version: 66.03
glider: 141
mission: 7
dive: 183
start: 5 14 108 14 27 8
data:
$ID,141
$MISSION,7
$DIVE,183
$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,-9749.0195
$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,16
$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
$GPS1,141957,6104.270,-2616.913,22,2.3,41,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.1
$GPS2,142650,6104.245,-2617.012,10,1.5,15,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6054.893,-2614.387
$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,168.3,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-92.78,0.000,2,0.000,0.000,570,2044,3738
$GC,125,-1.34,-194.7,3.6,-7.1,17,145,11.15,2.70,-2.70,0.000,4,0.200,0.069,2481,622,3859
$GC,309,-1.34,-194.7,32.4,-13.4,49,315,0.00,2.55,0.00,0.000,6,0.000,0.044,2481,2040,3860
$GC,451,-1.34,-194.7,50.0,-12.2,74,457,0.00,2.62,0.00,0.000,4,0.000,0.064,2481,619,3861
$GC,485,-1.34,-194.7,54.1,-12.4,80,491,0.00,2.50,0.00,0.000,6,0.000,0.050,2481,2019,3861
$GC,829,-1.34,-194.7,92.3,-11.2,141,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3861
$GC,1172,-1.34,-194.7,130.7,-10.9,202,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3861
$GC,1515,-1.34,-194.7,168.2,-10.5,263,1521,0.00,2.62,0.00,0.000,4,0.000,0.062,2481,3435,3861
$GC,1544,-1.34,-194.7,171.5,-11.9,268,1551,0.00,2.55,0.00,0.000,6,0.000,0.049,2481,2011,3861
$GC,1889,-1.34,-194.7,207.5,-10.0,329,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2005,3860
$GC,2231,-1.34,-194.7,243.9,-10.8,390,2237,0.00,2.67,0.00,0.000,4,0.000,0.060,2481,3443,3861
$GC,2248,-1.34,-194.7,245.8,-11.0,393,2254,0.00,2.55,0.00,0.000,6,0.000,0.045,2481,2022,3861
$GC,2592,-1.34,-194.7,280.9,-10.1,454,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3861
$GC,2934,-1.34,-194.7,314.9,-10.1,515,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2015,3861
$GC,3276,-1.34,-194.7,349.5,-10.0,576,3282,0.00,2.65,0.00,0.000,4,0.000,0.065,2481,3434,3860
$GC,3316,-1.34,-194.7,353.8,-10.9,580,3322,0.00,2.53,0.00,0.000,6,0.000,0.046,2481,2026,3860
$GC,3641,-1.34,-194.7,385.8,-9.9,611,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3861
$GC,3959,-1.34,-194.7,418.5,-10.3,641,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3860
$GC,4277,-1.34,-194.7,451.1,-10.0,671,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3860
$GC,4597,-1.34,-194.7,483.3,-10.2,701,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2021,3860
$GC,4914,-1.34,-194.7,515.7,-10.2,731,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3861
$GC,5233,-1.34,-194.7,549.8,-11.5,761,5237,0.00,2.70,0.00,0.000,4,0.000,0.074,2481,3435,3860
$GC,5249,-1.34,-194.7,551.7,-11.4,762,5253,0.00,2.55,0.00,0.000,6,0.000,0.052,2481,2041,3860
$GC,5576,-1.34,-194.7,588.1,-11.3,792,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3860
$GC,5885,-1.34,-194.7,624.3,-11.2,812,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2040,3860
$GC,6194,-1.34,-194.7,658.8,-11.1,827,6198,0.00,2.72,0.00,0.000,4,0.000,0.086,2481,3431,3860
$GC,6214,-1.34,-194.7,661.2,-12.1,828,6219,0.00,2.62,0.00,0.000,6,0.000,0.062,2481,2043,3860
$GC,6541,-1.34,-194.7,695.2,-10.1,844,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3860
$GC,6850,-1.34,-194.7,727.8,-10.7,859,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3860
$GC,7159,-1.34,-194.7,762.1,-11.9,874,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3860
$GC,7470,-1.34,-194.7,798.9,-11.9,889,7474,0.00,2.72,0.00,0.000,4,0.000,0.085,2481,3430,3860
$GC,7508,-1.34,-194.7,803.7,-12.9,891,7512,0.00,2.60,0.00,0.000,6,0.000,0.064,2481,2043,3859
$GC,7833,-1.34,-194.7,840.6,-10.7,907,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3859
$GC,8143,-1.34,-194.7,872.2,-10.3,922,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3859
$GC,8452,-1.34,-194.7,901.8,-9.3,937,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3859
$GC,8761,-1.34,-194.7,928.4,-8.3,952,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2039,3858
$GC,9071,-1.34,-194.7,953.5,-8.4,967,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3858
$GC,9380,-1.34,-194.7,981.5,-9.3,982,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3857
$STATE,9481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9481,begin apogee
$GC,9486,-0.37,0.0,991.1,9.3,987,9663,1.02,0.00,169.45,1.297,6,0.102,0.000,2697,1982,3061
$STATE,9664,end apogee,CONTROL_FINISHED_OK
$STATE,9664,begin climb
$GC,9666,1.34,194.7,995.0,0.0,996,9839,1.67,0.00,167.90,1.267,6,0.076,0.000,3066,1981,2268
$GC,10137,1.29,194.7,951.6,10.5,1019,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1981,2262
$GC,10447,1.24,194.7,919.4,10.6,1034,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1981,2261
$GC,10756,1.19,194.7,886.0,10.3,1049,10758,0.12,0.00,0.00,0.000,6,0.110,0.000,3041,1981,2260
$GC,11065,1.27,254.7,860.6,7.9,1064,11125,0.00,0.00,54.22,1.203,6,0.000,0.000,3042,1981,2022
$GC,11435,1.29,272.7,827.3,9.4,1082,11455,0.00,0.00,16.88,1.118,6,0.000,0.000,3042,1981,1950
$GC,11764,1.31,294.1,797.0,9.3,1098,11806,0.10,2.75,24.70,0.973,4,0.072,0.069,3071,3394,1863
$GC,11833,1.31,294.1,789.0,12.2,1101,11838,0.00,2.62,0.00,0.000,6,0.000,0.054,3071,1983,1861
$GC,12154,1.31,294.1,750.9,11.9,1117,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1981,1859
$GC,12463,1.31,294.1,715.0,11.1,1132,12467,0.00,2.67,0.00,0.000,4,0.000,0.069,3071,3391,1858
$GC,12512,1.31,294.1,709.1,11.6,1134,12516,0.00,2.58,0.00,0.000,6,0.000,0.053,3071,1989,1858
$GC,12833,1.31,294.1,674.0,11.0,1150,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1989,1858
$GC,13142,1.31,294.1,636.6,12.1,1165,13146,0.00,2.67,0.00,0.000,4,0.000,0.069,3071,3392,1857
$GC,13181,1.31,294.1,631.8,13.2,1167,13185,0.00,2.58,0.00,0.000,6,0.000,0.053,3071,1994,1857
$GC,13498,1.31,294.1,593.9,12.5,1184,13503,0.00,2.72,0.00,0.000,4,0.000,0.082,3071,570,1857
$GC,13537,1.31,294.1,588.7,13.2,1187,13542,0.00,2.60,0.00,0.000,6,0.000,0.050,3071,2000,1857
$GC,13862,1.31,294.1,549.2,12.1,1217,13866,0.00,2.62,0.00,0.000,4,0.000,0.072,3071,3392,1857
$GC,13934,1.31,294.1,539.9,12.8,1223,13938,0.00,2.55,0.00,0.000,6,0.000,0.052,3071,1999,1856
$GC,14258,1.31,294.1,501.2,11.8,1253,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1997,1856
$GC,14576,1.31,294.1,462.2,12.6,1283,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1997,1857
$GC,14896,1.31,294.1,422.6,12.2,1313,14900,0.00,2.62,0.00,0.000,4,0.000,0.064,3071,3394,1857
$GC,14958,1.31,294.1,414.7,13.2,1318,14962,0.00,2.53,0.00,0.000,6,0.000,0.050,3071,2010,1856
$GC,15282,1.31,294.1,376.6,11.7,1348,15283,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2006,1857
$GC,15605,1.31,294.1,339.1,11.5,1386,15611,0.00,2.60,0.00,0.000,4,0.000,0.061,3071,3399,1857
$GC,15646,1.31,294.1,334.1,12.1,1393,15652,0.00,2.53,0.00,0.000,6,0.000,0.048,3071,2011,1857
$GC,15989,1.31,294.1,294.7,11.0,1454,15994,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2006,1857
$GC,16331,1.31,294.1,256.1,11.3,1515,16337,0.00,2.58,0.00,0.000,4,0.000,0.060,3071,3394,1857
$GC,16376,1.31,294.1,250.7,11.8,1523,16382,0.00,2.50,0.00,0.000,6,0.000,0.048,3071,2013,1856
$GC,16719,1.31,294.1,211.6,10.8,1584,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2010,1857
$GC,17063,1.31,294.1,171.8,11.9,1645,17069,0.00,2.58,0.00,0.000,4,0.000,0.059,3071,3399,1857
$GC,17109,1.31,294.1,166.1,12.6,1653,17115,0.00,2.50,0.00,0.000,6,0.000,0.048,3071,2018,1857
$GC,17451,1.31,294.1,125.5,11.4,1714,17458,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2016,1857
$GC,17796,1.31,294.1,83.9,12.7,1775,17801,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2016,1857
$GC,18138,1.32,301.4,42.9,9.7,1836,18151,0.00,2.58,7.43,0.617,4,0.000,0.058,3071,3398,1832
$GC,18197,1.33,302.9,36.7,9.9,1846,18204,0.00,2.47,0.00,0.000,6,0.000,0.052,3071,2035,1831
$GC,18339,1.33,302.9,22.4,10.2,1871,18345,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2034,1831
$GC,18480,1.33,302.9,7.6,11.0,1896,18486,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2034,1830
$STATE,18524,end climb,SURFACE_DEPTH_REACHED
$STATE,18524,begin surface coast
$FINISH,0.3,1.014579
$STATE,18549,end surface coast,CONTROL_FINISHED_OK
$STATE,18549,begin surface
$SM_CCo,18628,0.00,0.000,0,0,1829,302.45
$SM_GC,0.91,10.55,0.00,0.00,0.039,0.000,0.000,569,2031,1829,-10.08,0.03,302.45
$IRIDIUM_FIX,2646.31,-5043.35,080897,090900
$TT8_MAMPS,0.041418
$HUMID,1662
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,427
$24V_AH,23.4,36.986
$10V_AH,10.6,43.553
$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,24.625,93.850,440.575,0.000,0.000,27.897,32.252,222.296,106.750,0.000,0.000,16.639,2980.562,11679.625,605.076,3185.099,573.573,0.000,2052.611,0.000,3183.706,0.000,0.465
$DEVICE_MAMPS,200.187,85.904,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1347.346,1382.283,708.288,1052.867,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135970,1908
$CAP_FILE_SIZE,157974,0
$CFSIZE,260165632,238800896
$ERRORS,0,23,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140508,193838,6100.458,-2616.321,27,1.9,27,-18.3