version: 66.03
glider: 141
mission: 7
dive: 57
start: 4 16 108 18 49 21
data:
$ID,141
$MISSION,7
$DIVE,57
$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,215
$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,-7317.9673
$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,21
$R_STBD_OVSHOOT,38
$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
$GPS1,182839,5937.805,-2210.168,35,1.3,36,-15.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-46.7
$GPS2,184903,5937.875,-2210.550,14,1.2,14,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5929.029,-2213.696
$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,230.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,143,0.00,0.00,-112.15,0.000,6,0.000,0.000,568,2057,3856
$GC,145,-1.34,-194.7,3.6,-7.0,16,161,10.85,2.60,0.00,0.000,4,0.189,0.046,2477,618,3859
$GC,345,-1.34,-194.7,28.0,-8.7,53,353,0.00,2.50,0.00,0.000,6,0.000,0.042,2477,2010,3859
$GC,478,-1.34,-194.7,41.0,-12.1,78,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2012,3859
$GC,612,-1.34,-194.7,58.2,-9.4,103,620,0.00,2.58,0.00,0.000,4,0.000,0.058,2477,623,3859
$GC,632,-1.34,-194.7,60.2,-10.1,106,641,0.00,2.53,0.00,0.000,6,0.000,0.041,2477,2022,3859
$GC,767,-1.34,-194.7,74.3,-11.7,131,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3859
$GC,901,-1.34,-194.7,91.8,-14.3,156,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3859
$GC,1035,-1.34,-194.7,107.2,-11.1,181,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2026,3859
$GC,1168,-1.34,-194.7,122.4,-11.2,206,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,1302,-1.34,-194.7,137.9,-11.8,231,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3859
$GC,1435,-1.34,-194.7,153.5,-12.7,256,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2026,3859
$GC,1767,-1.34,-194.7,192.6,-11.7,317,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3859
$GC,2095,-1.34,-194.7,232.1,-11.9,378,2103,0.00,2.62,0.00,0.000,4,0.000,0.057,2477,3438,3858
$GC,2116,-1.34,-194.7,234.3,-11.7,381,2122,0.00,2.53,0.00,0.000,6,0.000,0.038,2477,2011,3858
$GC,2444,-1.34,-194.7,272.5,-11.5,442,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2005,3858
$GC,2776,-1.34,-194.7,309.5,-10.8,503,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2005,3858
$GC,3104,-1.34,-194.7,347.1,-11.3,564,3112,0.00,2.67,0.00,0.000,4,0.000,0.063,2477,3431,3858
$GC,3125,-1.34,-194.7,349.3,-11.1,567,3131,0.00,2.50,0.00,0.000,6,0.000,0.038,2477,2026,3858
$GC,3463,-1.34,-194.7,387.7,-10.7,628,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2023,3858
$GC,3807,-1.34,-194.7,427.7,-12.2,689,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2022,3858
$GC,4145,-1.34,-194.7,469.8,-11.2,750,4151,0.00,2.65,0.00,0.000,4,0.000,0.063,2477,3434,3858
$GC,4186,-1.34,-194.7,474.4,-11.8,757,4192,0.00,2.53,0.00,0.000,6,0.000,0.042,2477,2027,3858
$GC,4525,-1.34,-194.7,512.1,-11.2,818,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3858
$GC,4863,-1.34,-194.7,550.4,-11.5,879,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3858
$GC,5203,-1.34,-194.7,588.4,-11.1,940,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3857
$GC,5539,-1.34,-194.7,623.6,-10.4,981,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3858
$GC,5857,-1.34,-194.7,655.8,-10.2,1011,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2025,3858
$GC,6177,-1.34,-194.7,689.7,-10.9,1041,6181,0.00,2.75,0.00,0.000,4,0.000,0.086,2477,3433,3857
$GC,6208,-1.34,-194.7,693.4,-12.1,1043,6215,0.00,2.60,0.00,0.000,6,0.000,0.058,2477,2041,3857
$GC,6533,-1.34,-194.7,727.3,-10.2,1074,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2040,3857
$GC,6851,-1.34,-194.7,759.7,-10.6,1104,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3857
$GC,7170,-1.34,-194.7,793.0,-10.7,1134,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3857
$GC,7489,-1.34,-194.7,825.5,-9.7,1164,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2035,3857
$GC,7808,-1.34,-194.7,857.2,-9.9,1194,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2035,3857
$GC,8126,-1.34,-194.7,888.4,-9.5,1224,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2035,3856
$GC,8444,-1.34,-194.7,920.9,-10.8,1254,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2035,3856
$GC,8762,-1.34,-194.7,956.4,-11.5,1284,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2035,3856
$STATE,9058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9058,begin apogee
$GC,9063,-0.37,0.0,990.3,10.7,1312,9236,1.02,0.00,168.98,1.285,6,0.100,0.000,2694,1976,3062
$STATE,9237,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9238,1.34,194.7,995.9,0.0,1329,9411,1.70,0.00,168.50,1.253,6,0.074,0.000,3067,1975,2267
$GC,9728,1.29,194.7,951.4,10.5,1376,9732,0.00,2.70,0.00,0.000,4,0.000,0.067,3067,3391,2261
$GC,9782,1.25,194.7,945.1,11.9,1380,9789,0.00,2.58,0.00,0.000,6,0.000,0.047,3067,1978,2261
$GC,10107,1.20,194.7,909.8,11.1,1411,10112,0.12,2.70,0.00,0.000,4,0.104,0.081,3042,576,2261
$GC,10150,1.20,194.7,904.8,10.6,1414,10157,0.00,2.58,0.00,0.000,6,0.000,0.048,3042,1978,2260
$GC,10476,1.22,210.1,872.9,9.5,1445,10497,0.00,2.75,13.98,1.117,4,0.000,0.074,3042,3392,2204
$GC,10542,1.22,210.1,866.2,10.3,1451,10546,0.00,2.58,0.00,0.000,6,0.000,0.046,3042,1978,2203
$GC,10866,1.25,233.3,835.8,9.2,1481,10890,0.00,0.00,22.20,1.143,6,0.000,0.000,3042,1976,2110
$GC,11204,1.26,246.9,803.3,9.5,1513,11219,0.00,0.00,13.40,1.078,6,0.000,0.000,3042,1975,2055
$GC,11533,1.27,255.1,772.3,9.7,1544,11547,0.00,2.75,8.52,0.992,4,0.000,0.065,3042,3391,2022
$GC,11580,1.27,255.1,767.3,11.1,1548,11587,0.00,2.58,0.00,0.000,6,0.000,0.045,3042,1994,2021
$GC,11906,1.29,266.2,735.7,9.6,1579,11927,0.00,2.78,11.48,1.029,4,0.000,0.070,3042,572,1975
$GC,11953,1.30,278.1,730.6,9.6,1583,11971,0.00,2.60,12.57,1.023,6,0.000,0.046,3042,1998,1928
$GC,12288,1.30,278.1,697.0,10.3,1615,12292,0.00,2.62,0.00,0.000,4,0.000,0.073,3042,3393,1924
$GC,12326,1.30,278.1,692.7,11.1,1618,12330,0.00,2.53,0.00,0.000,6,0.000,0.045,3042,1990,1924
$GC,12650,1.32,292.8,660.0,9.5,1648,12672,0.10,2.70,14.52,1.010,4,0.067,0.068,3074,576,1867
$GC,12705,1.32,292.8,653.5,12.0,1653,12710,0.00,2.58,0.00,0.000,6,0.000,0.045,3074,1994,1867
$GC,13029,1.32,292.8,616.1,11.6,1683,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1994,1865
$GC,13358,1.32,292.8,579.0,11.5,1729,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1997,1865
$GC,13698,1.32,292.8,541.4,11.0,1790,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1999,1864
$GC,14039,1.32,292.8,504.8,11.0,1851,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1998,1864
$GC,14379,1.32,292.8,467.5,10.9,1912,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1998,1864
$GC,14724,1.32,292.8,427.4,12.0,1973,14729,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1998,1864
$GC,15063,1.32,292.8,387.1,11.1,2034,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1999,1864
$GC,15408,1.32,292.8,348.5,11.9,2095,15414,0.00,2.60,0.00,0.000,4,0.000,0.061,3074,3398,1864
$GC,15442,1.32,292.8,344.1,12.6,2101,15448,0.00,2.53,0.00,0.000,6,0.000,0.041,3075,1986,1864
$GC,15773,1.32,292.8,306.0,12.0,2162,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1982,1864
$GC,16108,1.32,292.8,267.6,11.7,2223,16113,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1982,1864
$GC,16437,1.32,292.8,229.0,11.1,2284,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1982,1864
$GC,16771,1.32,292.8,189.4,10.9,2345,16777,0.00,2.62,0.00,0.000,4,0.000,0.055,3074,3406,1864
$GC,16810,1.32,292.8,184.7,11.3,2352,16817,0.00,2.55,0.00,0.000,6,0.000,0.041,3075,1991,1864
$GC,17143,1.32,292.8,150.5,10.3,2413,17148,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1987,1865
$GC,17461,1.32,292.8,116.8,12.4,2474,17469,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1987,1865
$GC,17595,1.42,375.0,102.2,7.1,2499,17669,0.00,0.00,70.90,0.709,6,0.000,0.000,3075,1987,1533
$GC,17796,1.42,375.0,78.2,12.1,2533,17803,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1984,1527
$GC,17929,1.42,375.0,61.5,12.8,2558,17936,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1984,1525
$GC,18063,1.42,375.0,48.1,14.0,2583,18070,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1984,1524
$GC,18197,1.42,375.0,30.5,12.4,2608,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1985,1524
$GC,18330,1.42,375.0,17.0,12.8,2633,18337,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1984,1524
$STATE,18436,end climb,SURFACE_DEPTH_REACHED
$STATE,18436,begin surface coast
$FINISH,0.1,1.004371
$STATE,18458,end surface coast,CONTROL_FINISHED_OK
$STATE,18458,begin surface
$SM_CCo,18536,0.00,0.000,0,0,1520,378.25
$SM_GC,0.71,10.40,0.00,0.00,0.030,0.000,0.000,566,2059,1520,-10.08,0.82,378.25
$IRIDIUM_FIX,5915.45,-2209.40,110797,181841
$TT8_MAMPS,0.042185
$HUMID,1596
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,13.30
$XPDR_PINGS,770
$24V_AH,23.5,13.007
$10V_AH,10.5,18.571
$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,24.200,78.575,505.050,0.000,0.000,128.766,195.138,499.527,192.500,0.000,0.000,16.398,4019.896,7809.452,657.824,6080.587,1164.104,0.000,2662.965,0.000,6138.282,0.000,0.466
$DEVICE_MAMPS,188.682,85.904,1284.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1837.171,1936.060,1210.592,1735.998,3396.587,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199319,2657
$CAP_FILE_SIZE,205923,0
$CFSIZE,260165632,250949632
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,235931,5934.965,-2217.418,36,1.0,41,-15.4