version: 66.03
glider: 141
mission: 7
dive: 172
start: 5 12 108 2 39 45
data:
$ID,141
$MISSION,7
$DIVE,172
$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,160
$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,-9557.1826
$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,20
$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
$GPS1,023107,6130.777,-2555.640,36,1.4,48,-18.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-54.7
$GPS2,023928,6130.824,-2555.560,10,2.1,29,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.676,-2553.789
$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,178.4,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-99.47,0.000,2,0.000,0.000,569,2008,3643
$GC,130,-1.34,-194.7,3.0,-5.6,18,149,11.15,0.00,-5.40,0.000,6,0.198,0.000,2482,2008,3857
$GC,286,-1.34,-194.7,23.6,-11.7,45,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2008,3858
$GC,427,-1.34,-194.7,40.1,-11.2,70,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2008,3858
$GC,569,-1.34,-194.7,56.7,-12.1,95,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2008,3858
$GC,910,-1.34,-194.7,97.9,-11.7,156,917,0.00,2.70,0.00,0.000,4,0.000,0.067,2482,3438,3859
$GC,951,-1.34,-194.7,102.9,-12.4,163,957,0.00,2.60,0.00,0.000,6,0.000,0.055,2483,2016,3859
$GC,1294,-1.34,-194.7,144.8,-12.5,224,1301,0.00,2.67,0.00,0.000,4,0.000,0.064,2483,3438,3859
$GC,1326,-1.34,-194.7,148.5,-13.1,229,1332,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,2023,3859
$GC,1669,-1.34,-194.7,191.3,-12.0,290,1675,0.00,2.70,0.00,0.000,4,0.000,0.061,2483,3441,3859
$GC,1687,-1.34,-194.7,193.5,-12.2,293,1693,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,2025,3859
$GC,2030,-1.34,-194.7,234.1,-11.1,354,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2020,3859
$GC,2372,-1.34,-194.7,270.9,-10.1,415,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2020,3859
$GC,2714,-1.34,-194.7,305.4,-9.7,476,2720,0.00,2.67,0.00,0.000,4,0.000,0.068,2483,3437,3859
$GC,2732,-1.34,-194.7,307.2,-10.3,479,2738,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,2031,3859
$GC,3075,-1.34,-194.7,340.7,-9.3,540,3081,0.00,2.65,0.00,0.000,4,0.000,0.067,2482,3437,3859
$GC,3093,-1.34,-194.7,342.4,-9.5,543,3099,0.00,2.55,0.00,0.000,6,0.000,0.051,2483,2040,3859
$GC,3428,-1.34,-194.7,374.8,-9.5,581,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3859
$GC,3747,-1.34,-194.7,405.2,-9.5,611,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2038,3859
$GC,4065,-1.34,-194.7,436.7,-10.1,641,4069,0.00,2.67,0.00,0.000,4,0.000,0.068,2482,3435,3859
$GC,4115,-1.34,-194.7,442.0,-10.6,645,4120,0.00,2.55,0.00,0.000,6,0.000,0.053,2483,2051,3859
$GC,4440,-1.34,-194.7,476.3,-10.8,675,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3859
$GC,4759,-1.34,-194.7,509.8,-10.2,705,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3859
$GC,5077,-1.34,-194.7,541.3,-9.8,735,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3859
$GC,5396,-1.34,-194.7,573.2,-10.2,765,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3858
$GC,5723,-1.34,-194.7,607.4,-10.6,793,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3858
$GC,6031,-1.34,-194.7,641.0,-10.9,808,6036,0.00,2.83,0.00,0.000,4,0.000,0.100,2483,624,3858
$GC,6052,-1.34,-194.7,643.3,-11.1,809,6057,0.00,2.60,0.00,0.000,6,0.000,0.061,2482,2035,3858
$GC,6374,-1.34,-194.7,676.8,-10.5,825,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3858
$GC,6682,-1.34,-194.7,709.7,-10.9,840,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3858
$GC,6992,-1.34,-194.7,743.2,-10.6,855,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,7301,-1.34,-194.7,774.0,-9.8,870,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3857
$GC,7610,-1.34,-194.7,805.4,-10.3,885,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3856
$GC,7920,-1.34,-194.7,838.4,-11.0,900,7924,0.00,2.80,0.00,0.000,4,0.000,0.097,2482,3444,3857
$GC,7951,-1.34,-194.7,842.2,-11.8,901,7958,0.00,2.60,0.00,0.000,6,0.000,0.064,2482,2062,3856
$GC,8267,-1.34,-194.7,874.7,-10.1,917,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2061,3856
$GC,8576,-1.34,-194.7,907.1,-10.5,932,8581,0.00,2.85,0.00,0.000,4,0.000,0.099,2483,614,3856
$GC,8594,-1.34,-194.7,908.8,-10.5,933,8599,0.00,2.65,0.00,0.000,6,0.000,0.062,2483,2046,3856
$GC,8920,-1.34,-194.7,942.7,-10.3,949,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3855
$GC,9230,-1.34,-194.7,973.5,-9.9,964,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3855
$STATE,9392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9392,begin apogee
$GC,9398,-0.37,0.0,990.2,10.0,972,9570,1.00,0.00,168.48,1.302,6,0.103,0.000,2694,1977,3062
$STATE,9571,end apogee,CONTROL_FINISHED_OK
$STATE,9571,begin climb
$GC,9573,1.34,194.7,995.3,0.0,980,9746,1.70,0.00,168.05,1.265,6,0.078,0.000,3065,1976,2268
$GC,10045,1.29,194.7,948.9,11.5,1003,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1977,2263
$GC,10354,1.24,194.7,913.2,11.3,1018,10358,0.00,2.78,0.00,0.000,4,0.000,0.078,3065,3399,2261
$GC,10409,1.19,194.7,906.3,12.4,1020,10416,0.12,2.62,0.00,0.000,6,0.114,0.057,3042,1988,2260
$GC,10724,1.19,194.7,872.7,10.8,1036,10728,0.00,2.75,0.00,0.000,4,0.000,0.086,3042,569,2260
$GC,10778,1.19,194.7,866.5,11.7,1038,10785,0.00,2.62,0.00,0.000,6,0.000,0.053,3042,1991,2261
$GC,11094,1.19,194.7,833.6,10.2,1054,11098,0.00,2.70,0.00,0.000,4,0.000,0.081,3042,3392,2260
$GC,11142,1.19,194.7,828.4,10.3,1056,11147,0.00,2.60,0.00,0.000,6,0.000,0.055,3042,1984,2260
$GC,11464,1.22,219.2,798.6,9.1,1072,11488,0.00,0.00,21.88,1.137,6,0.000,0.000,3042,1984,2167
$GC,11793,1.22,219.2,767.2,10.3,1088,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1984,2165
$GC,12103,1.25,244.4,738.4,9.1,1103,12132,0.00,2.83,23.75,1.104,4,0.000,0.071,3042,3399,2064
$GC,12160,1.26,250.2,732.7,9.8,1105,12171,0.00,2.67,6.72,0.904,6,0.000,0.055,3042,1975,2042
$GC,12493,1.26,254.9,700.7,9.8,1122,12500,0.00,0.00,5.78,0.859,6,0.000,0.000,3042,1975,2021
$GC,12802,1.27,264.2,670.6,9.7,1137,12814,0.00,0.00,9.75,0.973,6,0.000,0.000,3042,1975,1985
$GC,13111,1.29,274.7,640.9,9.6,1152,13133,0.00,2.83,11.02,0.973,4,0.000,0.070,3042,3398,1942
$GC,13160,1.29,275.0,635.9,10.0,1154,13164,0.00,2.62,0.00,0.000,6,0.000,0.056,3042,1988,1940
$GC,13487,1.31,291.0,604.6,9.4,1170,13508,0.10,0.00,16.58,0.999,6,0.073,0.000,3072,1988,1875
$GC,13824,1.31,291.0,567.7,10.5,1199,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1987,1873
$GC,14143,1.31,291.0,533.4,10.8,1229,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1986,1872
$GC,14461,1.31,291.0,499.5,10.7,1259,14466,0.00,2.72,0.00,0.000,4,0.000,0.068,3072,3402,1871
$GC,14500,1.31,291.0,495.0,11.9,1262,14504,0.00,2.62,0.00,0.000,6,0.000,0.054,3072,1989,1871
$GC,14824,1.31,291.0,459.5,10.7,1292,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1986,1871
$GC,15142,1.31,291.0,424.7,11.2,1322,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1987,1871
$GC,15463,1.31,291.0,389.0,11.0,1352,15467,0.00,2.67,0.00,0.000,4,0.000,0.064,3072,3396,1871
$GC,15506,1.31,291.0,383.5,11.7,1355,15513,0.00,2.58,0.00,0.000,6,0.000,0.057,3072,1998,1871
$GC,15831,1.31,291.0,346.3,11.2,1388,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1994,1871
$GC,16175,1.31,291.0,306.8,11.4,1449,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1994,1871
$GC,16517,1.31,291.0,267.5,10.2,1510,16523,0.00,2.65,0.00,0.000,4,0.000,0.061,3072,3395,1871
$GC,16574,1.31,291.0,260.9,11.8,1520,16581,0.00,2.55,0.00,0.000,6,0.000,0.057,3072,2005,1871
$GC,16919,1.31,291.0,223.1,10.6,1581,16924,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2003,1871
$GC,17261,1.31,291.0,185.4,11.2,1642,17266,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2003,1871
$GC,17604,1.31,291.0,148.9,10.5,1703,17609,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2003,1871
$GC,17946,1.31,291.0,114.1,10.6,1764,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2003,1872
$GC,18289,1.32,302.7,76.6,9.6,1825,18305,0.00,0.00,11.68,0.676,6,0.000,0.000,3072,2003,1826
$GC,18643,1.32,302.7,37.8,11.2,1888,18650,0.00,2.60,0.00,0.000,4,0.000,0.061,3072,3397,1824
$GC,18695,1.32,302.7,31.7,10.3,1897,18701,0.00,2.55,0.00,0.000,6,0.000,0.054,3072,2000,1823
$GC,18839,1.32,302.7,16.0,11.1,1922,18845,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1998,1823
$STATE,18955,end climb,SURFACE_DEPTH_REACHED
$STATE,18955,begin surface coast
$FINISH,0.2,1.027121
$STATE,18979,end surface coast,CONTROL_FINISHED_OK
$STATE,18981,begin surface
$SM_CCo,19060,0.00,0.000,0,0,1822,304.17
$SM_GC,0.78,10.48,0.00,0.00,0.036,0.000,0.000,573,2047,1822,-10.06,0.48,304.17
$IRIDIUM_FIX,6108.28,-2555.55,050897,212140
$TT8_MAMPS,0.042185
$HUMID,1634
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.90
$XPDR_PINGS,375
$24V_AH,23.4,34.974
$10V_AH,10.6,42.003
$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,24.550,96.025,443.675,0.000,0.000,27.856,38.361,287.404,93.750,0.000,0.000,31.820,3045.087,11951.393,619.152,3259.708,668.377,0.000,2094.733,0.000,3258.104,0.000,0.465
$DEVICE_MAMPS,197.886,99.710,1301.599,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1369.913,1425.982,725.025,1084.581,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139106,1947
$CAP_FILE_SIZE,163818,0
$CFSIZE,260165632,239804416
$ERRORS,0,32,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120508,075837,6127.944,-2552.026,37,1.3,37,-18.4