version: 66.03
glider: 141
mission: 7
dive: 153
start: 5 7 108 18 9 10
data:
$ID,141
$MISSION,7
$DIVE,153
$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,120
$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,-9234.0391
$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,25
$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
$GPS1,175631,6108.375,-2638.002,41,1.4,46,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-53.2
$GPS2,180851,6108.506,-2637.954,12,1.6,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6103.106,-2633.427
$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,138.6,20000,-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,26,-1.34,-194.7,0.0,0.0,0,144,0.00,0.00,-115.40,0.000,2,0.000,0.000,572,2041,3815
$GC,147,-1.34,-194.7,3.6,-6.4,16,171,11.12,2.70,-0.90,0.000,4,0.199,0.070,2483,3442,3857
$GC,220,-1.34,-194.7,18.5,-12.0,28,228,0.00,2.62,0.00,0.000,6,0.000,0.055,2482,2021,3858
$GC,355,-1.34,-194.7,33.8,-11.8,53,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2019,3857
$GC,488,-1.34,-194.7,49.0,-11.2,78,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2017,3858
$GC,629,-1.34,-194.7,65.4,-11.6,103,635,0.00,2.65,0.00,0.000,4,0.000,0.065,2482,3435,3858
$GC,657,-1.34,-194.7,69.0,-12.4,108,664,0.00,2.58,0.00,0.000,6,0.000,0.049,2483,2037,3858
$GC,999,-1.34,-194.7,108.5,-11.9,169,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,1337,-1.34,-194.7,146.6,-10.7,230,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,1679,-1.34,-194.7,184.5,-11.3,291,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,2023,-1.34,-194.7,221.2,-10.5,352,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,2366,-1.34,-194.7,257.3,-10.2,413,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,2708,-1.34,-194.7,292.1,-10.0,474,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,3050,-1.34,-194.7,326.0,-9.7,535,3056,0.00,2.62,0.00,0.000,4,0.000,0.063,2483,3433,3858
$GC,3079,-1.34,-194.7,328.9,-10.6,540,3086,0.00,2.55,0.00,0.000,6,0.000,0.052,2483,2030,3858
$GC,3416,-1.34,-194.7,362.1,-9.9,590,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2027,3858
$GC,3734,-1.34,-194.7,395.0,-10.6,620,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2027,3858
$GC,4052,-1.34,-194.7,428.6,-10.6,650,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3857
$GC,4371,-1.34,-194.7,462.9,-10.5,680,4376,0.00,2.70,0.00,0.000,4,0.000,0.070,2483,3437,3857
$GC,4399,-1.34,-194.7,466.5,-13.5,682,4403,0.00,2.58,0.00,0.000,6,0.000,0.054,2483,2037,3857
$GC,4724,-1.34,-194.7,501.5,-9.9,712,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,5042,-1.34,-194.7,532.9,-9.9,742,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3857
$GC,5360,-1.34,-194.7,565.8,-10.7,772,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,5679,-1.34,-194.7,600.2,-10.8,802,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,5987,-1.34,-194.7,632.6,-10.3,817,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,6297,-1.34,-194.7,663.7,-10.1,832,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,6606,-1.34,-194.7,695.0,-9.9,847,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,6916,-1.34,-194.7,724.1,-9.0,862,6920,0.00,2.85,0.00,0.000,4,0.000,0.110,2482,623,3857
$GC,6936,-1.34,-194.7,726.1,-9.3,863,6941,0.00,2.60,0.00,0.000,6,0.000,0.064,2483,2024,3856
$GC,7263,-1.34,-194.7,755.9,-9.3,879,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3856
$GC,7572,-1.34,-194.7,784.9,-9.5,894,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3856
$GC,7882,-1.34,-194.7,812.8,-8.8,909,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2026,3856
$GC,8191,-1.34,-194.7,840.3,-9.0,924,8195,0.00,2.80,0.00,0.000,4,0.000,0.097,2482,3449,3856
$GC,8245,-1.34,-194.7,845.6,-9.9,926,8252,0.00,2.60,0.00,0.000,6,0.000,0.064,2482,2053,3856
$GC,8561,-1.34,-194.7,874.9,-9.4,942,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2052,3855
$GC,8870,-1.34,-194.7,902.5,-8.3,957,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2052,3855
$GC,9179,-1.34,-194.7,928.9,-8.6,972,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3855
$GC,9489,-1.34,-194.7,956.4,-8.9,987,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3855
$GC,9798,-1.34,-194.7,985.5,-9.8,1002,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3854
$STATE,9857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9857,begin apogee
$GC,9862,-0.37,0.0,991.5,9.7,1005,10035,1.00,0.00,168.65,1.296,6,0.101,0.000,2694,1980,3062
$STATE,10035,end apogee,CONTROL_FINISHED_OK
$STATE,10036,begin climb
$GC,10038,1.34,194.7,996.0,0.0,1013,10211,1.70,0.00,168.55,1.267,6,0.077,0.000,3073,1980,2268
$GC,10514,1.28,194.7,948.1,11.8,1037,10519,0.00,2.75,0.00,0.000,4,0.000,0.072,3073,3399,2262
$GC,10583,1.22,194.7,939.3,13.4,1040,10588,0.15,2.65,0.00,0.000,6,0.107,0.058,3044,1981,2262
$GC,10903,1.22,199.8,905.0,9.8,1056,10913,0.00,2.78,4.97,0.861,4,0.000,0.087,3044,571,2247
$GC,10951,1.22,199.8,899.8,10.8,1058,10956,0.00,2.62,0.00,0.000,6,0.000,0.053,3044,1991,2247
$GC,11273,1.22,199.8,866.2,10.3,1074,11277,0.00,2.70,0.00,0.000,4,0.000,0.081,3044,3394,2246
$GC,11315,1.22,199.8,861.4,11.1,1076,11320,0.00,2.60,0.00,0.000,6,0.000,0.057,3044,1985,2245
$GC,11643,1.22,202.2,828.1,9.9,1092,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1985,2245
$GC,11952,1.22,202.2,796.3,10.6,1107,11956,0.00,2.70,0.00,0.000,4,0.000,0.071,3043,3398,2244
$GC,12000,1.22,202.2,790.5,11.7,1109,12005,0.00,2.60,0.00,0.000,6,0.000,0.057,3044,1989,2244
$GC,12321,1.22,202.2,756.3,10.7,1125,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1988,2244
$GC,12631,1.22,202.2,724.1,10.5,1140,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1988,2244
$GC,12940,1.23,208.5,692.5,9.8,1155,12951,0.00,0.00,8.90,0.978,6,0.000,0.000,3044,1988,2212
$GC,13249,1.26,234.9,664.4,9.1,1170,13280,0.00,2.78,25.05,1.064,4,0.000,0.071,3044,3394,2103
$GC,13313,1.26,234.9,658.2,10.2,1173,13317,0.00,2.62,0.00,0.000,6,0.000,0.056,3044,1998,2101
$GC,13633,1.26,234.9,625.9,10.2,1189,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1998,2100
$GC,13945,1.27,235.4,593.5,10.0,1207,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1997,2100
$GC,14264,1.27,238.7,561.9,9.9,1237,14274,0.00,0.00,4.68,0.733,6,0.000,0.000,3044,1997,2087
$GC,14593,1.28,247.4,529.0,9.7,1268,14604,0.00,0.00,9.32,0.895,6,0.000,0.000,3044,1996,2053
$GC,14920,1.28,247.4,495.6,10.2,1299,14921,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1996,2051
$GC,15241,1.29,253.3,464.1,9.8,1329,15250,0.00,0.00,6.70,0.796,6,0.000,0.000,3044,1995,2029
$GC,15569,1.31,272.2,432.8,9.3,1360,15588,0.00,0.00,18.23,0.904,6,0.000,0.000,3044,1994,1952
$GC,15908,1.35,304.2,402.4,8.9,1392,15940,0.12,0.00,29.95,0.903,6,0.062,0.000,3081,1994,1821
$GC,16255,1.35,304.2,363.2,12.0,1425,16256,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1994,1817
$GC,16584,1.35,304.2,326.8,12.3,1474,16589,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1994,1816
$GC,16926,1.35,304.2,290.4,10.3,1535,16931,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1994,1815
$GC,17270,1.35,304.2,252.9,10.4,1596,17275,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1994,1815
$GC,17613,1.35,304.2,212.2,12.4,1657,17618,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1994,1815
$GC,17956,1.35,304.2,171.5,12.8,1718,17961,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1994,1815
$GC,18298,1.35,304.2,130.3,12.4,1779,18305,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1994,1815
$GC,18641,1.35,304.2,89.1,11.3,1840,18648,0.00,2.70,0.00,0.000,4,0.000,0.075,3081,567,1815
$GC,18696,1.35,304.2,82.2,13.1,1849,18702,0.00,2.62,0.00,0.000,6,0.000,0.047,3082,2005,1815
$GC,19033,1.35,304.2,40.0,13.2,1910,19040,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2008,1815
$GC,19167,1.35,304.2,23.6,12.6,1935,19174,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2008,1815
$GC,19301,1.35,304.2,7.7,10.9,1960,19309,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2008,1815
$STATE,19346,end climb,SURFACE_DEPTH_REACHED
$STATE,19346,begin surface coast
$FINISH,0.2,1.027146
$STATE,19373,end surface coast,CONTROL_FINISHED_OK
$STATE,19373,begin surface
$SM_CCo,19452,0.00,0.000,0,0,1813,306.38
$SM_GC,0.85,10.60,0.00,0.00,0.040,0.000,0.000,569,2012,1813,-10.08,-0.51,306.38
$IRIDIUM_FIX,6046.07,-2643.87,010897,181839
$TT8_MAMPS,0.042185
$HUMID,1644
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.50
$XPDR_PINGS,424
$24V_AH,23.5,31.258
$10V_AH,10.6,38.840
$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,24.700,64.125,445.000,0.000,0.000,55.601,61.282,410.019,106.000,0.000,0.000,14.054,3076.574,11970.870,604.698,3664.041,859.438,0.000,2096.503,0.000,3684.179,0.000,0.465
$DEVICE_MAMPS,199.420,109.681,1296.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1377.754,1434.918,709.957,915.639,870.516,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139215,1973
$CAP_FILE_SIZE,166038,0
$CFSIZE,260165632,241582080
$ERRORS,0,5,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,233437,6107.899,-2631.637,35,1.1,40,-18.5