version: 66.03
glider: 141
mission: 7
dive: 189
start: 5 15 108 22 44 22
data:
$ID,141
$MISSION,7
$DIVE,189
$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,355
$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,-9842.3535
$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,28
$R_STBD_OVSHOOT,12
$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
$GPS1,223631,6109.539,-2627.090,36,1.2,42,-18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-55.7
$GPS2,224402,6109.537,-2627.001,11,1.0,16,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.295,-2627.452
$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,13.5,20000,-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,25,-1.34,-194.7,0.0,0.0,0,133,0.00,0.00,-104.82,0.000,2,0.000,0.000,569,2012,3712
$GC,136,-1.34,-194.7,3.3,-6.2,19,156,11.07,2.75,-3.47,0.000,4,0.196,0.071,2481,3445,3859
$GC,218,-1.29,-194.7,17.8,-11.5,33,225,0.00,2.55,0.00,0.000,6,0.000,0.047,2481,2035,3860
$GC,361,-1.29,-194.7,33.7,-11.1,58,367,0.00,2.60,0.00,0.000,4,0.000,0.061,2481,621,3860
$GC,437,-1.29,-194.7,42.3,-11.4,71,443,0.00,2.53,0.00,0.000,6,0.000,0.045,2481,2030,3860
$GC,578,-1.29,-194.7,57.7,-10.9,96,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3860
$GC,922,-1.29,-194.7,93.1,-10.2,157,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3860
$GC,1264,-1.29,-194.7,127.2,-9.8,218,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3860
$GC,1607,-1.29,-194.7,161.4,-9.9,279,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3860
$GC,1949,-1.29,-194.7,196.2,-10.6,340,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3860
$GC,2292,-1.29,-194.7,233.5,-11.5,401,2298,0.00,2.62,0.00,0.000,4,0.000,0.061,2481,622,3860
$GC,2349,-1.29,-194.7,240.2,-11.6,411,2355,0.00,2.50,0.00,0.000,6,0.000,0.046,2481,2006,3860
$GC,2692,-1.29,-194.7,281.3,-12.1,472,2699,0.00,2.70,0.00,0.000,4,0.000,0.068,2481,3443,3860
$GC,2738,-1.29,-194.7,287.3,-13.0,480,2745,0.00,2.60,0.00,0.000,6,0.000,0.048,2481,2006,3860
$GC,3083,-1.29,-194.7,330.7,-12.6,541,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2002,3860
$GC,3420,-1.29,-194.7,373.1,-12.3,586,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2001,3860
$GC,3739,-1.29,-194.7,411.6,-12.1,616,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2000,3860
$GC,4057,-1.29,-194.7,449.1,-11.8,646,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2000,3860
$GC,4376,-1.29,-194.7,486.4,-11.5,676,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2000,3860
$GC,4694,-1.29,-194.7,522.4,-10.9,706,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2000,3860
$GC,5013,-1.29,-194.7,556.0,-10.5,736,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2000,3860
$GC,5333,-1.29,-194.7,588.8,-10.1,766,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2000,3860
$GC,5644,-1.29,-194.7,620.7,-9.8,786,5649,0.00,2.85,0.00,0.000,4,0.000,0.088,2481,3435,3860
$GC,5705,-1.29,-194.7,627.0,-10.2,789,5710,0.00,2.65,0.00,0.000,6,0.000,0.061,2481,2019,3860
$GC,6031,-1.29,-194.7,658.1,-10.0,805,6035,0.00,2.80,0.00,0.000,4,0.000,0.107,2481,621,3859
$GC,6125,-1.29,-194.7,667.5,-9.9,809,6129,0.00,2.55,0.00,0.000,6,0.000,0.064,2481,1997,3859
$GC,6440,-1.29,-194.7,698.7,-10.3,824,6444,0.00,2.85,0.00,0.000,4,0.000,0.100,2481,3444,3859
$GC,6539,-1.29,-194.7,710.2,-12.1,828,6546,0.00,2.67,0.00,0.000,6,0.000,0.066,2481,2012,3859
$GC,6854,-1.29,-194.7,744.9,-10.8,844,6859,0.00,2.75,0.00,0.000,4,0.000,0.103,2481,619,3858
$GC,6909,-1.29,-194.7,751.2,-11.4,846,6915,0.00,2.55,0.00,0.000,6,0.000,0.060,2481,2009,3859
$GC,7225,-1.29,-194.7,786.8,-11.6,862,7229,0.00,2.83,0.00,0.000,4,0.000,0.100,2481,3446,3858
$GC,7286,-1.29,-194.7,794.2,-12.1,865,7290,0.00,2.67,0.00,0.000,6,0.000,0.066,2481,2009,3858
$GC,7612,-1.29,-194.7,833.0,-12.4,881,7616,0.00,2.70,0.00,0.000,4,0.000,0.099,2481,620,3858
$GC,7661,-1.29,-194.7,839.4,-13.3,883,7665,0.00,2.58,0.00,0.000,6,0.000,0.061,2481,2021,3858
$GC,7976,-1.29,-194.7,877.0,-11.7,898,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,8285,-1.29,-194.7,913.0,-11.9,913,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3857
$GC,8595,-1.29,-194.7,948.4,-11.2,928,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3857
$GC,8904,-1.29,-194.7,981.0,-10.1,943,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3856
$STATE,9006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9006,begin apogee
$GC,9012,-0.37,0.0,991.2,9.9,948,9188,1.02,0.00,169.55,1.302,6,0.102,0.000,2697,1978,3061
$STATE,9189,end apogee,CONTROL_FINISHED_OK
$STATE,9189,begin climb
$GC,9191,1.34,194.7,996.2,0.0,957,9364,1.67,0.00,168.18,1.271,6,0.076,0.000,3065,1978,2268
$GC,9662,1.29,194.7,948.6,11.4,980,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1978,2262
$GC,9972,1.24,194.7,914.0,10.9,995,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1979,2261
$GC,10280,1.19,194.7,880.7,11.0,1010,10286,0.12,2.75,0.00,0.000,4,0.110,0.078,3041,3402,2261
$GC,10301,1.19,194.7,878.3,10.9,1011,10306,0.00,2.62,0.00,0.000,6,0.000,0.056,3041,1983,2260
$GC,10629,1.19,194.7,845.0,10.5,1027,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1981,2260
$GC,10937,1.19,194.7,812.3,10.6,1042,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1981,2259
$GC,11247,1.19,194.7,779.3,10.8,1057,11252,0.00,2.75,0.00,0.000,4,0.000,0.071,3041,3401,2259
$GC,11264,1.19,194.7,777.3,11.2,1058,11268,0.00,2.65,0.00,0.000,6,0.000,0.056,3041,1981,2259
$GC,11590,1.19,194.7,742.5,10.5,1074,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1978,2259
$GC,11899,1.19,198.2,711.2,9.9,1089,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1978,2259
$GC,12208,1.21,213.2,681.7,9.5,1104,12231,0.00,2.78,16.50,1.060,4,0.000,0.071,3041,3400,2190
$GC,12247,1.24,231.2,677.8,9.4,1105,12274,0.00,2.65,17.27,1.043,6,0.000,0.057,3041,1985,2118
$GC,12582,1.29,276.1,647.3,8.4,1122,12631,0.00,2.83,41.47,1.071,4,0.000,0.071,3041,3401,1934
$GC,12649,1.34,315.3,641.4,8.6,1125,12693,0.12,2.65,36.50,1.049,6,0.064,0.057,3077,1989,1776
$GC,13004,1.34,315.3,598.6,12.2,1143,13009,0.00,2.70,0.00,0.000,4,0.000,0.071,3076,3396,1768
$GC,13032,1.34,315.3,595.1,12.8,1145,13037,0.00,2.55,0.00,0.000,6,0.000,0.057,3076,2014,1767
$GC,13358,1.34,315.3,553.0,12.8,1175,13363,0.00,2.65,0.00,0.000,4,0.000,0.070,3076,3405,1766
$GC,13397,1.34,315.3,547.7,13.3,1178,13401,0.00,2.55,0.00,0.000,6,0.000,0.055,3076,2022,1766
$GC,13721,1.34,315.3,505.8,12.7,1208,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2021,1765
$GC,14041,1.34,315.3,466.8,12.2,1238,14045,0.00,2.62,0.00,0.000,4,0.000,0.068,3076,3405,1765
$GC,14081,1.34,315.3,461.7,13.1,1241,14085,0.00,2.50,0.00,0.000,6,0.000,0.052,3076,2038,1764
$GC,14406,1.34,315.3,424.2,11.0,1271,14410,0.00,2.58,0.00,0.000,4,0.000,0.065,3076,3403,1765
$GC,14422,1.34,315.3,422.3,11.1,1272,14426,0.00,2.47,0.00,0.000,6,0.000,0.051,3076,2043,1765
$GC,14747,1.34,315.3,385.5,10.9,1302,14749,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2042,1765
$GC,15065,1.34,315.3,350.3,11.2,1332,15069,0.00,2.55,0.00,0.000,4,0.000,0.064,3077,3405,1764
$GC,15092,1.34,315.3,347.0,12.1,1336,15099,0.00,2.47,0.00,0.000,6,0.000,0.050,3076,2033,1764
$GC,15436,1.34,315.3,308.9,10.5,1397,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2032,1764
$GC,15779,1.34,315.3,270.3,11.3,1458,15785,0.00,2.53,0.00,0.000,4,0.000,0.067,3076,3397,1764
$GC,15820,1.34,315.3,265.5,11.5,1465,15826,0.00,2.42,0.00,0.000,6,0.000,0.049,3076,2057,1764
$GC,16164,1.34,315.3,227.5,10.2,1526,16169,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2056,1764
$GC,16506,1.34,315.3,191.5,10.7,1587,16512,0.00,2.55,0.00,0.000,4,0.000,0.061,3076,3406,1764
$GC,16524,1.36,332.0,189.7,9.4,1590,16546,0.00,2.45,13.90,0.758,6,0.000,0.048,3076,2060,1706
$GC,16884,1.36,332.0,153.7,10.4,1654,16890,0.00,2.53,0.00,0.000,4,0.000,0.061,3077,3400,1705
$GC,16902,1.38,345.5,151.8,9.5,1657,16925,0.00,2.45,13.25,0.730,6,0.000,0.048,3076,2060,1652
$GC,17265,1.38,345.5,112.6,10.9,1721,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2060,1650
$GC,17608,1.42,382.5,78.7,8.7,1782,17646,0.00,0.00,33.40,0.716,6,0.000,0.000,3076,2059,1501
$GC,17984,1.50,449.9,47.4,7.7,1849,18052,0.12,2.92,57.80,0.692,4,0.061,0.067,3115,573,1225
$GC,18072,1.50,449.9,37.5,12.9,1864,18078,0.00,2.80,0.00,0.000,6,0.000,0.051,3114,2093,1223
$GC,18214,1.50,449.9,18.1,15.2,1889,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2095,1219
$STATE,18317,end climb,SURFACE_DEPTH_REACHED
$STATE,18317,begin surface coast
$FINISH,0.2,1.027115
$STATE,18339,end surface coast,CONTROL_FINISHED_OK
$STATE,18339,begin surface
$SM_CCo,18418,0.00,0.000,0,0,1216,452.82
$SM_GC,0.93,10.73,0.00,0.00,0.036,0.000,0.000,564,2014,1216,-10.08,-0.45,452.82
$IRIDIUM_FIX,6041.65,-2631.91,090897,171743
$TT8_MAMPS,0.042185
$HUMID,1671
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,16.80
$XPDR_PINGS,436
$24V_AH,23.4,38.137
$10V_AH,10.6,44.400
$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,24.875,121.525,567.825,0.000,0.000,31.056,40.979,242.323,109.000,0.000,0.000,17.506,2967.323,11290.012,694.276,3271.297,631.363,0.000,2233.280,0.000,3272.950,0.000,0.466
$DEVICE_MAMPS,195.585,107.380,1301.599,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1338.080,1394.677,750.468,1073.870,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135892,1911
$CAP_FILE_SIZE,163420,0
$CFSIZE,260165632,238243840
$ERRORS,0,62,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,035237,6112.884,-2625.850,36,1.3,41,-18.5