version: 66.03
glider: 141
mission: 7
dive: 127
start: 5 1 108 21 34 16
data:
$ID,141
$MISSION,7
$DIVE,127
$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,-8694.5439
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,212709,6110.405,-2425.663,36,1.6,38,-17.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-51.9
$GPS2,213357,6110.290,-2425.785,12,1.7,12,-17.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.925,-2426.684
$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,7.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,130,0.00,0.00,-101.43,0.000,6,0.000,0.000,573,2013,3856
$GC,132,-1.34,-194.7,4.0,-7.6,14,149,11.07,2.62,0.00,0.000,4,0.196,0.054,2477,3439,3859
$GC,219,-1.30,-194.7,21.8,-11.9,29,227,0.00,2.60,0.00,0.000,6,0.000,0.049,2477,2028,3859
$GC,353,-1.30,-194.7,36.3,-10.7,54,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2023,3859
$GC,489,-1.30,-194.7,53.3,-11.7,79,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2023,3859
$GC,827,-1.30,-194.7,93.6,-10.8,140,833,0.00,2.62,0.00,0.000,4,0.000,0.058,2477,3438,3859
$GC,890,-1.25,-194.7,100.4,-11.2,151,897,0.15,2.55,0.00,0.000,6,0.113,0.053,2506,2037,3859
$GC,1230,-1.25,-194.7,133.6,-10.0,212,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3859
$GC,1572,-1.25,-194.7,169.6,-11.1,273,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3860
$GC,1914,-1.25,-194.7,206.8,-10.3,334,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3860
$GC,2256,-1.25,-194.7,243.1,-10.5,395,2262,0.00,2.60,0.00,0.000,4,0.000,0.061,2506,3438,3859
$GC,2318,-1.25,-194.7,249.9,-11.0,406,2324,0.00,2.50,0.00,0.000,6,0.000,0.048,2506,2053,3859
$GC,2662,-1.25,-194.7,285.4,-10.7,467,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2049,3860
$GC,3004,-1.25,-194.7,320.5,-10.0,528,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3860
$GC,3345,-1.25,-194.7,353.2,-9.3,586,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3859
$GC,3664,-1.25,-194.7,382.6,-9.1,616,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3860
$GC,3983,-1.25,-194.7,412.4,-9.5,646,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3859
$GC,4302,-1.25,-194.7,442.6,-9.3,676,4306,0.00,2.67,0.00,0.000,4,0.000,0.067,2506,617,3859
$GC,4356,-1.25,-194.7,447.8,-9.1,680,4363,0.00,2.62,0.00,0.000,6,0.000,0.048,2506,2057,3859
$GC,4682,-1.25,-194.7,477.2,-9.1,711,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3859
$GC,4999,-1.25,-194.7,506.8,-9.6,741,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3859
$GC,5318,-1.25,-194.7,538.0,-9.5,771,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3859
$GC,5637,-1.25,-194.7,567.3,-8.9,801,5641,0.00,2.75,0.00,0.000,4,0.000,0.076,2506,618,3859
$GC,5698,-1.25,-194.7,572.9,-9.0,806,5703,0.00,2.60,0.00,0.000,6,0.000,0.053,2506,2052,3859
$GC,6024,-1.25,-194.7,602.2,-9.4,835,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2052,3859
$GC,6331,-1.25,-194.7,632.2,-9.9,850,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2052,3859
$GC,6640,-1.25,-194.7,663.4,-9.9,865,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2052,3859
$GC,6949,-1.25,-194.7,691.9,-9.0,880,6954,0.00,2.85,0.00,0.000,4,0.000,0.103,2506,626,3859
$GC,7011,-1.25,-194.7,697.6,-9.4,883,7015,0.00,2.62,0.00,0.000,6,0.000,0.066,2506,2042,3859
$GC,7336,-1.25,-194.7,725.2,-8.5,899,7341,0.00,2.78,0.00,0.000,4,0.000,0.104,2506,3439,3859
$GC,7420,-1.25,-194.7,732.9,-9.5,903,7424,0.00,2.65,0.00,0.000,6,0.000,0.080,2506,2061,3858
$GC,7745,-1.25,-194.7,764.9,-10.2,919,7750,0.00,2.83,0.00,0.000,4,0.000,0.096,2506,615,3859
$GC,7829,-1.25,-194.7,773.8,-10.6,923,7833,0.00,2.65,0.00,0.000,6,0.000,0.061,2506,2049,3859
$GC,8154,-1.25,-194.7,804.7,-9.1,939,8159,0.00,2.72,0.00,0.000,4,0.000,0.093,2506,3446,3858
$GC,8197,-1.25,-194.7,808.9,-9.8,941,8202,0.00,2.60,0.00,0.000,6,0.000,0.062,2506,2043,3858
$GC,8524,-1.25,-194.7,837.5,-8.4,957,8529,0.00,2.78,0.00,0.000,4,0.000,0.093,2506,612,3857
$GC,8586,-1.25,-194.7,842.9,-8.4,960,8591,0.00,2.62,0.00,0.000,6,0.000,0.058,2506,2055,3858
$GC,8913,-1.25,-194.7,871.1,-8.8,976,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3857
$GC,9222,-1.25,-194.7,898.3,-8.9,991,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3857
$GC,9531,-1.25,-194.7,926.7,-9.1,1006,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3857
$GC,9840,-1.25,-194.7,953.0,-8.1,1021,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3856
$GC,10150,-1.25,-194.7,978.4,-8.4,1036,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3856
$STATE,10292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10292,begin apogee
$GC,10297,-0.37,0.0,990.7,8.6,1043,10469,0.90,0.00,168.77,1.294,6,0.097,0.000,2697,1971,3062
$STATE,10470,end apogee,CONTROL_FINISHED_OK
$STATE,10470,begin climb
$GC,10472,1.34,194.7,995.4,0.0,1051,10648,1.67,2.88,168.10,1.263,4,0.075,0.081,3072,3400,2267
$GC,10659,1.28,194.7,981.2,10.3,1061,10663,0.00,2.67,0.00,0.000,6,0.000,0.058,3071,1986,2265
$GC,10980,1.21,194.7,944.9,11.3,1077,10985,0.15,2.70,0.00,0.000,4,0.107,0.070,3043,3395,2262
$GC,11006,1.21,194.7,941.8,10.2,1078,11011,0.00,2.62,0.00,0.000,6,0.000,0.055,3043,1997,2261
$GC,11328,1.27,236.3,912.7,8.6,1094,11368,0.00,0.00,37.58,1.200,6,0.000,0.000,3043,1994,2098
$GC,11677,1.27,236.3,878.9,10.7,1111,11681,0.00,2.67,0.00,0.000,4,0.000,0.071,3043,3398,2093
$GC,11703,1.27,236.3,875.8,10.6,1112,11707,0.00,2.62,0.00,0.000,6,0.000,0.056,3043,1994,2093
$GC,12024,1.27,236.3,842.5,10.1,1128,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1992,2092
$GC,12333,1.27,236.3,811.6,10.1,1143,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1992,2092
$GC,12643,1.29,257.9,782.2,9.3,1158,12668,0.00,2.78,19.88,1.116,4,0.000,0.070,3042,3405,2010
$GC,12684,1.34,300.7,778.3,8.5,1160,12731,0.12,2.65,40.53,1.135,6,0.064,0.055,3078,1989,1836
$GC,13046,1.34,300.7,735.3,11.3,1178,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1989,1829
$GC,13355,1.34,300.7,699.3,12.4,1193,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1989,1828
$GC,13664,1.34,300.7,659.8,12.6,1208,13668,0.00,2.70,0.00,0.000,4,0.000,0.068,3078,3403,1827
$GC,13680,1.34,300.7,657.7,12.9,1209,13684,0.00,2.62,0.00,0.000,6,0.000,0.055,3078,1990,1827
$GC,14005,1.34,300.7,615.7,12.5,1225,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1990,1827
$GC,14319,1.34,300.7,577.3,12.4,1248,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1990,1827
$GC,14638,1.34,300.7,536.0,13.2,1278,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1989,1827
$GC,14956,1.34,300.7,496.0,11.9,1308,14961,0.00,2.70,0.00,0.000,4,0.000,0.066,3078,3407,1827
$GC,14972,1.34,300.7,494.1,12.1,1309,14977,0.00,2.60,0.00,0.000,6,0.000,0.053,3078,1997,1826
$GC,15296,1.34,300.7,456.2,11.9,1339,15297,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1827
$GC,15615,1.34,300.7,418.2,12.5,1369,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1995,1826
$GC,15933,1.34,300.7,377.7,12.8,1399,15938,0.00,2.67,0.00,0.000,4,0.000,0.062,3078,3408,1827
$GC,15950,1.34,300.7,375.5,13.4,1400,15954,0.00,2.58,0.00,0.000,6,0.000,0.051,3078,2006,1827
$GC,16281,1.34,300.7,335.0,11.6,1441,16286,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2004,1826
$GC,16623,1.34,300.7,293.6,12.1,1502,16630,0.00,2.72,0.00,0.000,4,0.000,0.070,3078,576,1827
$GC,16635,1.34,300.7,292.1,12.4,1504,16642,0.00,2.62,0.00,0.000,6,0.000,0.048,3078,2020,1827
$GC,16980,1.34,300.7,251.3,12.0,1565,16986,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2022,1827
$GC,17322,1.34,300.7,211.9,12.1,1626,17327,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2022,1827
$GC,17663,1.34,300.7,173.7,11.7,1687,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2022,1827
$GC,18003,1.34,300.7,135.2,11.5,1748,18010,0.00,2.72,0.00,0.000,4,0.000,0.066,3078,569,1827
$GC,18017,1.34,300.7,133.7,12.9,1750,18024,0.00,2.60,0.00,0.000,6,0.000,0.051,3078,2009,1827
$GC,18358,1.34,300.7,94.3,10.9,1811,18363,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2011,1827
$GC,18694,1.34,300.7,56.1,11.5,1872,18702,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1827
$GC,19020,1.34,300.7,17.6,11.1,1933,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1827
$STATE,19147,end climb,SURFACE_DEPTH_REACHED
$STATE,19147,begin surface coast
$FINISH,0.1,1.027299
$STATE,19175,end surface coast,CONTROL_FINISHED_OK
$STATE,19175,begin surface
$SM_CCo,19253,0.00,0.000,0,0,1826,303.19
$SM_GC,0.81,10.48,0.00,0.00,0.035,0.000,0.000,570,2015,1826,-10.06,-0.42,303.19
$IRIDIUM_FIX,6041.65,-2424.43,260797,161616
$TT8_MAMPS,0.042185
$HUMID,1615
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.80
$XPDR_PINGS,398
$24V_AH,23.5,26.312
$10V_AH,10.6,34.443
$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,24.550,101.575,434.850,0.000,0.000,24.465,28.017,233.013,99.500,0.000,0.000,13.545,3082.013,11677.068,588.928,3730.447,569.056,0.000,2104.801,0.000,3742.072,0.000,0.465
$DEVICE_MAMPS,196.352,104.312,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1370.129,1421.253,723.753,920.344,884.677,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139221,1962
$CAP_FILE_SIZE,164336,0
$CFSIZE,260165632,243978240
$ERRORS,0,24,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020508,025628,6112.757,-2428.617,24,4.4,43,-17.5