version: 66.03
glider: 141
mission: 7
dive: 221
start: 5 23 108 5 4 3
data:
$ID,141
$MISSION,7
$DIVE,221
$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,340
$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,-10411.648
$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,9
$R_STBD_OVSHOOT,11
$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
$GPS1,045638,6127.805,-2559.198,35,1.2,35,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-56.4
$GPS2,050344,6127.831,-2559.256,10,1.2,10,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6137.979,-2601.011
$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,358.4,20000,-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,-194.7,0.0,0.0,0,123,0.00,0.00,-92.80,0.000,2,0.000,0.000,565,2030,3661
$GC,126,-1.34,-194.7,3.3,-6.4,17,150,11.10,2.72,-4.78,0.000,4,0.197,0.150,2481,3445,3859
$GC,371,-1.29,-194.7,37.8,-12.5,60,378,0.00,2.67,0.00,0.000,6,0.000,0.141,2480,2024,3860
$GC,514,-1.29,-194.7,54.3,-11.6,85,520,0.00,2.70,0.00,0.000,4,0.000,0.155,2481,620,3860
$GC,554,-1.29,-194.7,59.0,-11.5,92,560,0.00,2.60,0.00,0.000,6,0.000,0.127,2481,2038,3860
$GC,898,-1.29,-194.7,95.2,-10.7,153,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3860
$GC,1240,-1.29,-194.7,132.9,-11.2,214,1247,0.00,2.65,0.00,0.000,4,0.000,0.149,2481,3442,3860
$GC,1338,-1.29,-194.7,144.0,-11.0,231,1344,0.00,2.70,0.00,0.000,6,0.000,0.142,2480,2015,3861
$GC,1681,-1.29,-194.7,182.6,-11.2,292,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,2025,-1.29,-194.7,221.3,-11.0,353,2031,0.00,2.72,0.00,0.000,4,0.000,0.149,2480,3449,3861
$GC,2117,-1.29,-194.7,231.9,-10.9,369,2123,0.00,2.67,0.00,0.000,6,0.000,0.142,2480,2031,3861
$GC,2460,-1.29,-194.7,269.1,-10.4,430,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3861
$GC,2803,-1.29,-194.7,305.6,-10.5,491,2809,0.00,2.70,0.00,0.000,4,0.000,0.150,2480,3446,3861
$GC,2860,-1.29,-194.7,312.0,-10.7,501,2866,0.00,2.65,0.00,0.000,6,0.000,0.141,2480,2041,3861
$GC,3203,-1.29,-194.7,348.8,-11.1,562,3209,0.00,2.72,0.00,0.000,4,0.000,0.156,2481,613,3860
$GC,3260,-1.29,-194.7,355.1,-11.1,568,3265,0.00,2.62,0.00,0.000,6,0.000,0.128,2480,2042,3861
$GC,3586,-1.29,-194.7,389.8,-10.5,598,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2044,3861
$GC,3904,-1.29,-194.7,423.9,-10.5,628,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2044,3861
$GC,4222,-1.29,-194.7,458.1,-10.6,658,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2044,3860
$GC,4540,-1.29,-194.7,491.8,-10.5,688,4545,0.00,2.70,0.00,0.000,4,0.000,0.158,2480,3440,3860
$GC,4595,-1.29,-194.7,498.2,-11.0,692,4602,0.00,2.70,0.00,0.000,6,0.000,0.146,2480,2048,3860
$GC,4921,-1.29,-194.7,534.6,-11.6,723,4926,0.00,2.80,0.00,0.000,4,0.000,0.166,2480,614,3860
$GC,4996,-1.29,-194.7,543.9,-12.6,729,5000,0.00,2.65,0.00,0.000,6,0.000,0.131,2481,2048,3860
$GC,5321,-1.29,-194.7,581.4,-11.4,759,5326,0.00,2.72,0.00,0.000,4,0.000,0.164,2481,3446,3860
$GC,5383,-1.29,-194.7,589.0,-11.6,764,5388,0.00,2.70,0.00,0.000,6,0.000,0.149,2480,2040,3860
$GC,5711,-1.29,-194.7,625.1,-10.8,784,5716,0.00,2.85,0.00,0.000,4,0.000,0.180,2480,616,3860
$GC,5795,-1.29,-194.7,634.3,-10.7,788,5800,0.00,2.65,0.00,0.000,6,0.000,0.138,2480,2035,3859
$GC,6121,-1.29,-194.7,668.4,-10.4,804,6125,0.00,2.80,0.00,0.000,4,0.000,0.174,2480,3448,3859
$GC,6193,-1.29,-194.7,676.3,-10.9,807,6197,0.00,2.72,0.00,0.000,6,0.000,0.156,2481,2040,3859
$GC,6508,-1.29,-194.7,709.4,-10.6,822,6512,0.00,2.90,0.00,0.000,4,0.000,0.187,2480,614,3859
$GC,6585,-1.29,-194.7,718.0,-10.9,825,6591,0.00,2.65,0.00,0.000,6,0.000,0.140,2480,2027,3859
$GC,6900,-1.29,-194.7,750.5,-10.2,841,6905,0.00,2.83,0.00,0.000,4,0.000,0.178,2480,3441,3859
$GC,6966,-1.29,-194.7,758.1,-11.3,844,6971,0.00,2.75,0.00,0.000,6,0.000,0.158,2480,2026,3859
$GC,7288,-1.29,-194.7,790.5,-10.0,860,7292,0.00,2.85,0.00,0.000,4,0.000,0.184,2480,618,3859
$GC,7376,-1.29,-194.7,799.5,-10.1,864,7380,0.00,2.62,0.00,0.000,6,0.000,0.138,2480,2026,3858
$GC,7703,-1.29,-194.7,831.7,-9.8,880,7708,0.00,2.80,0.00,0.000,4,0.000,0.175,2480,3441,3858
$GC,7758,-1.29,-194.7,837.8,-10.9,882,7765,0.00,2.75,0.00,0.000,6,0.000,0.156,2480,2013,3858
$GC,8074,-1.29,-194.7,869.3,-10.2,898,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2012,3858
$GC,8384,-1.29,-194.7,900.2,-9.9,913,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2011,3858
$GC,8692,-1.29,-194.7,931.4,-10.1,928,8697,0.00,2.83,0.00,0.000,4,0.000,0.166,2480,3446,3857
$GC,8747,-1.29,-194.7,937.3,-10.7,930,8753,0.00,2.75,0.00,0.000,6,0.000,0.156,2480,2035,3857
$GC,9063,-1.29,-194.7,967.9,-9.5,946,9068,0.00,2.85,0.00,0.000,4,0.000,0.183,2480,617,3857
$GC,9117,-1.29,-194.7,973.6,-10.5,948,9124,0.00,3.20,0.00,0.000,6,0.000,0.225,2480,2042,3856
$STATE,9307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9307,begin apogee
$GC,9313,-0.37,0.0,992.0,9.7,958,9490,1.02,0.00,169.80,1.295,6,0.100,0.000,2698,1984,3061
$STATE,9491,end apogee,CONTROL_FINISHED_OK
$STATE,9491,begin climb
$GC,9494,1.34,194.7,996.6,0.0,967,9672,1.67,2.88,168.15,1.264,4,0.073,0.166,3069,572,2268
$GC,9683,1.27,194.7,982.2,10.1,975,9687,0.00,2.70,0.00,0.000,6,0.000,0.137,3069,1987,2266
$GC,9999,1.21,194.7,946.5,11.2,990,10000,0.12,0.00,0.00,0.000,6,0.107,0.000,3045,1989,2263
$GC,10308,1.22,206.4,916.2,9.6,1005,10328,0.00,2.83,11.02,1.095,4,0.000,0.163,3045,3403,2219
$GC,10355,1.22,206.4,911.4,10.8,1007,10359,0.00,2.75,0.00,0.000,6,0.000,0.150,3045,1992,2218
$GC,10683,1.23,215.2,880.0,9.7,1023,10694,0.00,0.00,9.50,1.062,6,0.000,0.000,3045,1989,2184
$GC,10991,1.24,220.3,850.1,9.8,1038,10999,0.00,0.00,5.82,0.922,6,0.000,0.000,3045,1989,2164
$GC,11301,1.25,223.4,819.4,9.9,1053,11308,0.00,0.00,4.70,0.826,6,0.000,0.000,3045,1989,2151
$GC,11610,1.28,252.9,790.5,9.0,1068,11652,0.00,2.78,30.30,1.087,4,0.000,0.153,3045,3397,2029
$GC,11663,1.33,290.5,785.7,8.7,1070,11705,0.10,2.75,35.83,1.137,6,0.073,0.149,3075,1989,1877
$GC,12023,1.33,290.5,743.4,12.5,1088,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1987,1871
$GC,12330,1.33,290.5,704.5,12.7,1103,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1987,1869
$GC,12638,1.33,290.5,666.0,12.1,1118,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1987,1869
$GC,12948,1.33,290.5,629.5,11.3,1133,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1987,1869
$GC,13258,1.33,290.5,595.3,11.4,1149,13262,0.00,2.72,0.00,0.000,4,0.000,0.150,3075,3398,1868
$GC,13296,1.33,290.5,590.6,12.4,1152,13301,0.00,2.70,0.00,0.000,6,0.000,0.148,3075,1998,1868
$GC,13620,1.33,290.5,552.1,12.1,1182,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1996,1868
$GC,13939,1.33,290.5,513.2,11.8,1212,13943,0.00,2.70,0.00,0.000,4,0.000,0.148,3075,3401,1868
$GC,13956,1.33,290.5,511.4,11.3,1213,13961,0.00,2.70,0.00,0.000,6,0.000,0.147,3074,1994,1868
$GC,14281,1.33,290.5,472.7,11.7,1243,14285,0.00,2.70,0.00,0.000,4,0.000,0.147,3075,3400,1868
$GC,14320,1.33,290.5,468.0,13.1,1246,14324,0.00,2.65,0.00,0.000,6,0.000,0.146,3074,2012,1868
$GC,14644,1.33,290.5,430.6,11.1,1276,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2009,1868
$GC,14963,1.33,290.5,394.7,11.4,1306,14967,0.00,2.65,0.00,0.000,4,0.000,0.143,3075,3397,1868
$GC,14979,1.33,290.5,392.7,11.4,1307,14984,0.00,2.65,0.00,0.000,6,0.000,0.145,3075,2011,1868
$GC,15307,1.33,290.5,354.4,12.0,1337,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2008,1868
$GC,15647,1.33,290.5,312.0,12.3,1395,15652,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1868
$GC,15989,1.33,290.5,268.3,12.2,1456,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2007,1868
$GC,16332,1.33,290.5,227.6,11.0,1517,16338,0.00,2.65,0.00,0.000,4,0.000,0.140,3075,3402,1868
$GC,16372,1.33,290.5,222.8,11.7,1524,16378,0.00,2.65,0.00,0.000,6,0.000,0.151,3075,2009,1868
$GC,16715,1.33,290.5,184.9,10.6,1585,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1868
$GC,17059,1.33,290.5,146.6,13.1,1646,17065,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1868
$GC,17401,1.33,290.5,102.6,14.7,1707,17407,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1868
$GC,17744,1.33,290.5,59.5,10.8,1768,17750,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2007,1868
$GC,18087,1.33,290.5,22.0,10.9,1829,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1868
$GC,18230,1.33,290.5,6.7,11.5,1854,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2007,1868
$STATE,18262,end climb,SURFACE_DEPTH_REACHED
$STATE,18262,begin surface coast
$FINISH,0.2,1.015054
$STATE,18293,end surface coast,CONTROL_FINISHED_OK
$STATE,18293,begin surface
$SM_CCo,18373,0.00,0.000,0,0,1868,292.89
$SM_GC,0.98,10.50,0.00,0.00,0.038,0.000,0.000,569,2037,1868,-10.08,0.20,292.89
$IRIDIUM_FIX,6059.36,-2601.78,160897,232300
$TT8_MAMPS,0.041418
$HUMID,1663
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.70
$XPDR_PINGS,590
$24V_AH,23.4,44.356
$10V_AH,10.6,49.442
$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,24.525,136.900,435.125,0.000,0.000,29.614,32.721,232.100,147.500,0.000,0.000,12.030,2957.421,11184.227,601.249,3398.967,643.074,0.000,2113.451,0.000,3406.309,0.000,0.466
$DEVICE_MAMPS,197.119,225.498,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1318.186,1361.945,697.463,1659.643,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135946,1865
$CAP_FILE_SIZE,164022,0
$CFSIZE,260165632,235245568
$ERRORS,0,61,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230508,101137,6130.762,-2603.840,39,1.0,45,-18.5