version: 66.03
glider: 141
mission: 7
dive: 132
start: 5 3 108 1 38 58
data:
$ID,141
$MISSION,7
$DIVE,132
$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,250
$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,-8771.6016
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,013138,6112.133,-2442.715,30,1.0,30,-17.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-50.8
$GPS2,013839,6112.104,-2442.653,11,1.4,11,-17.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.411,-2447.551
$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,267.6,20000,-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,-101.22,0.000,2,0.000,0.000,575,2039,3827
$GC,132,-1.34,-194.7,3.5,-7.0,14,149,11.05,2.75,-0.60,0.000,4,0.197,0.074,2478,617,3858
$GC,385,-1.34,-194.7,40.7,-11.1,61,393,0.00,2.58,0.00,0.000,6,0.000,0.046,2478,2030,3859
$GC,520,-1.34,-194.7,56.2,-11.7,86,526,0.00,2.62,0.00,0.000,4,0.000,0.067,2478,613,3859
$GC,604,-1.34,-194.7,66.4,-12.0,101,610,0.00,2.55,0.00,0.000,6,0.000,0.048,2478,2035,3859
$GC,941,-1.34,-194.7,106.6,-11.3,162,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,1284,-1.34,-194.7,144.8,-10.6,223,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,1626,-1.34,-194.7,182.8,-11.0,284,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,1969,-1.34,-194.7,220.9,-10.9,345,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2038,3859
$GC,2312,-1.34,-194.7,256.7,-10.0,406,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,2654,-1.34,-194.7,289.9,-9.8,467,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,2995,-1.34,-194.7,325.5,-10.6,528,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,3337,-1.34,-194.7,361.4,-10.4,580,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,3656,-1.34,-194.7,394.3,-10.6,610,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,3975,-1.34,-194.7,429.3,-11.1,640,3979,0.00,2.65,0.00,0.000,4,0.000,0.072,2478,3439,3859
$GC,4013,-1.30,-194.7,433.8,-11.9,643,4018,0.00,2.58,0.00,0.000,6,0.000,0.051,2477,2023,3859
$GC,4341,-1.30,-194.7,469.6,-11.2,673,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2021,3859
$GC,4655,-1.30,-194.7,505.4,-11.4,703,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2021,3859
$GC,4974,-1.30,-194.7,542.9,-11.8,733,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2021,3859
$GC,5292,-1.30,-194.7,580.1,-11.2,763,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2021,3859
$GC,5617,-1.30,-194.7,616.7,-11.1,787,5622,0.00,2.72,0.00,0.000,4,0.000,0.082,2478,3430,3859
$GC,5649,-1.30,-194.7,620.5,-11.4,788,5656,0.00,2.62,0.00,0.000,6,0.000,0.061,2478,2033,3859
$GC,5965,-1.30,-194.7,653.6,-10.4,804,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2033,3858
$GC,6275,-1.30,-194.7,685.8,-10.5,819,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2032,3858
$GC,6583,-1.30,-194.7,718.0,-10.5,834,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2032,3858
$GC,6893,-1.30,-194.7,748.9,-9.5,849,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2028,3858
$GC,7203,-1.30,-194.7,779.4,-10.0,864,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2028,3858
$GC,7512,-1.30,-194.7,810.8,-10.0,879,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2028,3858
$GC,7821,-1.30,-194.7,841.6,-10.4,894,7825,0.00,2.72,0.00,0.000,4,0.000,0.085,2478,3435,3858
$GC,7874,-1.30,-194.7,847.7,-11.4,896,7882,0.00,2.62,0.00,0.000,6,0.000,0.064,2478,2040,3858
$GC,8190,-1.30,-194.7,880.1,-10.1,912,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3858
$GC,8499,-1.30,-194.7,912.2,-10.3,927,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3858
$GC,8811,-1.30,-194.7,943.4,-10.0,942,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2037,3857
$GC,9118,-1.30,-194.7,972.9,-9.5,957,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2037,3857
$STATE,9302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9302,begin apogee
$GC,9307,-0.37,0.0,990.2,9.2,966,9479,1.02,0.00,168.88,1.292,6,0.100,0.000,2695,1981,3062
$STATE,9480,end apogee,CONTROL_FINISHED_OK
$STATE,9480,begin climb
$GC,9482,1.34,194.7,994.0,0.0,974,9655,1.70,0.00,167.60,1.260,6,0.073,0.000,3069,1981,2268
$GC,9953,1.28,194.7,948.0,11.2,997,9957,0.00,2.70,0.00,0.000,4,0.000,0.072,3068,3388,2263
$GC,10002,1.22,194.7,942.2,12.2,999,10007,0.12,2.62,0.00,0.000,6,0.110,0.057,3045,1976,2262
$GC,10317,1.22,200.4,911.3,9.8,1014,10324,0.00,0.00,5.30,0.889,6,0.000,0.000,3045,1977,2245
$GC,10626,1.22,200.4,879.5,10.4,1029,10630,0.00,2.67,0.00,0.000,4,0.000,0.071,3045,3388,2244
$GC,10652,1.22,200.4,876.5,10.9,1030,10656,0.00,2.60,0.00,0.000,6,0.000,0.057,3045,1983,2244
$GC,10973,1.23,209.0,844.5,9.7,1046,10985,0.00,0.00,9.57,1.054,6,0.000,0.000,3045,1981,2209
$GC,11282,1.25,223.2,814.9,9.5,1061,11304,0.00,2.72,14.32,1.099,4,0.000,0.071,3045,3388,2150
$GC,11326,1.25,223.2,810.5,10.2,1063,11331,0.00,2.58,0.00,0.000,6,0.000,0.055,3045,1998,2149
$GC,11652,1.28,243.1,779.8,9.3,1079,11673,0.00,0.00,18.98,1.108,6,0.000,0.000,3045,1996,2071
$GC,11982,1.30,263.4,749.3,9.3,1095,12003,0.00,0.00,19.55,1.088,6,0.000,0.000,3045,1996,1988
$GC,12311,1.30,263.4,716.4,10.3,1111,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1996,1985
$GC,12620,1.30,263.4,684.7,10.2,1126,12621,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1996,1984
$GC,12929,1.30,263.4,652.9,10.4,1141,12934,0.00,2.65,0.00,0.000,4,0.000,0.070,3045,3392,1983
$GC,12956,1.30,263.4,649.8,10.9,1142,12960,0.00,2.60,0.00,0.000,6,0.000,0.055,3045,1997,1983
$GC,13277,1.30,263.4,616.5,10.3,1158,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1998,1983
$GC,13592,1.30,263.4,584.4,10.6,1180,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1998,1983
$GC,13910,1.32,275.1,553.5,9.6,1210,13923,0.00,0.00,11.52,0.934,6,0.000,0.000,3045,1998,1940
$GC,14238,1.33,285.2,523.3,9.7,1241,14254,0.10,2.67,10.60,0.902,4,0.071,0.067,3077,3387,1898
$GC,14287,1.33,285.2,517.6,11.6,1245,14292,0.00,2.58,0.00,0.000,6,0.000,0.054,3077,2003,1897
$GC,14611,1.33,285.2,480.1,12.6,1275,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1896
$GC,14930,1.33,285.2,438.9,13.3,1305,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1896
$GC,15249,1.33,285.2,398.1,12.6,1335,15250,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1896
$GC,15567,1.33,285.2,359.4,12.0,1365,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1896
$GC,15900,1.34,290.6,323.0,9.8,1417,15912,0.00,2.62,6.32,0.723,4,0.000,0.061,3077,3394,1876
$GC,15929,1.34,290.6,319.9,10.5,1422,15935,0.00,2.53,0.00,0.000,6,0.000,0.051,3077,2013,1875
$GC,16272,1.34,297.2,283.7,9.8,1483,16283,0.00,0.00,7.62,0.737,6,0.000,0.000,3077,2011,1850
$GC,16621,1.34,297.2,245.9,10.7,1545,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2011,1848
$GC,16963,1.34,297.2,203.0,12.0,1606,16969,0.00,2.70,0.00,0.000,4,0.000,0.069,3076,574,1848
$GC,16991,1.34,297.2,199.6,11.9,1611,16998,0.00,2.60,0.00,0.000,6,0.000,0.047,3077,2014,1848
$GC,17334,1.34,297.2,161.0,11.4,1672,17340,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2017,1848
$GC,17673,1.34,297.2,122.0,12.7,1733,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2017,1848
$GC,18010,1.34,297.2,84.6,11.1,1794,18018,0.00,2.72,0.00,0.000,4,0.000,0.071,3077,577,1848
$GC,18037,1.34,297.2,81.8,11.5,1798,18043,0.00,2.55,0.00,0.000,6,0.000,0.048,3077,2003,1848
$GC,18373,1.34,297.2,42.5,10.2,1859,18381,0.00,2.58,0.00,0.000,4,0.000,0.069,3076,3389,1847
$GC,18404,1.34,297.2,38.8,12.4,1864,18412,0.00,2.55,0.00,0.000,6,0.000,0.055,3077,1995,1848
$GC,18539,1.34,297.2,24.3,11.5,1889,18547,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1993,1848
$GC,18674,1.34,297.2,7.2,13.0,1914,18681,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1993,1848
$STATE,18702,end climb,SURFACE_DEPTH_REACHED
$STATE,18702,begin surface coast
$FINISH,0.5,1.027172
$STATE,18725,end surface coast,CONTROL_FINISHED_OK
$STATE,18725,begin surface
$SM_CCo,18804,0.00,0.000,0,0,1843,299.02
$SM_GC,0.67,10.62,0.00,0.00,0.043,0.000,0.000,573,2042,1843,-10.08,0.34,299.02
$IRIDIUM_FIX,6054.92,-2437.75,270797,202047
$TT8_MAMPS,0.042185
$HUMID,1622
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.30
$XPDR_PINGS,381
$24V_AH,23.5,27.206
$10V_AH,10.6,35.300
$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,24.625,73.875,440.275,0.000,0.000,33.006,28.626,235.386,95.250,0.000,0.000,13.175,3001.545,11476.060,571.792,3607.949,551.243,0.000,2033.641,0.000,3609.571,0.000,0.465
$DEVICE_MAMPS,197.119,93.574,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1336.849,1390.078,705.313,904.874,868.254,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136059,1923
$CAP_FILE_SIZE,156525,0
$CFSIZE,260165632,243515392
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030508,065337,6110.486,-2450.796,41,1.8,41,-17.6