version: 66.03
glider: 141
mission: 7
dive: 137
start: 5 4 108 5 34 21
data:
$ID,141
$MISSION,7
$DIVE,137
$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,230
$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,-8879.8193
$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,14
$R_STBD_OVSHOOT,27
$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
$GPS1,052708,6107.524,-2523.250,55,1.4,55,-17.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-50.0
$GPS2,053403,6107.560,-2523.319,14,0.9,14,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6100.618,-2527.328
$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,247.9,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.22,0.000,2,0.000,0.000,573,2045,3706
$GC,125,-1.34,-194.7,3.3,-6.6,13,148,11.07,2.72,-3.55,0.000,4,0.199,0.073,2481,618,3857
$GC,384,-1.34,-194.7,36.0,-12.6,61,392,0.00,2.55,0.00,0.000,6,0.000,0.051,2481,2020,3857
$GC,520,-1.34,-194.7,49.6,-8.3,86,528,0.00,2.62,0.00,0.000,4,0.000,0.061,2481,615,3858
$GC,544,-1.34,-194.7,52.1,-9.1,90,552,0.00,2.55,0.00,0.000,6,0.000,0.045,2481,2027,3857
$GC,888,-1.34,-194.7,90.1,-11.5,151,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3858
$GC,1229,-1.34,-194.7,127.3,-11.0,212,1235,0.00,2.58,0.00,0.000,4,0.000,0.061,2481,3432,3857
$GC,1251,-1.34,-194.7,130.0,-12.1,216,1259,0.00,2.58,0.00,0.000,6,0.000,0.048,2481,2030,3857
$GC,1595,-1.34,-194.7,169.1,-10.5,277,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,1938,-1.34,-194.7,203.1,-9.7,338,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,2280,-1.34,-194.7,239.7,-11.3,399,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,2624,-1.34,-194.7,278.3,-11.0,460,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2024,3858
$GC,2967,-1.34,-194.7,314.9,-9.6,521,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,3310,-1.34,-194.7,347.0,-9.4,582,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,3642,-1.34,-194.7,377.5,-9.3,616,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,3959,-1.34,-194.7,406.5,-9.2,646,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2025,3857
$GC,4279,-1.34,-194.7,436.1,-9.6,676,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,4596,-1.34,-194.7,466.9,-9.7,706,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,4914,-1.34,-194.7,498.7,-10.2,736,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,5233,-1.34,-194.7,532.8,-11.1,766,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3857
$GC,5552,-1.34,-194.7,568.4,-11.0,796,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,5869,-1.34,-194.7,602.4,-10.6,825,5873,0.00,2.72,0.00,0.000,4,0.000,0.079,2481,3432,3857
$GC,5895,-1.34,-194.7,605.4,-11.5,826,5900,0.00,2.58,0.00,0.000,6,0.000,0.058,2481,2043,3857
$GC,6216,-1.34,-194.7,638.4,-10.4,842,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3857
$GC,6525,-1.34,-194.7,672.4,-11.2,857,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3857
$GC,6835,-1.34,-194.7,708.2,-11.6,872,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3857
$GC,7145,-1.34,-194.7,745.6,-12.1,887,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2038,3857
$GC,7453,-1.34,-194.7,781.1,-10.8,902,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3857
$GC,7763,-1.34,-194.7,813.8,-10.7,917,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3857
$GC,8072,-1.34,-194.7,846.4,-10.7,932,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3856
$GC,8381,-1.34,-194.7,877.1,-10.2,947,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3856
$GC,8691,-1.34,-194.7,907.4,-9.9,962,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3856
$GC,9000,-1.34,-194.7,936.5,-8.9,977,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3855
$GC,9309,-1.34,-194.7,964.4,-9.0,992,9313,0.00,2.72,0.00,0.000,4,0.000,0.086,2481,3427,3855
$GC,9352,-1.34,-194.7,968.7,-9.2,994,9357,0.00,2.60,0.00,0.000,6,0.000,0.064,2481,2039,3855
$STATE,9588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9588,begin apogee
$GC,9593,-0.37,0.0,991.0,9.3,1006,9765,1.02,0.00,168.65,1.295,6,0.100,0.000,2698,1980,3062
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9768,1.34,194.7,995.0,0.0,1014,9941,1.67,0.00,168.52,1.262,6,0.076,0.000,3072,1980,2268
$GC,10245,1.28,194.7,949.3,11.3,1038,10249,0.00,2.72,0.00,0.000,4,0.000,0.073,3072,3388,2262
$GC,10288,1.22,194.7,943.8,11.9,1040,10293,0.12,2.62,0.00,0.000,6,0.110,0.057,3049,1987,2261
$GC,10608,1.22,194.7,909.3,10.9,1056,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1986,2260
$GC,10917,1.22,194.7,875.7,10.5,1071,10922,0.00,2.70,0.00,0.000,4,0.000,0.072,3049,3388,2260
$GC,10956,1.22,194.7,871.3,11.9,1073,10960,0.00,2.60,0.00,0.000,6,0.000,0.058,3049,1993,2260
$GC,11281,1.22,194.7,836.4,11.2,1089,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1990,2259
$GC,11590,1.22,194.7,803.3,10.4,1104,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1990,2259
$GC,11900,1.26,226.3,774.4,8.9,1119,11934,0.00,2.75,27.73,1.134,4,0.000,0.071,3049,3378,2139
$GC,11968,1.31,265.6,768.4,8.6,1122,12009,0.00,2.60,36.50,1.127,6,0.000,0.055,3049,1989,1979
$GC,12331,1.34,291.0,737.4,9.1,1140,12358,0.10,0.00,24.17,1.095,6,0.071,0.000,3079,1986,1875
$GC,12660,1.34,291.0,700.9,11.6,1156,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1986,1870
$GC,12969,1.34,291.0,665.2,11.0,1171,12973,0.00,2.67,0.00,0.000,4,0.000,0.069,3079,3388,1869
$GC,13002,1.34,291.0,661.5,11.5,1172,13008,0.00,2.58,0.00,0.000,6,0.000,0.056,3079,2004,1868
$GC,13316,1.34,291.0,625.8,11.9,1188,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2004,1868
$GC,13628,1.34,291.0,586.2,13.3,1207,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2002,1868
$GC,13946,1.34,291.0,543.9,13.1,1237,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2002,1868
$GC,14265,1.34,291.0,503.9,12.3,1267,14270,0.00,2.62,0.00,0.000,4,0.000,0.067,3079,3384,1868
$GC,14293,1.34,291.0,500.4,13.0,1269,14297,0.00,2.55,0.00,0.000,6,0.000,0.054,3079,2001,1867
$GC,14617,1.34,291.0,462.3,10.9,1299,14618,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2001,1868
$GC,14936,1.34,291.0,427.5,11.1,1329,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2001,1869
$GC,15254,1.34,291.0,391.4,11.0,1359,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2001,1868
$GC,15573,1.34,291.0,356.0,10.9,1389,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1999,1868
$GC,15906,1.34,291.0,320.0,10.4,1443,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1999,1868
$GC,16248,1.34,291.0,282.1,10.9,1504,16253,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2000,1868
$GC,16591,1.34,291.0,243.0,12.0,1565,16596,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2000,1868
$GC,16934,1.34,291.0,193.9,15.6,1626,16939,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2000,1868
$GC,17276,1.34,291.0,143.0,13.3,1687,17281,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2000,1868
$GC,17615,1.37,312.3,102.5,9.3,1748,17639,0.00,0.00,18.70,0.723,6,0.000,0.000,3079,2000,1787
$GC,17972,1.39,329.5,65.2,9.4,1812,17991,0.00,0.00,15.55,0.691,6,0.000,0.000,3079,2000,1718
$GC,18314,1.39,329.5,30.4,11.6,1875,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2000,1715
$GC,18448,1.39,329.5,14.6,12.3,1900,18456,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2000,1714
$STATE,18550,end climb,SURFACE_DEPTH_REACHED
$STATE,18550,begin surface coast
$FINISH,0.6,1.027218
$STATE,18577,end surface coast,CONTROL_FINISHED_OK
$STATE,18577,begin surface
$SM_CCo,18656,0.00,0.000,0,0,1710,331.40
$SM_GC,0.74,10.55,0.00,0.00,0.038,0.000,0.000,573,2040,1710,-10.07,0.28,331.40
$IRIDIUM_FIX,6041.65,-2514.20,290797,000054
$TT8_MAMPS,0.042185
$HUMID,1619
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.30
$XPDR_PINGS,387
$24V_AH,23.5,28.183
$10V_AH,10.6,36.165
$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,24.550,52.825,459.825,0.000,0.000,22.274,35.394,230.049,96.750,0.000,0.000,16.212,2984.051,11305.351,575.355,3627.478,560.833,0.000,2013.708,0.000,3645.155,0.000,0.465
$DEVICE_MAMPS,198.653,111.215,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1341.592,1397.916,731.413,936.613,941.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135792,1924
$CAP_FILE_SIZE,151413,0
$CFSIZE,260165632,243048448
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,104632,6105.869,-2530.333,41,1.1,41,-17.9