version: 66.03
glider: 141
mission: 7
dive: 162
start: 5 9 108 20 8 4
data:
$ID,141
$MISSION,7
$DIVE,162
$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,350
$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,-9364.2139
$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,21
$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
$GPS1,200037,6105.798,-2621.589,40,1.0,40,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-54.7
$GPS2,200745,6105.772,-2621.642,8,1.2,8,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6116.407,-2622.544
$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,8.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,137,0.00,0.00,-108.15,0.000,6,0.000,0.000,569,2006,3858
$GC,140,-1.34,-194.7,4.1,-8.4,15,156,11.15,2.72,0.00,0.000,4,0.199,0.055,2483,3442,3860
$GC,393,-1.30,-194.7,45.8,-15.4,62,401,0.00,2.62,0.00,0.000,6,0.000,0.051,2483,2020,3860
$GC,532,-1.30,-194.7,65.4,-13.2,87,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2017,3860
$GC,874,-1.30,-194.7,109.2,-11.5,148,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2015,3861
$GC,1210,-1.30,-194.7,148.1,-11.2,209,1216,0.00,2.67,0.00,0.000,4,0.000,0.066,2482,3437,3861
$GC,1272,-1.30,-194.7,155.5,-11.9,220,1278,0.00,2.55,0.00,0.000,6,0.000,0.049,2482,2035,3861
$GC,1616,-1.30,-194.7,191.4,-9.6,281,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2030,3860
$GC,1959,-1.30,-194.7,225.3,-9.8,342,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2030,3861
$GC,2302,-1.30,-194.7,258.0,-9.5,403,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2030,3861
$GC,2644,-1.30,-194.7,288.6,-9.0,464,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2030,3861
$GC,2987,-1.30,-194.7,320.0,-9.8,525,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2030,3861
$GC,3335,-1.30,-194.7,353.3,-9.8,584,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2030,3860
$GC,3652,-1.30,-194.7,384.9,-10.2,614,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2030,3861
$GC,3971,-1.30,-194.7,417.0,-10.0,644,3975,0.00,2.67,0.00,0.000,4,0.000,0.066,2483,3438,3861
$GC,4025,-1.30,-194.7,422.9,-10.9,648,4032,0.00,2.58,0.00,0.000,6,0.000,0.051,2483,2044,3861
$GC,4351,-1.30,-194.7,456.5,-10.2,679,4355,0.00,2.67,0.00,0.000,4,0.000,0.068,2483,613,3861
$GC,4416,-1.30,-194.7,463.5,-10.6,684,4423,0.00,2.60,0.00,0.000,6,0.000,0.051,2482,2047,3861
$GC,4742,-1.30,-194.7,499.0,-10.9,715,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2047,3861
$GC,5060,-1.30,-194.7,534.1,-10.6,745,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,5378,-1.30,-194.7,568.9,-11.2,775,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,5696,-1.30,-194.7,602.9,-10.1,804,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,6005,-1.30,-194.7,635.0,-10.4,819,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3860
$GC,6315,-1.30,-194.7,666.4,-9.6,834,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,6624,-1.30,-194.7,699.6,-11.3,849,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,6933,-1.30,-194.7,732.9,-10.1,864,6938,0.00,2.92,0.00,0.000,4,0.000,0.114,2483,620,3859
$GC,6982,-1.30,-194.7,737.8,-9.6,866,6987,0.00,2.62,0.00,0.000,6,0.000,0.064,2482,2033,3860
$GC,7297,-1.30,-194.7,769.2,-10.7,881,7301,0.00,2.78,0.00,0.000,4,0.000,0.099,2483,3441,3859
$GC,7351,-1.30,-194.7,775.3,-11.1,883,7358,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2039,3859
$GC,7667,-1.30,-194.7,805.9,-9.2,899,7672,0.00,2.78,0.00,0.000,4,0.000,0.097,2482,621,3859
$GC,7745,-1.30,-194.7,813.0,-9.1,902,7751,0.00,2.60,0.00,0.000,6,0.000,0.059,2482,2039,3859
$GC,8060,-1.30,-194.7,839.9,-8.3,918,8065,0.00,2.75,0.00,0.000,4,0.000,0.095,2483,3444,3859
$GC,8105,-1.30,-194.7,844.0,-9.4,920,8109,0.00,2.65,0.00,0.000,6,0.000,0.063,2482,2021,3858
$GC,8425,-1.30,-194.7,871.3,-9.0,936,8430,0.00,2.75,0.00,0.000,4,0.000,0.095,2482,614,3858
$GC,8531,-1.30,-194.7,882.6,-11.5,941,8536,0.00,2.58,0.00,0.000,6,0.000,0.059,2482,2020,3858
$GC,8858,-1.30,-194.7,915.8,-9.6,957,8862,0.00,2.75,0.00,0.000,4,0.000,0.094,2483,3441,3858
$GC,8929,-1.30,-194.7,923.2,-10.4,960,8933,0.00,2.62,0.00,0.000,6,0.000,0.063,2482,2021,3857
$GC,9251,-1.30,-194.7,954.5,-9.6,976,9255,0.00,2.72,0.00,0.000,4,0.000,0.097,2482,617,3857
$GC,9339,-1.30,-194.7,963.3,-9.8,980,9343,0.00,2.58,0.00,0.000,6,0.000,0.058,2483,2027,3857
$STATE,9643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9643,begin apogee
$GC,9648,-0.37,0.0,991.6,9.2,995,9826,1.02,0.00,169.82,1.295,6,0.104,0.000,2697,1971,3062
$STATE,9826,end apogee,CONTROL_FINISHED_OK
$STATE,9826,begin climb
$GC,9828,1.34,194.7,996.5,0.0,1004,10001,1.67,0.00,168.52,1.267,6,0.077,0.000,3066,1971,2268
$GC,10300,1.30,201.4,957.0,9.8,1027,10308,0.00,0.00,6.75,0.973,6,0.000,0.000,3066,1971,2240
$GC,10608,1.24,201.4,926.8,10.2,1042,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1971,2238
$GC,10917,1.19,201.4,895.4,10.2,1057,10923,0.12,2.72,0.00,0.000,4,0.108,0.077,3041,3398,2237
$GC,10946,1.19,201.4,892.5,10.4,1058,10950,0.00,2.58,0.00,0.000,6,0.000,0.057,3041,1996,2237
$GC,11261,1.22,221.8,863.0,9.3,1073,11282,0.00,0.00,19.42,1.156,6,0.000,0.000,3041,1993,2157
$GC,11590,1.22,221.8,830.5,10.2,1089,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1993,2154
$GC,11899,1.22,221.8,798.2,10.3,1104,11904,0.00,2.65,0.00,0.000,4,0.000,0.071,3041,3404,2153
$GC,11926,1.22,221.8,795.2,11.1,1105,11930,0.00,2.62,0.00,0.000,6,0.000,0.057,3041,1975,2153
$GC,12247,1.22,221.8,761.7,10.7,1121,12251,0.00,2.67,0.00,0.000,4,0.000,0.071,3041,3394,2152
$GC,12273,1.22,221.8,758.6,10.4,1122,12277,0.00,2.58,0.00,0.000,6,0.000,0.055,3041,1987,2152
$GC,12594,1.22,221.8,724.7,10.4,1138,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1987,2152
$GC,12904,1.24,241.9,695.4,9.3,1153,12924,0.00,0.00,19.08,1.068,6,0.000,0.000,3041,1987,2075
$GC,13233,1.27,263.0,663.1,9.3,1169,13259,0.00,2.78,20.25,1.048,4,0.000,0.069,3041,3403,1987
$GC,13275,1.27,263.0,658.8,10.5,1171,13279,0.00,2.65,0.00,0.000,6,0.000,0.054,3041,1991,1986
$GC,13601,1.27,263.0,626.5,10.1,1187,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1990,1984
$GC,13912,1.29,282.4,597.1,9.3,1203,13932,0.00,0.00,18.33,1.000,6,0.000,0.000,3041,1989,1910
$GC,14253,1.32,303.6,565.1,9.3,1235,14283,0.10,0.00,22.58,0.920,6,0.071,0.000,3073,1989,1824
$GC,14600,1.32,303.6,524.4,12.4,1268,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1988,1820
$GC,14917,1.32,303.6,484.2,12.7,1298,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1819
$GC,15236,1.32,303.6,444.7,12.1,1328,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1819
$GC,15554,1.32,303.6,407.7,11.2,1358,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1988,1818
$GC,15873,1.32,303.6,373.0,10.3,1388,15874,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1819
$GC,16197,1.32,303.6,338.6,10.5,1427,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1819
$GC,16539,1.32,303.6,300.1,11.3,1488,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1819
$GC,16883,1.33,311.3,262.9,9.7,1549,16894,0.00,0.00,7.25,0.716,6,0.000,0.000,3073,1987,1793
$GC,17231,1.33,311.3,225.3,11.6,1611,17236,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1792
$GC,17573,1.33,311.3,185.0,12.1,1672,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1792
$GC,17914,1.33,311.3,142.0,11.4,1733,17920,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1987,1792
$GC,18250,1.33,311.3,103.8,11.8,1794,18259,0.00,2.72,0.00,0.000,4,0.000,0.069,3073,570,1792
$GC,18264,1.33,311.3,102.2,11.3,1796,18271,0.00,2.62,0.00,0.000,6,0.000,0.052,3073,2017,1792
$GC,18604,1.33,311.3,64.6,10.8,1857,18611,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2019,1792
$GC,18934,1.33,311.3,28.3,11.0,1918,18942,0.00,2.78,0.00,0.000,4,0.000,0.069,3073,573,1792
$GC,18950,1.33,311.3,26.3,11.3,1920,18958,0.00,2.62,0.00,0.000,6,0.000,0.046,3073,1998,1792
$GC,19085,1.33,311.3,10.3,10.5,1945,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2000,1792
$STATE,19155,end climb,SURFACE_DEPTH_REACHED
$STATE,19155,begin surface coast
$FINISH,0.0,1.027220
$STATE,19188,end surface coast,CONTROL_FINISHED_OK
$STATE,19188,begin surface
$SM_CCo,19266,0.00,0.000,0,0,1784,313.49
$SM_GC,0.73,10.50,0.00,0.00,0.041,0.000,0.000,576,2003,1784,-10.06,-0.74,313.49
$IRIDIUM_FIX,6041.65,-2616.00,030897,141419
$TT8_MAMPS,0.042185
$HUMID,1644
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.10
$XPDR_PINGS,410
$24V_AH,23.5,33.093
$10V_AH,10.6,40.397
$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,24.575,90.950,452.000,0.000,0.000,30.054,41.695,230.470,102.500,0.000,0.000,10.401,3073.612,11690.795,615.271,3736.003,561.017,0.000,2141.332,0.000,3726.532,0.000,0.465
$DEVICE_MAMPS,199.420,113.516,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1375.306,1405.969,704.478,909.015,847.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139150,1964
$CAP_FILE_SIZE,161324,0
$CFSIZE,260165632,240734208
$ERRORS,0,20,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100508,013026,6108.763,-2624.613,41,1.3,41,-18.5