version: 66.03
glider: 141
mission: 7
dive: 196
start: 5 17 108 12 22 53
data:
$ID,141
$MISSION,7
$DIVE,196
$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,150
$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,-9970.9775
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,121458,6129.279,-2624.468,27,99.0,46,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-53.1
$GPS2,122235,6129.381,-2624.535,12,99.0,31,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.028,-2621.945
$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,168.7,20000,-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,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.03,0.000,2,0.000,0.000,572,2004,3687
$GC,125,-1.34,-194.7,3.4,-6.5,17,149,11.10,2.62,-4.05,0.000,4,0.197,0.072,2483,628,3858
$GC,162,-1.10,-194.7,11.9,-18.0,23,169,0.28,2.58,0.00,0.000,6,0.108,0.054,2538,2042,3859
$GC,307,-1.14,-194.7,25.0,-8.0,48,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2044,3860
$GC,450,-1.19,-194.7,36.4,-8.5,73,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2044,3860
$GC,592,-1.23,-194.7,47.9,-7.7,98,598,0.12,0.00,0.00,0.000,6,0.059,0.000,2501,2044,3860
$GC,734,-1.23,-194.7,61.2,-10.0,123,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2044,3860
$GC,1078,-1.23,-194.7,93.4,-9.2,184,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2044,3860
$GC,1422,-1.23,-194.7,125.3,-9.6,245,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2044,3860
$GC,1765,-1.23,-194.7,158.7,-10.2,306,1771,0.00,2.65,0.00,0.000,4,0.000,0.061,2500,624,3860
$GC,1794,-1.23,-194.7,161.8,-10.7,311,1800,0.00,2.55,0.00,0.000,6,0.000,0.046,2500,2035,3860
$GC,2138,-1.23,-194.7,196.1,-10.1,372,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2037,3860
$GC,2482,-1.23,-194.7,230.4,-9.5,433,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2037,3860
$GC,2825,-1.23,-194.7,263.6,-9.5,494,2831,0.00,2.65,0.00,0.000,4,0.000,0.066,2500,624,3860
$GC,2843,-1.23,-194.7,265.3,-9.7,497,2849,0.00,2.58,0.00,0.000,6,0.000,0.047,2500,2041,3860
$GC,3187,-1.23,-194.7,297.6,-9.2,558,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3860
$GC,3530,-1.23,-194.7,329.5,-9.2,619,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3860
$GC,3872,-1.23,-194.7,361.0,-9.2,670,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2042,3860
$GC,4191,-1.23,-194.7,390.5,-9.2,700,4195,0.00,2.65,0.00,0.000,4,0.000,0.064,2500,623,3860
$GC,4212,-1.23,-194.7,392.8,-9.5,701,4218,0.00,2.55,0.00,0.000,6,0.000,0.048,2500,2034,3860
$GC,4538,-1.23,-194.7,422.7,-9.4,732,4543,0.00,2.65,0.00,0.000,4,0.000,0.064,2500,624,3860
$GC,4556,-1.23,-194.7,424.5,-9.5,733,4560,0.00,2.58,0.00,0.000,6,0.000,0.049,2500,2037,3860
$GC,4881,-1.23,-194.7,457.2,-10.1,763,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3860
$GC,5200,-1.23,-194.7,490.1,-10.6,793,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3860
$GC,5517,-1.23,-194.7,523.9,-10.8,823,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,5836,-1.23,-194.7,559.1,-11.1,853,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,6154,-1.23,-194.7,594.7,-11.1,883,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,6476,-1.23,-194.7,629.9,-10.8,901,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,6785,-1.23,-194.7,661.3,-10.5,916,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,7094,-1.23,-194.7,692.3,-9.9,931,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3859
$GC,7403,-1.23,-194.7,722.8,-10.1,946,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3858
$GC,7713,-1.23,-194.7,754.3,-10.1,961,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3858
$GC,8022,-1.23,-194.7,784.9,-9.9,976,8026,0.00,2.78,0.00,0.000,4,0.000,0.097,2500,3432,3858
$GC,8042,-1.23,-194.7,787.2,-10.8,977,8047,0.00,2.62,0.00,0.000,6,0.000,0.067,2500,2045,3858
$GC,8370,-1.23,-194.7,817.7,-9.2,993,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2043,3858
$GC,8679,-1.23,-194.7,845.0,-8.7,1008,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2043,3858
$GC,8988,-1.23,-194.7,873.1,-9.3,1023,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3857
$GC,9298,-1.23,-194.7,901.2,-8.9,1038,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2041,3857
$GC,9607,-1.23,-194.7,929.2,-9.3,1053,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2041,3856
$GC,9916,-1.23,-194.7,957.1,-8.8,1068,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2040,3855
$GC,10225,-1.23,-194.7,983.4,-8.5,1083,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2040,3855
$STATE,10305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10305,begin apogee
$GC,10310,-0.37,0.0,990.2,8.2,1087,10487,0.93,0.00,169.48,1.305,6,0.100,0.000,2696,1982,3062
$STATE,10488,end apogee,CONTROL_FINISHED_OK
$STATE,10488,begin climb
$GC,10491,1.34,194.7,993.5,0.0,1096,10664,1.70,0.00,168.43,1.270,6,0.076,0.000,3070,1982,2268
$GC,10963,1.28,194.7,947.7,10.7,1119,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1982,2262
$GC,11272,1.23,194.7,914.9,10.8,1134,11277,0.12,2.75,0.00,0.000,4,0.109,0.075,3045,3391,2261
$GC,11349,1.23,194.7,906.6,11.3,1137,11356,0.00,2.65,0.00,0.000,6,0.000,0.057,3046,1976,2260
$GC,11666,1.24,204.1,876.0,9.7,1153,11680,0.00,2.85,8.73,1.049,4,0.000,0.091,3045,573,2229
$GC,11721,1.20,206.1,870.5,9.9,1155,11725,0.00,2.62,0.00,0.000,6,0.000,0.055,3045,1979,2228
$GC,12035,1.22,218.9,840.6,9.6,1170,12057,0.00,2.83,14.65,1.124,4,0.000,0.081,3045,3401,2168
$GC,12103,1.22,218.9,833.8,10.3,1173,12107,0.00,2.65,0.00,0.000,6,0.000,0.056,3045,1980,2167
$GC,12428,1.22,221.3,801.9,9.9,1189,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1980,2166
$GC,12738,1.24,234.7,772.5,9.5,1204,12767,0.00,2.85,17.23,0.999,4,0.000,0.072,3045,3402,2104
$GC,12802,1.24,234.7,766.1,11.2,1207,12806,0.00,2.65,0.00,0.000,6,0.000,0.056,3045,1988,2103
$GC,13128,1.27,263.6,735.7,9.0,1223,13171,0.00,0.00,31.40,1.006,6,0.000,0.000,3045,1986,1987
$GC,13477,1.30,290.3,703.9,9.1,1240,13519,0.00,2.83,27.60,1.029,4,0.000,0.071,3045,3394,1877
$GC,13552,1.30,290.3,696.3,10.5,1243,13556,0.00,2.62,0.00,0.000,6,0.000,0.055,3045,1993,1875
$GC,13873,1.30,290.3,664.5,10.5,1259,13878,0.00,2.70,0.00,0.000,4,0.000,0.071,3045,3394,1873
$GC,13913,1.30,290.3,660.1,10.5,1261,13917,0.00,2.60,0.00,0.000,6,0.000,0.055,3045,1998,1873
$GC,14238,1.30,290.3,624.1,11.2,1277,14243,0.00,2.67,0.00,0.000,4,0.000,0.070,3045,3395,1873
$GC,14287,1.30,290.3,618.3,11.4,1279,14291,0.00,2.55,0.00,0.000,6,0.000,0.054,3045,2017,1872
$GC,14613,1.30,290.3,582.5,11.2,1302,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2016,1873
$GC,14931,1.30,290.3,546.8,11.0,1332,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2015,1872
$GC,15250,1.30,290.3,511.2,11.4,1362,15254,0.00,2.62,0.00,0.000,4,0.000,0.067,3045,3398,1872
$GC,15311,1.30,290.3,503.9,12.5,1367,15316,0.00,2.53,0.00,0.000,6,0.000,0.052,3045,2021,1872
$GC,15636,1.30,290.3,468.2,10.6,1397,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2019,1872
$GC,15954,1.30,290.3,433.6,11.2,1427,15958,0.00,2.60,0.00,0.000,4,0.000,0.066,3045,3400,1872
$GC,15997,1.30,290.3,428.4,11.4,1430,16003,0.00,2.50,0.00,0.000,6,0.000,0.051,3045,2032,1872
$GC,16324,1.30,290.3,393.1,10.6,1461,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2031,1872
$GC,16642,1.31,291.8,360.0,9.9,1491,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2031,1872
$GC,16971,1.31,292.5,326.4,10.0,1541,16977,0.00,2.55,0.00,0.000,4,0.000,0.063,3045,3398,1872
$GC,17006,1.31,292.5,322.7,11.8,1547,17012,0.00,2.47,0.00,0.000,6,0.000,0.049,3045,2035,1872
$GC,17351,1.34,323.6,289.1,8.9,1608,17384,0.12,0.00,29.62,0.843,6,0.063,0.000,3083,2034,1742
$GC,17721,1.34,323.6,245.1,11.7,1674,17726,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2034,1737
$GC,18063,1.34,323.6,204.7,11.9,1735,18069,0.00,2.58,0.00,0.000,4,0.000,0.061,3083,3398,1736
$GC,18099,1.34,323.6,200.5,12.4,1741,18105,0.00,2.47,0.00,0.000,6,0.000,0.048,3083,2044,1736
$GC,18442,1.34,323.6,158.2,12.0,1802,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2043,1736
$GC,18784,1.34,323.6,116.6,10.9,1863,18789,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2043,1736
$GC,19126,1.34,323.6,76.0,11.7,1924,19132,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2043,1736
$GC,19469,1.34,323.6,35.5,11.5,1985,19475,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2043,1736
$GC,19610,1.34,323.6,19.1,12.3,2010,19616,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2043,1735
$STATE,19743,end climb,SURFACE_DEPTH_REACHED
$STATE,19744,begin surface coast
$FINISH,0.5,1.027080
$STATE,19775,end surface coast,CONTROL_FINISHED_OK
$STATE,19775,begin surface
$SM_CCo,19854,0.00,0.000,0,0,1734,325.51
$SM_GC,0.89,10.50,0.00,0.00,0.035,0.000,0.000,569,2040,1734,-10.07,0.28,325.51
$IRIDIUM_FIX,6108.28,-2629.87,110897,070706
$TT8_MAMPS,0.042185
$HUMID,1672
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,15.30
$XPDR_PINGS,497
$24V_AH,23.4,39.455
$10V_AH,10.6,45.407
$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,24.875,89.725,467.125,0.000,0.000,22.815,32.066,248.330,124.250,0.000,0.000,33.694,3187.529,12370.198,632.423,3460.940,642.400,0.000,2198.175,0.000,3451.163,0.000,0.466
$DEVICE_MAMPS,197.119,97.409,1304.667,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1431.625,1485.536,771.273,1144.711,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145606,2039
$CAP_FILE_SIZE,171009,0
$CFSIZE,260165632,237568000
$ERRORS,0,12,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,170508,175507,6128.115,-2623.959,39,1.2,44,-18.6