version: 66.03
glider: 141
mission: 7
dive: 193
start: 5 16 108 19 50 11
data:
$ID,141
$MISSION,7
$DIVE,193
$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,90
$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,-9904.4336
$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,26
$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
$GPS1,194251,6128.139,-2634.279,41,2.1,60,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.5
$GPS2,194951,6128.174,-2634.378,12,1.3,12,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6128.174,-2629.220
$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,108.7,20000,-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,-194.7,0.0,0.0,0,127,0.00,0.00,-99.10,0.000,2,0.000,0.000,572,2014,3664
$GC,130,-1.34,-194.7,3.1,-5.6,18,155,11.15,2.65,-4.72,0.000,4,0.199,0.075,2481,634,3858
$GC,217,-1.34,-194.7,17.9,-12.6,33,224,0.00,2.58,0.00,0.000,6,0.000,0.048,2480,2043,3859
$GC,360,-1.34,-194.7,35.2,-12.0,58,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2046,3859
$GC,501,-1.34,-194.7,52.3,-12.2,83,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2046,3859
$GC,842,-1.34,-194.7,92.5,-11.6,144,849,0.00,2.67,0.00,0.000,4,0.000,0.068,2480,620,3859
$GC,888,-1.34,-194.7,97.9,-12.0,152,894,0.00,2.58,0.00,0.000,6,0.000,0.054,2481,2033,3860
$GC,1232,-1.34,-194.7,135.5,-11.0,213,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3860
$GC,1575,-1.34,-194.7,174.1,-11.5,274,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3860
$GC,1917,-1.34,-194.7,213.4,-11.2,335,1923,0.00,2.65,0.00,0.000,4,0.000,0.064,2481,627,3860
$GC,1968,-1.34,-194.7,219.3,-11.4,344,1974,0.00,2.53,0.00,0.000,6,0.000,0.055,2481,2024,3860
$GC,2312,-1.34,-194.7,258.1,-10.8,405,2318,0.00,2.62,0.00,0.000,4,0.000,0.064,2481,3435,3860
$GC,2368,-1.34,-194.7,264.7,-12.0,415,2375,0.00,2.55,0.00,0.000,6,0.000,0.049,2481,2027,3860
$GC,2711,-1.34,-194.7,302.3,-11.1,476,2718,0.00,2.65,0.00,0.000,4,0.000,0.064,2480,3441,3860
$GC,2741,-1.34,-194.7,305.5,-11.6,481,2747,0.00,2.58,0.00,0.000,6,0.000,0.050,2481,2025,3860
$GC,3084,-1.34,-194.7,342.0,-10.3,542,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2020,3860
$GC,3419,-1.34,-194.7,377.7,-10.7,580,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2020,3860
$GC,3735,-1.34,-194.7,411.0,-10.2,610,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3860
$GC,4055,-1.34,-194.7,442.6,-9.6,640,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3860
$GC,4375,-1.34,-194.7,472.8,-9.3,670,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3860
$GC,4691,-1.34,-194.7,501.7,-8.8,700,4696,0.00,2.75,0.00,0.000,4,0.000,0.077,2481,3435,3860
$GC,4734,-1.34,-194.7,506.0,-9.7,703,4741,0.00,2.60,0.00,0.000,6,0.000,0.055,2481,2025,3860
$GC,5062,-1.34,-194.7,536.2,-9.1,734,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3859
$GC,5377,-1.34,-194.7,567.9,-10.4,764,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,5696,-1.34,-194.7,603.3,-11.5,793,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3859
$GC,6004,-1.34,-194.7,639.3,-11.9,808,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3859
$GC,6314,-1.34,-194.7,675.5,-11.6,823,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3859
$GC,6623,-1.34,-194.7,709.7,-10.2,838,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3859
$GC,6933,-1.34,-194.7,739.8,-9.6,853,6937,0.00,2.85,0.00,0.000,4,0.000,0.098,2481,3435,3858
$GC,6976,-1.34,-194.7,744.4,-10.4,855,6980,0.00,2.67,0.00,0.000,6,0.000,0.071,2481,2031,3858
$GC,7303,-1.34,-194.7,776.9,-10.6,871,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2030,3858
$GC,7612,-1.34,-194.7,812.2,-11.4,886,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3858
$GC,7921,-1.34,-194.7,847.2,-11.9,901,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3857
$GC,8230,-1.34,-194.7,879.9,-10.1,916,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2027,3857
$GC,8540,-1.34,-194.7,910.0,-9.8,931,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3856
$GC,8851,-1.34,-194.7,939.6,-9.7,946,8855,0.00,2.75,0.00,0.000,4,0.000,0.086,2481,3433,3855
$GC,8894,-1.34,-194.7,944.6,-10.7,948,8898,0.00,2.65,0.00,0.000,6,0.000,0.067,2481,2028,3855
$GC,9221,-1.34,-194.7,977.8,-10.2,964,9226,0.00,2.83,0.00,0.000,4,0.000,0.108,2481,614,3855
$GC,9253,-1.34,-194.7,981.2,-10.9,965,9260,0.00,2.58,0.00,0.000,6,0.000,0.062,2481,2016,3855
$STATE,9360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9366,-0.37,0.0,991.8,9.7,971,9543,1.02,0.00,169.43,1.307,6,0.103,0.000,2696,1976,3062
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9546,1.34,194.7,996.4,0.0,980,9720,1.70,0.00,169.20,1.272,6,0.075,0.000,3070,1976,2268
$GC,10018,1.28,194.7,953.4,10.3,1003,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1976,2262
$GC,10326,1.22,194.7,920.8,10.8,1018,10332,0.12,2.80,0.00,0.000,4,0.109,0.081,3046,3401,2261
$GC,10370,1.22,194.7,916.0,10.6,1020,10374,0.00,2.65,0.00,0.000,6,0.000,0.060,3046,1992,2260
$GC,10697,1.25,218.4,885.2,9.2,1036,10720,0.00,0.00,21.48,1.177,6,0.000,0.000,3046,1989,2171
$GC,11026,1.30,260.5,855.1,8.5,1052,11068,0.00,0.00,39.53,1.190,6,0.000,0.000,3046,1989,1999
$GC,11377,1.33,278.4,822.7,9.4,1069,11397,0.10,0.00,16.73,1.121,6,0.072,0.000,3076,1989,1927
$GC,11706,1.28,278.4,787.1,10.8,1085,11711,0.00,2.72,0.00,0.000,4,0.000,0.074,3076,3405,1924
$GC,11795,1.24,278.4,776.6,12.7,1089,11800,0.12,2.65,0.00,0.000,6,0.108,0.061,3052,1991,1923
$GC,12116,1.24,278.4,744.5,10.1,1105,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1992,1922
$GC,12425,1.24,278.4,712.0,10.2,1120,12429,0.00,2.70,0.00,0.000,4,0.000,0.074,3052,3400,1922
$GC,12474,1.24,278.4,706.3,11.3,1122,12478,0.00,2.62,0.00,0.000,6,0.000,0.059,3053,2000,1921
$GC,12795,1.24,278.4,669.5,11.7,1138,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1999,1921
$GC,13105,1.24,278.4,632.5,12.0,1153,13109,0.00,2.70,0.00,0.000,4,0.000,0.073,3052,3398,1921
$GC,13159,1.24,278.4,625.6,12.0,1155,13166,0.00,2.60,0.00,0.000,6,0.000,0.058,3052,2006,1921
$GC,13477,1.24,278.4,589.2,10.7,1175,13482,0.00,2.65,0.00,0.000,4,0.000,0.071,3052,3396,1921
$GC,13528,1.24,278.4,583.3,11.4,1179,13532,0.00,2.53,0.00,0.000,6,0.000,0.056,3052,2028,1921
$GC,13852,1.24,278.4,547.3,11.3,1209,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2028,1921
$GC,14170,1.24,278.4,512.3,11.1,1239,14175,0.00,2.62,0.00,0.000,4,0.000,0.070,3052,3403,1921
$GC,14221,1.24,278.4,506.3,12.0,1243,14225,0.00,2.53,0.00,0.000,6,0.000,0.054,3052,2030,1920
$GC,14547,1.24,278.4,470.7,10.5,1273,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2029,1921
$GC,14863,1.24,278.4,436.8,10.4,1303,14867,0.00,2.60,0.00,0.000,4,0.000,0.066,3052,3397,1921
$GC,14929,1.24,278.4,429.9,10.3,1308,14936,0.00,2.47,0.00,0.000,6,0.000,0.058,3052,2037,1920
$GC,15255,1.24,278.4,397.1,10.0,1339,15259,0.00,2.55,0.00,0.000,4,0.000,0.065,3052,3398,1921
$GC,15294,1.24,278.4,392.9,10.3,1342,15298,0.00,2.45,0.00,0.000,6,0.000,0.050,3052,2048,1921
$GC,15618,1.24,279.9,361.1,9.9,1372,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2047,1921
$GC,15949,1.26,295.0,329.5,9.5,1421,15971,0.00,2.58,15.70,0.849,4,0.000,0.062,3052,3398,1857
$GC,16006,1.26,295.0,323.7,10.3,1431,16012,0.00,2.47,0.00,0.000,6,0.000,0.049,3052,2058,1857
$GC,16350,1.28,313.9,290.2,9.3,1492,16372,0.00,0.00,17.77,0.827,6,0.000,0.000,3052,2056,1781
$GC,16709,1.31,331.6,254.1,9.4,1556,16730,0.00,0.00,16.65,0.798,6,0.000,0.000,3052,2056,1709
$GC,17067,1.31,331.6,217.1,10.7,1620,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2056,1706
$GC,17411,1.31,331.6,181.1,11.3,1681,17417,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2056,1706
$GC,17754,1.31,331.6,145.4,11.1,1742,17760,0.00,2.53,0.00,0.000,4,0.000,0.061,3052,3399,1705
$GC,17788,1.31,331.6,141.7,11.2,1748,17795,0.00,2.42,0.00,0.000,6,0.000,0.048,3052,2062,1705
$GC,18133,1.31,331.6,107.1,10.1,1809,18138,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2061,1705
$GC,18475,1.31,331.6,72.0,10.6,1870,18481,0.00,2.80,0.00,0.000,4,0.000,0.073,3052,573,1705
$GC,18504,1.31,331.6,69.0,10.9,1875,18510,0.00,2.75,0.00,0.000,6,0.000,0.048,3052,2081,1706
$GC,18849,1.31,331.6,36.2,10.7,1936,18855,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2083,1705
$GC,18990,1.31,331.6,22.4,10.6,1961,18996,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2083,1705
$GC,19132,1.31,335.7,8.5,9.9,1986,19139,0.00,0.00,4.47,0.512,6,0.000,0.000,3052,2083,1693
$STATE,19190,end climb,SURFACE_DEPTH_REACHED
$STATE,19190,begin surface coast
$FINISH,0.1,1.025632
$STATE,19218,end surface coast,CONTROL_FINISHED_OK
$STATE,19218,begin surface
$SM_CCo,19297,0.00,0.000,0,0,1690,336.55
$SM_GC,0.98,10.48,0.00,0.00,0.039,0.000,0.000,569,2013,1690,-10.08,-0.45,336.55
$IRIDIUM_FIX,6059.36,-2625.88,100897,141427
$TT8_MAMPS,0.042185
$HUMID,1673
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.80
$XPDR_PINGS,439
$24V_AH,23.4,38.899
$10V_AH,10.6,44.969
$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,24.700,105.350,470.950,0.000,0.000,27.958,38.723,221.326,109.750,0.000,0.000,13.702,3121.440,11976.109,645.352,3368.335,591.119,0.000,2169.687,0.000,3364.602,0.000,0.465
$DEVICE_MAMPS,198.653,108.147,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1397.093,1459.859,755.394,1121.778,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142547,2001
$CAP_FILE_SIZE,167459,0
$CFSIZE,260165632,237854720
$ERRORS,0,53,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,011307,6129.400,-2629.908,38,1.4,43,-18.7