version: 66.03
glider: 141
mission: 7
dive: 160
start: 5 9 108 9 11 45
data:
$ID,141
$MISSION,7
$DIVE,160
$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,-9336.9316
$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,28
$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
$GPS1,090408,6101.856,-2618.963,30,1.3,30,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-49.6
$GPS2,091126,6101.815,-2619.037,11,1.3,16,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.573,-2618.583
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.70,0.000,2,0.000,0.000,572,2045,3654
$GC,124,-1.34,-194.7,3.1,-5.0,13,148,11.10,2.60,-4.82,0.000,4,0.200,0.071,2483,3435,3857
$GC,276,-1.30,-194.7,28.0,-11.4,40,284,0.00,2.60,0.00,0.000,6,0.000,0.047,2483,2019,3858
$GC,411,-1.30,-194.7,42.4,-10.8,65,419,0.00,2.62,0.00,0.000,4,0.000,0.061,2483,624,3858
$GC,488,-1.30,-194.7,50.9,-10.3,79,494,0.00,2.50,0.00,0.000,6,0.000,0.044,2483,2006,3858
$GC,828,-1.30,-194.7,87.0,-11.1,140,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2010,3858
$GC,1169,-1.30,-194.7,125.0,-11.0,201,1178,0.00,2.67,0.00,0.000,4,0.000,0.060,2483,3433,3858
$GC,1245,-1.30,-194.7,133.8,-11.8,214,1252,0.00,2.55,0.00,0.000,6,0.000,0.046,2483,2011,3858
$GC,1586,-1.30,-194.7,172.9,-11.5,275,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2004,3859
$GC,1928,-1.30,-194.7,210.5,-11.2,336,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2003,3858
$GC,2273,-1.30,-194.7,247.6,-10.4,397,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2004,3859
$GC,2616,-1.30,-194.7,285.1,-10.9,458,2622,0.00,2.67,0.00,0.000,4,0.000,0.060,2483,3445,3859
$GC,2689,-1.30,-194.7,293.8,-12.1,471,2696,0.00,2.58,0.00,0.000,6,0.000,0.047,2483,2012,3859
$GC,3034,-1.30,-194.7,329.7,-9.9,532,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2007,3858
$GC,3369,-1.30,-194.7,364.9,-11.0,580,3373,0.00,2.70,0.00,0.000,4,0.000,0.063,2483,3438,3859
$GC,3423,-1.30,-194.7,371.0,-11.3,584,3430,0.00,2.58,0.00,0.000,6,0.000,0.047,2483,2019,3858
$GC,3748,-1.30,-194.7,405.1,-10.5,615,3752,0.00,2.62,0.00,0.000,4,0.000,0.064,2483,617,3858
$GC,3809,-1.30,-194.7,411.8,-10.8,620,3813,0.00,2.55,0.00,0.000,6,0.000,0.045,2483,2024,3858
$GC,4134,-1.30,-194.7,446.6,-11.1,650,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2024,3858
$GC,4451,-1.30,-194.7,482.6,-11.5,680,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3858
$GC,4770,-1.30,-194.7,518.4,-11.2,710,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3859
$GC,5088,-1.30,-194.7,551.2,-9.9,740,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3858
$GC,5407,-1.30,-194.7,581.8,-10.0,770,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3858
$GC,5731,-1.30,-194.7,615.2,-10.6,794,5736,0.00,2.78,0.00,0.000,4,0.000,0.086,2483,3435,3858
$GC,5780,-1.30,-194.7,620.8,-11.4,796,5785,0.00,2.62,0.00,0.000,6,0.000,0.058,2483,2017,3857
$GC,6095,-1.30,-194.7,653.9,-10.5,811,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2017,3857
$GC,6405,-1.30,-194.7,685.7,-10.3,826,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2016,3857
$GC,6714,-1.30,-194.7,717.8,-10.2,841,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2016,3857
$GC,7024,-1.30,-194.7,749.6,-10.3,856,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2012,3857
$GC,7333,-1.30,-194.7,779.0,-9.3,871,7337,0.00,2.80,0.00,0.000,4,0.000,0.087,2483,3435,3857
$GC,7416,-1.30,-194.7,787.5,-10.5,875,7421,0.00,2.65,0.00,0.000,6,0.000,0.064,2483,2022,3857
$GC,7742,-1.30,-194.7,818.6,-9.4,891,7747,0.00,2.80,0.00,0.000,4,0.000,0.105,2483,619,3856
$GC,7792,-1.30,-194.7,823.6,-9.9,893,7796,0.00,2.55,0.00,0.000,6,0.000,0.060,2483,2005,3856
$GC,8113,-1.30,-194.7,852.6,-8.7,909,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2007,3856
$GC,8422,-1.30,-194.7,880.6,-8.9,924,8427,0.00,2.83,0.00,0.000,4,0.000,0.094,2483,3438,3856
$GC,8484,-1.30,-194.7,886.4,-10.0,927,8489,0.00,2.67,0.00,0.000,6,0.000,0.063,2483,2003,3856
$GC,8810,-1.30,-194.7,915.6,-8.4,943,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2001,3856
$GC,9119,-1.30,-194.7,941.7,-8.8,958,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2000,3855
$GC,9429,-1.30,-194.7,971.0,-9.6,973,9433,0.00,2.75,0.00,0.000,4,0.000,0.080,2483,3439,3855
$GC,9513,-1.30,-194.7,979.5,-10.0,977,9517,0.00,2.65,0.00,0.000,6,0.000,0.061,2483,2010,3855
$STATE,9631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9632,begin apogee
$GC,9637,-0.37,0.0,990.5,9.1,983,9813,1.00,0.00,169.25,1.292,6,0.100,0.000,2695,1982,3061
$STATE,9814,end apogee,CONTROL_FINISHED_OK
$STATE,9814,begin climb
$GC,9816,1.34,194.7,995.6,0.0,992,9995,1.73,2.83,167.52,1.262,4,0.074,0.074,3070,3394,2267
$GC,10029,1.28,194.7,978.0,11.6,1002,10033,0.00,2.62,0.00,0.000,6,0.000,0.057,3070,1986,2264
$GC,10350,1.22,194.7,941.4,11.6,1018,10355,0.12,2.70,0.00,0.000,4,0.110,0.071,3046,3401,2262
$GC,10377,1.22,194.7,938.2,11.9,1019,10381,0.00,2.60,0.00,0.000,6,0.000,0.054,3046,1990,2262
$GC,10698,1.22,194.7,904.7,10.7,1035,10702,0.00,2.70,0.00,0.000,4,0.000,0.070,3046,3402,2261
$GC,10720,1.22,194.7,902.2,11.8,1036,10725,0.00,2.60,0.00,0.000,6,0.000,0.054,3046,1992,2261
$GC,11041,1.23,202.1,870.7,9.7,1052,11050,0.00,0.00,6.97,0.981,6,0.000,0.000,3046,1990,2238
$GC,11350,1.26,230.0,840.1,9.0,1067,11379,0.00,0.00,26.50,1.160,6,0.000,0.000,3046,1990,2124
$GC,11680,1.30,261.2,810.9,8.9,1083,11715,0.00,2.75,29.08,1.147,4,0.000,0.071,3046,3405,1997
$GC,11732,1.38,326.7,806.8,7.7,1085,11798,0.15,2.60,60.03,1.156,6,0.058,0.055,3087,2007,1730
$GC,12108,1.34,326.7,766.2,11.3,1103,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2007,1722
$GC,12417,1.34,326.7,727.5,13.6,1118,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2007,1721
$GC,12726,1.34,326.7,685.7,13.5,1133,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2006,1720
$GC,13036,1.34,326.7,643.1,14.3,1148,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2005,1719
$GC,13345,1.34,326.7,601.7,13.3,1163,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2004,1719
$GC,13663,1.34,326.7,558.0,13.4,1192,13667,0.00,2.72,0.00,0.000,4,0.000,0.076,3087,574,1719
$GC,13680,1.30,326.7,555.8,14.0,1193,13685,0.12,2.65,0.00,0.000,6,0.105,0.051,3062,2025,1719
$GC,14003,1.30,326.7,517.0,11.5,1223,14008,0.00,2.80,0.00,0.000,4,0.000,0.071,3062,569,1718
$GC,14020,1.30,326.7,515.1,11.7,1224,14025,0.00,2.62,0.00,0.000,6,0.000,0.050,3062,2014,1718
$GC,14345,1.30,326.7,478.1,11.1,1254,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2016,1718
$GC,14663,1.30,326.7,443.1,11.0,1284,14668,0.00,2.70,0.00,0.000,4,0.000,0.070,3062,573,1718
$GC,14696,1.30,326.7,439.2,10.8,1286,14702,0.00,2.60,0.00,0.000,6,0.000,0.048,3062,2011,1718
$GC,15022,1.30,326.7,403.5,10.6,1317,15023,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2011,1718
$GC,15340,1.30,327.5,370.3,10.0,1347,15345,0.00,2.70,0.00,0.000,4,0.000,0.068,3062,572,1718
$GC,15368,1.31,334.9,367.3,9.7,1349,15380,0.00,2.60,6.80,0.759,6,0.000,0.048,3062,2012,1696
$GC,15705,1.31,334.9,334.0,10.1,1394,15712,0.00,2.70,0.00,0.000,4,0.000,0.068,3062,570,1695
$GC,15723,1.31,334.9,332.2,10.8,1397,15729,0.00,2.58,0.00,0.000,6,0.000,0.048,3062,2000,1694
$GC,16066,1.31,334.9,297.8,10.1,1458,16072,0.00,2.70,0.00,0.000,4,0.000,0.067,3062,570,1694
$GC,16078,1.31,334.9,296.5,10.3,1460,16085,0.00,2.58,0.00,0.000,6,0.000,0.052,3062,2001,1694
$GC,16422,1.31,334.9,261.6,10.2,1521,16428,0.00,2.67,0.00,0.000,4,0.000,0.067,3062,573,1694
$GC,16439,1.31,334.9,259.6,11.1,1524,16446,0.00,2.55,0.00,0.000,6,0.000,0.048,3062,1994,1694
$GC,16783,1.31,334.9,224.6,11.4,1585,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1996,1694
$GC,17125,1.33,354.5,191.2,9.3,1646,17147,0.00,0.00,19.20,0.770,6,0.000,0.000,3062,1996,1616
$GC,17484,1.40,405.7,157.6,8.2,1710,17537,0.00,2.80,45.17,0.763,4,0.000,0.066,3062,576,1405
$GC,17544,1.44,442.7,152.4,8.7,1721,17583,0.10,2.58,32.78,0.735,6,0.047,0.045,3100,1989,1257
$GC,17916,1.44,442.7,110.3,11.1,1788,17924,0.00,2.72,0.00,0.000,4,0.000,0.073,3100,576,1248
$GC,17943,1.44,442.7,107.2,11.8,1792,17950,0.00,2.55,0.00,0.000,6,0.000,0.052,3100,1978,1248
$GC,18282,1.44,442.7,66.8,11.6,1853,18288,0.00,2.67,0.00,0.000,4,0.000,0.067,3100,569,1247
$GC,18304,1.44,442.7,63.7,12.8,1857,18312,0.00,2.55,0.00,0.000,6,0.000,0.046,3100,1960,1247
$GC,18633,1.44,442.7,21.7,15.1,1918,18641,0.00,2.67,0.00,0.000,4,0.000,0.073,3100,570,1246
$GC,18649,1.44,442.7,19.3,15.9,1920,18657,0.00,2.55,0.00,0.000,6,0.000,0.045,3100,1965,1246
$STATE,18761,end climb,SURFACE_DEPTH_REACHED
$STATE,18761,begin surface coast
$FINISH,0.1,1.027165
$STATE,18790,end surface coast,CONTROL_FINISHED_OK
$STATE,18791,begin surface
$SM_CCo,18869,0.00,0.000,0,0,1244,445.71
$SM_GC,0.65,10.52,0.00,0.00,0.031,0.000,0.000,566,2039,1244,-10.07,0.25,445.71
$IRIDIUM_FIX,6032.86,-2620.03,030897,030315
$TT8_MAMPS,0.041418
$HUMID,1635
$INTERNAL_PRESSURE,9.99062
$TCM_TEMP,11.80
$XPDR_PINGS,418
$24V_AH,23.5,32.714
$10V_AH,10.6,40.051
$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,24.850,138.200,563.300,0.000,0.000,28.073,34.137,244.659,104.500,0.000,0.000,17.578,3041.615,11229.690,668.906,3734.522,616.988,0.000,2258.903,0.000,3737.883,0.000,0.465
$DEVICE_MAMPS,200.187,138.827,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1356.809,1411.747,713.300,912.262,847.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138922,1946
$CAP_FILE_SIZE,169449,0
$CFSIZE,260165632,240914432
$ERRORS,0,38,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,142731,6103.774,-2619.708,37,1.9,42,-18.4