version: 66.03
glider: 141
mission: 7
dive: 190
start: 5 16 108 3 59 59
data:
$ID,141
$MISSION,7
$DIVE,190
$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,-9858.4424
$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,25
$R_STBD_OVSHOOT,13
$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
$GPS1,035237,6112.884,-2625.850,36,1.3,41,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-52.8
$GPS2,035939,6112.948,-2625.817,13,1.6,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6123.707,-2626.268
$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,26,-1.34,-194.7,0.0,0.0,0,155,0.00,0.00,-126.10,0.000,2,0.000,0.000,564,2013,3730
$GC,158,-1.34,-194.7,3.4,-6.6,23,176,11.18,0.00,-2.92,0.000,6,0.198,0.000,2481,2012,3858
$GC,314,-1.34,-194.7,25.0,-9.3,50,320,0.00,2.70,0.00,0.000,4,0.000,0.067,2481,3444,3859
$GC,383,-1.30,-194.7,31.5,-8.9,62,389,0.00,2.55,0.00,0.000,6,0.000,0.054,2482,2031,3859
$GC,527,-1.30,-194.7,42.9,-7.7,87,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3859
$GC,668,-1.30,-194.7,54.4,-8.0,112,675,0.00,2.62,0.00,0.000,4,0.000,0.066,2481,619,3859
$GC,743,-1.30,-194.7,60.9,-8.8,125,749,0.00,2.58,0.00,0.000,6,0.000,0.045,2481,2032,3859
$GC,1086,-1.30,-194.7,95.8,-11.9,186,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3859
$GC,1431,-1.30,-194.7,135.7,-11.5,247,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3859
$GC,1775,-1.30,-194.7,176.4,-11.4,308,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3859
$GC,2118,-1.30,-194.7,217.1,-11.9,369,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3859
$GC,2459,-1.30,-194.7,257.8,-11.6,430,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3859
$GC,2801,-1.30,-194.7,298.6,-12.1,491,2807,0.00,2.65,0.00,0.000,4,0.000,0.061,2481,627,3859
$GC,2869,-1.30,-194.7,306.9,-12.1,503,2875,0.00,2.53,0.00,0.000,6,0.000,0.046,2481,2026,3859
$GC,3212,-1.30,-194.7,346.2,-12.0,564,3219,0.00,2.67,0.00,0.000,4,0.000,0.070,2481,3436,3859
$GC,3274,-1.30,-194.7,354.2,-12.9,572,3281,0.00,2.60,0.00,0.000,6,0.000,0.051,2481,2030,3859
$GC,3602,-1.30,-194.7,393.5,-12.3,603,3606,0.00,2.62,0.00,0.000,4,0.000,0.065,2481,621,3859
$GC,3675,-1.30,-194.7,403.2,-12.7,609,3679,0.00,2.55,0.00,0.000,6,0.000,0.048,2481,2026,3859
$GC,4000,-1.30,-194.7,442.3,-12.1,639,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3859
$GC,4317,-1.30,-194.7,479.4,-11.4,669,4322,0.00,2.70,0.00,0.000,4,0.000,0.077,2482,3433,3859
$GC,4379,-1.30,-194.7,486.7,-11.6,674,4384,0.00,2.60,0.00,0.000,6,0.000,0.052,2481,2020,3859
$GC,4706,-1.30,-194.7,522.8,-11.2,704,4710,0.00,2.65,0.00,0.000,4,0.000,0.075,2481,623,3858
$GC,4767,-1.30,-194.7,529.9,-10.8,709,4772,0.00,2.53,0.00,0.000,6,0.000,0.050,2481,2021,3859
$GC,5093,-1.30,-194.7,562.7,-9.7,739,5097,0.00,2.72,0.00,0.000,4,0.000,0.083,2481,3442,3859
$GC,5154,-1.30,-194.7,569.2,-10.5,744,5158,0.00,2.62,0.00,0.000,6,0.000,0.059,2481,2022,3858
$GC,5490,-1.30,-194.7,605.0,-11.3,773,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3858
$GC,5796,-1.30,-194.7,639.6,-11.2,788,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2020,3858
$GC,6106,-1.30,-194.7,674.8,-10.9,803,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3858
$GC,6416,-1.30,-194.7,705.9,-9.5,818,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3857
$GC,6725,-1.30,-194.7,732.7,-8.3,833,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3857
$GC,7034,-1.30,-194.7,759.5,-9.8,848,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2015,3857
$GC,7343,-1.30,-194.7,793.0,-11.1,863,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2015,3856
$GC,7652,-1.30,-194.7,829.7,-12.0,878,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2016,3856
$GC,7961,-1.30,-194.7,866.7,-11.6,893,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2016,3855
$GC,8271,-1.30,-194.7,898.5,-10.2,908,8275,0.00,2.83,0.00,0.000,4,0.000,0.091,2481,3435,3855
$GC,8364,-1.30,-194.7,908.7,-11.1,912,8369,0.00,2.67,0.00,0.000,6,0.000,0.067,2481,2022,3855
$GC,8685,-1.30,-194.7,942.3,-10.6,928,8690,0.00,2.80,0.00,0.000,4,0.000,0.104,2481,619,3854
$GC,8759,-1.30,-194.7,950.3,-10.9,931,8764,0.00,2.60,0.00,0.000,6,0.000,0.060,2481,2025,3854
$GC,9074,-1.30,-194.7,982.2,-9.4,946,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3854
$STATE,9175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9175,begin apogee
$GC,9180,-0.37,0.0,991.6,9.2,951,9357,1.02,0.00,169.38,1.305,6,0.101,0.000,2698,1969,3062
$STATE,9358,end apogee,CONTROL_FINISHED_OK
$STATE,9358,begin climb
$GC,9360,1.34,194.7,995.6,0.0,960,9537,1.70,0.00,168.82,1.273,6,0.072,0.000,3069,1969,2268
$GC,9848,1.28,194.7,943.3,12.7,984,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1969,2262
$GC,10156,1.23,194.7,909.2,10.6,999,10161,0.00,2.83,0.00,0.000,4,0.000,0.083,3069,3402,2261
$GC,10177,1.18,194.7,906.8,10.3,1000,10182,0.15,2.62,0.00,0.000,6,0.107,0.058,3038,1990,2261
$GC,10503,1.19,207.3,875.8,9.6,1016,10516,0.00,0.00,11.50,1.099,6,0.000,0.000,3039,1988,2217
$GC,10813,1.22,234.6,846.8,9.1,1031,10841,0.00,0.00,26.30,1.171,6,0.000,0.000,3039,1988,2105
$GC,11142,1.24,247.2,815.6,9.6,1047,11166,0.00,2.78,14.32,0.960,4,0.000,0.072,3039,3398,2054
$GC,11179,1.26,261.1,812.0,9.5,1049,11200,0.00,2.67,14.45,1.100,6,0.000,0.058,3039,1981,1997
$GC,11510,1.27,272.2,780.0,9.6,1065,11530,0.00,2.78,11.10,1.060,4,0.000,0.071,3038,3400,1951
$GC,11535,1.27,272.2,777.2,10.0,1066,11540,0.00,2.65,0.00,0.000,6,0.000,0.058,3039,1990,1950
$GC,11856,1.29,285.0,746.7,9.6,1082,11878,0.00,0.00,14.98,0.950,6,0.000,0.000,3039,1989,1900
$GC,12185,1.33,322.3,716.8,8.7,1098,12228,0.12,2.75,35.38,1.114,4,0.064,0.072,3075,3394,1746
$GC,12238,1.34,327.6,711.2,9.8,1100,12250,0.00,2.62,6.18,0.864,6,0.000,0.058,3075,1998,1726
$GC,12559,1.34,327.6,675.4,11.6,1116,12563,0.00,2.70,0.00,0.000,4,0.000,0.071,3075,3403,1721
$GC,12585,1.34,327.6,672.1,11.5,1117,12590,0.00,2.60,0.00,0.000,6,0.000,0.058,3074,2014,1720
$GC,12907,1.34,327.6,634.4,11.5,1133,12911,0.00,2.67,0.00,0.000,4,0.000,0.072,3075,3401,1720
$GC,12933,1.34,327.6,631.0,11.5,1134,12937,0.00,2.58,0.00,0.000,6,0.000,0.058,3075,2022,1720
$GC,13258,1.34,327.6,593.7,11.5,1152,13262,0.00,2.62,0.00,0.000,4,0.000,0.071,3075,3395,1720
$GC,13274,1.34,327.6,591.5,11.6,1153,13278,0.00,2.53,0.00,0.000,6,0.000,0.056,3075,2027,1719
$GC,13600,1.34,327.6,554.3,11.8,1183,13604,0.00,2.60,0.00,0.000,4,0.000,0.071,3075,3394,1719
$GC,13627,1.34,327.6,550.6,12.1,1185,13631,0.00,2.53,0.00,0.000,6,0.000,0.056,3075,2028,1719
$GC,13953,1.34,327.6,510.2,12.3,1215,13957,0.00,2.60,0.00,0.000,4,0.000,0.070,3075,3397,1719
$GC,13973,1.34,327.6,507.3,12.7,1216,13980,0.00,2.53,0.00,0.000,6,0.000,0.055,3075,2042,1719
$GC,14300,1.34,327.6,467.7,12.0,1247,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2041,1719
$GC,14617,1.34,327.6,429.6,11.0,1277,14622,0.00,2.58,0.00,0.000,4,0.000,0.067,3075,3402,1719
$GC,14656,1.34,327.6,424.9,11.2,1280,14661,0.00,2.47,0.00,0.000,6,0.000,0.051,3075,2052,1719
$GC,14982,1.34,327.6,387.9,11.4,1310,14983,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2051,1719
$GC,15299,1.34,327.6,350.1,12.1,1340,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2051,1719
$GC,15635,1.34,327.6,310.2,10.7,1399,15641,0.00,2.55,0.00,0.000,4,0.000,0.063,3075,3402,1719
$GC,15647,1.34,327.6,308.9,10.8,1401,15653,0.00,2.47,0.00,0.000,6,0.000,0.051,3075,2058,1718
$GC,15990,1.34,327.6,270.7,11.2,1462,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2056,1719
$GC,16332,1.34,327.6,232.0,11.9,1523,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2056,1719
$GC,16675,1.34,327.6,191.7,11.1,1584,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2056,1719
$GC,17017,1.34,327.6,156.6,12.4,1645,17023,0.00,2.53,0.00,0.000,4,0.000,0.062,3075,3398,1719
$GC,17041,1.34,327.6,154.0,11.2,1649,17047,0.00,2.45,0.00,0.000,6,0.000,0.050,3075,2058,1719
$GC,17386,1.34,327.6,116.9,11.4,1710,17391,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2056,1719
$GC,17729,1.36,341.4,83.5,9.5,1771,17746,0.00,2.62,12.60,0.695,4,0.000,0.061,3075,3406,1669
$GC,17753,1.36,341.4,81.2,10.3,1775,17759,0.00,2.47,0.00,0.000,6,0.000,0.050,3075,2066,1669
$GC,18096,1.37,351.0,49.8,9.7,1836,18108,0.00,0.00,10.02,0.653,6,0.000,0.000,3075,2064,1630
$GC,18245,1.37,351.0,34.1,11.6,1862,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2063,1629
$GC,18386,1.37,351.0,17.3,11.2,1887,18393,0.00,2.83,0.00,0.000,4,0.000,0.074,3075,573,1628
$GC,18399,1.37,351.0,15.7,11.9,1889,18406,0.00,2.78,0.00,0.000,6,0.000,0.050,3075,2096,1628
$STATE,18505,end climb,SURFACE_DEPTH_REACHED
$STATE,18505,begin surface coast
$FINISH,0.2,1.027187
$STATE,18538,end surface coast,CONTROL_FINISHED_OK
$STATE,18538,begin surface
$SM_CCo,18617,0.00,0.000,0,0,1626,352.01
$SM_GC,1.03,10.60,0.00,0.00,0.041,0.000,0.000,569,2013,1626,-10.08,-0.45,352.01
$IRIDIUM_FIX,6046.07,-2627.93,090897,222220
$TT8_MAMPS,0.042185
$HUMID,1663
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.70
$XPDR_PINGS,434
$24V_AH,23.4,38.334
$10V_AH,10.6,44.542
$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,24.775,126.475,495.025,0.000,0.000,27.985,38.478,222.533,108.500,0.000,0.000,15.459,3003.354,11463.264,710.646,3254.987,591.117,0.000,2203.205,0.000,3246.134,0.000,0.465
$DEVICE_MAMPS,197.886,104.312,1305.434,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1343.286,1388.010,755.637,1103.479,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136044,1913
$CAP_FILE_SIZE,165511,0
$CFSIZE,260165632,238141440
$ERRORS,0,56,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160508,091131,6117.876,-2625.603,34,0.9,39,-18.6