version: 66.03
glider: 141
mission: 7
dive: 174
start: 5 12 108 13 26 35
data:
$ID,141
$MISSION,7
$DIVE,174
$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,-9587.4004
$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,19
$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
$GPS1,131908,6124.846,-2547.924,37,0.9,37,-18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.3
$GPS2,132615,6124.792,-2547.999,11,1.0,11,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6117.851,-2544.026
$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,148.3,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-93.78,0.000,2,0.000,0.000,572,2045,3673
$GC,125,-1.34,-194.7,3.2,-6.1,17,150,11.25,2.65,-4.53,0.000,4,0.202,0.071,2481,3431,3858
$GC,190,-1.29,-194.7,15.0,-13.0,28,196,0.00,2.55,0.00,0.000,6,0.000,0.048,2481,2029,3859
$GC,333,-1.29,-194.7,31.3,-11.2,53,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3860
$GC,474,-1.29,-194.7,47.1,-10.6,78,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3859
$GC,616,-1.29,-194.7,61.4,-9.5,103,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3859
$GC,958,-1.29,-194.7,98.3,-10.8,164,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,1302,-1.29,-194.7,135.6,-11.0,225,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,1644,-1.29,-194.7,174.6,-11.5,286,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,1986,-1.29,-194.7,214.1,-11.6,347,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,2330,-1.29,-194.7,254.1,-10.7,408,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,2673,-1.29,-194.7,290.4,-10.6,469,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,3015,-1.29,-194.7,327.9,-10.5,530,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,3357,-1.29,-194.7,361.0,-9.3,581,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,3674,-1.29,-194.7,393.5,-10.4,611,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,3993,-1.29,-194.7,428.0,-10.4,641,3998,0.00,2.70,0.00,0.000,4,0.000,0.067,2481,3436,3860
$GC,4032,-1.29,-194.7,432.3,-11.1,644,4036,0.00,2.62,0.00,0.000,6,0.000,0.053,2481,2014,3860
$GC,4357,-1.29,-194.7,466.5,-10.3,674,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2011,3860
$GC,4674,-1.29,-194.7,498.8,-10.1,704,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,4993,-1.29,-194.7,533.2,-10.8,734,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,5311,-1.29,-194.7,567.9,-11.0,764,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,5640,-1.29,-194.7,605.0,-11.6,793,5645,0.00,2.78,0.00,0.000,4,0.000,0.081,2481,3430,3860
$GC,5683,-1.29,-194.7,610.4,-11.9,795,5688,0.00,2.60,0.00,0.000,6,0.000,0.058,2481,2031,3860
$GC,6010,-1.29,-194.7,646.9,-11.3,811,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2030,3859
$GC,6320,-1.29,-194.7,683.8,-11.9,826,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3859
$GC,6629,-1.29,-194.7,719.9,-11.4,841,6633,0.00,2.88,0.00,0.000,4,0.000,0.113,2481,617,3859
$GC,6649,-1.29,-194.7,722.4,-11.4,842,6654,0.00,2.58,0.00,0.000,6,0.000,0.067,2481,2001,3859
$GC,6977,-1.29,-194.7,755.2,-9.8,858,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2001,3859
$GC,7285,-1.29,-194.7,786.6,-10.3,873,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2001,3859
$GC,7594,-1.29,-194.7,818.6,-10.4,888,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2003,3858
$GC,7904,-1.29,-194.7,850.8,-10.1,903,7909,0.00,2.85,0.00,0.000,4,0.000,0.096,2481,3441,3858
$GC,7936,-1.29,-194.7,854.3,-10.9,904,7943,0.00,2.70,0.00,0.000,6,0.000,0.066,2481,2024,3858
$GC,8251,-1.29,-194.7,886.5,-10.3,920,8256,0.00,2.75,0.00,0.000,4,0.000,0.083,2481,3441,3858
$GC,8317,-1.29,-194.7,893.8,-10.8,923,8322,0.00,2.62,0.00,0.000,6,0.000,0.065,2481,2037,3857
$GC,8638,-1.29,-194.7,927.8,-10.8,939,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3857
$GC,8947,-1.29,-194.7,960.9,-10.3,954,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3857
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9260,-0.37,0.0,991.8,10.3,969,9438,1.02,0.00,169.48,1.295,6,0.104,0.000,2697,1979,3062
$STATE,9438,end apogee,CONTROL_FINISHED_OK
$STATE,9438,begin climb
$GC,9440,1.34,194.7,996.8,0.0,978,9618,1.73,0.00,168.50,1.264,6,0.075,0.000,3071,1979,2267
$GC,9927,1.29,194.7,952.6,10.4,1002,9931,0.00,2.78,0.00,0.000,4,0.000,0.073,3071,3404,2262
$GC,9966,1.23,194.7,948.2,11.4,1004,9971,0.12,2.67,0.00,0.000,6,0.110,0.058,3047,1979,2262
$GC,10291,1.23,194.7,916.8,10.1,1020,10296,0.00,2.78,0.00,0.000,4,0.000,0.089,3047,565,2261
$GC,10335,1.18,194.7,912.1,10.6,1022,10339,0.00,2.65,0.00,0.000,6,0.000,0.055,3047,1994,2261
$GC,10655,1.18,196.2,880.0,9.9,1038,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1996,2260
$GC,10964,1.22,225.6,851.0,9.0,1053,10998,0.00,2.83,27.60,1.172,4,0.000,0.081,3047,3394,2141
$GC,11032,1.22,226.6,844.4,10.0,1056,11037,0.00,2.62,0.00,0.000,6,0.000,0.056,3047,1981,2139
$GC,11353,1.23,235.1,814.0,9.7,1072,11364,0.00,0.00,9.75,1.042,6,0.000,0.000,3047,1981,2103
$GC,11663,1.29,284.4,787.4,8.3,1087,11725,0.00,2.83,48.08,1.118,4,0.000,0.084,3047,576,1902
$GC,11770,1.29,284.4,776.9,10.2,1092,11774,0.00,2.62,0.00,0.000,6,0.000,0.055,3047,1985,1899
$GC,12095,1.32,307.1,745.8,9.2,1108,12135,0.00,0.00,25.45,0.955,6,0.000,0.000,3046,1985,1809
$GC,12445,1.32,307.1,710.5,10.6,1125,12449,0.00,2.72,0.00,0.000,4,0.000,0.080,3047,3392,1805
$GC,12476,1.32,307.1,706.8,10.8,1126,12483,0.00,2.65,0.00,0.000,6,0.000,0.056,3047,1970,1805
$GC,12792,1.32,307.1,672.9,11.1,1142,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1967,1804
$GC,13101,1.32,307.1,640.0,10.6,1157,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1967,1803
$GC,13411,1.32,307.1,607.0,11.0,1172,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1967,1803
$GC,13727,1.32,307.1,573.0,11.0,1198,13731,0.00,2.70,0.00,0.000,4,0.000,0.069,3047,3394,1802
$GC,13758,1.32,307.1,569.1,11.3,1200,13766,0.00,2.65,0.00,0.000,6,0.000,0.056,3047,1974,1802
$GC,14084,1.32,307.1,534.1,10.6,1231,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1971,1803
$GC,14403,1.32,307.1,500.6,10.3,1261,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1971,1802
$GC,14720,1.32,307.1,467.7,10.3,1291,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1971,1802
$GC,15040,1.32,307.1,434.5,10.1,1321,15044,0.00,2.70,0.00,0.000,4,0.000,0.066,3047,3398,1802
$GC,15083,1.32,307.1,429.6,11.0,1324,15090,0.00,2.65,0.00,0.000,6,0.000,0.052,3047,1973,1802
$GC,15409,1.33,317.2,397.1,9.7,1355,15421,0.10,0.00,9.18,0.824,6,0.068,0.000,3078,1970,1769
$GC,15735,1.33,317.2,359.1,11.7,1386,15736,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1969,1767
$GC,16067,1.33,317.2,320.0,11.1,1438,16073,0.00,2.72,0.00,0.000,4,0.000,0.062,3078,3405,1767
$GC,16108,1.33,317.2,315.1,12.0,1445,16114,0.00,2.62,0.00,0.000,6,0.000,0.051,3078,1985,1767
$GC,16450,1.33,317.2,272.4,13.4,1506,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1981,1767
$GC,16791,1.33,317.2,227.5,12.6,1567,16797,0.00,2.65,0.00,0.000,4,0.000,0.062,3078,3396,1767
$GC,16838,1.33,317.2,221.4,13.8,1575,16844,0.00,2.58,0.00,0.000,6,0.000,0.051,3078,1987,1767
$GC,17181,1.33,317.2,181.5,11.4,1636,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1983,1767
$GC,17525,1.33,317.2,138.7,13.7,1697,17530,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1983,1767
$GC,17867,1.33,317.2,97.1,11.2,1758,17873,0.00,2.65,0.00,0.000,4,0.000,0.061,3078,3404,1767
$GC,17930,1.33,317.2,89.7,11.4,1769,17936,0.00,2.58,0.00,0.000,6,0.000,0.051,3078,1996,1767
$GC,18273,1.33,317.2,51.1,11.2,1830,18278,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1992,1767
$GC,18615,1.33,317.2,8.8,11.3,1891,18620,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1992,1767
$STATE,18664,end climb,SURFACE_DEPTH_REACHED
$STATE,18664,begin surface coast
$FINISH,0.2,1.027119
$STATE,18687,end surface coast,CONTROL_FINISHED_OK
$STATE,18688,begin surface
$SM_CCo,18767,0.00,0.000,0,0,1763,318.40
$SM_GC,0.90,10.60,0.00,0.00,0.041,0.000,0.000,572,2055,1763,-10.08,0.74,318.40
$IRIDIUM_FIX,6103.81,-2555.66,060897,080830
$TT8_MAMPS,0.041418
$HUMID,1663
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.30
$XPDR_PINGS,378
$24V_AH,23.4,35.343
$10V_AH,10.6,42.281
$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,24.825,86.150,458.025,0.000,0.000,27.373,41.628,232.546,94.500,0.000,0.000,13.185,2970.683,11785.254,643.711,3195.381,584.081,0.000,2088.481,0.000,3196.845,0.000,0.466
$DEVICE_MAMPS,202.488,112.749,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1344.993,1381.046,708.620,1049.948,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136045,1904
$CAP_FILE_SIZE,156895,0
$CFSIZE,260165632,239624192
$ERRORS,0,18,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,120508,184037,6120.376,-2545.299,40,1.0,40,-18.2