version: 66.03
glider: 141
mission: 7
dive: 125
start: 5 1 108 10 56 41
data:
$ID,141
$MISSION,7
$DIVE,125
$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,350
$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,-8667.9346
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,104907,6105.357,-2418.897,29,1.2,29,-17.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-49.5
$GPS2,105623,6105.293,-2419.006,10,2.2,29,-17.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.928,-2419.908
$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,7.3,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.40,0.000,2,0.000,0.000,571,2025,3831
$GC,131,-1.34,-194.7,3.9,-7.4,14,148,11.10,0.00,-0.47,0.000,6,0.198,0.000,2479,2025,3858
$GC,274,-1.34,-194.7,31.1,-10.5,40,282,0.00,2.67,0.00,0.000,4,0.000,0.067,2479,3440,3859
$GC,356,-1.29,-194.7,39.5,-10.6,55,365,0.00,2.60,0.00,0.000,6,0.000,0.047,2479,2022,3859
$GC,492,-1.29,-194.7,56.5,-11.8,80,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3859
$GC,830,-1.29,-194.7,91.9,-10.2,141,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3859
$GC,1172,-1.29,-194.7,127.2,-10.8,202,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3859
$GC,1512,-1.29,-194.7,164.3,-11.2,263,1518,0.00,2.65,0.00,0.000,4,0.000,0.059,2478,3441,3858
$GC,1574,-1.29,-194.7,171.8,-12.2,274,1580,0.00,2.55,0.00,0.000,6,0.000,0.047,2479,2032,3859
$GC,1916,-1.29,-194.7,210.8,-11.7,335,1922,0.00,2.60,0.00,0.000,4,0.000,0.061,2479,623,3859
$GC,1978,-1.29,-194.7,218.2,-11.9,346,1984,0.00,2.53,0.00,0.000,6,0.000,0.044,2479,2049,3859
$GC,2320,-1.29,-194.7,258.2,-11.2,407,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2051,3859
$GC,2662,-1.29,-194.7,296.1,-10.8,468,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2051,3859
$GC,3006,-1.29,-194.7,332.7,-11.0,529,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2051,3859
$GC,3338,-1.29,-194.7,369.1,-11.3,574,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2051,3859
$GC,3657,-1.29,-194.7,404.1,-11.2,604,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2052,3859
$GC,3975,-1.29,-194.7,440.1,-10.9,634,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2052,3859
$GC,4294,-1.29,-194.7,474.0,-10.5,664,4298,0.00,2.62,0.00,0.000,4,0.000,0.064,2479,626,3859
$GC,4348,-1.29,-194.7,479.9,-10.5,668,4354,0.00,2.55,0.00,0.000,6,0.000,0.046,2479,2039,3859
$GC,4673,-1.29,-194.7,513.2,-10.3,699,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3859
$GC,4993,-1.29,-194.7,546.1,-10.4,729,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3859
$GC,5309,-1.29,-194.7,578.7,-10.2,759,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2040,3858
$GC,5626,-1.29,-194.7,608.8,-9.7,785,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3859
$GC,5935,-1.29,-194.7,640.7,-10.4,800,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3859
$GC,6244,-1.29,-194.7,673.8,-11.2,815,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3859
$GC,6553,-1.29,-194.7,707.5,-10.9,830,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3859
$GC,6862,-1.29,-194.7,741.1,-10.8,845,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2042,3858
$GC,7172,-1.29,-194.7,772.9,-10.3,860,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3858
$GC,7481,-1.29,-194.7,805.9,-10.0,875,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3858
$GC,7790,-1.29,-194.7,839.1,-10.9,890,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3858
$GC,8100,-1.29,-194.7,870.5,-9.6,905,8104,0.00,2.78,0.00,0.000,4,0.000,0.095,2479,631,3858
$GC,8155,-1.29,-194.7,875.8,-9.6,907,8161,0.00,2.58,0.00,0.000,6,0.000,0.058,2479,2044,3858
$GC,8470,-1.29,-194.7,906.4,-9.9,923,8474,0.00,2.72,0.00,0.000,4,0.000,0.094,2479,3445,3858
$GC,8546,-1.29,-194.7,914.3,-10.2,926,8553,0.00,2.60,0.00,0.000,6,0.000,0.061,2479,2053,3857
$GC,8862,-1.29,-194.7,943.2,-9.2,942,8867,0.00,2.80,0.00,0.000,4,0.000,0.093,2479,614,3857
$GC,8911,-1.29,-194.7,948.1,-10.3,944,8915,0.00,2.65,0.00,0.000,6,0.000,0.058,2480,2041,3857
$GC,9232,-1.29,-194.7,980.4,-10.5,960,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3857
$STATE,9333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9333,begin apogee
$GC,9338,-0.37,0.0,991.5,10.8,965,9511,1.02,0.00,169.27,1.288,6,0.098,0.000,2697,1973,3062
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9512,begin climb
$GC,9514,1.34,194.7,996.8,0.0,973,9686,1.67,0.00,168.27,1.258,6,0.073,0.000,3073,1972,2268
$GC,9990,1.28,194.7,950.9,11.6,997,9995,0.00,2.78,0.00,0.000,4,0.000,0.078,3074,3400,2262
$GC,10001,1.21,194.7,949.5,12.1,997,10008,0.15,2.62,0.00,0.000,6,0.104,0.053,3044,1977,2261
$GC,10316,1.22,201.4,917.2,9.8,1013,10329,0.00,2.72,6.35,0.951,4,0.000,0.068,3044,3400,2240
$GC,10340,1.23,210.5,914.6,9.7,1014,10357,0.00,2.62,10.12,1.061,6,0.000,0.053,3044,1986,2203
$GC,10665,1.23,210.5,881.1,10.1,1030,10670,0.00,2.70,0.00,0.000,4,0.000,0.070,3044,3407,2200
$GC,10704,1.23,210.5,877.0,10.3,1032,10708,0.00,2.60,0.00,0.000,6,0.000,0.054,3044,1993,2200
$GC,11031,1.25,227.1,846.6,9.4,1048,11052,0.00,2.72,15.95,1.119,4,0.000,0.070,3044,3402,2135
$GC,11075,1.30,264.7,842.4,8.7,1050,11117,0.00,2.58,35.38,1.159,6,0.000,0.054,3044,2011,1982
$GC,11425,1.30,264.7,807.5,10.0,1067,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2009,1976
$GC,11734,1.30,264.7,774.9,10.6,1082,11738,0.00,2.75,0.00,0.000,4,0.000,0.082,3044,572,1975
$GC,11749,1.30,264.7,773.3,10.2,1083,11754,0.00,2.65,0.00,0.000,6,0.000,0.051,3044,2017,1975
$GC,12075,1.31,272.5,740.4,9.7,1099,12085,0.00,0.00,7.55,0.950,6,0.000,0.000,3044,2017,1950
$GC,12384,1.31,272.5,708.7,10.4,1114,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2017,1948
$GC,12693,1.31,272.5,675.7,10.7,1129,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2018,1948
$GC,13003,1.32,284.1,644.6,9.6,1144,13024,0.10,0.00,13.88,0.867,6,0.071,0.000,3075,2021,1903
$GC,13332,1.32,284.1,608.0,11.3,1160,13336,0.00,2.78,0.00,0.000,4,0.000,0.072,3075,570,1901
$GC,13347,1.32,284.1,606.2,11.3,1161,13352,0.00,2.65,0.00,0.000,6,0.000,0.051,3075,2012,1901
$GC,13673,1.32,284.1,570.3,11.1,1189,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2013,1901
$GC,13989,1.32,284.1,533.9,11.4,1219,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2013,1901
$GC,14308,1.32,284.1,498.1,11.1,1249,14313,0.00,2.65,0.00,0.000,4,0.000,0.072,3075,3400,1900
$GC,14319,1.32,284.1,496.7,11.4,1249,14325,0.00,2.58,0.00,0.000,6,0.000,0.053,3076,2001,1900
$GC,14644,1.32,284.1,460.1,11.4,1280,14645,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2001,1900
$GC,14962,1.32,284.1,422.7,12.2,1310,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2000,1900
$GC,15280,1.32,284.1,382.4,12.5,1340,15285,0.00,2.65,0.00,0.000,4,0.000,0.063,3075,3402,1900
$GC,15308,1.32,284.1,378.8,13.5,1342,15312,0.00,2.55,0.00,0.000,6,0.000,0.051,3076,2007,1900
$GC,15636,1.32,284.1,339.6,11.4,1380,15643,0.00,2.67,0.00,0.000,4,0.000,0.070,3075,576,1901
$GC,15648,1.32,284.1,338.1,11.2,1382,15654,0.00,2.62,0.00,0.000,6,0.000,0.048,3076,2018,1901
$GC,15991,1.32,284.1,298.0,11.8,1443,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1901
$GC,16335,1.32,284.1,258.9,11.1,1504,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1901
$GC,16678,1.32,284.1,217.3,12.2,1565,16684,0.00,2.72,0.00,0.000,4,0.000,0.066,3075,569,1901
$GC,16689,1.32,284.1,215.8,12.4,1567,16695,0.00,2.60,0.00,0.000,6,0.000,0.046,3075,2012,1901
$GC,17032,1.32,284.1,174.5,13.9,1628,17038,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1901
$GC,17373,1.32,284.1,132.1,13.1,1689,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2014,1901
$GC,17715,1.32,284.1,91.2,11.2,1750,17721,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1901
$GC,18052,1.32,284.1,53.0,11.4,1811,18057,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2014,1901
$GC,18371,1.32,284.1,17.6,10.9,1872,18378,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1901
$STATE,18493,end climb,SURFACE_DEPTH_REACHED
$STATE,18493,begin surface coast
$FINISH,0.1,1.027227
$STATE,18516,end surface coast,CONTROL_FINISHED_OK
$STATE,18516,begin surface
$SM_CCo,18594,0.00,0.000,0,0,1899,285.28
$SM_GC,0.92,10.55,0.00,0.00,0.039,0.000,0.000,567,2018,1899,-10.08,-0.34,285.28
$IRIDIUM_FIX,6041.65,-2416.70,260797,050520
$TT8_MAMPS,0.042185
$HUMID,1626
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,11.90
$XPDR_PINGS,367
$24V_AH,23.5,25.947
$10V_AH,10.6,34.111
$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,24.600,90.275,426.775,0.000,0.000,33.072,37.463,225.635,91.750,0.000,0.000,33.114,2965.939,11300.049,596.400,3607.688,542.521,0.000,2046.204,0.000,3589.653,0.000,0.465
$DEVICE_MAMPS,197.886,95.108,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1324.206,1371.589,708.586,898.656,880.465,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135984,1899
$CAP_FILE_SIZE,155324,0
$CFSIZE,260165632,244170752
$ERRORS,0,15,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010508,160737,6107.815,-2422.212,28,1.3,28,-17.4