version: 66.03
glider: 141
mission: 7
dive: 176
start: 5 13 108 0 9 46
data:
$ID,141
$MISSION,7
$DIVE,176
$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,290
$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,-9613.9014
$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,15
$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
$GPS1,000225,6116.233,-2553.005,23,1.1,40,-18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-55.5
$GPS2,000927,6116.167,-2553.103,10,1.6,10,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.860,-2557.971
$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,308.3,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-93.80,0.000,2,0.000,0.000,572,2005,3629
$GC,126,-1.34,-194.7,3.1,-5.4,17,150,11.15,2.62,-5.78,0.000,4,0.201,0.075,2481,617,3857
$GC,405,-1.34,-194.7,37.9,-11.0,66,411,0.00,2.55,0.00,0.000,6,0.000,0.048,2481,2040,3859
$GC,546,-1.34,-194.7,53.6,-10.3,91,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3859
$GC,889,-1.34,-194.7,91.2,-11.2,152,895,0.00,2.60,0.00,0.000,4,0.000,0.063,2481,3441,3859
$GC,941,-1.30,-194.7,97.1,-11.5,161,947,0.00,2.55,0.00,0.000,6,0.000,0.048,2481,2031,3859
$GC,1284,-1.30,-194.7,133.7,-10.7,222,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3859
$GC,1627,-1.30,-194.7,168.9,-10.4,283,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3859
$GC,1970,-1.30,-194.7,205.6,-10.6,344,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3859
$GC,2314,-1.30,-194.7,243.2,-11.0,405,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3860
$GC,2656,-1.30,-194.7,279.2,-10.2,466,2662,0.00,2.67,0.00,0.000,4,0.000,0.063,2481,3445,3860
$GC,2713,-1.30,-194.7,284.7,-9.4,476,2720,0.00,2.55,0.00,0.000,6,0.000,0.051,2481,2037,3859
$GC,3058,-1.30,-194.7,321.1,-10.6,537,3064,0.00,2.62,0.00,0.000,4,0.000,0.063,2481,620,3859
$GC,3104,-1.30,-194.7,326.3,-11.2,545,3110,0.00,2.58,0.00,0.000,6,0.000,0.048,2481,2046,3859
$GC,3440,-1.30,-194.7,363.2,-10.9,595,3445,0.00,2.65,0.00,0.000,4,0.000,0.069,2481,3439,3859
$GC,3484,-1.30,-194.7,368.3,-11.7,598,3490,0.00,2.55,0.00,0.000,6,0.000,0.051,2481,2045,3859
$GC,3810,-1.30,-194.7,403.4,-10.7,629,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3859
$GC,4127,-1.30,-194.7,436.8,-10.6,659,4132,0.00,2.65,0.00,0.000,4,0.000,0.066,2481,624,3859
$GC,4171,-1.30,-194.7,441.6,-11.0,662,4178,0.00,2.58,0.00,0.000,6,0.000,0.048,2481,2047,3859
$GC,4498,-1.30,-194.7,474.2,-9.8,693,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3859
$GC,4814,-1.30,-194.7,506.8,-10.3,723,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3859
$GC,5134,-1.30,-194.7,539.0,-10.1,753,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3859
$GC,5451,-1.30,-194.7,572.5,-10.9,783,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3859
$GC,5769,-1.30,-194.7,606.9,-10.9,810,5773,0.00,2.78,0.00,0.000,4,0.000,0.087,2481,629,3858
$GC,5817,-1.30,-194.7,612.6,-11.6,812,5822,0.00,2.62,0.00,0.000,6,0.000,0.057,2481,2054,3859
$GC,6138,-1.30,-194.7,646.6,-10.1,828,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2057,3858
$GC,6448,-1.30,-194.7,678.3,-10.7,843,6453,0.00,2.75,0.00,0.000,4,0.000,0.098,2481,3439,3858
$GC,6537,-1.30,-194.7,688.6,-11.3,847,6541,0.00,2.58,0.00,0.000,6,0.000,0.070,2481,2073,3859
$GC,6863,-1.30,-194.7,723.7,-10.7,863,6868,0.00,2.88,0.00,0.000,4,0.000,0.104,2481,620,3857
$GC,6941,-1.30,-194.7,732.2,-11.1,866,6947,0.00,2.67,0.00,0.000,6,0.000,0.063,2481,2064,3858
$GC,7256,-1.30,-194.7,764.8,-10.2,882,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2063,3858
$GC,7566,-1.30,-194.7,795.2,-9.9,897,7570,0.00,2.70,0.00,0.000,4,0.000,0.096,2481,3448,3858
$GC,7604,-1.30,-194.7,799.4,-11.4,899,7609,0.00,2.60,0.00,0.000,6,0.000,0.066,2481,2055,3857
$GC,7931,-1.30,-194.7,830.1,-8.5,915,7935,0.00,2.83,0.00,0.000,4,0.000,0.097,2481,620,3857
$GC,7969,-1.30,-194.7,833.6,-9.2,917,7974,0.00,2.65,0.00,0.000,6,0.000,0.058,2481,2063,3857
$GC,8296,-1.30,-194.7,863.1,-9.4,933,8300,0.00,2.72,0.00,0.000,4,0.000,0.097,2481,3442,3857
$GC,8338,-1.30,-194.7,867.7,-10.2,935,8343,0.00,2.60,0.00,0.000,6,0.000,0.064,2481,2050,3857
$GC,8666,-1.30,-194.7,899.4,-9.7,951,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3856
$GC,8975,-1.30,-194.7,929.4,-9.6,966,8980,0.00,2.80,0.00,0.000,4,0.000,0.095,2481,612,3856
$GC,9014,-1.30,-194.7,933.2,-9.7,968,9019,0.00,2.67,0.00,0.000,6,0.000,0.061,2481,2070,3856
$GC,9340,-1.30,-194.7,962.3,-8.7,984,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2070,3855
$STATE,9647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9647,begin apogee
$GC,9653,-0.37,0.0,990.5,9.8,999,9829,1.00,0.00,169.23,1.294,6,0.100,0.000,2694,1974,3062
$STATE,9830,end apogee,CONTROL_FINISHED_OK
$STATE,9830,begin climb
$GC,9832,1.34,194.7,995.4,0.0,1008,10010,1.73,0.00,168.85,1.266,6,0.074,0.000,3069,1973,2268
$GC,10320,1.29,194.7,946.3,11.7,1032,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1973,2262
$GC,10628,1.23,194.7,912.0,11.2,1047,10632,0.00,2.78,0.00,0.000,4,0.000,0.080,3069,3394,2261
$GC,10654,1.18,194.7,908.8,11.6,1048,10659,0.15,2.62,0.00,0.000,6,0.107,0.057,3039,1983,2261
$GC,10975,1.18,198.3,877.1,9.9,1064,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1981,2260
$GC,11284,1.20,209.1,847.0,9.6,1079,11303,0.00,0.00,13.20,1.106,6,0.000,0.000,3040,1981,2208
$GC,11612,1.25,250.2,817.3,8.6,1095,11657,0.00,2.85,38.42,1.167,4,0.000,0.071,3039,3396,2040
$GC,11669,1.31,301.6,812.2,8.2,1097,11725,0.10,2.65,47.83,1.151,6,0.073,0.058,3068,1990,1832
$GC,12047,1.31,301.6,770.8,10.5,1116,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1989,1825
$GC,12355,1.31,301.6,734.7,11.7,1131,12359,0.00,2.72,0.00,0.000,4,0.000,0.071,3068,3400,1823
$GC,12381,1.31,301.6,731.3,12.0,1132,12385,0.00,2.62,0.00,0.000,6,0.000,0.055,3068,1998,1822
$GC,12703,1.31,301.6,693.8,11.6,1148,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1822
$GC,13011,1.31,301.6,659.2,11.3,1163,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1995,1821
$GC,13321,1.31,301.6,622.4,11.8,1178,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1994,1821
$GC,13633,1.31,301.6,585.8,11.6,1198,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1994,1821
$GC,13951,1.31,301.6,549.8,11.3,1228,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1994,1821
$GC,14272,1.31,301.6,513.1,12.0,1258,14276,0.00,2.67,0.00,0.000,4,0.000,0.068,3068,3395,1821
$GC,14305,1.31,301.6,508.8,12.1,1260,14312,0.00,2.60,0.00,0.000,6,0.000,0.055,3068,1987,1820
$GC,14631,1.31,301.6,469.5,12.6,1291,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1987,1820
$GC,14949,1.31,301.6,429.0,12.8,1321,14953,0.00,2.70,0.00,0.000,4,0.000,0.065,3068,3399,1821
$GC,14987,1.31,301.6,423.8,13.9,1324,14992,0.00,2.58,0.00,0.000,6,0.000,0.053,3068,2003,1820
$GC,15311,1.31,301.6,382.5,12.8,1354,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2001,1820
$GC,15633,1.31,301.6,343.6,11.5,1388,15640,0.00,2.65,0.00,0.000,4,0.000,0.064,3068,3400,1820
$GC,15668,1.31,301.6,339.2,13.0,1394,15674,0.00,2.55,0.00,0.000,6,0.000,0.051,3068,2013,1820
$GC,16011,1.31,301.6,299.8,10.5,1455,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2010,1820
$GC,16353,1.32,312.4,264.1,9.6,1516,16364,0.00,0.00,8.75,0.751,6,0.000,0.000,3068,2010,1788
$GC,16701,1.32,312.4,228.8,10.9,1578,16707,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2010,1787
$GC,17043,1.32,312.4,192.9,10.9,1639,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2010,1787
$GC,17386,1.32,312.4,153.9,12.3,1700,17393,0.00,2.62,0.00,0.000,4,0.000,0.061,3068,3400,1787
$GC,17409,1.32,312.4,151.0,12.0,1704,17416,0.00,2.53,0.00,0.000,6,0.000,0.051,3068,2020,1787
$GC,17753,1.32,312.4,111.7,12.4,1765,17759,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2020,1787
$GC,18095,1.32,312.4,72.4,11.4,1826,18102,0.00,2.70,0.00,0.000,4,0.000,0.068,3068,574,1787
$GC,18113,1.32,312.4,70.2,10.3,1829,18120,0.00,2.62,0.00,0.000,6,0.000,0.048,3068,2027,1787
$GC,18457,1.32,312.4,31.6,12.1,1890,18463,0.00,2.53,0.00,0.000,4,0.000,0.064,3068,3390,1787
$GC,18509,1.32,312.4,25.5,12.5,1899,18515,0.00,2.47,0.00,0.000,6,0.000,0.057,3068,2028,1786
$GC,18651,1.32,312.4,9.1,10.5,1924,18657,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2026,1787
$STATE,18706,end climb,SURFACE_DEPTH_REACHED
$STATE,18706,begin surface coast
$FINISH,0.3,1.012312
$STATE,18730,end surface coast,CONTROL_FINISHED_OK
$STATE,18730,begin surface
$SM_CCo,18809,0.00,0.000,0,0,1784,313.49
$SM_GC,1.03,10.48,0.00,0.00,0.037,0.000,0.000,571,2025,1784,-10.07,-0.14,313.49
$IRIDIUM_FIX,6054.92,-2547.83,060897,181824
$TT8_MAMPS,0.041418
$HUMID,1675
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,15.50
$XPDR_PINGS,418
$24V_AH,23.4,35.716
$10V_AH,10.6,42.559
$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,24.600,116.700,446.275,0.000,0.000,30.709,38.629,227.811,104.500,0.000,0.000,12.235,3041.224,11669.325,631.832,3282.923,590.885,0.000,2123.351,0.000,3285.614,0.000,0.465
$DEVICE_MAMPS,200.954,104.312,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1367.941,1400.205,729.554,1082.861,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136057,1938
$CAP_FILE_SIZE,163919,0
$CFSIZE,260165632,239443968
$ERRORS,0,38,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,052432,6115.123,-2601.030,42,1.1,42,-18.3