version: 66.03
glider: 141
mission: 7
dive: 156
start: 5 8 108 10 58 21
data:
$ID,141
$MISSION,7
$DIVE,156
$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,628.45856
$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,-9275.6045
$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,17
$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
$GPS1,104322,6102.709,-2622.893,35,2.2,54,-18.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.8
$GPS2,105803,6102.729,-2622.882,10,1.1,10,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6055.092,-2619.171
$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,-99.93,0.000,6,0.000,0.000,571,2043,3857
$GC,131,-1.34,-194.7,3.9,-7.2,14,148,11.12,2.70,0.00,0.000,4,0.199,0.061,2478,613,3859
$GC,207,-1.34,-194.7,19.6,-12.5,27,215,0.00,2.58,0.00,0.000,6,0.000,0.048,2479,2012,3860
$GC,341,-1.34,-194.7,35.7,-12.2,52,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2014,3860
$GC,473,-1.34,-194.7,51.9,-11.7,77,479,0.00,2.67,0.00,0.000,4,0.000,0.068,2479,3440,3860
$GC,507,-1.29,-194.7,56.1,-12.7,83,514,0.00,2.53,0.00,0.000,6,0.000,0.050,2479,2046,3860
$GC,846,-1.29,-194.7,94.6,-10.6,144,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3860
$GC,1188,-1.29,-194.7,132.2,-11.2,205,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2041,3860
$GC,1529,-1.29,-194.7,173.4,-11.7,266,1535,0.00,2.62,0.00,0.000,4,0.000,0.061,2479,3446,3860
$GC,1546,-1.29,-194.7,175.5,-12.1,269,1552,0.00,2.55,0.00,0.000,6,0.000,0.048,2478,2043,3860
$GC,1889,-1.29,-194.7,215.5,-11.7,330,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2038,3860
$GC,2231,-1.29,-194.7,255.8,-12.4,391,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3860
$GC,2573,-1.29,-194.7,296.9,-11.8,452,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2038,3860
$GC,2917,-1.29,-194.7,336.0,-11.1,513,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2038,3860
$GC,3247,-1.29,-194.7,372.0,-11.0,555,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3860
$GC,3568,-1.29,-194.7,407.7,-11.3,585,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3860
$GC,3884,-1.29,-194.7,443.8,-11.4,615,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3859
$GC,4205,-1.29,-194.7,479.1,-10.7,645,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3859
$GC,4521,-1.29,-194.7,513.1,-10.6,675,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2038,3859
$GC,4841,-1.29,-194.7,545.0,-9.8,705,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3859
$GC,5158,-1.29,-194.7,576.0,-10.1,735,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2038,3859
$GC,5485,-1.29,-194.7,608.0,-9.7,762,5490,0.00,2.75,0.00,0.000,4,0.000,0.088,2479,628,3859
$GC,5517,-1.29,-194.7,611.5,-10.4,763,5524,0.00,2.60,0.00,0.000,6,0.000,0.056,2479,2036,3859
$GC,5833,-1.29,-194.7,644.0,-10.1,779,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2039,3859
$GC,6142,-1.29,-194.7,677.1,-10.7,794,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2039,3859
$GC,6451,-1.29,-194.7,707.6,-9.2,809,6456,0.00,2.80,0.00,0.000,4,0.000,0.101,2479,629,3858
$GC,6484,-1.29,-194.7,710.6,-8.7,810,6491,0.00,2.67,0.00,0.000,6,0.000,0.073,2478,2054,3858
$GC,6800,-1.29,-194.7,736.5,-8.1,826,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2054,3858
$GC,7109,-1.29,-194.7,763.6,-9.1,841,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2056,3858
$GC,7418,-1.29,-194.7,793.2,-10.3,856,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2056,3858
$GC,7727,-1.29,-194.7,825.9,-10.7,871,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2057,3857
$GC,8036,-1.29,-194.7,857.8,-10.4,886,8040,0.00,2.75,0.00,0.000,4,0.000,0.083,2479,627,3857
$GC,8079,-1.29,-194.7,862.7,-11.6,888,8083,0.00,2.65,0.00,0.000,6,0.000,0.061,2478,2066,3857
$GC,8406,-1.29,-194.7,895.6,-9.7,904,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2067,3857
$GC,8715,-1.29,-194.7,928.1,-10.6,919,8719,0.00,2.75,0.00,0.000,4,0.000,0.081,2478,627,3857
$GC,8746,-1.29,-194.7,931.6,-11.3,920,8753,0.00,2.62,0.00,0.000,6,0.000,0.061,2479,2053,3856
$GC,9062,-1.29,-194.7,965.8,-11.0,936,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2053,3856
$STATE,9307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9307,begin apogee
$GC,9313,-0.37,0.0,991.8,10.3,948,9490,1.02,0.00,169.27,1.295,6,0.099,0.000,2696,1985,3063
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9492,1.34,194.7,996.9,0.0,957,9670,1.73,0.00,168.85,1.262,6,0.073,0.000,3073,1985,2267
$GC,9980,1.28,194.7,951.2,10.7,981,9984,0.00,2.75,0.00,0.000,4,0.000,0.084,3073,3395,2262
$GC,10023,1.21,194.7,946.0,11.4,983,10028,0.15,2.62,0.00,0.000,6,0.106,0.058,3044,1979,2262
$GC,10343,1.22,203.9,914.7,9.7,999,10354,0.00,0.00,8.70,1.040,6,0.000,0.000,3043,1979,2230
$GC,10653,1.22,203.9,882.4,10.4,1014,10657,0.00,2.70,0.00,0.000,4,0.000,0.073,3044,3397,2229
$GC,10706,1.22,203.9,876.2,11.2,1016,10713,0.00,2.62,0.00,0.000,6,0.000,0.058,3043,1994,2228
$GC,11023,1.22,203.9,844.4,10.2,1032,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1994,2228
$GC,11332,1.23,207.0,813.5,9.9,1047,11341,0.00,2.78,4.12,0.759,4,0.000,0.085,3043,569,2218
$GC,11385,1.23,207.0,807.5,10.7,1049,11390,0.00,2.60,0.00,0.000,6,0.000,0.053,3044,1992,2218
$GC,11707,1.24,215.2,776.2,9.7,1065,11721,0.00,2.70,9.23,1.016,4,0.000,0.081,3043,3393,2183
$GC,11783,1.24,215.2,768.1,10.4,1068,11787,0.00,2.60,0.00,0.000,6,0.000,0.056,3043,1985,2182
$GC,12104,1.25,223.2,736.9,9.7,1084,12114,0.00,0.00,8.75,0.985,6,0.000,0.000,3043,1983,2151
$GC,12413,1.27,237.7,707.6,9.5,1099,12433,0.00,0.00,14.90,1.046,6,0.000,0.000,3043,1983,2091
$GC,12742,1.29,254.3,676.1,9.4,1115,12764,0.00,2.75,16.05,1.032,4,0.000,0.071,3043,3400,2024
$GC,12797,1.29,254.3,670.7,10.3,1117,12801,0.00,2.65,0.00,0.000,6,0.000,0.058,3043,1978,2023
$GC,13119,1.34,294.8,642.3,8.6,1133,13159,0.12,0.00,37.90,1.054,6,0.063,0.000,3080,1978,1859
$GC,13467,1.34,294.8,603.3,11.5,1150,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1978,1855
$GC,13785,1.34,294.8,566.6,11.6,1178,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1978,1853
$GC,14103,1.34,294.8,529.3,11.8,1208,14108,0.00,2.72,0.00,0.000,4,0.000,0.069,3080,3395,1854
$GC,14146,1.34,294.8,523.8,12.5,1211,14153,0.00,2.62,0.00,0.000,6,0.000,0.055,3080,1982,1853
$GC,14472,1.34,294.8,483.6,12.5,1242,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1979,1853
$GC,14790,1.34,294.8,442.4,12.9,1272,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1979,1853
$GC,15108,1.34,294.8,401.9,13.0,1302,15109,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1979,1853
$GC,15428,1.34,294.8,361.5,12.2,1332,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1979,1853
$GC,15758,1.34,294.8,319.6,12.8,1383,15764,0.00,2.67,0.00,0.000,4,0.000,0.062,3080,3397,1853
$GC,15803,1.34,294.8,313.6,12.9,1391,15810,0.00,2.58,0.00,0.000,6,0.000,0.052,3080,1991,1853
$GC,16147,1.34,294.8,271.2,11.9,1452,16153,0.00,2.65,0.00,0.000,4,0.000,0.070,3080,574,1853
$GC,16189,1.34,294.8,266.1,12.4,1459,16195,0.00,2.60,0.00,0.000,6,0.000,0.049,3080,2006,1853
$GC,16532,1.34,294.8,223.9,12.0,1520,16539,0.00,2.60,0.00,0.000,4,0.000,0.072,3080,3400,1853
$GC,16584,1.34,294.8,217.4,12.8,1529,16590,0.00,2.55,0.00,0.000,6,0.000,0.052,3080,1998,1853
$GC,16927,1.34,294.8,178.0,10.7,1590,16933,0.00,2.67,0.00,0.000,4,0.000,0.071,3080,573,1853
$GC,16967,1.34,294.8,173.4,11.2,1597,16973,0.00,2.58,0.00,0.000,6,0.000,0.048,3080,1997,1853
$GC,17307,1.34,294.8,136.3,10.7,1658,17314,0.00,2.58,0.00,0.000,4,0.000,0.070,3080,3398,1853
$GC,17347,1.34,294.8,131.8,12.1,1665,17355,0.00,2.58,0.00,0.000,6,0.000,0.051,3080,1996,1853
$GC,17694,1.34,294.8,95.2,10.4,1726,17699,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1853
$GC,18033,1.34,294.8,57.4,10.9,1787,18038,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1853
$GC,18357,1.34,294.8,21.2,10.4,1848,18365,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1853
$GC,18491,1.34,294.8,6.7,12.3,1873,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1853
$STATE,18525,end climb,SURFACE_DEPTH_REACHED
$STATE,18525,begin surface coast
$FINISH,0.3,1.027111
$STATE,18553,end surface coast,CONTROL_FINISHED_OK
$STATE,18553,begin surface
$SM_CCo,18572,270.92,0.651,0,0,499,628.46
$SM_GC,0.61,0.00,0.00,270.92,0.000,0.000,0.651,568,2042,499,-10.17,0.40,628.46
$IRIDIUM_FIX,6037.25,-2621.99,020897,111117
$TT8_MAMPS,0.042952
$HUMID,1573
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,11.80
$XPDR_PINGS,408
$24V_AH,23.5,31.867
$10V_AH,10.6,39.357
$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,24.700,95.650,437.775,270.925,0.000,137.450,375.801,0.000,102.000,0.000,0.000,12.241,2955.835,11492.227,895.138,3565.952,800.225,0.000,2330.626,0.000,3580.686,0.000,0.466
$DEVICE_MAMPS,198.653,101.244,1295.463,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1319.245,1357.817,707.491,897.289,894.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132879,1884
$CAP_FILE_SIZE,155378,0
$CFSIZE,260165632,241270784
$ERRORS,0,14,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080508,161337,6059.919,-2618.601,36,1.0,36,-18.3