version: 66.03
glider: 141
mission: 7
dive: 147
start: 5 6 108 12 10 9
data:
$ID,141
$MISSION,7
$DIVE,147
$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,-9023.7324
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,115925,6054.387,-2648.253,24,1.2,41,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.9
$GPS2,120951,6054.321,-2648.351,11,1.3,11,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.720,-2652.885
$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,318.5,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-99.22,0.000,6,0.000,0.000,573,2040,3857
$GC,131,-1.34,-194.7,4.2,-8.2,14,148,11.23,2.67,0.00,0.000,4,0.202,0.061,2477,613,3859
$GC,259,-1.34,-194.7,27.6,-11.9,37,267,0.00,2.58,0.00,0.000,6,0.000,0.049,2477,2024,3860
$GC,394,-1.34,-194.7,43.2,-11.6,62,402,0.00,2.65,0.00,0.000,4,0.000,0.063,2477,3438,3860
$GC,461,-1.29,-194.7,51.4,-11.9,74,468,0.10,2.53,0.00,0.000,6,0.120,0.048,2496,2030,3860
$GC,801,-1.29,-194.7,88.6,-11.1,135,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2023,3860
$GC,1147,-1.29,-194.7,123.8,-9.8,196,1153,0.00,2.60,0.00,0.000,4,0.000,0.061,2496,3437,3860
$GC,1232,-1.29,-194.7,132.7,-10.7,211,1238,0.00,2.50,0.00,0.000,6,0.000,0.048,2495,2045,3860
$GC,1572,-1.29,-194.7,169.3,-11.2,272,1579,0.00,2.60,0.00,0.000,4,0.000,0.066,2496,620,3860
$GC,1635,-1.29,-194.7,176.6,-11.8,283,1641,0.00,2.55,0.00,0.000,6,0.000,0.045,2495,2055,3860
$GC,1977,-1.29,-194.7,218.1,-12.3,344,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2057,3860
$GC,2321,-1.29,-194.7,257.8,-10.1,405,2327,0.00,2.62,0.00,0.000,4,0.000,0.061,2496,624,3860
$GC,2367,-1.29,-194.7,262.4,-9.7,413,2374,0.00,2.53,0.00,0.000,6,0.000,0.044,2496,2043,3860
$GC,2710,-1.29,-194.7,296.5,-10.5,474,2716,0.00,2.58,0.00,0.000,4,0.000,0.064,2496,3438,3860
$GC,2755,-1.29,-194.7,301.6,-11.3,482,2762,0.00,2.50,0.00,0.000,6,0.000,0.051,2496,2054,3859
$GC,3098,-1.29,-194.7,339.5,-11.2,543,3104,0.00,2.65,0.00,0.000,4,0.000,0.071,2495,623,3860
$GC,3149,-1.29,-194.7,345.3,-12.2,552,3156,0.00,2.55,0.00,0.000,6,0.000,0.046,2496,2053,3859
$GC,3482,-1.29,-194.7,381.1,-11.0,587,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2055,3859
$GC,3801,-1.29,-194.7,419.1,-12.2,617,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2055,3859
$GC,4119,-1.29,-194.7,457.0,-11.8,647,4123,0.00,2.67,0.00,0.000,4,0.000,0.067,2495,621,3859
$GC,4173,-1.29,-194.7,463.8,-12.5,651,4180,0.00,2.58,0.00,0.000,6,0.000,0.048,2495,2054,3859
$GC,4499,-1.29,-194.7,499.9,-10.2,682,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2056,3859
$GC,4817,-1.29,-194.7,528.9,-8.8,712,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2057,3859
$GC,5136,-1.29,-194.7,555.4,-8.7,742,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2057,3859
$GC,5455,-1.29,-194.7,583.8,-8.8,772,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2057,3859
$GC,5769,-1.29,-194.7,608.3,-7.4,797,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2057,3859
$GC,6079,-1.29,-194.7,631.7,-7.8,812,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2057,3859
$GC,6387,-1.29,-194.7,660.0,-10.1,827,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2057,3859
$GC,6697,-1.29,-194.7,693.4,-10.4,842,6701,0.00,2.88,0.00,0.000,4,0.000,0.107,2495,629,3858
$GC,6740,-1.29,-194.7,697.9,-10.0,844,6744,0.00,2.62,0.00,0.000,6,0.000,0.068,2495,2031,3858
$GC,7067,-1.29,-194.7,725.8,-8.0,860,7071,0.00,2.83,0.00,0.000,4,0.000,0.104,2495,3439,3858
$GC,7110,-1.29,-194.7,729.6,-8.7,862,7115,0.00,2.60,0.00,0.000,6,0.000,0.066,2495,2047,3857
$GC,7431,-1.29,-194.7,761.8,-12.0,878,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2046,3858
$GC,7740,-1.29,-194.7,794.8,-10.2,893,7744,0.00,2.80,0.00,0.000,4,0.000,0.100,2495,621,3858
$GC,7783,-1.29,-194.7,799.2,-10.0,895,7787,0.00,2.60,0.00,0.000,6,0.000,0.060,2496,2039,3858
$GC,8110,-1.29,-194.7,828.1,-8.7,911,8114,0.00,2.75,0.00,0.000,4,0.000,0.097,2495,3448,3857
$GC,8153,-1.29,-194.7,831.7,-8.2,913,8157,0.00,2.60,0.00,0.000,6,0.000,0.062,2495,2034,3857
$GC,8480,-1.29,-194.7,861.9,-9.6,929,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2034,3857
$GC,8789,-1.29,-194.7,889.9,-8.8,944,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2033,3857
$GC,9098,-1.29,-194.7,918.0,-9.1,959,9103,0.00,2.75,0.00,0.000,4,0.000,0.097,2495,620,3857
$GC,9162,-1.29,-194.7,924.0,-9.2,962,9166,0.00,2.58,0.00,0.000,6,0.000,0.060,2495,2027,3856
$GC,9487,-1.29,-194.7,954.4,-9.7,978,9492,0.00,2.72,0.00,0.000,4,0.000,0.094,2496,3437,3856
$GC,9576,-1.29,-194.7,963.6,-10.7,982,9580,0.00,2.62,0.00,0.000,6,0.000,0.064,2495,2019,3856
$STATE,9853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9853,begin apogee
$GC,9857,-0.37,0.0,990.1,9.6,996,10030,0.95,0.00,168.98,1.295,6,0.099,0.000,2697,1982,3062
$STATE,10031,end apogee,CONTROL_FINISHED_OK
$STATE,10031,begin climb
$GC,10033,1.34,194.7,994.8,0.0,1004,10205,1.67,0.00,168.38,1.266,6,0.075,0.000,3071,1981,2268
$GC,10509,1.28,194.7,944.8,10.8,1028,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1981,2262
$GC,10817,1.21,194.7,912.2,10.4,1043,10823,0.15,2.75,0.00,0.000,4,0.107,0.071,3038,3402,2261
$GC,10872,1.21,194.7,906.5,10.3,1045,10879,0.00,2.62,0.00,0.000,6,0.000,0.058,3038,1995,2260
$GC,11188,1.21,196.4,876.3,9.9,1061,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1993,2260
$GC,11497,1.21,196.4,844.7,10.1,1076,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1992,2259
$GC,11806,1.24,215.7,816.3,9.3,1091,11831,0.00,2.78,18.67,1.135,4,0.000,0.071,3038,3388,2181
$GC,11871,1.24,215.7,809.8,10.2,1094,11875,0.00,2.58,0.00,0.000,6,0.000,0.057,3038,2008,2179
$GC,12196,1.24,215.7,777.3,10.4,1110,12201,0.00,2.78,0.00,0.000,4,0.000,0.086,3038,576,2179
$GC,12223,1.24,215.7,774.3,10.5,1111,12227,0.00,2.62,0.00,0.000,6,0.000,0.053,3038,1998,2179
$GC,12544,1.25,229.1,742.0,9.5,1127,12566,0.00,2.78,12.75,1.058,4,0.000,0.079,3038,3389,2127
$GC,12582,1.31,278.8,738.4,8.3,1128,12643,0.12,2.60,48.17,1.090,6,0.064,0.055,3074,1993,1924
$GC,12958,1.31,278.8,694.3,12.2,1147,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1993,1918
$GC,13267,1.31,278.8,657.3,11.8,1162,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1993,1917
$GC,13576,1.31,278.8,616.9,13.0,1177,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1991,1917
$GC,13890,1.31,278.8,577.9,11.9,1200,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1990,1917
$GC,14210,1.31,278.8,541.1,11.7,1230,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1990,1917
$GC,14527,1.31,278.8,503.5,11.2,1260,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1990,1917
$GC,14846,1.31,278.8,467.2,11.5,1290,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1990,1917
$GC,15164,1.31,278.8,431.9,11.3,1320,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1989,1917
$GC,15483,1.31,278.8,395.4,11.6,1350,15488,0.00,2.65,0.00,0.000,4,0.000,0.064,3074,3395,1917
$GC,15504,1.31,278.8,392.6,12.9,1351,15511,0.00,2.60,0.00,0.000,6,0.000,0.053,3074,1991,1916
$GC,15830,1.31,278.8,354.6,11.1,1382,15834,0.00,2.67,0.00,0.000,4,0.000,0.071,3074,570,1916
$GC,15846,1.31,278.8,352.6,10.9,1383,15850,0.00,2.58,0.00,0.000,6,0.000,0.048,3074,1994,1917
$GC,16188,1.31,278.8,314.2,11.2,1441,16193,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1996,1917
$GC,16530,1.31,278.8,272.1,12.5,1502,16535,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1995,1917
$GC,16871,1.31,278.8,230.5,11.0,1563,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1996,1917
$GC,17214,1.33,291.3,194.9,9.6,1624,17230,0.00,0.00,11.43,0.742,6,0.000,0.000,3074,1996,1873
$GC,17567,1.33,291.3,159.1,11.0,1687,17573,0.00,2.70,0.00,0.000,4,0.000,0.067,3074,576,1871
$GC,17601,1.33,291.3,155.1,12.8,1693,17607,0.00,2.58,0.00,0.000,6,0.000,0.047,3074,1988,1871
$GC,17939,1.33,291.3,116.1,11.4,1754,17945,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1990,1871
$GC,18279,1.33,291.3,78.5,10.9,1815,18287,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1990,1871
$GC,18616,1.33,291.3,42.8,10.2,1876,18624,0.00,2.65,0.00,0.000,4,0.000,0.064,3074,3390,1871
$GC,18664,1.33,291.3,37.3,11.2,1884,18671,0.00,2.60,0.00,0.000,6,0.000,0.056,3074,1983,1871
$GC,18798,1.34,302.6,22.6,9.6,1909,18814,0.00,0.00,10.88,0.642,6,0.000,0.000,3074,1981,1828
$GC,18940,1.34,302.6,6.5,11.2,1935,18948,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1981,1827
$STATE,18969,end climb,SURFACE_DEPTH_REACHED
$STATE,18969,begin surface coast
$FINISH,0.1,1.026844
$STATE,18997,end surface coast,CONTROL_FINISHED_OK
$STATE,18997,begin surface
$SM_CCo,19076,0.00,0.000,0,0,1824,303.68
$SM_GC,0.83,10.45,0.00,0.00,0.033,0.000,0.000,566,2044,1824,-10.07,0.37,303.68
$IRIDIUM_FIX,6028.48,-2659.60,310797,121219
$TT8_MAMPS,0.042185
$HUMID,1614
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.20
$XPDR_PINGS,415
$24V_AH,23.5,30.142
$10V_AH,10.5,37.865
$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,24.675,116.400,439.250,0.000,0.000,50.091,74.140,310.905,103.750,0.000,0.000,12.995,3062.688,11582.107,600.099,3724.395,715.914,0.000,2126.906,0.000,3725.832,0.000,0.465
$DEVICE_MAMPS,202.488,107.380,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1359.736,1398.319,725.588,917.968,895.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139123,1945
$CAP_FILE_SIZE,169288,0
$CFSIZE,260165632,242085888
$ERRORS,0,28,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060508,172908,6055.083,-2656.396,28,1.4,28,-18.6