version: 66.03
glider: 141
mission: 7
dive: 159
start: 5 9 108 3 42 3
data:
$ID,141
$MISSION,7
$DIVE,159
$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,5
$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,-9318.7246
$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,21
$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
$GPS1,033327,6059.616,-2618.153,39,99.0,58,-18.3
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.5
$GPS2,034145,6059.608,-2618.292,10,1.3,10,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.366,-2617.838
$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,23.3,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,130,0.00,0.00,-100.70,0.000,2,0.000,0.000,563,2011,3757
$GC,133,-1.34,-194.7,3.2,-5.5,14,157,11.05,2.70,-2.30,0.000,4,0.195,0.069,2478,3431,3858
$GC,393,-1.30,-194.7,39.9,-13.7,62,401,0.00,2.55,0.00,0.000,6,0.000,0.052,2479,2032,3859
$GC,528,-1.30,-194.7,56.1,-11.7,87,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2029,3859
$GC,869,-1.30,-194.7,96.5,-12.4,148,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2027,3859
$GC,1206,-1.30,-194.7,138.9,-12.8,209,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2027,3859
$GC,1545,-1.30,-194.7,180.1,-11.2,270,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2027,3859
$GC,1887,-1.30,-194.7,218.4,-10.8,331,1893,0.00,2.60,0.00,0.000,4,0.000,0.058,2478,3438,3859
$GC,1955,-1.30,-194.7,226.3,-11.5,343,1961,0.00,2.55,0.00,0.000,6,0.000,0.046,2478,2024,3859
$GC,2298,-1.30,-194.7,265.0,-11.4,404,2304,0.00,2.58,0.00,0.000,4,0.000,0.064,2478,622,3859
$GC,2360,-1.30,-194.7,272.3,-11.7,415,2366,0.00,2.50,0.00,0.000,6,0.000,0.043,2478,2031,3859
$GC,2703,-1.30,-194.7,312.3,-11.4,476,2710,0.00,2.60,0.00,0.000,4,0.000,0.062,2478,3441,3859
$GC,2766,-1.26,-194.7,319.8,-11.9,487,2773,0.12,2.55,0.00,0.000,6,0.115,0.047,2502,2028,3859
$GC,3112,-1.26,-194.7,356.1,-10.4,544,3116,0.00,2.60,0.00,0.000,4,0.000,0.062,2502,617,3859
$GC,3166,-1.26,-194.7,361.9,-10.8,548,3173,0.00,2.53,0.00,0.000,6,0.000,0.044,2502,2041,3859
$GC,3492,-1.26,-194.7,396.1,-10.4,579,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2043,3859
$GC,3810,-1.26,-194.7,430.8,-10.8,609,3814,0.00,2.65,0.00,0.000,4,0.000,0.068,2502,3438,3859
$GC,3864,-1.26,-194.7,437.3,-11.9,613,3871,0.00,2.58,0.00,0.000,6,0.000,0.050,2502,2036,3859
$GC,4190,-1.26,-194.7,468.7,-9.1,644,4195,0.00,2.65,0.00,0.000,4,0.000,0.067,2501,619,3859
$GC,4246,-1.26,-194.7,474.1,-9.6,648,4253,0.00,2.58,0.00,0.000,6,0.000,0.047,2502,2030,3859
$GC,4571,-1.26,-194.7,503.1,-8.5,679,4575,0.00,2.67,0.00,0.000,4,0.000,0.076,2502,3442,3859
$GC,4626,-1.26,-194.7,508.1,-9.2,683,4632,0.00,2.55,0.00,0.000,6,0.000,0.051,2502,2035,3859
$GC,4951,-1.26,-194.7,536.5,-9.2,714,4956,0.00,2.65,0.00,0.000,4,0.000,0.074,2502,619,3859
$GC,5002,-1.26,-194.7,541.2,-9.0,718,5006,0.00,2.55,0.00,0.000,6,0.000,0.049,2502,2038,3859
$GC,5329,-1.26,-194.7,569.1,-8.6,748,5333,0.00,2.67,0.00,0.000,4,0.000,0.080,2502,3441,3859
$GC,5390,-1.26,-194.7,575.0,-9.1,753,5395,0.00,2.58,0.00,0.000,6,0.000,0.054,2502,2036,3859
$GC,5716,-1.26,-194.7,602.5,-8.3,782,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2035,3859
$GC,6023,-1.26,-194.7,627.7,-8.1,797,6028,0.00,2.75,0.00,0.000,4,0.000,0.091,2502,618,3859
$GC,6079,-1.26,-194.7,632.4,-8.3,799,6085,0.00,2.60,0.00,0.000,6,0.000,0.061,2502,2046,3859
$GC,6394,-1.26,-194.7,657.3,-8.0,815,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2048,3859
$GC,6703,-1.26,-194.7,682.7,-8.1,830,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2048,3859
$GC,7013,-1.26,-194.7,707.8,-8.3,845,7017,0.00,2.78,0.00,0.000,4,0.000,0.102,2502,3436,3858
$GC,7084,-1.26,-194.7,714.4,-9.2,848,7088,0.00,2.67,0.00,0.000,6,0.000,0.073,2502,2036,3858
$GC,7405,-1.26,-194.7,743.5,-9.2,864,7410,0.00,2.80,0.00,0.000,4,0.000,0.097,2501,612,3858
$GC,7495,-1.26,-194.7,752.3,-10.1,868,7499,0.00,2.60,0.00,0.000,6,0.000,0.059,2502,2023,3858
$GC,7815,-1.26,-194.7,784.4,-10.1,884,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2024,3858
$GC,8125,-1.26,-194.7,815.2,-9.9,899,8129,0.00,2.78,0.00,0.000,4,0.000,0.097,2502,3442,3857
$GC,8191,-1.26,-194.7,821.9,-10.5,902,8195,0.00,2.65,0.00,0.000,6,0.000,0.062,2502,2012,3857
$GC,8511,-1.26,-194.7,852.0,-9.4,918,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2011,3857
$GC,8820,-1.26,-194.7,879.1,-8.4,933,8824,0.00,2.72,0.00,0.000,4,0.000,0.080,2502,3442,3857
$GC,8875,-1.26,-194.7,884.2,-9.5,935,8881,0.00,2.62,0.00,0.000,6,0.000,0.062,2501,2014,3857
$GC,9190,-1.26,-194.7,911.6,-8.7,951,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2011,3857
$GC,9499,-1.26,-194.7,939.4,-9.3,966,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2011,3856
$GC,9809,-1.26,-194.7,968.8,-9.9,981,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2010,3855
$STATE,10033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10033,begin apogee
$GC,10038,-0.37,0.0,990.8,9.5,992,10211,0.93,0.00,169.35,1.296,6,0.099,0.000,2698,1981,3062
$STATE,10212,end apogee,CONTROL_FINISHED_OK
$STATE,10212,begin climb
$GC,10214,1.34,194.7,996.1,0.0,1000,10392,1.67,2.83,167.62,1.265,4,0.075,0.091,3067,573,2267
$GC,10402,1.28,194.7,982.7,11.1,1008,10406,0.00,2.62,0.00,0.000,6,0.000,0.053,3067,1985,2266
$GC,10724,1.22,194.7,949.1,10.4,1024,10728,0.00,2.72,0.00,0.000,4,0.000,0.081,3067,3394,2262
$GC,10740,1.17,194.7,947.3,10.7,1025,10745,0.15,2.60,0.00,0.000,6,0.107,0.054,3036,1987,2262
$GC,11066,1.21,233.2,918.0,8.7,1041,11106,0.00,0.00,34.95,1.197,6,0.000,0.000,3036,1986,2110
$GC,11416,1.23,245.9,884.7,9.6,1058,11430,0.00,0.00,12.48,1.098,6,0.000,0.000,3036,1985,2059
$GC,11725,1.24,258.2,854.4,9.6,1073,11749,0.00,2.75,14.18,0.959,4,0.000,0.071,3036,3400,2009
$GC,11767,1.27,281.8,850.1,9.2,1075,11796,0.00,2.62,23.12,1.146,6,0.000,0.056,3037,1991,1913
$GC,12118,1.27,281.8,815.4,10.1,1092,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1991,1909
$GC,12427,1.30,306.1,785.4,9.2,1107,12468,0.12,0.00,26.92,0.989,6,0.064,0.000,3073,1991,1814
$GC,12776,1.30,306.1,744.4,11.8,1124,12781,0.00,2.72,0.00,0.000,4,0.000,0.082,3073,572,1810
$GC,12797,1.30,306.1,741.6,12.6,1125,12802,0.00,2.62,0.00,0.000,6,0.000,0.052,3072,2006,1810
$GC,13124,1.30,306.1,702.9,12.1,1141,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2008,1809
$GC,13434,1.30,306.1,665.7,12.3,1156,13438,0.00,2.70,0.00,0.000,4,0.000,0.073,3073,575,1809
$GC,13454,1.30,306.1,663.0,12.6,1157,13459,0.00,2.60,0.00,0.000,6,0.000,0.051,3073,1992,1808
$GC,13781,1.30,306.1,624.5,11.9,1173,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1994,1809
$GC,14093,1.30,306.1,588.1,11.6,1192,14094,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1996,1809
$GC,14411,1.30,306.1,550.8,11.5,1222,14412,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1996,1808
$GC,14730,1.30,306.1,516.3,10.3,1252,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1996,1808
$GC,15049,1.30,306.1,480.3,12.0,1282,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1996,1809
$GC,15367,1.30,306.1,441.2,12.3,1312,15372,0.00,2.67,0.00,0.000,4,0.000,0.067,3073,573,1808
$GC,15384,1.30,306.1,439.1,12.1,1313,15389,0.00,2.58,0.00,0.000,6,0.000,0.048,3073,1996,1808
$GC,15708,1.30,306.1,400.1,12.0,1343,15709,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1998,1808
$GC,16028,1.30,306.1,363.1,11.2,1373,16032,0.00,2.70,0.00,0.000,4,0.000,0.067,3073,567,1808
$GC,16044,1.30,306.1,361.0,11.2,1374,16048,0.00,2.58,0.00,0.000,6,0.000,0.047,3073,1987,1808
$GC,16381,1.30,306.1,322.1,11.5,1425,16386,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1988,1809
$GC,16723,1.30,306.1,283.4,11.6,1486,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1989,1808
$GC,17066,1.30,306.1,244.9,11.4,1547,17071,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1989,1808
$GC,17410,1.30,306.1,205.8,11.3,1608,17416,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1989,1808
$GC,17753,1.30,306.1,166.6,11.7,1669,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1989,1808
$GC,18094,1.30,306.1,129.7,10.2,1730,18100,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1989,1808
$GC,18434,1.30,306.1,90.1,11.9,1791,18442,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1990,1808
$GC,18779,1.30,306.1,48.1,11.5,1852,18786,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1990,1809
$GC,18912,1.30,306.1,33.0,10.2,1877,18920,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1990,1809
$GC,19047,1.30,306.1,17.4,12.0,1902,19055,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1990,1808
$STATE,19158,end climb,SURFACE_DEPTH_REACHED
$STATE,19158,begin surface coast
$FINISH,0.5,1.027162
$STATE,19181,end surface coast,CONTROL_FINISHED_OK
$STATE,19181,begin surface
$SM_CCo,19260,0.00,0.000,0,0,1808,307.85
$SM_GC,0.78,10.48,0.00,0.00,0.036,0.000,0.000,573,2042,1808,-10.06,0.37,307.85
$IRIDIUM_FIX,6032.86,-2614.09,020897,222259
$TT8_MAMPS,0.042185
$HUMID,1643
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.00
$XPDR_PINGS,415
$24V_AH,23.5,32.501
$10V_AH,10.6,39.883
$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,24.525,116.300,448.625,0.000,0.000,27.831,37.916,304.480,103.750,0.000,0.000,12.418,3040.082,11695.954,611.700,3726.340,665.086,0.000,2161.823,0.000,3726.538,0.000,0.465
$DEVICE_MAMPS,194.818,117.351,1296.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1344.202,1394.554,693.762,893.663,864.796,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138872,1927
$CAP_FILE_SIZE,168015,0
$CFSIZE,260165632,241004544
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,090508,090408,6101.856,-2618.963,30,1.3,30,-18.3