version: 66.03
glider: 141
mission: 7
dive: 192
start: 5 16 108 14 42 4
data:
$ID,141
$MISSION,7
$DIVE,192
$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,355
$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,-9890.1025
$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,21
$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
$GPS1,143438,6123.449,-2628.405,35,1.0,35,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-59.0
$GPS2,144144,6123.563,-2628.566,10,1.8,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6134.321,-2629.014
$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,13.6,20000,-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,26,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-99.20,0.000,2,0.000,0.000,569,2017,3738
$GC,130,-1.34,-194.7,3.5,-7.1,18,150,11.25,2.78,-2.72,0.000,4,0.201,0.071,2482,3452,3857
$GC,403,-1.30,-194.7,40.5,-11.0,66,410,0.00,2.58,0.00,0.000,6,0.000,0.048,2482,2030,3859
$GC,545,-1.30,-194.7,55.3,-10.4,91,551,0.00,2.67,0.00,0.000,4,0.000,0.067,2482,3451,3859
$GC,619,-1.30,-194.7,63.6,-11.3,104,626,0.00,2.60,0.00,0.000,6,0.000,0.053,2482,2019,3859
$GC,964,-1.30,-194.7,101.8,-11.4,165,970,0.00,2.62,0.00,0.000,4,0.000,0.064,2482,621,3859
$GC,1026,-1.30,-194.7,109.3,-11.7,176,1033,0.00,2.58,0.00,0.000,6,0.000,0.048,2482,2038,3859
$GC,1372,-1.30,-194.7,148.2,-10.5,237,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3859
$GC,1714,-1.30,-194.7,187.4,-11.4,298,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3859
$GC,2056,-1.30,-194.7,225.6,-10.4,359,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3859
$GC,2397,-1.30,-194.7,261.4,-10.6,420,2404,0.00,2.62,0.00,0.000,4,0.000,0.070,2482,3439,3859
$GC,2460,-1.30,-194.7,268.3,-11.2,431,2466,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2028,3860
$GC,2803,-1.30,-194.7,305.4,-10.7,492,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3859
$GC,3146,-1.30,-194.7,344.9,-12.3,553,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3859
$GC,3479,-1.30,-194.7,384.9,-11.9,588,3483,0.00,2.62,0.00,0.000,4,0.000,0.066,2482,616,3859
$GC,3522,-1.30,-194.7,390.4,-12.2,591,3528,0.00,2.55,0.00,0.000,6,0.000,0.048,2482,2035,3859
$GC,3848,-1.30,-194.7,430.2,-12.6,622,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3859
$GC,4165,-1.30,-194.7,468.0,-11.5,652,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3859
$GC,4484,-1.30,-194.7,500.7,-9.8,682,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3859
$GC,4803,-1.30,-194.7,532.9,-10.2,712,4807,0.00,2.70,0.00,0.000,4,0.000,0.082,2482,3435,3859
$GC,4866,-1.30,-194.7,539.8,-11.4,717,4870,0.00,2.58,0.00,0.000,6,0.000,0.057,2482,2034,3859
$GC,5192,-1.30,-194.7,576.0,-10.5,747,5196,0.00,2.72,0.00,0.000,4,0.000,0.089,2482,622,3859
$GC,5257,-1.30,-194.7,583.2,-10.5,752,5265,0.00,2.58,0.00,0.000,6,0.000,0.062,2482,2023,3859
$GC,5579,-1.30,-194.7,610.4,-7.9,777,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3859
$GC,5888,-1.30,-194.7,645.5,-14.7,792,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2025,3859
$GC,6197,-1.30,-194.7,697.3,-16.3,807,6201,0.00,2.83,0.00,0.000,4,0.000,0.104,2482,3438,3858
$GC,6251,-1.30,-194.7,705.3,-14.0,809,6258,0.00,2.70,0.00,0.000,6,0.000,0.074,2482,2021,3858
$GC,6568,-1.30,-194.7,735.5,-7.9,825,6572,0.00,2.80,0.00,0.000,4,0.000,0.105,2482,612,3857
$GC,6661,-1.30,-194.7,743.7,-8.6,829,6666,0.00,2.60,0.00,0.000,6,0.000,0.064,2482,2023,3857
$GC,6977,-1.30,-194.7,768.1,-7.8,844,6982,0.00,2.78,0.00,0.000,4,0.000,0.100,2482,3438,3857
$GC,7061,-1.30,-194.7,775.6,-9.7,848,7066,0.00,2.65,0.00,0.000,6,0.000,0.067,2482,2022,3857
$GC,7387,-1.30,-194.7,808.0,-10.1,864,7392,0.00,2.75,0.00,0.000,4,0.000,0.101,2482,619,3857
$GC,7476,-1.30,-194.7,818.6,-11.8,868,7481,0.00,2.60,0.00,0.000,6,0.000,0.063,2482,2031,3857
$GC,7797,-1.30,-194.7,855.4,-11.2,884,7801,0.00,2.75,0.00,0.000,4,0.000,0.100,2482,3444,3856
$GC,7851,-1.30,-194.7,861.3,-10.6,886,7858,0.00,2.62,0.00,0.000,6,0.000,0.065,2482,2026,3856
$GC,8167,-1.30,-194.7,892.8,-9.9,902,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3856
$GC,8476,-1.30,-194.7,928.6,-12.4,917,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2024,3856
$GC,8788,-1.30,-194.7,967.5,-12.1,932,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3855
$STATE,9051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9051,begin apogee
$GC,9057,-0.37,0.0,990.2,6.7,945,9234,1.02,0.00,169.82,1.302,6,0.104,0.000,2698,1978,3062
$STATE,9235,end apogee,CONTROL_FINISHED_OK
$STATE,9235,begin climb
$GC,9237,1.34,194.7,988.4,0.0,954,9415,1.67,2.85,167.75,1.268,4,0.076,0.076,3066,3398,2267
$GC,9438,1.29,194.7,964.6,14.8,963,9443,0.00,2.70,0.00,0.000,6,0.000,0.060,3066,1975,2265
$GC,9764,1.23,194.7,916.3,12.7,979,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1973,2262
$GC,10074,1.18,194.7,880.3,11.7,994,10076,0.15,0.00,0.00,0.000,6,0.108,0.000,3037,1973,2261
$GC,10384,1.18,199.7,848.9,9.8,1009,10394,0.00,2.78,5.00,0.859,4,0.000,0.074,3037,3403,2247
$GC,10432,1.18,199.7,843.4,11.5,1011,10436,0.00,2.67,0.00,0.000,6,0.000,0.059,3037,1985,2246
$GC,10754,1.25,256.8,815.3,8.0,1027,10816,0.00,2.83,52.67,1.183,4,0.000,0.071,3037,3389,2013
$GC,10861,1.25,256.8,806.5,10.9,1032,10865,0.00,2.62,0.00,0.000,6,0.000,0.058,3037,2003,2010
$GC,11186,1.29,287.9,777.2,8.9,1048,11218,0.10,0.00,28.75,1.137,6,0.072,0.000,3066,2003,1888
$GC,11516,1.29,287.9,733.6,13.8,1064,11520,0.00,2.72,0.00,0.000,4,0.000,0.074,3066,3400,1883
$GC,11571,1.29,287.9,725.0,15.4,1066,11577,0.00,2.58,0.00,0.000,6,0.000,0.058,3066,2024,1883
$GC,11887,1.29,287.9,684.4,10.4,1082,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2023,1882
$GC,12196,1.29,287.9,653.6,10.7,1097,12200,0.00,2.67,0.00,0.000,4,0.000,0.073,3066,3395,1881
$GC,12234,1.29,287.9,649.0,12.2,1099,12239,0.00,2.60,0.00,0.000,6,0.000,0.059,3066,2013,1881
$GC,12561,1.29,287.9,609.3,12.5,1115,12565,0.00,2.65,0.00,0.000,4,0.000,0.073,3066,3395,1881
$GC,12587,1.29,287.9,605.6,13.7,1116,12591,0.00,2.55,0.00,0.000,6,0.000,0.058,3066,2027,1881
$GC,12918,1.29,287.9,563.0,13.5,1145,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2025,1881
$GC,13235,1.29,287.9,520.6,12.9,1175,13239,0.00,2.62,0.00,0.000,4,0.000,0.071,3066,3398,1880
$GC,13274,1.29,287.9,515.5,13.0,1178,13278,0.00,2.53,0.00,0.000,6,0.000,0.057,3066,2030,1880
$GC,13597,1.29,287.9,478.6,10.7,1208,13602,0.00,2.62,0.00,0.000,4,0.000,0.071,3066,3405,1880
$GC,13619,1.29,287.9,476.2,10.6,1209,13625,0.00,2.50,0.00,0.000,6,0.000,0.055,3066,2047,1880
$GC,13947,1.29,288.6,442.4,10.0,1240,13951,0.00,2.55,0.00,0.000,4,0.000,0.070,3066,3397,1880
$GC,13975,1.29,288.6,439.1,10.8,1242,13979,0.00,2.45,0.00,0.000,6,0.000,0.053,3066,2058,1880
$GC,14302,1.33,323.2,408.0,8.8,1272,14339,0.00,0.00,31.38,0.933,6,0.000,0.000,3066,2058,1743
$GC,14657,1.33,323.2,369.9,11.9,1306,14662,0.00,2.55,0.00,0.000,4,0.000,0.066,3066,3402,1739
$GC,14674,1.33,323.2,367.8,12.4,1307,14678,0.00,2.47,0.00,0.000,6,0.000,0.052,3066,2058,1738
$GC,15007,1.33,323.2,326.7,12.0,1353,15013,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2056,1738
$GC,15350,1.33,323.2,283.9,12.6,1414,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2056,1738
$GC,15692,1.33,323.2,243.2,11.1,1475,15697,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2056,1738
$GC,16034,1.33,323.2,203.8,11.4,1536,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2056,1738
$GC,16377,1.33,323.2,167.2,10.0,1597,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2056,1738
$GC,16719,1.33,323.2,129.9,10.4,1658,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2056,1738
$GC,17063,1.33,323.2,88.0,13.6,1719,17069,0.00,2.80,0.00,0.000,4,0.000,0.069,3066,574,1738
$GC,17080,1.33,323.2,85.7,13.4,1722,17087,0.00,2.72,0.00,0.000,6,0.000,0.049,3067,2074,1738
$GC,17424,1.33,323.2,47.6,10.9,1783,17431,0.00,2.85,0.00,0.000,4,0.000,0.074,3066,571,1738
$GC,17437,1.35,331.9,46.3,9.7,1785,17450,0.00,2.72,8.40,0.639,6,0.000,0.054,3066,2071,1708
$GC,17589,1.35,331.9,31.0,10.6,1811,17595,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2073,1707
$GC,17730,1.35,331.9,14.5,11.4,1836,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2073,1706
$STATE,17836,end climb,SURFACE_DEPTH_REACHED
$STATE,17836,begin surface coast
$FINISH,0.2,1.005635
$STATE,17871,end surface coast,CONTROL_FINISHED_OK
$STATE,17871,begin surface
$SM_CCo,17951,0.00,0.000,0,0,1704,333.12
$SM_GC,1.08,10.50,0.00,0.00,0.038,0.000,0.000,571,2015,1704,-10.07,-0.42,333.12
$IRIDIUM_FIX,6054.92,-2621.89,100897,090916
$TT8_MAMPS,0.041418
$HUMID,1662
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,14.90
$XPDR_PINGS,402
$24V_AH,23.4,38.708
$10V_AH,10.6,44.823
$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,24.700,127.675,463.775,0.000,0.000,26.296,33.615,230.631,100.500,0.000,0.000,17.331,2931.384,10954.533,625.006,3231.345,619.860,0.000,2123.755,0.000,3240.372,0.000,0.464
$DEVICE_MAMPS,200.954,105.079,1301.599,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1305.880,1368.848,715.489,1056.290,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132878,1861
$CAP_FILE_SIZE,161394,0
$CFSIZE,260165632,237965312
$ERRORS,0,50,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,194251,6128.139,-2634.279,41,2.1,60,-18.7