version: 66.03
glider: 141
mission: 7
dive: 152
start: 5 7 108 12 33 31
data:
$ID,141
$MISSION,7
$DIVE,152
$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,-9219.3574
$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,24
$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
$GPS1,122920,6105.223,-2644.515,9,1.3,9,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.4
$GPS2,123314,6105.246,-2644.443,10,1.6,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6113.518,-2641.101
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,108,0.00,0.00,-80.32,0.000,2,0.000,0.000,572,2007,3787
$GC,111,-1.34,-194.7,3.4,-5.7,11,135,10.98,2.72,-1.52,0.000,4,0.193,0.070,2479,3434,3858
$GC,340,-1.30,-194.7,36.2,-12.1,53,348,0.00,2.60,0.00,0.000,6,0.000,0.054,2479,2021,3858
$GC,472,-1.30,-194.7,51.7,-11.3,78,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2019,3858
$GC,814,-1.30,-194.7,89.1,-10.1,139,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,1152,-1.30,-194.7,124.6,-10.8,200,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,1491,-1.30,-194.7,162.0,-11.2,261,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,1833,-1.30,-194.7,200.0,-11.0,322,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,2175,-1.30,-194.7,239.3,-12.0,383,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,2519,-1.30,-194.7,279.6,-11.9,444,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,2862,-1.30,-194.7,318.7,-11.1,505,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,3206,-1.30,-194.7,355.9,-10.7,562,3210,0.00,2.67,0.00,0.000,4,0.000,0.063,2479,3438,3858
$GC,3249,-1.30,-194.7,360.7,-11.1,565,3255,0.00,2.55,0.00,0.000,6,0.000,0.054,2479,2037,3858
$GC,3575,-1.30,-194.7,395.9,-10.9,596,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2035,3858
$GC,3892,-1.30,-194.7,429.5,-10.2,626,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2034,3858
$GC,4211,-1.30,-194.7,462.6,-10.3,656,4215,0.00,2.65,0.00,0.000,4,0.000,0.070,2479,626,3858
$GC,4265,-1.30,-194.7,468.6,-11.0,660,4272,0.00,2.53,0.00,0.000,6,0.000,0.048,2479,2020,3858
$GC,4590,-1.30,-194.7,503.4,-10.5,691,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3858
$GC,4909,-1.30,-194.7,537.4,-10.6,721,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3857
$GC,5228,-1.30,-194.7,571.0,-10.6,751,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3857
$GC,5544,-1.30,-194.7,604.7,-10.7,779,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3857
$GC,5853,-1.30,-194.7,636.9,-10.1,794,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3857
$GC,6163,-1.30,-194.7,667.3,-10.1,809,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3857
$GC,6472,-1.30,-194.7,697.5,-9.8,824,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2023,3856
$GC,6781,-1.30,-194.7,727.8,-9.9,839,6786,0.00,2.83,0.00,0.000,4,0.000,0.110,2479,624,3856
$GC,6836,-1.30,-194.7,733.5,-10.4,841,6842,0.00,2.58,0.00,0.000,6,0.000,0.062,2479,2019,3856
$GC,7151,-1.30,-194.7,764.3,-10.0,857,7156,0.00,2.80,0.00,0.000,4,0.000,0.097,2479,3441,3856
$GC,7205,-1.30,-194.7,770.0,-10.8,859,7212,0.00,2.60,0.00,0.000,6,0.000,0.064,2479,2050,3855
$GC,7521,-1.30,-194.7,802.0,-9.8,875,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2048,3855
$GC,7831,-1.30,-194.7,834.3,-10.9,890,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2048,3856
$GC,8139,-1.30,-194.7,869.0,-11.2,905,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2047,3855
$GC,8449,-1.30,-194.7,902.5,-10.7,920,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2046,3855
$GC,8758,-1.30,-194.7,935.5,-10.5,935,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2046,3854
$GC,9067,-1.30,-194.7,968.2,-10.8,950,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2045,3854
$STATE,9271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9271,begin apogee
$GC,9277,-0.37,0.0,990.4,10.8,960,9449,1.02,0.00,168.65,1.294,6,0.100,0.000,2696,1977,3062
$STATE,9450,end apogee,CONTROL_FINISHED_OK
$STATE,9450,begin climb
$GC,9452,1.34,194.7,996.7,0.0,968,9625,1.67,0.00,168.68,1.265,6,0.076,0.000,3070,1977,2268
$GC,9928,1.28,194.7,953.8,10.5,992,9933,0.00,2.78,0.00,0.000,4,0.000,0.074,3070,3401,2262
$GC,9960,1.22,194.7,950.0,11.4,993,9968,0.12,2.67,0.00,0.000,6,0.110,0.058,3046,1981,2262
$GC,10276,1.23,203.7,919.3,9.7,1009,10286,0.00,0.00,8.52,1.048,6,0.000,0.000,3047,1979,2231
$GC,10585,1.27,229.5,890.2,9.1,1024,10612,0.00,0.00,24.62,1.181,6,0.000,0.000,3046,1979,2125
$GC,10914,1.27,229.5,858.7,10.0,1040,10918,0.00,2.72,0.00,0.000,4,0.000,0.073,3046,3398,2122
$GC,10934,1.27,233.4,856.5,9.9,1041,10944,0.00,2.62,4.65,0.826,6,0.000,0.058,3046,1986,2110
$GC,11261,1.27,237.0,824.1,9.9,1057,11271,0.00,2.72,4.90,0.845,4,0.000,0.071,3046,3398,2095
$GC,11293,1.29,248.4,820.8,9.6,1058,11320,0.00,2.60,14.10,0.951,6,0.000,0.058,3047,1995,2049
$GC,11629,1.30,257.5,789.1,9.7,1075,11640,0.00,0.00,9.75,1.036,6,0.000,0.000,3047,1995,2012
$GC,11937,1.30,257.5,755.6,11.3,1090,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1995,2010
$GC,12247,1.30,257.5,721.3,10.7,1105,12251,0.00,2.70,0.00,0.000,4,0.000,0.071,3046,3398,2009
$GC,12267,1.30,257.5,718.9,11.7,1106,12271,0.00,2.62,0.00,0.000,6,0.000,0.057,3046,1998,2008
$GC,12594,1.30,257.5,684.2,10.4,1122,12598,0.00,2.75,0.00,0.000,4,0.000,0.084,3046,576,2009
$GC,12614,1.31,261.7,681.9,9.9,1123,12625,0.00,2.65,5.18,0.822,6,0.000,0.052,3046,2014,1994
$GC,12936,1.32,276.1,650.0,9.5,1138,12955,0.00,0.00,14.68,1.023,6,0.000,0.000,3046,2015,1935
$GC,13264,1.36,304.0,619.8,9.0,1154,13299,0.12,2.90,26.80,1.038,4,0.063,0.076,3084,569,1822
$GC,13310,1.31,304.0,614.8,11.0,1156,13314,0.00,2.65,0.00,0.000,6,0.000,0.053,3084,1992,1821
$GC,13638,1.27,304.0,578.6,11.1,1181,13640,0.15,0.00,0.00,0.000,6,0.102,0.000,3054,1994,1819
$GC,13958,1.27,305.5,547.1,9.9,1211,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1994,1817
$GC,14274,1.27,305.5,514.8,10.1,1241,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1994,1817
$GC,14591,1.27,305.5,481.9,10.2,1271,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1995,1817
$GC,14910,1.27,305.5,448.5,10.6,1301,14915,0.00,2.70,0.00,0.000,4,0.000,0.071,3053,575,1817
$GC,14927,1.27,305.5,446.7,10.4,1302,14931,0.00,2.60,0.00,0.000,6,0.000,0.050,3053,1996,1817
$GC,15250,1.27,305.5,412.6,10.6,1332,15252,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1998,1817
$GC,15569,1.27,305.5,379.1,10.7,1362,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1999,1817
$GC,15891,1.27,305.5,345.8,10.7,1395,15896,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1999,1817
$GC,16235,1.27,305.5,311.4,10.4,1456,16241,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1999,1817
$GC,16579,1.29,323.0,276.7,9.4,1517,16601,0.00,2.83,16.90,0.818,4,0.000,0.069,3053,572,1744
$GC,16618,1.29,323.0,272.6,10.5,1524,16625,0.00,2.60,0.00,0.000,6,0.000,0.055,3054,1992,1744
$GC,16964,1.31,342.0,237.6,9.3,1585,16985,0.00,0.00,18.05,0.793,6,0.000,0.000,3053,1994,1667
$GC,17323,1.31,342.0,201.3,10.3,1649,17328,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1994,1663
$GC,17666,1.33,357.4,166.6,9.5,1710,17688,0.00,2.75,14.60,0.740,4,0.000,0.068,3053,569,1604
$GC,17705,1.33,357.4,162.4,11.0,1717,17711,0.00,2.60,0.00,0.000,6,0.000,0.048,3053,1988,1604
$GC,18046,1.34,362.9,128.5,9.8,1778,18060,0.00,2.72,6.28,0.627,4,0.000,0.068,3053,573,1581
$GC,18071,1.34,362.9,125.8,10.3,1782,18079,0.00,2.60,0.00,0.000,6,0.000,0.050,3053,1980,1581
$GC,18417,1.34,362.9,91.4,10.2,1843,18423,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1982,1580
$GC,18757,1.36,380.2,56.7,9.4,1904,18783,0.10,2.75,16.00,0.680,4,0.069,0.069,3085,574,1512
$GC,18799,1.36,380.2,51.7,13.5,1911,18807,0.00,2.60,0.00,0.000,6,0.000,0.048,3085,1976,1511
$GC,19123,1.36,380.2,11.5,12.8,1972,19130,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1978,1509
$STATE,19193,end climb,SURFACE_DEPTH_REACHED
$STATE,19193,begin surface coast
$FINISH,0.2,1.010997
$STATE,19221,end surface coast,CONTROL_FINISHED_OK
$STATE,19221,begin surface
$SM_CCo,19300,0.00,0.000,0,0,1507,381.44
$SM_GC,0.82,10.57,0.00,0.00,0.038,0.000,0.000,572,2039,1507,-10.06,0.25,381.44
$IRIDIUM_FIX,6041.65,-2641.87,010897,121242
$TT8_MAMPS,0.041418
$HUMID,1630
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,12.30
$XPDR_PINGS,519
$24V_AH,23.5,31.066
$10V_AH,10.6,38.669
$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,24.750,85.925,522.350,0.000,0.000,0.000,0.000,0.000,129.750,0.000,0.000,16.571,3084.994,11640.154,661.115,3723.723,258.829,0.000,2168.207,0.000,3743.437,0.000,0.465
$DEVICE_MAMPS,193.284,110.448,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1389.990,1445.055,744.040,937.952,894.747,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142188,1990
$CAP_FILE_SIZE,176770,0
$CFSIZE,260165632,241639424
$ERRORS,0,6,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070508,175631,6108.375,-2638.002,41,1.4,46,-18.6