version: 66.03
glider: 141
mission: 7
dive: 173
start: 5 12 108 8 5 58
data:
$ID,141
$MISSION,7
$DIVE,173
$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,130
$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,-9573.5859
$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,31
$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
$GPS1,075837,6127.944,-2552.026,37,1.3,37,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-55.9
$GPS2,080538,6127.926,-2551.969,9,1.3,14,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.984,-2548.003
$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,148.4,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.34,-194.7,0.0,0.0,0,124,0.00,0.00,-93.60,0.000,2,0.000,0.000,573,2044,3713
$GC,127,-1.34,-194.7,3.6,-7.4,17,145,11.20,0.00,-3.33,0.000,6,0.201,0.000,2482,2044,3857
$GC,282,-1.34,-194.7,25.7,-11.0,44,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2045,3859
$GC,423,-1.34,-194.7,42.1,-11.0,69,430,0.00,2.60,0.00,0.000,4,0.000,0.066,2482,3426,3859
$GC,443,-1.34,-194.7,44.2,-11.5,72,449,0.00,2.55,0.00,0.000,6,0.000,0.048,2482,2019,3859
$GC,585,-1.34,-194.7,60.6,-11.9,97,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2014,3859
$GC,927,-1.34,-194.7,100.1,-12.0,158,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3859
$GC,1270,-1.34,-194.7,139.0,-11.1,219,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3859
$GC,1613,-1.34,-194.7,178.6,-12.0,280,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3859
$GC,1957,-1.34,-194.7,217.5,-11.4,341,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3859
$GC,2299,-1.34,-194.7,254.3,-11.0,402,2305,0.00,2.67,0.00,0.000,4,0.000,0.061,2482,3431,3859
$GC,2328,-1.34,-194.7,257.5,-11.7,407,2334,0.00,2.58,0.00,0.000,6,0.000,0.048,2482,2017,3859
$GC,2670,-1.34,-194.7,294.7,-11.3,468,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2014,3859
$GC,3013,-1.34,-194.7,332.5,-11.0,529,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3859
$GC,3345,-1.34,-194.7,370.1,-11.4,574,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2013,3859
$GC,3664,-1.34,-194.7,405.8,-11.6,604,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3859
$GC,3984,-1.34,-194.7,442.4,-11.1,634,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3859
$GC,4301,-1.34,-194.7,477.5,-11.1,664,4306,0.00,2.70,0.00,0.000,4,0.000,0.070,2482,3428,3859
$GC,4329,-1.34,-194.7,480.7,-12.1,666,4333,0.00,2.60,0.00,0.000,6,0.000,0.054,2482,2018,3859
$GC,4654,-1.34,-194.7,516.0,-10.7,696,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2015,3859
$GC,4972,-1.34,-194.7,550.9,-10.9,726,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2015,3859
$GC,5290,-1.34,-194.7,585.4,-10.4,756,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2015,3859
$GC,5614,-1.34,-194.7,620.4,-11.0,778,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3859
$GC,5924,-1.34,-194.7,655.7,-11.5,793,5928,0.00,2.80,0.00,0.000,4,0.000,0.089,2482,3423,3858
$GC,5967,-1.34,-194.7,661.1,-11.8,795,5971,0.00,2.65,0.00,0.000,6,0.000,0.066,2482,2022,3858
$GC,6294,-1.34,-194.7,697.7,-11.6,811,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2021,3859
$GC,6603,-1.34,-194.7,730.1,-9.8,826,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3858
$GC,6913,-1.34,-194.7,760.1,-9.5,841,6917,0.00,2.75,0.00,0.000,4,0.000,0.088,2482,3420,3858
$GC,6934,-1.34,-194.7,762.3,-10.4,842,6938,0.00,2.62,0.00,0.000,6,0.000,0.067,2482,2028,3858
$GC,7255,-1.34,-194.7,792.8,-9.7,858,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2028,3858
$GC,7565,-1.34,-194.7,822.4,-9.8,873,7569,0.00,2.70,0.00,0.000,4,0.000,0.083,2482,3420,3858
$GC,7603,-1.34,-194.7,826.5,-10.9,875,7608,0.00,2.58,0.00,0.000,6,0.000,0.064,2482,2040,3857
$GC,7929,-1.34,-194.7,860.6,-11.0,891,7934,0.00,2.83,0.00,0.000,4,0.000,0.105,2482,616,3857
$GC,7955,-1.34,-194.7,863.6,-12.0,892,7960,0.00,2.58,0.00,0.000,6,0.000,0.061,2482,2010,3857
$GC,8277,-1.34,-194.7,895.9,-9.5,908,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2013,3857
$GC,8586,-1.34,-194.7,926.5,-10.1,923,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2013,3856
$GC,8895,-1.34,-194.7,959.2,-10.8,938,8900,0.00,2.80,0.00,0.000,4,0.000,0.094,2482,3448,3856
$GC,8923,-1.34,-194.7,962.3,-11.9,939,8928,0.00,2.62,0.00,0.000,6,0.000,0.064,2482,2036,3855
$STATE,9195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9195,begin apogee
$GC,9200,-0.37,0.0,991.0,9.7,952,9377,1.02,0.00,169.30,1.293,6,0.103,0.000,2698,1977,3061
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9380,1.34,194.7,995.0,0.0,961,9553,1.67,0.00,168.70,1.262,6,0.077,0.000,3065,1977,2268
$GC,9852,1.29,194.7,950.1,10.5,984,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1974,2262
$GC,10159,1.24,194.7,919.4,10.2,999,10164,0.00,2.78,0.00,0.000,4,0.000,0.071,3065,3400,2261
$GC,10226,1.18,194.7,912.1,12.3,1002,10231,0.12,2.67,0.00,0.000,6,0.110,0.057,3041,1976,2261
$GC,10546,1.19,198.8,882.8,9.9,1018,10555,0.00,2.78,4.05,0.762,4,0.000,0.087,3041,574,2251
$GC,10595,1.19,198.8,877.6,11.1,1020,10599,0.00,2.62,0.00,0.000,6,0.000,0.054,3041,1986,2251
$GC,10922,1.19,198.8,844.6,10.3,1036,10926,0.00,2.72,0.00,0.000,4,0.000,0.082,3041,3398,2250
$GC,10970,1.19,198.8,839.1,11.8,1038,10975,0.00,2.62,0.00,0.000,6,0.000,0.055,3041,1976,2249
$GC,11292,1.22,222.8,807.6,9.2,1054,11321,0.00,2.80,22.95,1.141,4,0.000,0.084,3041,575,2153
$GC,11383,1.24,243.9,799.1,9.3,1058,11409,0.00,2.60,20.55,1.118,6,0.000,0.054,3041,1983,2067
$GC,11725,1.27,264.6,768.7,9.3,1075,11752,0.00,2.80,19.62,1.100,4,0.000,0.078,3041,3395,1982
$GC,11787,1.27,264.6,762.6,10.2,1078,11791,0.00,2.67,0.00,0.000,6,0.000,0.055,3041,1969,1980
$GC,12112,1.27,264.6,729.9,10.3,1094,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1966,1978
$GC,12422,1.27,264.6,698.3,10.2,1109,12426,0.00,2.78,0.00,0.000,4,0.000,0.070,3041,3400,1978
$GC,12483,1.27,264.6,691.8,10.2,1112,12487,0.00,2.62,0.00,0.000,6,0.000,0.054,3041,1985,1977
$GC,12808,1.30,287.7,660.4,9.2,1128,12843,0.00,2.83,23.67,0.985,4,0.000,0.081,3041,578,1889
$GC,12878,1.30,289.7,653.7,9.9,1131,12882,0.00,2.62,0.00,0.000,6,0.000,0.051,3041,1991,1888
$GC,13198,1.31,299.2,623.4,9.7,1147,13220,0.10,2.80,11.82,0.973,4,0.072,0.076,3072,3394,1841
$GC,13247,1.31,299.2,617.6,11.9,1149,13251,0.00,2.62,0.00,0.000,6,0.000,0.055,3072,1985,1840
$GC,13568,1.31,299.2,577.5,12.6,1172,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1981,1839
$GC,13888,1.31,299.2,538.3,12.0,1202,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1981,1839
$GC,14205,1.31,299.2,501.2,11.1,1232,14206,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1981,1838
$GC,14523,1.31,299.2,464.8,11.6,1262,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1981,1838
$GC,14842,1.31,299.2,429.9,10.6,1292,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1980,1838
$GC,15163,1.31,299.2,397.4,10.2,1322,15168,0.00,2.67,0.00,0.000,4,0.000,0.064,3072,3396,1838
$GC,15202,1.31,299.2,392.8,11.0,1325,15207,0.00,2.60,0.00,0.000,6,0.000,0.052,3072,1983,1838
$GC,15526,1.31,299.2,358.7,10.7,1355,15527,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1980,1838
$GC,15858,1.31,299.2,322.0,11.6,1407,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1981,1838
$GC,16200,1.31,299.2,278.8,12.4,1468,16206,0.00,2.67,0.00,0.000,4,0.000,0.064,3072,3397,1838
$GC,16242,1.31,299.2,273.3,13.4,1475,16248,0.00,2.58,0.00,0.000,6,0.000,0.051,3072,1994,1838
$GC,16585,1.31,299.2,230.5,11.9,1536,16591,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1990,1838
$GC,16928,1.31,299.2,190.4,10.4,1597,16933,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1990,1838
$GC,17271,1.31,299.2,152.2,10.2,1658,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1991,1838
$GC,17614,1.31,299.2,114.2,10.9,1719,17619,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1991,1838
$GC,17957,1.32,309.4,76.8,9.6,1780,17969,0.00,0.00,10.02,0.666,6,0.000,0.000,3072,1991,1800
$GC,18307,1.32,309.4,37.8,11.5,1842,18313,0.00,2.65,0.00,0.000,4,0.000,0.061,3072,3394,1798
$GC,18344,1.32,309.4,33.5,11.9,1848,18350,0.00,2.55,0.00,0.000,6,0.000,0.049,3072,2000,1798
$GC,18485,1.32,309.4,17.1,12.3,1873,18491,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1797
$STATE,18608,end climb,SURFACE_DEPTH_REACHED
$STATE,18608,begin surface coast
$FINISH,0.2,1.002314
$STATE,18639,end surface coast,CONTROL_FINISHED_OK
$STATE,18639,begin surface
$SM_CCo,18718,0.00,0.000,0,0,1795,310.80
$SM_GC,0.97,10.45,0.00,0.00,0.035,0.000,0.000,572,2046,1795,-10.06,0.51,310.80
$IRIDIUM_FIX,6103.81,-2557.63,060897,020254
$TT8_MAMPS,0.041418
$HUMID,1655
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,406
$24V_AH,23.4,35.157
$10V_AH,10.6,42.142
$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,24.575,101.900,450.700,0.000,0.000,30.876,34.518,220.161,101.500,0.000,0.000,15.775,3000.049,11676.350,616.851,3232.949,596.257,0.000,2089.155,0.000,3243.737,0.000,0.465
$DEVICE_MAMPS,200.954,105.079,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1333.782,1387.597,715.664,1053.311,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133082,1900
$CAP_FILE_SIZE,161701,0
$CFSIZE,260165632,239714304
$ERRORS,0,22,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120508,131908,6124.846,-2547.924,37,0.9,37,-18.3