version: 66.03
glider: 141
mission: 7
dive: 169
start: 5 11 108 10 23 3
data:
$ID,141
$MISSION,7
$DIVE,169
$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,-9485.2012
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,101526,6131.429,-2607.467,37,1.1,37,-18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-51.6
$GPS2,102245,6131.495,-2607.437,13,0.9,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6138.436,-2603.508
$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,68.5,20000,-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,-194.7,0.0,0.0,0,137,0.00,0.00,-108.20,0.000,2,0.000,0.000,568,2053,3764
$GC,139,-1.34,-194.7,3.5,-6.5,15,163,11.23,2.65,-2.10,0.000,4,0.202,0.073,2480,3430,3858
$GC,399,-1.34,-194.7,41.2,-11.8,63,407,0.00,2.60,0.00,0.000,6,0.000,0.054,2480,2028,3859
$GC,538,-1.34,-194.7,55.5,-10.5,88,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2023,3859
$GC,875,-1.34,-194.7,93.0,-10.5,149,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3859
$GC,1211,-1.34,-194.7,129.1,-10.5,210,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3859
$GC,1552,-1.34,-194.7,167.0,-10.5,271,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3859
$GC,1894,-1.34,-194.7,205.1,-11.5,332,1901,0.00,2.65,0.00,0.000,4,0.000,0.063,2480,3431,3859
$GC,1986,-1.34,-194.7,216.1,-12.5,348,1992,0.00,2.55,0.00,0.000,6,0.000,0.051,2480,2033,3859
$GC,2331,-1.34,-194.7,255.4,-11.6,409,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3860
$GC,2673,-1.34,-194.7,293.9,-11.0,470,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3859
$GC,3014,-1.34,-194.7,332.1,-11.2,531,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3859
$GC,3351,-1.34,-194.7,370.3,-11.3,576,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3859
$GC,3670,-1.34,-194.7,405.1,-10.7,606,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3859
$GC,3989,-1.34,-194.7,439.5,-10.6,636,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3859
$GC,4307,-1.34,-194.7,474.5,-11.6,666,4311,0.00,2.70,0.00,0.000,4,0.000,0.071,2480,3435,3859
$GC,4350,-1.34,-194.7,480.0,-12.8,669,4357,0.00,2.55,0.00,0.000,6,0.000,0.058,2480,2049,3859
$GC,4677,-1.34,-194.7,518.4,-11.6,700,4681,0.00,2.72,0.00,0.000,4,0.000,0.077,2480,618,3859
$GC,4720,-1.34,-194.7,523.8,-11.8,703,4726,0.00,2.58,0.00,0.000,6,0.000,0.053,2480,2030,3859
$GC,5046,-1.34,-194.7,559.7,-10.6,734,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3859
$GC,5363,-1.34,-194.7,593.6,-10.8,764,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3859
$GC,5674,-1.34,-194.7,627.1,-10.4,782,5679,0.00,2.80,0.00,0.000,4,0.000,0.091,2481,3444,3859
$GC,5728,-1.34,-194.7,633.4,-11.2,784,5735,0.00,2.65,0.00,0.000,6,0.000,0.064,2481,2037,3859
$GC,6044,-1.34,-194.7,664.6,-9.7,800,6049,0.00,2.85,0.00,0.000,4,0.000,0.107,2480,614,3858
$GC,6087,-1.34,-194.7,669.1,-11.0,802,6092,0.00,2.65,0.00,0.000,6,0.000,0.066,2480,2035,3858
$GC,6414,-1.34,-194.7,702.2,-10.3,818,6419,0.00,2.80,0.00,0.000,4,0.000,0.104,2480,3441,3858
$GC,6480,-1.34,-194.7,709.5,-11.1,821,6484,0.00,2.67,0.00,0.000,6,0.000,0.079,2480,2045,3858
$GC,6802,-1.34,-194.7,743.7,-11.0,837,6806,0.00,2.80,0.00,0.000,4,0.000,0.098,2480,615,3859
$GC,6856,-1.34,-194.7,749.6,-10.6,839,6863,0.00,2.65,0.00,0.000,6,0.000,0.067,2480,2052,3859
$GC,7172,-1.34,-194.7,780.5,-9.7,855,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2053,3858
$GC,7482,-1.34,-194.7,810.8,-9.8,870,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2053,3858
$GC,7790,-1.34,-194.7,841.5,-9.8,885,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2053,3858
$GC,8099,-1.34,-194.7,872.9,-10.2,900,8104,0.00,2.75,0.00,0.000,4,0.000,0.097,2481,3442,3857
$GC,8142,-1.34,-194.7,877.4,-10.3,902,8147,0.00,2.65,0.00,0.000,6,0.000,0.067,2480,2030,3857
$GC,8463,-1.34,-194.7,907.8,-9.7,918,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2028,3857
$GC,8773,-1.34,-194.7,935.5,-8.8,933,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2028,3857
$GC,9082,-1.34,-194.7,965.5,-10.2,948,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2027,3856
$STATE,9327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9327,begin apogee
$GC,9332,-0.37,0.0,991.1,10.6,960,9509,1.02,0.00,169.45,1.303,6,0.104,0.000,2696,1983,3061
$STATE,9510,end apogee,CONTROL_FINISHED_OK
$STATE,9510,begin climb
$GC,9513,1.34,194.7,997.4,0.0,969,9686,1.70,0.00,168.73,1.271,6,0.074,0.000,3068,1983,2268
$GC,9984,1.29,194.7,953.5,11.4,992,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1982,2262
$GC,10292,1.24,194.7,917.6,11.8,1007,10297,0.00,2.72,0.00,0.000,4,0.000,0.075,3068,3395,2261
$GC,10320,1.18,194.7,914.0,13.0,1008,10325,0.15,2.62,0.00,0.000,6,0.110,0.058,3039,1978,2260
$GC,10635,1.20,204.5,883.5,9.7,1023,10647,0.00,0.00,8.93,1.052,6,0.000,0.000,3039,1978,2228
$GC,10965,1.22,225.8,852.4,9.3,1039,10987,0.00,0.00,20.75,1.157,6,0.000,0.000,3039,1975,2141
$GC,11293,1.22,225.8,820.0,10.1,1055,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1975,2138
$GC,11603,1.25,246.3,790.0,9.3,1070,11637,0.00,2.85,21.48,1.040,4,0.000,0.072,3039,3400,2057
$GC,11654,1.29,279.7,785.1,8.8,1072,11692,0.00,2.65,31.90,1.134,6,0.000,0.056,3039,1985,1920
$GC,12016,1.30,284.7,749.4,9.8,1090,12027,0.10,2.78,5.32,0.846,4,0.073,0.084,3068,572,1901
$GC,12043,1.30,284.7,746.2,11.0,1091,12047,0.00,2.65,0.00,0.000,6,0.000,0.054,3068,1998,1900
$GC,12364,1.30,284.7,708.8,11.7,1107,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1899
$GC,12673,1.30,284.7,672.2,12.2,1122,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2000,1898
$GC,12983,1.30,284.7,637.4,10.6,1137,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2001,1898
$GC,13292,1.30,284.7,605.3,10.3,1152,13296,0.00,2.70,0.00,0.000,4,0.000,0.080,3068,3397,1897
$GC,13318,1.30,284.7,602.2,11.6,1153,13323,0.00,2.65,0.00,0.000,6,0.000,0.056,3068,1983,1897
$GC,13649,1.30,284.7,564.3,11.4,1183,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1981,1897
$GC,13966,1.30,284.7,526.9,11.6,1213,13971,0.00,2.70,0.00,0.000,4,0.000,0.070,3068,3393,1897
$GC,14005,1.30,284.7,522.2,12.1,1216,14010,0.00,2.60,0.00,0.000,6,0.000,0.054,3068,1990,1897
$GC,14329,1.30,284.7,484.4,11.8,1246,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1990,1897
$GC,14648,1.30,284.7,448.2,11.4,1276,14652,0.00,2.67,0.00,0.000,4,0.000,0.074,3068,576,1897
$GC,14675,1.30,284.7,444.9,11.8,1278,14680,0.00,2.60,0.00,0.000,6,0.000,0.051,3068,2000,1897
$GC,14999,1.30,284.7,405.3,12.1,1308,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2002,1897
$GC,15318,1.30,284.7,369.2,10.6,1338,15319,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1897
$GC,15643,1.32,305.5,336.2,9.3,1380,15665,0.00,0.00,19.58,0.859,6,0.000,0.000,3068,2003,1817
$GC,16002,1.32,305.5,299.8,10.4,1444,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1812
$GC,16346,1.32,305.5,262.7,10.5,1505,16351,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1812
$GC,16687,1.32,305.5,224.7,11.8,1566,16692,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1813
$GC,17029,1.32,305.5,183.4,11.3,1627,17035,0.00,2.75,0.00,0.000,4,0.000,0.068,3068,568,1813
$GC,17053,1.32,305.5,180.6,11.4,1631,17059,0.00,2.60,0.00,0.000,6,0.000,0.048,3068,1989,1813
$GC,17394,1.32,305.5,140.4,11.8,1692,17402,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1992,1813
$GC,17736,1.32,305.5,102.1,11.7,1753,17742,0.00,2.65,0.00,0.000,4,0.000,0.064,3068,3392,1812
$GC,17764,1.32,305.5,98.3,12.6,1758,17772,0.00,2.62,0.00,0.000,6,0.000,0.053,3068,1985,1812
$GC,18108,1.32,305.5,55.9,11.5,1819,18113,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1981,1812
$GC,18431,1.32,305.5,21.8,11.0,1880,18439,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1981,1812
$GC,18566,1.32,305.5,7.4,10.1,1905,18573,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1981,1812
$STATE,18605,end climb,SURFACE_DEPTH_REACHED
$STATE,18605,begin surface coast
$FINISH,0.2,1.018481
$STATE,18632,end surface coast,CONTROL_FINISHED_OK
$STATE,18632,begin surface
$SM_CCo,18712,0.00,0.000,0,0,1811,306.87
$SM_GC,0.89,10.57,0.00,0.00,0.041,0.000,0.000,571,2040,1811,-10.07,0.28,306.87
$IRIDIUM_FIX,6103.81,-2611.75,050897,040459
$TT8_MAMPS,0.042185
$HUMID,1645
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.40
$XPDR_PINGS,428
$24V_AH,23.4,34.415
$10V_AH,10.6,41.574
$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,24.775,91.325,446.125,0.000,0.000,29.015,30.646,246.638,107.000,0.000,0.000,15.236,2989.735,11260.529,605.864,3679.519,598.795,0.000,2097.263,0.000,3681.258,0.000,0.465
$DEVICE_MAMPS,201.721,106.613,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1339.275,1382.187,723.298,925.859,921.804,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135768,1917
$CAP_FILE_SIZE,157187,0
$CFSIZE,260165632,240087040
$ERRORS,0,22,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110508,153608,6134.514,-2602.578,38,1.1,38,-18.5