version: 66.03
glider: 141
mission: 7
dive: 124
start: 5 1 108 5 23 27
data:
$ID,141
$MISSION,7
$DIVE,124
$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,300
$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,-8634.1924
$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,32
$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
$GPS1,051416,6104.705,-2410.228,42,99.0,61,-17.2
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-42.7
$GPS2,052309,6104.648,-2410.438,14,1.7,14,-17.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.048,-2414.948
$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,317.2,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-115.35,0.000,6,0.000,0.000,569,2043,3856
$GC,147,-1.34,-194.7,3.9,-7.4,16,163,11.05,2.58,0.00,0.000,4,0.193,0.054,2480,3428,3858
$GC,399,-1.30,-194.7,40.6,-10.9,63,407,0.00,2.58,0.00,0.000,6,0.000,0.054,2480,2026,3859
$GC,538,-1.30,-194.7,56.1,-11.1,88,544,0.00,2.60,0.00,0.000,4,0.000,0.061,2480,3429,3859
$GC,599,-1.25,-194.7,64.0,-13.6,99,607,0.08,2.58,0.00,0.000,6,0.109,0.047,2499,2023,3859
$GC,941,-1.25,-194.7,101.6,-11.2,160,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2015,3859
$GC,1278,-1.25,-194.7,137.9,-10.9,221,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2015,3858
$GC,1617,-1.25,-194.7,175.1,-10.5,282,1623,0.00,2.62,0.00,0.000,4,0.000,0.059,2499,3424,3859
$GC,1663,-1.25,-194.7,180.2,-11.5,290,1669,0.00,2.55,0.00,0.000,6,0.000,0.047,2499,2017,3859
$GC,2006,-1.25,-194.7,216.6,-10.6,351,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2014,3858
$GC,2348,-1.25,-194.7,251.7,-10.3,412,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2011,3859
$GC,2691,-1.25,-194.7,287.6,-10.5,473,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2010,3859
$GC,3032,-1.25,-194.7,323.1,-10.5,534,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2010,3859
$GC,3369,-1.25,-194.7,359.5,-10.7,587,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2010,3859
$GC,3688,-1.25,-194.7,394.2,-10.9,617,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2010,3859
$GC,4006,-1.25,-194.7,426.7,-9.7,647,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2010,3859
$GC,4325,-1.25,-194.7,456.7,-9.4,677,4329,0.00,2.67,0.00,0.000,4,0.000,0.067,2499,3422,3859
$GC,4363,-1.25,-194.7,460.6,-10.2,680,4368,0.00,2.55,0.00,0.000,6,0.000,0.050,2499,2024,3859
$GC,4688,-1.25,-194.7,492.9,-10.2,710,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2022,3858
$GC,5007,-1.25,-194.7,524.7,-9.7,740,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2022,3859
$GC,5324,-1.25,-194.7,555.4,-9.6,770,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2022,3858
$GC,5643,-1.25,-194.7,586.0,-9.3,800,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2022,3858
$GC,5967,-1.25,-194.7,615.2,-9.1,823,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2022,3859
$GC,6276,-1.25,-194.7,643.7,-9.3,838,6281,0.00,2.72,0.00,0.000,4,0.000,0.082,2499,3426,3858
$GC,6325,-1.25,-194.7,648.6,-10.1,840,6329,0.00,2.60,0.00,0.000,6,0.000,0.061,2499,2028,3858
$GC,6646,-1.25,-194.7,678.6,-9.3,856,6651,0.00,2.80,0.00,0.000,4,0.000,0.106,2499,622,3858
$GC,6695,-1.25,-194.7,683.4,-9.7,858,6699,0.00,2.55,0.00,0.000,6,0.000,0.061,2499,2009,3858
$GC,7016,-1.25,-194.7,713.1,-9.2,874,7021,0.00,2.83,0.00,0.000,4,0.000,0.100,2499,3448,3858
$GC,7082,-1.25,-194.7,719.7,-9.6,877,7087,0.00,2.70,0.00,0.000,6,0.000,0.075,2499,2030,3858
$GC,7403,-1.25,-194.7,749.1,-9.2,893,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3858
$GC,7712,-1.25,-194.7,777.5,-9.3,908,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2024,3858
$GC,8021,-1.25,-194.7,807.1,-9.6,923,8026,0.00,2.75,0.00,0.000,4,0.000,0.081,2499,3441,3858
$GC,8065,-1.25,-194.7,811.6,-9.9,925,8069,0.00,2.62,0.00,0.000,6,0.000,0.061,2499,2032,3857
$GC,8392,-1.25,-194.7,842.8,-9.5,941,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2031,3857
$GC,8700,-1.25,-194.7,872.4,-9.7,956,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2030,3857
$GC,9010,-1.25,-194.7,901.2,-8.8,971,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2029,3857
$GC,9319,-1.25,-194.7,928.4,-8.8,986,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3857
$GC,9628,-1.25,-194.7,955.3,-8.4,1001,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3857
$GC,9938,-1.25,-194.7,982.4,-9.1,1016,9942,0.00,2.75,0.00,0.000,4,0.000,0.078,2499,3449,3856
$GC,9999,-1.25,-194.7,988.3,-9.4,1019,10003,0.00,2.62,0.00,0.000,6,0.000,0.061,2499,2031,3856
$STATE,10033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10034,begin apogee
$GC,10038,-0.37,0.0,991.7,9.3,1021,10211,0.93,0.00,168.93,1.284,6,0.096,0.000,2696,1983,3062
$STATE,10211,end apogee,CONTROL_FINISHED_OK
$STATE,10211,begin climb
$GC,10213,1.34,194.7,996.4,0.0,1029,10386,1.67,0.00,168.30,1.256,6,0.074,0.000,3072,1983,2268
$GC,10690,1.28,194.7,952.9,10.8,1053,10694,0.00,2.72,0.00,0.000,4,0.000,0.070,3072,3402,2262
$GC,10767,1.22,194.7,943.7,11.7,1056,10774,0.12,2.60,0.00,0.000,6,0.110,0.053,3048,1999,2261
$GC,11082,1.25,220.5,914.0,9.1,1072,11111,0.00,2.75,23.05,1.170,4,0.000,0.069,3048,3391,2162
$GC,11128,1.31,264.8,909.5,8.5,1074,11174,0.00,2.58,41.28,1.190,6,0.000,0.054,3049,2007,1982
$GC,11490,1.31,264.8,873.9,10.2,1092,11495,0.00,2.75,0.00,0.000,4,0.000,0.083,3048,574,1976
$GC,11506,1.31,264.8,872.2,10.1,1093,11510,0.00,2.65,0.00,0.000,6,0.000,0.056,3048,2016,1976
$GC,11831,1.31,264.8,839.7,10.2,1109,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2017,1974
$GC,12140,1.31,264.8,807.5,10.2,1124,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2017,1974
$GC,12449,1.31,264.8,775.2,10.1,1139,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2017,1973
$GC,12759,1.32,273.7,744.6,9.7,1154,12769,0.00,0.00,8.05,0.967,6,0.000,0.000,3048,2018,1946
$GC,13068,1.32,273.7,713.3,10.2,1169,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2019,1945
$GC,13377,1.32,273.7,682.9,10.1,1184,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2020,1945
$GC,13687,1.32,273.7,651.8,10.3,1199,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2021,1944
$GC,13996,1.32,273.7,620.7,10.0,1214,14000,0.00,2.78,0.00,0.000,4,0.000,0.071,3048,567,1944
$GC,14011,1.32,273.7,619.1,10.3,1215,14016,0.00,2.67,0.00,0.000,6,0.000,0.051,3048,2027,1945
$GC,14330,1.32,275.4,586.9,9.9,1236,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2029,1944
$GC,14649,1.34,296.9,557.6,9.3,1266,14679,0.10,0.00,22.83,0.984,6,0.069,0.000,3080,2029,1850
$GC,14996,1.34,296.9,516.9,12.0,1299,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2029,1847
$GC,15316,1.34,296.9,478.7,11.7,1329,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2030,1847
$GC,15634,1.34,296.9,441.3,11.9,1359,15638,0.00,2.75,0.00,0.000,4,0.000,0.067,3079,573,1846
$GC,15649,1.34,296.9,439.4,11.7,1360,15654,0.00,2.62,0.00,0.000,6,0.000,0.048,3080,2021,1846
$GC,15973,1.34,296.9,401.1,11.4,1390,15974,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2021,1846
$GC,16292,1.34,296.9,363.1,12.4,1420,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2021,1846
$GC,16623,1.34,296.9,323.5,12.1,1469,16629,0.00,2.58,0.00,0.000,4,0.000,0.064,3080,3401,1845
$GC,16651,1.34,296.9,319.8,12.1,1474,16658,0.00,2.50,0.00,0.000,6,0.000,0.049,3080,2025,1845
$GC,16994,1.34,296.9,279.8,11.7,1535,16999,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2024,1845
$GC,17338,1.34,296.9,239.4,13.1,1596,17344,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2024,1845
$GC,17681,1.34,296.9,198.8,10.7,1657,17687,0.00,2.70,0.00,0.000,4,0.000,0.067,3080,577,1846
$GC,17698,1.34,296.9,196.7,11.7,1660,17705,0.00,2.60,0.00,0.000,6,0.000,0.047,3080,2031,1846
$GC,18043,1.34,296.9,155.2,12.4,1721,18048,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2034,1846
$GC,18384,1.34,296.9,114.1,11.3,1782,18392,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2034,1846
$GC,18729,1.34,296.9,74.5,11.1,1843,18734,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2035,1846
$GC,19062,1.34,296.9,33.4,10.2,1904,19070,0.00,2.78,0.00,0.000,4,0.000,0.071,3080,573,1846
$GC,19078,1.36,312.8,31.8,9.4,1906,19102,0.00,2.65,14.38,0.662,6,0.000,0.053,3080,2022,1785
$GC,19229,1.32,312.8,17.9,12.1,1933,19237,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2023,1784
$GC,19363,1.32,312.8,4.2,10.2,1958,19371,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2024,1783
$STATE,19376,end climb,SURFACE_DEPTH_REACHED
$STATE,19377,begin surface coast
$FINISH,0.2,1.001329
$STATE,19399,end surface coast,CONTROL_FINISHED_OK
$STATE,19399,begin surface
$SM_CCo,19477,0.00,0.000,0,0,1780,314.47
$SM_GC,0.87,10.50,0.00,0.00,0.034,0.000,0.000,571,2024,1780,-10.07,-0.17,314.47
$IRIDIUM_FIX,6037.25,-2400.91,250797,232340
$TT8_MAMPS,0.042185
$HUMID,1629
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.30
$XPDR_PINGS,362
$24V_AH,23.5,25.772
$10V_AH,10.5,33.947
$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,24.450,90.450,446.800,0.000,0.000,28.862,59.446,319.505,90.500,0.000,0.000,16.362,3079.770,11908.832,602.849,3717.307,683.564,0.000,2115.723,0.000,3725.397,0.000,0.465
$DEVICE_MAMPS,192.517,105.846,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1375.446,1415.045,716.043,917.452,906.388,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138863,1964
$CAP_FILE_SIZE,166365,0
$CFSIZE,260165632,244252672
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010508,104907,6105.357,-2418.897,29,1.2,29,-17.3