version: 66.03
glider: 141
mission: 7
dive: 155
start: 5 8 108 5 23 39
data:
$ID,141
$MISSION,7
$DIVE,155
$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,135
$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,-9262.7344
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,051308,6105.407,-2626.163,32,1.1,32,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-57.6
$GPS2,052321,6105.396,-2626.268,10,1.8,10,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.759,-2622.562
$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,153.4,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-100.60,0.000,6,0.000,0.000,568,2039,3856
$GC,131,-1.34,-194.7,4.0,-7.3,14,147,11.20,0.00,0.00,0.000,6,0.201,0.000,2477,2039,3858
$GC,274,-1.34,-194.7,27.0,-11.6,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2039,3860
$GC,407,-1.34,-194.7,43.0,-12.3,65,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2040,3860
$GC,543,-1.34,-194.7,59.4,-12.0,90,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2041,3860
$GC,885,-1.34,-194.7,98.0,-11.3,151,891,0.00,2.67,0.00,0.000,4,0.000,0.063,2477,612,3860
$GC,904,-1.34,-194.7,100.1,-11.1,154,911,0.00,2.53,0.00,0.000,6,0.000,0.051,2477,2033,3860
$GC,1244,-1.34,-194.7,138.6,-11.2,215,1250,0.00,2.60,0.00,0.000,4,0.000,0.060,2477,616,3860
$GC,1267,-1.34,-194.7,141.1,-11.1,219,1274,0.00,2.55,0.00,0.000,6,0.000,0.046,2477,2031,3860
$GC,1611,-1.34,-194.7,176.8,-10.1,280,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2032,3860
$GC,1954,-1.34,-194.7,214.1,-10.7,341,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2032,3860
$GC,2297,-1.34,-194.7,252.7,-11.4,402,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2033,3860
$GC,2639,-1.34,-194.7,290.3,-10.9,463,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2033,3860
$GC,2983,-1.34,-194.7,326.3,-10.3,524,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2033,3860
$GC,3325,-1.34,-194.7,360.4,-9.7,576,3329,0.00,2.62,0.00,0.000,4,0.000,0.061,2477,614,3860
$GC,3346,-1.34,-194.7,362.6,-9.9,577,3352,0.00,2.53,0.00,0.000,6,0.000,0.047,2477,2030,3860
$GC,3671,-1.34,-194.7,395.2,-10.0,608,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2033,3860
$GC,3989,-1.34,-194.7,427.7,-10.3,638,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2033,3859
$GC,4307,-1.34,-194.7,460.0,-10.1,668,4311,0.00,2.62,0.00,0.000,4,0.000,0.065,2477,616,3859
$GC,4334,-1.34,-194.7,462.8,-10.4,670,4338,0.00,2.53,0.00,0.000,6,0.000,0.048,2477,2028,3859
$GC,4659,-1.34,-194.7,495.2,-10.3,700,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3859
$GC,4976,-1.34,-194.7,527.3,-10.6,730,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3859
$GC,5295,-1.34,-194.7,562.4,-10.8,760,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3859
$GC,5614,-1.34,-194.7,595.8,-10.3,790,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3859
$GC,5924,-1.34,-194.7,627.8,-10.3,807,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3859
$GC,6233,-1.34,-194.7,658.6,-9.7,822,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3859
$GC,6543,-1.34,-194.7,688.0,-9.6,837,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3858
$GC,6852,-1.34,-194.7,717.5,-9.5,852,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3858
$GC,7161,-1.34,-194.7,748.6,-10.6,867,7165,0.00,2.78,0.00,0.000,4,0.000,0.094,2477,3433,3858
$GC,7204,-1.34,-194.7,753.6,-11.6,869,7208,0.00,2.65,0.00,0.000,6,0.000,0.067,2477,2032,3858
$GC,7531,-1.34,-194.7,789.3,-10.9,885,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2031,3858
$GC,7840,-1.34,-194.7,822.7,-10.6,900,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2030,3858
$GC,8149,-1.34,-194.7,855.1,-10.1,915,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2029,3858
$GC,8459,-1.34,-194.7,886.8,-10.8,930,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2028,3857
$GC,8768,-1.34,-194.7,918.5,-10.0,945,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2028,3857
$GC,9077,-1.34,-194.7,947.9,-9.5,960,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2026,3857
$GC,9387,-1.34,-194.7,976.6,-9.5,975,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2026,3856
$STATE,9528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9529,begin apogee
$GC,9533,-0.37,0.0,990.2,9.5,982,9706,1.02,0.00,169.02,1.294,6,0.099,0.000,2695,1983,3062
$STATE,9707,end apogee,CONTROL_FINISHED_OK
$STATE,9707,begin climb
$GC,9709,1.34,194.7,993.6,0.0,990,9881,1.70,0.00,167.32,1.266,6,0.074,0.000,3068,1983,2268
$GC,10180,1.28,194.7,942.9,12.2,1013,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1982,2263
$GC,10489,1.23,194.7,907.4,11.0,1028,10494,0.00,2.75,0.00,0.000,4,0.000,0.074,3068,3395,2261
$GC,10544,1.17,194.7,900.8,12.4,1030,10551,0.17,2.65,0.00,0.000,6,0.108,0.058,3034,1985,2261
$GC,10859,1.19,214.8,871.2,9.3,1046,10880,0.00,0.00,18.12,1.147,6,0.000,0.000,3034,1983,2186
$GC,11189,1.23,243.0,840.5,9.0,1062,11218,0.00,0.00,26.65,1.159,6,0.000,0.000,3034,1983,2071
$GC,11518,1.24,249.0,809.0,9.8,1078,11526,0.00,0.00,6.60,0.937,6,0.000,0.000,3034,1983,2047
$GC,11827,1.24,249.0,777.2,10.3,1093,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1983,2046
$GC,12137,1.25,256.6,747.2,9.7,1108,12147,0.00,0.00,8.40,0.980,6,0.000,0.000,3034,1982,2015
$GC,12446,1.25,262.4,717.2,9.8,1123,12460,0.00,2.78,6.82,0.916,4,0.000,0.070,3034,3390,1991
$GC,12499,1.25,262.4,711.5,11.4,1125,12503,0.00,2.62,0.00,0.000,6,0.000,0.057,3034,1985,1990
$GC,12821,1.25,262.4,678.8,10.2,1141,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1983,1989
$GC,13130,1.29,290.9,650.1,9.0,1156,13160,0.12,0.00,27.40,1.058,6,0.063,0.000,3070,1983,1876
$GC,13459,1.29,290.9,612.4,11.7,1172,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1983,1872
$GC,13774,1.29,290.9,574.4,12.4,1196,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1983,1871
$GC,14093,1.29,290.9,534.9,12.1,1226,14097,0.00,2.67,0.00,0.000,4,0.000,0.068,3070,3391,1872
$GC,14131,1.29,290.9,529.8,13.1,1229,14135,0.00,2.60,0.00,0.000,6,0.000,0.056,3070,1985,1871
$GC,14454,1.29,290.9,489.8,12.3,1259,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1982,1871
$GC,14774,1.29,290.9,451.4,11.6,1289,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1982,1871
$GC,15092,1.29,290.9,415.8,11.0,1319,15093,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1980,1871
$GC,15412,1.29,290.9,381.9,10.4,1349,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1981,1871
$GC,15732,1.29,290.9,345.8,11.7,1382,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1981,1871
$GC,16074,1.29,290.9,305.7,11.8,1443,16079,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1981,1871
$GC,16416,1.29,290.9,267.3,10.5,1504,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1981,1871
$GC,16759,1.29,290.9,230.7,10.6,1565,16765,0.00,2.62,0.00,0.000,4,0.000,0.061,3070,3391,1871
$GC,16799,1.29,290.9,226.4,10.8,1572,16806,0.00,2.55,0.00,0.000,6,0.000,0.058,3070,1990,1871
$GC,17143,1.30,300.8,191.2,9.7,1633,17160,0.00,2.70,9.80,0.726,4,0.000,0.071,3070,573,1835
$GC,17205,1.30,301.7,184.5,10.0,1644,17212,0.00,2.60,0.00,0.000,6,0.000,0.049,3070,2009,1834
$GC,17551,1.30,304.1,149.3,9.9,1705,17564,0.00,2.65,4.35,0.551,4,0.000,0.064,3070,3390,1821
$GC,17593,1.30,304.1,144.8,10.2,1712,17599,0.00,2.55,0.00,0.000,6,0.000,0.051,3070,1996,1821
$GC,17935,1.31,305.2,109.6,10.0,1773,17943,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1993,1821
$GC,18281,1.31,305.2,75.3,10.1,1834,18287,0.00,2.67,0.00,0.000,4,0.000,0.072,3070,574,1821
$GC,18325,1.31,305.2,70.3,10.5,1842,18333,0.00,2.60,0.00,0.000,6,0.000,0.048,3070,1988,1821
$GC,18663,1.31,305.2,36.3,10.5,1903,18671,0.00,2.67,0.00,0.000,4,0.000,0.067,3070,3392,1820
$GC,18704,1.31,305.2,31.6,11.2,1910,18712,0.00,2.60,0.00,0.000,6,0.000,0.057,3070,1996,1820
$GC,18839,1.31,306.3,17.7,10.0,1935,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1993,1820
$GC,18973,1.31,306.3,3.4,10.6,1960,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1993,1820
$STATE,18986,end climb,SURFACE_DEPTH_REACHED
$STATE,18986,begin surface coast
$FINISH,0.2,1.026796
$STATE,19014,end surface coast,CONTROL_FINISHED_OK
$STATE,19014,begin surface
$SM_CCo,19093,0.00,0.000,0,0,1818,304.91
$SM_GC,0.95,10.48,0.00,0.00,0.036,0.000,0.000,571,2044,1818,-10.07,0.37,304.91
$IRIDIUM_FIX,6041.65,-2643.84,020897,050554
$TT8_MAMPS,0.042185
$HUMID,1625
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.00
$XPDR_PINGS,433
$24V_AH,23.5,31.635
$10V_AH,10.6,39.187
$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,24.700,68.550,444.500,0.000,0.000,50.286,151.015,224.957,108.250,0.000,0.000,11.676,3062.364,11632.951,572.693,3701.086,718.281,0.000,2075.735,0.000,3718.164,0.000,0.466
$DEVICE_MAMPS,200.954,94.341,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1374.209,1422.977,741.516,947.016,928.105,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139161,1967
$CAP_FILE_SIZE,159706,0
$CFSIZE,260165632,241397760
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080508,104322,6102.709,-2622.893,35,2.2,54,-18.4