2.70,0.00,0.000,4,0.000,0.077,2504,3437,3858
$GC,5200,-1.25,-194.7,514.7,-13.3,763,5204,0.00,2.58,0.00,0.000,6,0.000,0.054,2503,2036,3858
$GC,5527,-1.25,-194.7,554.9,-12.3,793,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,5842,-1.25,-194.7,594.1,-11.6,823,5846,0.00,2.72,0.00,0.000,4,0.000,0.084,2503,621,3858
$GC,5892,-1.25,-194.7,600.2,-12.5,827,5896,0.00,2.55,0.00,0.000,6,0.000,0.053,2503,2028,3858
$GC,6206,-1.25,-194.7,635.9,-10.7,842,6211,0.00,2.72,0.00,0.000,4,0.000,0.089,2503,3438,3858
$GC,6267,-1.25,-194.7,642.2,-10.3,845,6271,0.00,2.60,0.00,0.000,6,0.000,0.063,2503,2041,3858
$GC,6593,-1.25,-194.7,672.1,-8.6,861,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3858
$GC,6902,-1.25,-194.7,698.5,-8.6,876,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3858
$GC,7211,-1.25,-194.7,725.0,-8.5,891,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2038,3858
$GC,7521,-1.25,-194.7,751.2,-8.4,906,7525,0.00,2.72,0.00,0.000,4,0.000,0.085,2503,3437,3858
$GC,7575,-1.25,-194.7,756.2,-8.9,908,7582,0.00,2.62,0.00,0.000,6,0.000,0.067,2503,2042,3858
$GC,7891,-1.25,-194.7,783.6,-9.3,924,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3858
$GC,8200,-1.25,-194.7,814.0,-10.1,939,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3857
$GC,8509,-1.25,-194.7,846.2,-10.8,954,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2039,3857
$GC,8818,-1.25,-194.7,885.1,-12.8,969,8822,0.00,2.72,0.00,0.000,4,0.000,0.083,2504,3441,3857
$GC,8867,-1.25,-194.7,891.3,-12.6,971,8872,0.00,2.60,0.00,0.000,6,0.000,0.063,2503,2051,3857
$GC,9182,-1.25,-194.7,921.1,-7.7,986,9187,0.00,2.83,0.00,0.000,4,0.000,0.101,2502,613,3857
$GC,9237,-1.25,-194.7,925.2,-7.6,988,9243,0.00,2.65,0.00,0.000,6,0.000,0.059,2504,2059,3856
$GC,9553,-1.25,-194.7,942.2,-5.6,1004,9557,0.00,2.72,0.00,0.000,4,0.000,0.094,2502,3447,3856
$GC,9601,-1.25,-194.7,945.9,-7.8,1006,9605,0.00,2.58,0.00,0.000,6,0.000,0.063,2503,2061,3856
$GC,9922,-1.25,-194.7,976.1,-10.1,1022,9927,0.00,2.83,0.00,0.000,4,0.000,0.096,2504,615,3856
$GC,9977,-1.25,-194.7,982.1,-10.4,1024,9984,0.00,2.65,0.00,0.000,6,0.000,0.058,2503,2066,3856
$STATE,10064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10064,begin apogee
$GC,10069,-0.37,0.0,990.6,9.8,1029,10241,0.90,0.00,168.55,1.299,6,0.097,0.000,2694,1979,3062
$STATE,10242,end apogee,CONTROL_FINISHED_OK
$STATE,10242,begin climb
$GC,10243,1.34,194.7,999.0,0.0,1037,10420,1.70,2.88,167.62,1.274,4,0.076,0.085,3067,3400,2267
$GC,10432,1.33,230.0,992.1,8.8,1045,10471,0.00,2.65,31.95,1.213,6,0.000,0.061,3067,1986,2124
$GC,10794,1.28,230.0,954.4,11.6,1063,10798,0.00,2.70,0.00,0.000,4,0.000,0.075,3067,3403,2118
$GC,10826,1.28,263.6,951.1,8.8,1064,10862,0.00,2.62,30.90,1.200,6,0.000,0.060,3067,1988,1987
$GC,11178,1.28,263.6,912.0,11.3,1082,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1986,1982
$GC,11486,1.28,263.6,871.2,13.8,1097,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1986,1981
$GC,11796,1.29,265.3,833.1,9.9,1112,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1985,1980
$GC,12105,1.31,283.9,802.3,9.4,1127,12133,0.00,0.00,21.10,1.048,6,0.000,0.000,3067,1985,1903
$GC,12434,1.31,283.9,768.4,11.2,1143,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1985,1901
$GC,12743,1.31,283.9,733.2,11.3,1158,12748,0.00,2.65,0.00,0.000,4,0.000,0.071,3067,3394,1900
$GC,12769,1.31,283.9,730.0,11.0,1159,12774,0.00,2.60,0.00,0.000,6,0.000,0.058,3066,2001,1900
$GC,13091,1.31,286.3,696.6,9.9,1175,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1900
$GC,13399,1.31,286.3,664.8,10.4,1190,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1999,1899
$GC,13709,1.31,286.3,629.8,11.7,1205,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,1899
$GC,14020,1.31,286.3,590.5,13.1,1223,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,1899
$GC,14338,1.31,286.3,546.0,14.1,1253,14343,0.00,2.70,0.00,0.000,4,0.000,0.079,3067,574,1899
$GC,14355,1.31,286.3,543.7,13.7,1254,14360,0.00,2.60,0.00,0.000,6,0.000,0.052,3068,2004,1899
$GC,14679,1.31,286.3,502.2,11.4,1284,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2006,1899
$GC,14999,1.32,294.5,469.7,9.7,1314,15014,0.00,2.75,10.60,0.887,4,0.000,0.071,3067,568,1860
$GC,15026,1.33,300.3,467.0,9.8,1316,15038,0.00,2.62,7.07,0.801,6,0.000,0.049,3067,2004,1837
$GC,15355,1.33,300.3,432.9,11.3,1347,15359,0.00,2.70,0.00,0.000,4,0.000,0.071,3067,571,1835
$GC,15370,1.33,300.3,431.0,11.4,1348,15375,0.00,2.58,0.00,0.000,6,0.000,0.049,3067,1998,1835
$GC,15694,1.33,300.3,390.5,12.8,1378,15695,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1835
$GC,16013,1.33,300.3,350.4,11.5,1408,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1835
$GC,16350,1.35,313.5,314.5,9.5,1467,16372,0.00,2.75,12.88,0.819,4,0.000,0.068,3067,579,1782
$GC,16384,1.37,329.8,311.2,9.4,1473,16406,0.00,2.58,15.65,0.817,6,0.000,0.048,3067,1990,1716
$GC,16744,1.44,386.3,278.8,8.0,1537,16797,0.10,0.00,50.70,0.836,6,0.067,0.000,3101,1992,1487
$GC,17135,1.44,386.3,234.9,12.3,1607,17141,0.00,2.70,0.00,0.000,4,0.000,0.070,3101,569,1479
$GC,17174,1.44,386.3,229.6,13.6,1614,17181,0.00,2.55,0.00,0.000,6,0.000,0.047,3100,1981,1479
$GC,17517,1.44,386.3,182.8,14.2,1675,17523,0.00,2.67,0.00,0.000,4,0.000,0.068,3101,567,1478
$GC,17535,1.44,386.3,180.4,13.8,1678,17541,0.00,2.55,0.00,0.000,6,0.000,0.047,3101,1978,1478
$GC,17876,1.44,386.3,129.9,13.4,1739,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1981,1478
$GC,18215,1.44,386.3,88.3,15.7,1800,18224,0.00,2.70,0.00,0.000,4,0.000,0.076,3100,577,1477
$GC,18236,1.44,386.3,85.3,15.7,1803,18245,0.00,2.55,0.00,0.000,6,0.000,0.048,3101,1965,1477
$GC,18576,1.44,386.3,39.2,14.7,1864,18583,0.00,2.67,0.00,0.000,4,0.000,0.074,3100,575,1477
$GC,18591,1.44,386.3,37.0,14.7,1866,18599,0.00,2.53,0.00,0.000,6,0.000,0.048,3101,1950,1477
$GC,18726,1.44,386.3,17.5,13.1,1891,18734,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1951,1477
$STATE,18833,end climb,SURFACE_DEPTH_REACHED
$STATE,18833,begin surface coast
$FINISH,0.1,1.027192
$STATE,18855,end surface coast,CONTROL_FINISHED_OK
$STATE,18855,begin surface
$SM_CCo,18934,0.00,0.000,0,0,1474,389.54
$SM_GC,0.83,10.62,0.00,0.00,0.037,0.000,0.000,573,2046,1474,-10.06,0.45,389.54
$IRIDIUM_FIX,6028.48,-2622.06,300797,191923
$TT8_MAMPS,0.042185
$HUMID,1649
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,12.40
$XPDR_PINGS,405
$24V_AH,23.5,29.768
$10V_AH,10.6,37.526
$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,24.525,127.475,517.025,0.000,0.000,31.479,28.760,238.866,101.250,0.000,0.000,15.690,3016.994,11443.689,637.883,3650.547,595.580,0.000,2186.635,0.000,3653.990,0.000,0.465
$DEVICE_MAMPS,198.653,101.244,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1344.881,1377.832,683.312,876.274,814.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135985,1915
$CAP_FILE_SIZE,169661,0
$CFSIZE,260165632,242278400
$ERRORS,0,17,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060508,063638,6053.430,-2639.253,26,1.2,26,-18.4