version: 66.03
glider: 141
mission: 7
dive: 150
start: 5 7 108 4 55 57
data:
$ID,141
$MISSION,7
$DIVE,150
$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,-9064.7764
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,044338,6100.948,-2651.764,29,0.8,29,-18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.3
$GPS2,045538,6100.992,-2651.727,9,1.4,9,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6109.265,-2648.378
$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,26,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.75,0.000,2,0.000,0.000,572,2011,3742
$GC,125,-1.34,-194.7,3.4,-6.4,13,149,11.07,2.70,-2.62,0.000,4,0.199,0.070,2480,3437,3858
$GC,359,-1.30,-194.7,37.5,-11.9,56,367,0.00,2.58,0.00,0.000,6,0.000,0.054,2480,2031,3859
$GC,492,-1.30,-194.7,53.3,-11.6,81,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2027,3859
$GC,833,-1.30,-194.7,91.8,-11.2,142,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2025,3859
$GC,1170,-1.30,-194.7,127.4,-11.0,203,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3859
$GC,1507,-1.30,-194.7,163.6,-11.5,264,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3859
$GC,1850,-1.30,-194.7,201.7,-11.6,325,1856,0.00,2.65,0.00,0.000,4,0.000,0.061,2481,3442,3859
$GC,1913,-1.26,-194.7,209.3,-12.1,336,1921,0.12,2.58,0.00,0.000,6,0.118,0.049,2504,2016,3859
$GC,2259,-1.26,-194.7,245.1,-9.9,397,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,2601,-1.26,-194.7,278.7,-9.7,458,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,2943,-1.26,-194.7,311.2,-8.6,519,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,3287,-1.26,-194.7,342.7,-9.7,580,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,3624,-1.26,-194.7,375.3,-9.9,618,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,3939,-1.26,-194.7,407.5,-10.2,648,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2009,3859
$GC,4259,-1.26,-194.7,438.7,-9.5,678,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,4578,-1.26,-194.7,469.5,-9.8,708,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,4895,-1.26,-194.7,501.2,-10.2,738,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,5213,-1.26,-194.7,534.1,-10.4,768,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,5532,-1.26,-194.7,565.3,-9.2,798,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2011,3859
$GC,5851,-1.26,-194.7,594.8,-9.4,828,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2009,3859
$GC,6162,-1.26,-194.7,623.4,-9.0,846,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,6471,-1.26,-194.7,650.6,-8.7,861,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3859
$GC,6780,-1.26,-194.7,678.8,-9.6,876,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2010,3858
$GC,7090,-1.26,-194.7,707.7,-9.2,891,7094,0.00,2.83,0.00,0.000,4,0.000,0.098,2504,3431,3859
$GC,7144,-1.26,-194.7,713.0,-9.6,893,7151,0.00,2.65,0.00,0.000,6,0.000,0.077,2504,2037,3858
$GC,7459,-1.26,-194.7,740.7,-8.8,909,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2033,3859
$GC,7769,-1.26,-194.7,767.6,-8.7,924,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2032,3858
$GC,8078,-1.26,-194.7,793.7,-8.4,939,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3858
$GC,8387,-1.26,-194.7,820.2,-8.5,954,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3858
$GC,8696,-1.26,-194.7,847.3,-9.0,969,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3858
$GC,9006,-1.26,-194.7,875.4,-9.3,984,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3858
$GC,9315,-1.26,-194.7,905.3,-9.7,999,9319,0.00,2.75,0.00,0.000,4,0.000,0.087,2504,3433,3857
$GC,9376,-1.26,-194.7,911.4,-10.6,1002,9380,0.00,2.62,0.00,0.000,6,0.000,0.065,2504,2032,3857
$GC,9702,-1.26,-194.7,941.3,-9.0,1018,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2032,3857
$GC,10010,-1.26,-194.7,969.6,-9.4,1033,10015,0.00,2.80,0.00,0.000,4,0.000,0.103,2503,615,3856
$GC,10072,-1.26,-194.7,975.5,-9.6,1036,10076,0.00,2.60,0.00,0.000,6,0.000,0.061,2504,2031,3856
$STATE,10230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10230,begin apogee
$GC,10235,-0.37,0.0,990.4,9.2,1044,10408,0.90,0.00,169.20,1.294,6,0.097,0.000,2695,1976,3062
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10411,1.34,194.7,996.4,0.0,1052,10588,1.70,2.78,167.55,1.265,4,0.076,0.082,3068,575,2268
$GC,10599,1.27,194.7,983.5,10.0,1060,10603,0.00,2.65,0.00,0.000,6,0.000,0.055,3068,1994,2266
$GC,10920,1.21,194.7,949.6,10.5,1076,10922,0.12,0.00,0.00,0.000,6,0.107,0.000,3044,1996,2261
$GC,11230,1.21,199.8,920.4,9.8,1091,11236,0.00,0.00,4.85,0.854,6,0.000,0.000,3044,1996,2247
$GC,11538,1.22,205.6,889.6,9.8,1106,11552,0.00,2.80,7.10,0.995,4,0.000,0.081,3044,3405,2222
$GC,11570,1.23,214.4,886.3,9.7,1107,11585,0.00,2.65,9.62,1.062,6,0.000,0.058,3044,1980,2187
$GC,11913,1.24,225.3,853.4,9.6,1124,11933,0.00,2.78,11.02,1.085,4,0.000,0.071,3044,3403,2142
$GC,11943,1.25,227.3,850.1,9.9,1125,11948,0.00,2.65,0.00,0.000,6,0.000,0.058,3044,1989,2142
$GC,12265,1.25,227.3,817.8,10.1,1141,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1989,2141
$GC,12573,1.25,227.3,786.3,10.5,1156,12578,0.00,2.72,0.00,0.000,4,0.000,0.071,3045,3405,2141
$GC,12594,1.25,227.3,783.9,11.0,1157,12599,0.00,2.65,0.00,0.000,6,0.000,0.057,3044,1982,2140
$GC,12921,1.25,227.3,749.9,10.8,1173,12926,0.00,2.70,0.00,0.000,4,0.000,0.071,3044,3397,2140
$GC,12965,1.25,227.3,744.6,11.4,1175,12969,0.00,2.60,0.00,0.000,6,0.000,0.057,3044,2002,2139
$GC,13292,1.25,227.3,710.1,10.1,1191,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2001,2140
$GC,13601,1.25,227.3,679.3,10.1,1206,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2001,2139
$GC,13910,1.25,227.3,647.5,10.2,1221,13911,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2000,2139
$GC,14220,1.25,227.7,616.2,10.0,1236,14224,0.00,2.67,0.00,0.000,4,0.000,0.071,3044,3399,2139
$GC,14242,1.26,234.0,614.1,9.8,1237,14258,0.00,2.58,8.82,0.935,6,0.000,0.056,3044,2002,2107
$GC,14573,1.27,245.2,582.9,9.6,1261,14587,0.00,0.00,11.77,0.956,6,0.000,0.000,3044,2002,2062
$GC,14901,1.27,245.2,549.9,10.2,1292,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2002,2060
$GC,15220,1.27,247.8,517.7,9.9,1322,15229,0.00,0.00,3.88,0.633,6,0.000,0.000,3044,2002,2051
$GC,15551,1.28,252.3,485.2,9.8,1353,15562,0.00,2.70,5.95,0.778,4,0.000,0.066,3044,3402,2031
$GC,15585,1.28,255.8,481.4,9.9,1356,15596,0.00,2.58,4.60,0.688,6,0.000,0.053,3044,2016,2019
$GC,15914,1.31,277.3,449.2,9.3,1387,15937,0.00,0.00,20.67,0.920,6,0.000,0.000,3044,2014,1931
$GC,16253,1.33,298.1,417.1,9.3,1419,16275,0.12,0.00,20.10,0.896,6,0.062,0.000,3083,2013,1846
$GC,16591,1.33,298.1,377.5,11.9,1451,16592,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2014,1843
$GC,16914,1.33,298.1,339.5,10.9,1488,16920,0.00,2.72,0.00,0.000,4,0.000,0.071,3083,569,1842
$GC,16932,1.33,298.1,337.4,11.5,1491,16938,0.00,2.65,0.00,0.000,6,0.000,0.048,3083,2029,1842
$GC,17275,1.33,298.1,297.5,11.5,1552,17282,0.00,2.72,0.00,0.000,4,0.000,0.069,3082,573,1842
$GC,17293,1.33,298.1,295.3,12.8,1555,17300,0.00,2.60,0.00,0.000,6,0.000,0.048,3082,2018,1842
$GC,17639,1.33,298.1,254.2,12.3,1616,17644,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2020,1841
$GC,17982,1.33,298.1,212.0,13.3,1677,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2021,1842
$GC,18324,1.33,298.1,171.8,10.6,1738,18329,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2022,1841
$GC,18667,1.33,298.1,132.8,11.1,1799,18673,0.00,2.72,0.00,0.000,4,0.000,0.068,3083,567,1841
$GC,18706,1.29,298.1,128.2,10.4,1806,18713,0.08,2.65,0.00,0.000,6,0.092,0.048,3063,2010,1842
$GC,19050,1.29,298.1,92.2,11.3,1867,19055,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1841
$GC,19387,1.29,298.1,54.6,11.0,1928,19393,0.00,2.58,0.00,0.000,4,0.000,0.067,3062,3392,1841
$GC,19404,1.29,298.1,52.6,11.0,1931,19410,0.00,2.53,0.00,0.000,6,0.000,0.050,3063,2006,1841
$GC,19726,1.29,298.1,17.7,10.8,1992,19734,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2005,1841
$GC,19860,1.29,298.1,3.6,10.9,2017,19868,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2005,1841
$STATE,19873,end climb,SURFACE_DEPTH_REACHED
$STATE,19874,begin surface coast
$FINISH,0.1,1.009900
$STATE,19902,end surface coast,CONTROL_FINISHED_OK
$STATE,19902,begin surface
$SM_CCo,19980,0.00,0.000,0,0,1840,299.76
$SM_GC,0.91,10.45,0.00,0.00,0.037,0.000,0.000,567,2042,1840,-10.07,0.34,299.76
$IRIDIUM_FIX,6037.25,-2657.73,010897,040425
$TT8_MAMPS,0.041418
$HUMID,1635
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.50
$XPDR_PINGS,420
$24V_AH,23.5,30.711
$10V_AH,10.6,38.381
$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,24.575,85.600,445.150,0.000,0.000,94.407,81.052,297.669,105.000,0.000,0.000,10.978,3165.855,12342.083,571.068,3836.152,769.292,0.000,2136.157,0.000,3840.698,0.000,0.465
$DEVICE_MAMPS,198.653,102.778,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1415.116,1457.978,743.329,949.165,924.030,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145582,2024
$CAP_FILE_SIZE,171321,0
$CFSIZE,260165632,241799168
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,103008,6104.218,-2647.268,36,1.0,36,-18.6