version: 66.03
glider: 141
mission: 7
dive: 182
start: 5 14 108 9 6 9
data:
$ID,141
$MISSION,7
$DIVE,182
$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,150
$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,-9731.751
$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,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
$GPS1,085755,6106.986,-2618.766,39,1.4,39,-18.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-54.1
$GPS2,090551,6107.011,-2618.811,11,1.3,11,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.658,-2616.190
$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,168.4,20000,-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,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.00,0.000,2,0.000,0.000,569,2043,3738
$GC,124,-1.34,-194.7,3.4,-6.5,17,144,11.18,2.72,-2.75,0.000,4,0.200,0.068,2483,620,3857
$GC,330,-1.34,-194.7,31.8,-11.2,53,336,0.00,2.53,0.00,0.000,6,0.000,0.043,2483,2023,3859
$GC,471,-1.34,-194.7,48.0,-12.2,78,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,613,-1.34,-194.7,64.1,-11.4,103,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3859
$GC,955,-1.34,-194.7,103.3,-11.6,164,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,1299,-1.34,-194.7,144.2,-12.1,225,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,1641,-1.34,-194.7,184.8,-11.8,286,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3860
$GC,1984,-1.34,-194.7,224.4,-11.2,347,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,2328,-1.34,-194.7,261.2,-10.4,408,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3860
$GC,2671,-1.34,-194.7,298.8,-11.0,469,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,3014,-1.34,-194.7,337.2,-11.3,530,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2025,3859
$GC,3344,-1.34,-194.7,373.0,-10.8,571,3348,0.00,2.65,0.00,0.000,4,0.000,0.066,2483,3432,3859
$GC,3371,-1.34,-194.7,376.0,-11.5,573,3376,0.00,2.53,0.00,0.000,6,0.000,0.046,2482,2032,3859
$GC,3702,-1.34,-194.7,411.0,-10.4,604,3707,0.00,2.65,0.00,0.000,4,0.000,0.064,2482,3435,3859
$GC,3730,-1.34,-194.7,414.1,-11.6,606,3734,0.00,2.53,0.00,0.000,6,0.000,0.048,2483,2041,3859
$GC,4055,-1.34,-194.7,448.6,-10.8,636,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2040,3859
$GC,4373,-1.34,-194.7,483.0,-10.9,666,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2040,3859
$GC,4692,-1.34,-194.7,517.3,-10.4,696,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3859
$GC,5010,-1.34,-194.7,551.5,-11.0,726,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3859
$GC,5328,-1.34,-194.7,585.0,-10.1,756,5332,0.00,2.70,0.00,0.000,4,0.000,0.077,2483,3433,3859
$GC,5383,-1.34,-194.7,591.0,-11.1,760,5389,0.00,2.55,0.00,0.000,6,0.000,0.054,2483,2041,3859
$GC,5700,-1.34,-194.7,623.2,-10.2,780,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2040,3858
$GC,6009,-1.34,-194.7,655.9,-10.8,795,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3859
$GC,6319,-1.34,-194.7,689.1,-10.4,810,6323,0.00,2.78,0.00,0.000,4,0.000,0.091,2483,3434,3858
$GC,6339,-1.34,-194.7,691.4,-10.9,811,6344,0.00,2.62,0.00,0.000,6,0.000,0.065,2482,2038,3858
$GC,6666,-1.34,-194.7,724.3,-10.0,827,6670,0.00,2.75,0.00,0.000,4,0.000,0.087,2483,3430,3858
$GC,6692,-1.34,-194.7,727.1,-10.8,828,6697,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2031,3858
$GC,7008,-1.34,-194.7,758.9,-10.8,843,7012,0.00,2.72,0.00,0.000,4,0.000,0.082,2483,3434,3858
$GC,7050,-1.34,-194.7,763.9,-11.4,845,7055,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2048,3858
$GC,7378,-1.34,-194.7,796.7,-9.8,861,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2046,3858
$GC,7686,-1.34,-194.7,828.3,-10.1,876,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2045,3857
$GC,7996,-1.34,-194.7,858.6,-9.7,891,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2045,3857
$GC,8305,-1.34,-194.7,889.8,-10.3,906,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2044,3857
$GC,8614,-1.34,-194.7,920.6,-10.0,921,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2043,3856
$GC,8925,-1.34,-194.7,949.6,-8.9,936,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3855
$GC,9234,-1.34,-194.7,978.2,-9.2,951,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2042,3855
$STATE,9375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9375,begin apogee
$GC,9380,-0.37,0.0,991.3,9.1,958,9553,1.00,0.00,169.27,1.300,6,0.102,0.000,2694,1975,3062
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9556,1.34,194.7,995.0,0.0,966,9729,1.67,0.00,168.82,1.266,6,0.075,0.000,3068,1974,2268
$GC,10031,1.29,194.7,946.9,11.5,990,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1972,2262
$GC,10341,1.23,194.7,911.3,11.6,1005,10345,0.00,2.70,0.00,0.000,4,0.000,0.071,3068,3386,2261
$GC,10396,1.17,194.7,904.6,12.0,1007,10403,0.15,2.60,0.00,0.000,6,0.108,0.053,3039,1978,2260
$GC,10711,1.19,203.3,873.7,9.7,1023,10725,0.00,2.80,7.85,1.014,4,0.000,0.088,3038,578,2233
$GC,10771,1.19,203.3,867.7,10.4,1025,10777,0.00,2.58,0.00,0.000,6,0.000,0.052,3038,1979,2232
$GC,11087,1.22,233.6,838.1,8.9,1041,11121,0.00,2.78,28.83,1.167,4,0.000,0.080,3038,3391,2108
$GC,11155,1.22,234.2,831.6,10.0,1044,11159,0.00,2.60,0.00,0.000,6,0.000,0.052,3038,1978,2106
$GC,11482,1.24,249.1,801.7,9.5,1060,11506,0.00,0.00,16.85,0.995,6,0.000,0.000,3038,1975,2046
$GC,11834,1.28,282.5,768.8,8.8,1077,11868,0.00,0.00,31.77,1.132,6,0.000,0.000,3039,1975,1910
$GC,12163,1.29,290.9,737.6,9.7,1093,12174,0.10,0.00,8.82,0.981,6,0.070,0.000,3068,1975,1876
$GC,12473,1.29,290.9,702.9,11.1,1108,12477,0.00,2.67,0.00,0.000,4,0.000,0.069,3067,3391,1873
$GC,12544,1.29,290.9,694.1,11.5,1111,12548,0.00,2.58,0.00,0.000,6,0.000,0.053,3067,1986,1873
$GC,12865,1.29,290.9,657.1,11.5,1127,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1985,1873
$GC,13174,1.29,290.9,620.6,11.7,1142,13178,0.00,2.70,0.00,0.000,4,0.000,0.069,3068,3402,1872
$GC,13222,1.29,290.9,614.4,12.1,1144,13227,0.00,2.60,0.00,0.000,6,0.000,0.054,3068,1991,1872
$GC,13550,1.29,290.9,577.6,11.0,1169,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1989,1872
$GC,13868,1.29,290.9,541.8,11.1,1199,13872,0.00,2.65,0.00,0.000,4,0.000,0.069,3068,3392,1872
$GC,13911,1.29,290.9,536.6,11.2,1202,13918,0.00,2.55,0.00,0.000,6,0.000,0.053,3067,1998,1872
$GC,14238,1.29,290.9,500.5,11.0,1233,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1994,1872
$GC,14555,1.29,290.9,465.8,11.0,1263,14559,0.00,2.62,0.00,0.000,4,0.000,0.065,3068,3402,1872
$GC,14627,1.29,290.9,457.2,11.4,1269,14631,0.00,2.53,0.00,0.000,6,0.000,0.051,3068,2011,1871
$GC,14951,1.29,290.9,419.8,11.7,1299,14952,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2008,1871
$GC,15271,1.29,290.9,383.1,11.3,1329,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2008,1872
$GC,15592,1.29,290.9,347.2,10.6,1361,15598,0.00,2.60,0.00,0.000,4,0.000,0.061,3067,3397,1872
$GC,15654,1.29,290.9,340.1,10.8,1372,15660,0.00,2.50,0.00,0.000,6,0.000,0.049,3068,2020,1872
$GC,15999,1.29,290.9,302.4,10.4,1433,16004,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2017,1872
$GC,16341,1.29,290.9,263.0,11.4,1494,16347,0.00,2.60,0.00,0.000,4,0.000,0.060,3068,3401,1872
$GC,16387,1.29,290.9,257.5,11.7,1502,16393,0.00,2.50,0.00,0.000,6,0.000,0.048,3068,2027,1872
$GC,16730,1.29,290.9,216.8,11.8,1563,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2024,1872
$GC,17072,1.29,290.9,176.2,12.5,1624,17079,0.00,2.55,0.00,0.000,4,0.000,0.064,3067,3396,1872
$GC,17113,1.29,290.9,170.9,13.2,1631,17119,0.00,2.45,0.00,0.000,6,0.000,0.047,3068,2040,1872
$GC,17456,1.29,290.9,129.6,11.4,1692,17462,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2038,1872
$GC,17800,1.30,295.3,92.0,9.8,1753,17812,0.00,2.55,5.15,0.575,4,0.000,0.064,3068,3399,1857
$GC,17851,1.30,295.3,86.2,11.0,1762,17858,0.00,2.47,0.00,0.000,6,0.000,0.048,3068,2052,1856
$GC,18195,1.30,295.3,50.5,11.2,1823,18200,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2051,1856
$GC,18538,1.30,295.3,13.4,11.3,1884,18544,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2049,1856
$STATE,18638,end climb,SURFACE_DEPTH_REACHED
$STATE,18638,begin surface coast
$FINISH,0.2,1.026734
$STATE,18673,end surface coast,CONTROL_FINISHED_OK
$STATE,18673,begin surface
$SM_CCo,18751,0.00,0.000,0,0,1854,296.32
$SM_GC,0.93,10.57,0.00,0.00,0.041,0.000,0.000,570,2049,1854,-10.08,0.54,296.32
$IRIDIUM_FIX,6041.65,-2612.01,080897,030311
$TT8_MAMPS,0.041418
$HUMID,1662
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,421
$24V_AH,23.4,36.804
$10V_AH,10.6,43.415
$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,24.675,94.250,437.375,0.000,0.000,27.664,46.017,272.767,105.250,0.000,0.000,13.124,2990.324,11746.517,604.238,3225.050,643.764,0.000,2056.756,0.000,3228.512,0.000,0.465
$DEVICE_MAMPS,200.187,91.273,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1338.864,1386.802,718.287,1064.985,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135756,1908
$CAP_FILE_SIZE,159667,0
$CFSIZE,260165632,238886912
$ERRORS,0,35,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140508,141957,6104.270,-2616.913,22,2.3,41,-18.3