version: 66.03
glider: 141
mission: 7
dive: 168
start: 5 11 108 4 51 40
data:
$ID,141
$MISSION,7
$DIVE,168
$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,50
$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,-9469.3359
$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,15
$R_STBD_OVSHOOT,26
$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
$GPS1,044408,6128.657,-2614.800,37,1.1,37,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-54.0
$GPS2,045121,6128.689,-2614.592,10,1.5,10,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6135.631,-2610.657
$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,68.6,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-100.95,0.000,2,0.000,0.000,569,2044,3753
$GC,132,-1.34,-194.7,3.5,-6.4,14,156,11.23,2.65,-2.28,0.000,4,0.202,0.070,2478,3432,3858
$GC,392,-1.30,-194.7,43.3,-12.0,62,400,0.00,2.60,0.00,0.000,6,0.000,0.054,2479,2023,3858
$GC,530,-1.30,-194.7,61.2,-13.4,87,538,0.00,2.70,0.00,0.000,4,0.000,0.065,2479,3436,3858
$GC,577,-1.25,-194.7,67.7,-14.0,95,584,0.12,2.58,0.00,0.000,6,0.117,0.048,2502,2026,3858
$GC,915,-1.25,-194.7,104.5,-10.3,156,923,0.00,2.65,0.00,0.000,4,0.000,0.064,2502,621,3859
$GC,979,-1.25,-194.7,111.2,-10.0,167,985,0.00,2.55,0.00,0.000,6,0.000,0.045,2502,2032,3858
$GC,1318,-1.25,-194.7,147.2,-11.1,228,1326,0.00,2.67,0.00,0.000,4,0.000,0.069,2502,622,3859
$GC,1371,-1.25,-194.7,153.4,-11.4,237,1377,0.00,2.53,0.00,0.000,6,0.000,0.045,2502,2028,3859
$GC,1714,-1.25,-194.7,191.8,-10.8,298,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2030,3859
$GC,2056,-1.25,-194.7,228.8,-10.5,359,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2030,3859
$GC,2400,-1.25,-194.7,263.7,-10.1,420,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2030,3858
$GC,2742,-1.25,-194.7,298.8,-10.5,481,2748,0.00,2.65,0.00,0.000,4,0.000,0.064,2502,620,3858
$GC,2811,-1.25,-194.7,306.0,-10.7,493,2817,0.00,2.53,0.00,0.000,6,0.000,0.046,2502,2019,3859
$GC,3153,-1.25,-194.7,339.6,-9.5,554,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2021,3858
$GC,3489,-1.25,-194.7,370.4,-9.0,595,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2021,3858
$GC,3808,-1.25,-194.7,397.7,-8.4,625,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2021,3858
$GC,4127,-1.25,-194.7,425.0,-8.8,655,4132,0.00,2.60,0.00,0.000,4,0.000,0.066,2502,626,3858
$GC,4194,-1.25,-194.7,431.5,-9.5,660,4200,0.00,2.53,0.00,0.000,6,0.000,0.049,2502,2017,3859
$GC,4522,-1.25,-194.7,461.4,-9.6,691,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2019,3858
$GC,4837,-1.25,-194.7,493.9,-10.6,721,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2019,3858
$GC,5155,-1.25,-194.7,528.4,-10.9,751,5159,0.00,2.65,0.00,0.000,4,0.000,0.073,2502,622,3858
$GC,5205,-1.25,-194.7,534.0,-11.2,755,5209,0.00,2.53,0.00,0.000,6,0.000,0.054,2502,2006,3858
$GC,5532,-1.25,-194.7,568.7,-10.9,785,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2007,3858
$GC,5866,-1.25,-194.7,604.4,-10.1,815,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2008,3858
$GC,6175,-1.25,-194.7,633.9,-9.2,830,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2008,3858
$GC,6484,-1.25,-194.7,664.3,-10.3,845,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2008,3858
$GC,6794,-1.25,-194.7,696.8,-10.6,860,6798,0.00,2.80,0.00,0.000,4,0.000,0.112,2502,629,3858
$GC,6865,-1.25,-194.7,704.7,-10.6,863,6869,0.00,2.55,0.00,0.000,6,0.000,0.067,2502,1997,3858
$GC,7187,-1.25,-194.7,735.3,-9.3,879,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1998,3858
$GC,7496,-1.25,-194.7,762.1,-8.7,894,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1998,3857
$GC,7805,-1.25,-194.7,788.6,-8.6,909,7809,0.00,2.65,0.00,0.000,4,0.000,0.087,2502,626,3857
$GC,7860,-1.25,-194.7,793.7,-10.0,911,7866,0.00,2.55,0.00,0.000,6,0.000,0.064,2502,1999,3857
$GC,8174,-1.25,-194.7,824.4,-10.2,927,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1999,3857
$GC,8484,-1.25,-194.7,855.6,-9.8,942,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2000,3856
$GC,8794,-1.25,-194.7,882.4,-8.0,957,8798,0.00,2.88,0.00,0.000,4,0.000,0.100,2502,3449,3856
$GC,8843,-1.25,-194.7,886.7,-8.5,959,8847,0.00,2.70,0.00,0.000,6,0.000,0.065,2502,2008,3856
$GC,9158,-1.25,-194.7,909.3,-7.2,974,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2006,3856
$GC,9468,-1.25,-194.7,932.6,-7.7,989,9472,0.00,2.75,0.00,0.000,4,0.000,0.099,2502,613,3856
$GC,9534,-1.25,-194.7,938.1,-9.1,992,9538,0.00,2.58,0.00,0.000,6,0.000,0.059,2502,2010,3855
$GC,9854,-1.25,-194.7,966.6,-9.3,1008,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2010,3855
$STATE,10120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10120,begin apogee
$GC,10126,-0.37,0.0,991.6,10.0,1021,10302,0.93,0.00,168.90,1.307,6,0.101,0.000,2697,1976,3061
$STATE,10303,end apogee,CONTROL_FINISHED_OK
$STATE,10303,begin climb
$GC,10305,1.34,194.7,999.1,0.0,1030,10482,1.70,2.78,168.27,1.276,4,0.077,0.081,3070,580,2267
$GC,10511,1.27,195.1,986.3,10.0,1039,10515,0.00,2.65,0.00,0.000,6,0.000,0.058,3069,1987,2265
$GC,10831,1.24,219.8,956.2,9.1,1055,10860,0.00,2.85,22.98,1.189,4,0.000,0.086,3069,3394,2164
$GC,10884,1.19,219.8,950.5,10.5,1057,10889,0.15,2.62,0.00,0.000,6,0.107,0.058,3041,1998,2162
$GC,11199,1.20,228.3,920.5,9.7,1072,11213,0.00,2.85,8.57,1.048,4,0.000,0.089,3041,575,2131
$GC,11236,1.21,232.3,916.5,9.9,1073,11247,0.00,2.65,5.68,0.915,6,0.000,0.056,3041,1996,2114
$GC,11567,1.21,232.3,883.0,10.0,1090,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1999,2112
$GC,11876,1.21,232.3,849.6,11.1,1105,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1999,2111
$GC,12186,1.21,232.3,815.5,10.7,1120,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1998,2111
$GC,12495,1.25,265.4,785.9,8.9,1135,12528,0.00,0.00,30.98,1.154,6,0.000,0.000,3040,2000,1979
$GC,12824,1.32,324.0,758.6,8.0,1151,12909,0.12,0.00,61.88,1.033,6,0.067,0.000,3076,2000,1741
$GC,13214,1.32,324.0,714.1,12.3,1170,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1735
$GC,13523,1.32,324.0,674.5,12.9,1185,13528,0.00,2.78,0.00,0.000,4,0.000,0.077,3076,570,1733
$GC,13549,1.32,324.0,670.9,13.1,1186,13554,0.00,2.67,0.00,0.000,6,0.000,0.056,3076,1989,1733
$GC,13870,1.32,324.0,630.3,12.2,1202,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1991,1733
$GC,14180,1.32,324.0,594.7,11.4,1219,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1732
$GC,14501,1.32,324.0,558.2,11.1,1249,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1992,1732
$GC,14817,1.32,324.0,521.7,11.6,1279,14822,0.00,2.72,0.00,0.000,4,0.000,0.080,3076,3402,1731
$GC,14845,1.32,324.0,518.4,12.3,1281,14850,0.00,2.62,0.00,0.000,6,0.000,0.058,3076,1989,1731
$GC,15169,1.32,324.0,480.4,11.9,1311,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1987,1731
$GC,15488,1.32,324.0,443.0,11.9,1341,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1731
$GC,15807,1.32,324.0,403.6,12.7,1371,15808,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1986,1731
$GC,16125,1.32,324.0,362.8,12.6,1401,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1731
$GC,16455,1.32,324.0,319.7,13.7,1451,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1731
$GC,16797,1.32,324.0,278.7,11.9,1512,16803,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1731
$GC,17140,1.32,324.0,239.9,11.2,1573,17145,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1731
$GC,17483,1.32,324.0,202.4,11.5,1634,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1731
$GC,17825,1.32,324.0,165.1,11.1,1695,17831,0.00,2.70,0.00,0.000,4,0.000,0.062,3076,3400,1731
$GC,17853,1.32,324.0,161.7,12.1,1700,17860,0.00,2.58,0.00,0.000,6,0.000,0.056,3076,1999,1731
$GC,18196,1.32,324.0,120.0,12.6,1761,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1997,1731
$GC,18541,1.33,329.3,80.2,9.8,1822,18547,0.00,0.00,4.75,0.562,6,0.000,0.000,3076,1998,1719
$GC,18880,1.33,329.3,43.7,11.1,1883,18888,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1719
$GC,19015,1.33,329.3,28.5,10.9,1908,19022,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1718
$GC,19149,1.36,353.9,13.5,9.1,1933,19179,0.00,0.00,22.85,0.677,6,0.000,0.000,3077,1998,1620
$STATE,19247,end climb,SURFACE_DEPTH_REACHED
$STATE,19247,begin surface coast
$FINISH,0.1,1.027117
$STATE,19274,end surface coast,CONTROL_FINISHED_OK
$STATE,19274,begin surface
$SM_CCo,19354,0.00,0.000,0,0,1616,354.70
$SM_GC,0.78,10.55,0.00,0.00,0.037,0.000,0.000,568,2053,1616,-10.06,0.65,354.70
$IRIDIUM_FIX,6059.36,-2617.83,040897,232314
$TT8_MAMPS,0.042185
$HUMID,1649
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,11.70
$XPDR_PINGS,422
$24V_AH,23.4,34.230
$10V_AH,10.5,41.406
$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,24.800,90.500,494.850,0.000,0.000,27.949,45.799,231.890,105.500,0.000,0.000,11.620,3055.838,11765.326,639.791,3705.023,606.998,0.000,2173.301,0.000,3717.875,0.000,0.465
$DEVICE_MAMPS,201.721,111.982,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1374.612,1403.210,717.014,914.322,877.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139196,1955
$CAP_FILE_SIZE,162089,0
$CFSIZE,260165632,240181248
$ERRORS,0,15,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,110508,101526,6131.429,-2607.467,37,1.1,37,-18.5