version: 66.03
glider: 141
mission: 7
dive: 154
start: 5 7 108 23 45 15
data:
$ID,141
$MISSION,7
$DIVE,154
$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,135
$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,-9250.4297
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,233437,6107.899,-2631.637,35,1.1,40,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-54.6
$GPS2,234456,6107.924,-2631.508,9,1.7,14,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6100.288,-2627.807
$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,153.5,20000,-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,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-100.12,0.000,6,0.000,0.000,569,2010,3857
$GC,132,-1.34,-194.7,4.0,-7.5,14,147,11.18,0.00,0.00,0.000,6,0.199,0.000,2478,2010,3859
$GC,274,-1.34,-194.7,27.6,-11.7,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2010,3860
$GC,407,-1.34,-194.7,42.7,-11.0,65,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2010,3860
$GC,543,-1.34,-194.7,58.0,-10.6,90,551,0.00,2.70,0.00,0.000,4,0.000,0.067,2478,3433,3860
$GC,563,-1.30,-194.7,60.2,-11.7,93,571,0.00,2.60,0.00,0.000,6,0.000,0.048,2478,2019,3860
$GC,905,-1.30,-194.7,97.0,-10.7,154,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2011,3860
$GC,1245,-1.30,-194.7,135.0,-11.3,215,1251,0.00,2.67,0.00,0.000,4,0.000,0.060,2478,3439,3860
$GC,1276,-1.26,-194.7,138.4,-12.1,220,1283,0.12,2.55,0.00,0.000,6,0.118,0.054,2502,2028,3860
$GC,1618,-1.26,-194.7,175.9,-10.8,281,1624,0.00,2.62,0.00,0.000,4,0.000,0.061,2502,3439,3860
$GC,1635,-1.26,-194.7,178.0,-11.5,284,1641,0.00,2.55,0.00,0.000,6,0.000,0.048,2502,2026,3860
$GC,1979,-1.26,-194.7,215.9,-10.4,345,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2020,3860
$GC,2322,-1.26,-194.7,252.6,-10.6,406,2328,0.00,2.65,0.00,0.000,4,0.000,0.061,2502,3438,3860
$GC,2351,-1.26,-194.7,255.6,-11.4,411,2357,0.00,2.55,0.00,0.000,6,0.000,0.049,2502,2032,3860
$GC,2696,-1.26,-194.7,290.6,-9.9,472,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3861
$GC,3040,-1.26,-194.7,324.5,-9.4,533,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3860
$GC,3384,-1.26,-194.7,357.1,-9.4,588,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3859
$GC,3703,-1.26,-194.7,387.9,-9.6,618,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3860
$GC,4021,-1.26,-194.7,418.9,-9.7,648,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3860
$GC,4340,-1.26,-194.7,450.0,-9.6,678,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3860
$GC,4658,-1.26,-194.7,481.5,-9.9,708,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3860
$GC,4977,-1.26,-194.7,513.3,-10.1,738,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2027,3860
$GC,5295,-1.26,-194.7,545.8,-10.2,768,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3859
$GC,5614,-1.26,-194.7,579.2,-10.6,798,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3859
$GC,5929,-1.26,-194.7,610.3,-9.5,823,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3859
$GC,6240,-1.26,-194.7,638.8,-9.3,838,6244,0.00,2.78,0.00,0.000,4,0.000,0.087,2502,3431,3859
$GC,6271,-1.26,-194.7,642.2,-10.4,839,6278,0.00,2.58,0.00,0.000,6,0.000,0.061,2502,2053,3859
$GC,6587,-1.26,-194.7,671.6,-9.3,855,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2052,3859
$GC,6897,-1.26,-194.7,700.4,-9.3,870,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2052,3859
$GC,7206,-1.26,-194.7,730.5,-10.0,885,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2051,3858
$GC,7515,-1.26,-194.7,760.8,-9.8,900,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2048,3859
$GC,7825,-1.26,-194.7,790.9,-9.8,915,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2047,3858
$GC,8133,-1.26,-194.7,820.2,-9.1,930,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2047,3858
$GC,8443,-1.26,-194.7,848.9,-9.2,945,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2047,3858
$GC,8752,-1.26,-194.7,877.4,-9.2,960,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2046,3857
$GC,9061,-1.26,-194.7,906.1,-9.4,975,9066,0.00,2.72,0.00,0.000,4,0.000,0.086,2502,3440,3857
$GC,9100,-1.26,-194.7,910.0,-10.5,977,9105,0.00,2.62,0.00,0.000,6,0.000,0.064,2502,2037,3857
$GC,9427,-1.26,-194.7,942.1,-10.0,993,9431,0.00,2.72,0.00,0.000,4,0.000,0.083,2502,3438,3857
$GC,9465,-1.26,-194.7,946.2,-10.8,995,9470,0.00,2.60,0.00,0.000,6,0.000,0.064,2502,2043,3857
$GC,9792,-1.26,-194.7,977.7,-9.4,1011,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2042,3856
$STATE,9934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9934,begin apogee
$GC,9939,-0.37,0.0,991.5,9.7,1018,10116,0.93,0.00,169.23,1.294,6,0.100,0.000,2697,1984,3062
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10119,1.34,194.7,997.7,0.0,1027,10296,1.67,2.92,167.50,1.266,4,0.075,0.103,3065,569,2267
$GC,10335,1.27,194.7,982.5,10.1,1036,10342,0.00,2.62,0.00,0.000,6,0.000,0.056,3065,1983,2265
$GC,10651,1.22,199.0,952.7,9.8,1052,10661,0.00,2.75,4.47,0.808,4,0.000,0.082,3065,3394,2249
$GC,10722,1.17,199.0,944.8,11.3,1055,10728,0.15,2.60,0.00,0.000,6,0.106,0.058,3035,1989,2248
$GC,11037,1.20,222.2,916.0,9.2,1070,11062,0.00,0.00,22.50,1.180,6,0.000,0.000,3035,1988,2155
$GC,11367,1.22,239.1,885.2,9.4,1086,11396,0.00,2.80,18.00,1.039,4,0.000,0.071,3035,3395,2087
$GC,11446,1.22,239.1,876.8,11.2,1089,11453,0.00,2.65,0.00,0.000,6,0.000,0.058,3035,1994,2085
$GC,11761,1.22,239.1,843.3,10.7,1105,11766,0.00,2.75,0.00,0.000,4,0.000,0.087,3035,573,2084
$GC,11811,1.22,239.1,837.7,10.8,1107,11815,0.00,2.62,0.00,0.000,6,0.000,0.054,3035,1998,2084
$GC,12132,1.22,241.8,804.8,9.9,1123,12136,0.00,2.67,0.00,0.000,4,0.000,0.081,3035,3399,2083
$GC,12170,1.23,245.7,800.9,9.9,1125,12185,0.00,2.60,7.28,0.975,6,0.000,0.058,3035,1987,2060
$GC,12501,1.24,259.0,769.5,9.5,1141,12523,0.00,2.78,13.50,1.074,4,0.000,0.084,3035,582,2006
$GC,12555,1.24,259.0,764.0,10.1,1143,12559,0.00,2.62,0.00,0.000,6,0.000,0.053,3035,2005,2005
$GC,12876,1.26,270.5,733.3,9.6,1159,12901,0.00,2.75,13.70,0.908,4,0.000,0.081,3035,3413,1958
$GC,12942,1.26,275.2,726.7,9.8,1162,12953,0.00,2.62,6.05,0.881,6,0.000,0.058,3035,1996,1940
$GC,13268,1.27,284.8,695.1,9.7,1178,13284,0.10,2.78,10.25,0.991,4,0.071,0.084,3066,576,1900
$GC,13311,1.27,284.8,690.0,11.8,1179,13315,0.00,2.62,0.00,0.000,6,0.000,0.054,3066,1998,1900
$GC,13638,1.27,284.8,651.6,11.8,1195,13642,0.00,2.65,0.00,0.000,4,0.000,0.079,3066,3395,1898
$GC,13669,1.27,284.8,647.5,12.1,1196,13676,0.00,2.58,0.00,0.000,6,0.000,0.056,3066,1993,1897
$GC,13985,1.27,284.8,611.9,11.1,1212,13990,0.00,2.75,0.00,0.000,4,0.000,0.083,3066,570,1898
$GC,14023,1.27,284.8,607.4,11.2,1214,14028,0.00,2.62,0.00,0.000,6,0.000,0.053,3066,2001,1898
$GC,14347,1.27,284.8,571.1,11.3,1241,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2002,1897
$GC,14664,1.27,284.8,536.4,10.6,1271,14669,0.00,2.65,0.00,0.000,4,0.000,0.076,3066,3403,1897
$GC,14696,1.27,284.8,532.6,11.2,1273,14703,0.00,2.60,0.00,0.000,6,0.000,0.056,3066,1987,1897
$GC,15022,1.27,284.8,497.3,10.9,1304,15027,0.00,2.65,0.00,0.000,4,0.000,0.077,3066,576,1897
$GC,15061,1.27,284.8,492.8,11.2,1307,15065,0.00,2.58,0.00,0.000,6,0.000,0.052,3066,1994,1897
$GC,15385,1.27,284.8,456.0,11.4,1337,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,15703,1.27,284.8,419.3,11.5,1367,15704,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,16023,1.27,284.8,383.7,11.0,1397,16024,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,16343,1.27,284.8,347.0,11.2,1429,16348,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,16684,1.27,284.8,307.0,10.3,1490,16690,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,17026,1.27,284.8,270.1,10.3,1551,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,17368,1.27,284.8,232.1,12.3,1612,17374,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,17712,1.27,284.8,194.0,10.8,1673,17718,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1897
$GC,18054,1.27,284.8,158.1,10.9,1734,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1898
$GC,18396,1.27,284.8,121.9,11.3,1795,18402,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1898
$GC,18737,1.30,308.8,86.4,9.2,1856,18761,0.00,0.00,22.27,0.716,6,0.000,0.000,3066,1996,1803
$GC,19096,1.30,308.8,47.4,10.6,1920,19104,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1798
$GC,19231,1.30,308.8,32.4,12.2,1945,19238,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1798
$GC,19365,1.30,308.8,17.5,10.2,1970,19372,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1798
$STATE,19498,end climb,SURFACE_DEPTH_REACHED
$STATE,19498,begin surface coast
$FINISH,0.1,1.016749
$STATE,19526,end surface coast,CONTROL_FINISHED_OK
$STATE,19526,begin surface
$SM_CCo,19606,0.00,0.000,0,0,1796,310.55
$SM_GC,0.97,10.48,0.00,0.00,0.037,0.000,0.000,569,2042,1796,-10.08,0.34,310.55
$IRIDIUM_FIX,6041.65,-2627.93,010897,232327
$TT8_MAMPS,0.042185
$HUMID,1651
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.50
$XPDR_PINGS,439
$24V_AH,23.5,31.448
$10V_AH,10.6,39.016
$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,24.625,101.350,454.750,0.000,0.000,58.345,67.811,295.248,109.750,0.000,0.000,15.762,3148.334,11863.896,589.384,3859.526,747.373,0.000,2196.468,0.000,3871.438,0.000,0.465
$DEVICE_MAMPS,198.653,102.778,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1400.707,1449.176,743.899,945.207,915.504,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142210,2000
$CAP_FILE_SIZE,173368,0
$CFSIZE,260165632,241467392
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080508,051308,6105.407,-2626.163,32,1.1,32,-18.4