version: 66.03
glider: 141
mission: 7
dive: 177
start: 5 13 108 5 31 32
data:
$ID,141
$MISSION,7
$DIVE,177
$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,290
$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,-9624.5869
$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,23
$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
$GPS1,052432,6115.123,-2601.030,42,1.1,42,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-54.6
$GPS2,053114,6115.057,-2601.112,8,1.1,8,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.750,-2605.983
$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,308.3,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,124,0.00,0.00,-93.72,0.000,2,0.000,0.000,571,2020,3683
$GC,127,-1.34,-194.7,3.3,-6.3,17,151,11.20,2.67,-4.18,0.000,4,0.202,0.076,2481,627,3859
$GC,393,-1.34,-194.7,39.8,-12.3,64,399,0.00,2.53,0.00,0.000,6,0.000,0.048,2481,2031,3860
$GC,534,-1.34,-194.7,56.6,-11.9,89,540,0.00,2.62,0.00,0.000,4,0.000,0.068,2481,3438,3860
$GC,615,-1.30,-194.7,66.4,-12.5,103,621,0.00,2.53,0.00,0.000,6,0.000,0.049,2481,2049,3861
$GC,958,-1.30,-194.7,104.5,-10.3,164,965,0.00,2.65,0.00,0.000,4,0.000,0.068,2481,622,3861
$GC,1033,-1.30,-194.7,112.1,-10.1,177,1039,0.00,2.60,0.00,0.000,6,0.000,0.048,2481,2045,3861
$GC,1377,-1.30,-194.7,147.8,-11.3,238,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,1720,-1.30,-194.7,186.8,-11.1,299,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,2061,-1.30,-194.7,226.0,-11.3,360,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,2404,-1.30,-194.7,263.7,-10.7,421,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,2746,-1.30,-194.7,299.4,-10.6,482,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2048,3861
$GC,3087,-1.30,-194.7,335.3,-10.7,543,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,3418,-1.30,-194.7,370.1,-10.5,586,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,3739,-1.30,-194.7,403.6,-10.6,616,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3861
$GC,4058,-1.30,-194.7,434.8,-9.3,646,4062,0.00,2.67,0.00,0.000,4,0.000,0.072,2481,3435,3861
$GC,4101,-1.30,-194.7,439.3,-9.7,649,4108,0.00,2.58,0.00,0.000,6,0.000,0.054,2481,2041,3861
$GC,4427,-1.30,-194.7,468.9,-9.1,680,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3861
$GC,4746,-1.30,-194.7,497.9,-9.5,710,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3861
$GC,5063,-1.30,-194.7,529.5,-10.8,740,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3861
$GC,5383,-1.30,-194.7,563.3,-10.3,770,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3861
$GC,5700,-1.30,-194.7,596.2,-10.5,800,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3861
$GC,6011,-1.30,-194.7,630.2,-11.1,817,6015,0.00,2.75,0.00,0.000,4,0.000,0.087,2482,3437,3860
$GC,6054,-1.30,-194.7,635.4,-11.9,819,6058,0.00,2.60,0.00,0.000,6,0.000,0.064,2481,2052,3860
$GC,6375,-1.30,-194.7,670.5,-11.1,835,6379,0.00,2.85,0.00,0.000,4,0.000,0.105,2481,620,3860
$GC,6436,-1.30,-194.7,677.3,-11.2,838,6440,0.00,2.62,0.00,0.000,6,0.000,0.066,2481,2035,3860
$GC,6761,-1.30,-194.7,712.4,-10.7,854,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3860
$GC,7070,-1.30,-194.7,746.5,-11.2,869,7075,0.00,2.78,0.00,0.000,4,0.000,0.097,2481,3441,3860
$GC,7148,-1.30,-194.7,755.5,-11.5,872,7155,0.00,2.60,0.00,0.000,6,0.000,0.065,2481,2034,3859
$GC,7464,-1.30,-194.7,789.6,-10.9,888,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2033,3860
$GC,7772,-1.30,-194.7,823.1,-11.2,903,7777,0.00,2.78,0.00,0.000,4,0.000,0.098,2481,620,3859
$GC,7829,-1.30,-194.7,829.7,-12.2,905,7835,0.00,2.62,0.00,0.000,6,0.000,0.061,2481,2046,3859
$GC,8144,-1.30,-194.7,864.0,-10.7,921,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3858
$GC,8453,-1.30,-194.7,894.7,-9.5,936,8457,0.00,2.72,0.00,0.000,4,0.000,0.081,2481,619,3858
$GC,8502,-1.30,-194.7,899.8,-10.5,938,8506,0.00,2.60,0.00,0.000,6,0.000,0.061,2481,2033,3858
$GC,8823,-1.30,-194.7,928.9,-8.8,954,8828,0.00,2.75,0.00,0.000,4,0.000,0.097,2480,3438,3858
$GC,8884,-1.30,-194.7,935.0,-10.3,957,8889,0.00,2.60,0.00,0.000,6,0.000,0.065,2480,2029,3858
$GC,9211,-1.30,-194.7,966.7,-9.9,973,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3857
$STATE,9456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9456,begin apogee
$GC,9461,-0.37,0.0,991.1,9.6,985,9638,1.02,0.00,169.50,1.294,6,0.099,0.000,2698,1983,3062
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9639,begin climb
$GC,9641,1.34,194.7,995.4,0.0,994,9818,1.73,0.00,168.95,1.262,6,0.074,0.000,3072,1983,2267
$GC,10128,1.28,194.7,943.0,12.4,1018,10133,0.00,2.78,0.00,0.000,4,0.000,0.074,3073,3396,2262
$GC,10155,1.22,194.7,939.3,12.7,1019,10160,0.12,2.67,0.00,0.000,6,0.111,0.058,3049,1978,2261
$GC,10470,1.22,194.7,905.8,10.4,1034,10475,0.00,2.75,0.00,0.000,4,0.000,0.074,3049,3396,2261
$GC,10491,1.22,194.7,903.5,10.9,1035,10495,0.00,2.62,0.00,0.000,6,0.000,0.057,3049,1992,2261
$GC,10818,1.24,205.9,871.4,9.6,1051,10830,0.00,0.00,10.30,1.070,6,0.000,0.000,3049,1990,2222
$GC,11127,1.25,221.3,841.3,9.5,1066,11147,0.00,0.00,15.27,1.117,6,0.000,0.000,3049,1990,2159
$GC,11456,1.25,221.3,807.6,10.6,1082,11461,0.00,2.78,0.00,0.000,4,0.000,0.087,3049,571,2157
$GC,11472,1.25,221.3,805.8,10.8,1083,11477,0.00,2.92,0.00,0.000,6,0.000,0.110,3048,1988,2157
$GC,11798,1.26,225.1,772.8,9.9,1099,11804,0.00,0.00,4.65,0.805,6,0.000,0.000,3049,1989,2144
$GC,12107,1.28,243.4,743.3,9.4,1114,12131,0.00,2.80,18.35,1.088,4,0.000,0.075,3049,574,2068
$GC,12142,1.28,243.4,739.6,10.7,1115,12149,0.00,2.62,0.00,0.000,6,0.000,0.054,3049,2001,2068
$GC,12458,1.28,245.5,708.8,9.9,1131,12462,0.00,2.65,0.00,0.000,4,0.000,0.077,3049,3399,2066
$GC,12484,1.28,245.5,705.8,10.7,1132,12489,0.00,2.55,0.00,0.000,6,0.000,0.051,3049,1993,2065
$GC,12805,1.28,245.5,673.5,10.1,1148,12810,0.00,2.62,0.00,0.000,4,0.000,0.064,3049,3399,2065
$GC,12838,1.28,245.5,669.9,10.8,1149,12844,0.00,2.50,0.00,0.000,6,0.000,0.050,3049,2012,2065
$GC,13153,1.28,245.5,636.4,11.0,1165,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2011,2065
$GC,13462,1.28,245.5,604.6,10.1,1180,13467,0.00,2.58,0.00,0.000,4,0.000,0.064,3049,3395,2065
$GC,13483,1.28,245.5,602.4,10.6,1181,13488,0.00,2.50,0.00,0.000,6,0.000,0.050,3049,2011,2065
$GC,13811,1.28,245.5,570.1,10.2,1210,13816,0.00,2.58,0.00,0.000,4,0.000,0.064,3049,3394,2065
$GC,13839,1.28,245.5,566.8,11.0,1212,13843,0.00,2.47,0.00,0.000,6,0.000,0.050,3049,2021,2065
$GC,14163,1.28,245.5,533.7,10.3,1242,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2018,2065
$GC,14483,1.28,245.5,499.9,10.6,1272,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2018,2065
$GC,14800,1.28,245.5,466.9,10.2,1302,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2018,2065
$GC,15119,1.28,245.5,434.6,10.2,1332,15123,0.00,2.55,0.00,0.000,4,0.000,0.060,3049,3399,2065
$GC,15140,1.29,253.5,432.4,9.7,1333,15157,0.00,2.45,9.85,0.848,6,0.000,0.047,3049,2031,2028
$GC,15475,1.33,279.1,401.3,9.1,1365,15505,0.00,0.00,24.25,0.897,6,0.000,0.000,3049,2029,1923
$GC,15823,1.33,282.8,368.1,9.9,1398,15833,0.00,0.00,4.35,0.623,6,0.000,0.000,3049,2029,1908
$GC,16160,1.33,282.8,334.3,10.3,1443,16166,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2029,1907
$GC,16503,1.33,282.8,299.8,10.3,1504,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2029,1907
$GC,16845,1.33,286.8,265.6,9.9,1565,16856,0.00,0.00,5.43,0.653,6,0.000,0.000,3049,2029,1891
$GC,17193,1.34,287.8,231.1,10.0,1627,17198,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2029,1890
$GC,17535,1.36,304.1,196.8,9.4,1688,17558,0.10,2.62,16.83,0.762,4,0.068,0.054,3081,3399,1821
$GC,17575,1.36,304.1,192.4,11.8,1695,17581,0.00,2.50,0.00,0.000,6,0.000,0.044,3081,2016,1819
$GC,17918,1.36,304.1,151.2,11.1,1756,17924,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2014,1818
$GC,18263,1.36,304.1,110.6,11.8,1817,18269,0.00,2.55,0.00,0.000,4,0.000,0.054,3081,3408,1817
$GC,18291,1.36,304.1,107.1,11.7,1822,18297,0.00,2.45,0.00,0.000,6,0.000,0.051,3081,2033,1817
$GC,18635,1.36,304.1,67.2,11.8,1883,18640,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2032,1817
$GC,18977,1.36,304.1,25.7,10.6,1944,18983,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2032,1817
$GC,19120,1.36,304.1,8.7,12.0,1969,19126,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2032,1817
$STATE,19169,end climb,SURFACE_DEPTH_REACHED
$STATE,19169,begin surface coast
$FINISH,0.3,1.013331
$STATE,19200,end surface coast,CONTROL_FINISHED_OK
$STATE,19201,begin surface
$SM_CCo,19279,0.00,0.000,0,0,1814,305.89
$SM_GC,1.08,10.57,0.00,0.00,0.039,0.000,0.000,572,2029,1814,-10.07,-0.03,305.89
$IRIDIUM_FIX,6054.92,-2555.89,070897,000017
$TT8_MAMPS,0.041418
$HUMID,1662
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,408
$24V_AH,23.4,35.895
$10V_AH,10.6,42.702
$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,24.750,110.750,447.725,0.000,0.000,25.159,30.269,221.008,102.000,0.000,0.000,10.055,3110.455,12005.742,655.571,3324.357,567.610,0.000,2153.374,0.000,3322.931,0.000,0.466
$DEVICE_MAMPS,202.488,109.681,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1397.938,1435.032,720.766,1085.714,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139092,1983
$CAP_FILE_SIZE,167008,0
$CFSIZE,260165632,239349760
$ERRORS,0,24,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,105407,6115.034,-2607.682,35,1.5,41,-18.4