version: 66.03
glider: 141
mission: 7
dive: 149
start: 5 6 108 23 14 15
data:
$ID,141
$MISSION,7
$DIVE,149
$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,40
$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,-9053.1699
$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,16
$R_STBD_OVSHOOT,26
$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
$GPS1,230555,6058.410,-2656.429,37,1.4,37,-18.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-54.6
$GPS2,231357,6058.418,-2656.369,10,1.7,10,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6106.691,-2653.016
$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,58.6,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,138,0.00,0.00,-108.55,0.000,6,0.000,0.000,573,2041,3856
$GC,140,-1.34,-194.7,3.8,-7.2,15,157,11.05,2.70,0.00,0.000,4,0.196,0.059,2479,3441,3858
$GC,382,-1.29,-194.7,39.4,-11.6,60,390,0.00,2.62,0.00,0.000,6,0.000,0.050,2480,2021,3859
$GC,519,-1.29,-194.7,54.6,-11.6,85,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2019,3859
$GC,857,-1.29,-194.7,94.3,-11.1,146,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3859
$GC,1197,-1.29,-194.7,131.1,-11.2,207,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,1539,-1.29,-194.7,171.0,-12.4,268,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,1883,-1.29,-194.7,211.6,-11.5,329,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2015,3859
$GC,2226,-1.29,-194.7,250.6,-11.1,390,2232,0.00,2.65,0.00,0.000,4,0.000,0.061,2480,3432,3859
$GC,2277,-1.25,-194.7,256.6,-11.8,399,2284,0.12,2.55,0.00,0.000,6,0.117,0.048,2503,2037,3859
$GC,2622,-1.25,-194.7,291.7,-10.0,460,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3859
$GC,2966,-1.25,-194.7,326.5,-10.1,521,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3859
$GC,3308,-1.25,-194.7,361.2,-10.4,573,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3859
$GC,3627,-1.25,-194.7,394.0,-10.3,603,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3859
$GC,3947,-1.25,-194.7,427.0,-10.3,633,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3859
$GC,4264,-1.25,-194.7,459.0,-10.0,663,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3859
$GC,4583,-1.25,-194.7,490.4,-9.9,693,4587,0.00,2.70,0.00,0.000,4,0.000,0.071,2503,3435,3859
$GC,4637,-1.25,-194.7,496.1,-10.5,697,4644,0.00,2.58,0.00,0.000,6,0.000,0.054,2503,2045,3859
$GC,4964,-1.25,-194.7,528.3,-9.8,728,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2045,3859
$GC,5281,-1.25,-194.7,559.7,-10.0,758,5286,0.00,2.75,0.00,0.000,4,0.000,0.083,2503,616,3858
$GC,5335,-1.25,-194.7,565.5,-10.3,762,5342,0.00,2.55,0.00,0.000,6,0.000,0.051,2503,2033,3858
$GC,5663,-1.25,-194.7,599.3,-10.8,793,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2034,3858
$GC,5980,-1.25,-194.7,634.6,-11.1,809,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,6289,-1.25,-194.7,668.0,-10.6,824,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3858
$GC,6598,-1.25,-194.7,698.5,-9.6,839,6603,0.00,2.75,0.00,0.000,4,0.000,0.097,2503,3434,3858
$GC,6664,-1.25,-194.7,705.1,-10.2,842,6669,0.00,2.65,0.00,0.000,6,0.000,0.075,2503,2046,3857
$GC,6985,-1.25,-194.7,733.5,-8.2,858,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2045,3858
$GC,7295,-1.25,-194.7,758.8,-8.2,873,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3858
$GC,7604,-1.25,-194.7,786.1,-9.5,888,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3857
$GC,7913,-1.25,-194.7,816.0,-9.8,903,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3857
$GC,8222,-1.25,-194.7,843.6,-8.7,918,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2041,3857
$GC,8532,-1.25,-194.7,870.6,-8.8,933,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3857
$GC,8841,-1.25,-194.7,898.3,-8.9,948,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3856
$GC,9150,-1.25,-194.7,926.0,-8.9,963,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3856
$GC,9460,-1.25,-194.7,953.0,-8.6,978,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3855
$GC,9769,-1.25,-194.7,977.6,-7.8,993,9773,0.00,2.72,0.00,0.000,4,0.000,0.086,2503,3441,3855
$GC,9840,-1.25,-194.7,983.7,-8.6,996,9844,0.00,2.60,0.00,0.000,6,0.000,0.063,2503,2038,3855
$STATE,9932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9932,begin apogee
$GC,9937,-0.37,0.0,991.1,7.9,1001,10110,0.90,0.00,168.73,1.300,6,0.098,0.000,2694,1978,3062
$STATE,10110,end apogee,CONTROL_FINISHED_OK
$STATE,10111,begin climb
$GC,10112,1.34,194.7,994.9,0.0,1009,10285,1.70,0.00,168.60,1.269,6,0.077,0.000,3072,1978,2268
$GC,10589,1.28,194.7,949.2,10.9,1033,10594,0.00,2.72,0.00,0.000,4,0.000,0.074,3073,3392,2262
$GC,10656,1.21,194.7,941.3,12.2,1036,10661,0.15,2.60,0.00,0.000,6,0.107,0.058,3044,1992,2262
$GC,10976,1.21,194.7,908.2,10.5,1052,10980,0.00,2.80,0.00,0.000,4,0.000,0.091,3043,566,2261
$GC,11004,1.21,194.7,905.3,10.4,1053,11008,0.00,2.60,0.00,0.000,6,0.000,0.052,3043,1994,2261
$GC,11318,1.21,194.7,872.7,10.1,1068,11323,0.00,2.67,0.00,0.000,4,0.000,0.081,3043,3399,2260
$GC,11345,1.21,194.7,869.9,10.6,1069,11349,0.00,2.60,0.00,0.000,6,0.000,0.057,3043,1985,2260
$GC,11666,1.21,194.7,837.6,10.3,1085,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1985,2259
$GC,11976,1.23,217.6,808.5,9.2,1100,12003,0.00,2.72,20.50,1.141,4,0.000,0.072,3043,3398,2173
$GC,12010,1.25,232.2,805.2,9.5,1101,12029,0.00,2.60,14.50,1.086,6,0.000,0.057,3043,1995,2116
$GC,12345,1.26,239.2,772.5,9.8,1118,12355,0.00,0.00,7.47,0.968,6,0.000,0.000,3042,1993,2087
$GC,12671,1.26,239.2,739.9,10.3,1134,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1993,2085
$GC,12980,1.26,239.2,708.2,10.2,1149,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1993,2084
$GC,13289,1.26,239.2,676.1,10.5,1164,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1993,2084
$GC,13598,1.26,239.2,644.7,10.4,1179,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1993,2084
$GC,13908,1.26,239.2,612.0,10.5,1194,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1992,2084
$GC,14223,1.26,239.2,578.3,10.6,1218,14227,0.00,2.65,0.00,0.000,4,0.000,0.069,3043,3394,2083
$GC,14243,1.26,239.2,575.9,11.2,1219,14250,0.00,2.58,0.00,0.000,6,0.000,0.054,3043,1987,2083
$GC,14570,1.26,239.2,542.0,10.3,1250,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1985,2084
$GC,14887,1.26,239.2,508.5,10.5,1280,14891,0.00,2.65,0.00,0.000,4,0.000,0.068,3043,3398,2084
$GC,14913,1.26,239.2,505.6,11.0,1282,14918,0.00,2.55,0.00,0.000,6,0.000,0.054,3043,1994,2084
$GC,15237,1.26,239.2,472.2,10.2,1312,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1992,2084
$GC,15557,1.26,239.2,440.1,10.3,1342,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1992,2083
$GC,15876,1.26,239.8,407.6,10.0,1372,15880,0.00,2.62,0.00,0.000,4,0.000,0.064,3044,3396,2084
$GC,15903,1.26,239.8,404.6,10.9,1374,15907,0.00,2.55,0.00,0.000,6,0.000,0.052,3042,1993,2084
$GC,16228,1.28,258.8,373.6,9.3,1404,16249,0.00,0.00,18.58,0.874,6,0.000,0.000,3043,1990,2006
$GC,16569,1.33,291.8,342.3,8.9,1443,16602,0.10,0.00,30.30,0.867,6,0.070,0.000,3075,1990,1871
$GC,16941,1.33,291.8,301.5,11.7,1509,16946,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1990,1867
$GC,17282,1.33,291.8,262.5,10.8,1570,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1990,1867
$GC,17624,1.33,291.8,223.7,12.6,1631,17629,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1990,1866
$GC,17966,1.33,291.8,185.7,11.6,1692,17972,0.00,2.60,0.00,0.000,4,0.000,0.067,3075,3398,1866
$GC,17989,1.33,291.8,183.0,10.9,1696,17995,0.00,2.53,0.00,0.000,6,0.000,0.051,3075,2007,1866
$GC,18333,1.33,291.8,144.5,10.4,1757,18338,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1866
$GC,18670,1.33,291.8,105.6,11.5,1818,18679,0.00,2.67,0.00,0.000,4,0.000,0.070,3075,578,1866
$GC,18690,1.33,291.8,103.3,12.5,1821,18698,0.00,2.60,0.00,0.000,6,0.000,0.047,3076,2007,1866
$GC,19035,1.33,291.8,63.8,13.6,1882,19041,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1866
$GC,19362,1.33,291.8,28.6,10.2,1943,19370,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1866
$GC,19496,1.33,291.8,13.6,12.3,1968,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2009,1866
$STATE,19593,end climb,SURFACE_DEPTH_REACHED
$STATE,19593,begin surface coast
$FINISH,0.1,1.027182
$STATE,19620,end surface coast,CONTROL_FINISHED_OK
$STATE,19620,begin surface
$SM_CCo,19699,0.00,0.000,0,0,1863,293.87
$SM_GC,0.87,10.50,0.00,0.00,0.037,0.000,0.000,572,2012,1863,-10.06,-0.51,293.87
$IRIDIUM_FIX,6032.86,-2659.60,310797,171741
$TT8_MAMPS,0.042185
$HUMID,1633
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.50
$XPDR_PINGS,428
$24V_AH,23.5,30.524
$10V_AH,10.6,38.206
$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,24.525,79.275,428.675,0.000,0.000,25.541,29.841,299.831,107.000,0.000,0.000,12.305,3102.174,12074.695,580.654,3721.147,684.691,0.000,2087.699,0.000,3757.705,0.000,0.465
$DEVICE_MAMPS,196.352,101.244,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1390.544,1454.234,729.004,933.011,908.481,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142257,1991
$CAP_FILE_SIZE,162089,0
$CFSIZE,260165632,241905664
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,044338,6100.948,-2651.764,29,0.8,29,-18.6