version: 66.03
glider: 141
mission: 7
dive: 198
start: 5 17 108 23 32 8
data:
$ID,141
$MISSION,7
$DIVE,198
$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,150
$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,-10006.354
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,232131,6127.249,-2622.715,41,1.3,41,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-50.0
$GPS2,233150,6127.375,-2622.758,10,1.3,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.023,-2620.165
$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,168.6,20000,-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,-194.7,0.0,0.0,0,133,0.00,0.00,-103.88,0.000,2,0.000,0.000,571,2015,3678
$GC,136,-1.34,-194.7,3.3,-7.1,19,161,11.15,2.65,-4.28,0.000,4,0.199,0.072,2481,624,3858
$GC,274,-1.34,-194.7,24.9,-11.9,43,281,0.00,2.60,0.00,0.000,6,0.000,0.053,2482,2041,3859
$GC,416,-1.34,-194.7,40.9,-10.6,68,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3859
$GC,558,-1.34,-194.7,55.6,-10.8,93,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3860
$GC,900,-1.34,-194.7,92.3,-11.1,154,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3859
$GC,1243,-1.34,-194.7,130.4,-11.3,215,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3859
$GC,1585,-1.34,-194.7,168.4,-11.4,276,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3859
$GC,1929,-1.34,-194.7,206.8,-10.9,337,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3859
$GC,2272,-1.34,-194.7,244.6,-11.2,398,2278,0.00,2.67,0.00,0.000,4,0.000,0.061,2481,619,3860
$GC,2290,-1.34,-194.7,246.6,-11.1,401,2296,0.00,2.55,0.00,0.000,6,0.000,0.048,2481,2015,3859
$GC,2634,-1.34,-194.7,285.0,-11.1,462,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3860
$GC,2975,-1.34,-194.7,321.5,-10.4,523,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,3319,-1.34,-194.7,356.6,-10.4,579,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3860
$GC,3639,-1.34,-194.7,389.1,-10.0,609,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,3957,-1.34,-194.7,420.7,-9.8,639,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,4276,-1.34,-194.7,452.2,-9.8,669,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2017,3859
$GC,4594,-1.34,-194.7,482.2,-9.2,699,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,4913,-1.34,-194.7,512.2,-9.6,729,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,5231,-1.34,-194.7,542.4,-9.6,759,5235,0.00,2.78,0.00,0.000,4,0.000,0.081,2481,3438,3859
$GC,5260,-1.34,-194.7,545.2,-10.7,761,5265,0.00,2.62,0.00,0.000,6,0.000,0.054,2481,2022,3859
$GC,5586,-1.34,-194.7,577.0,-9.7,791,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2021,3859
$GC,5912,-1.34,-194.7,608.8,-9.5,818,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2020,3859
$GC,6221,-1.34,-194.7,637.9,-9.6,833,6226,0.00,2.78,0.00,0.000,4,0.000,0.087,2481,3434,3858
$GC,6254,-1.34,-194.7,641.2,-10.0,834,6260,0.00,2.65,0.00,0.000,6,0.000,0.064,2481,2022,3858
$GC,6569,-1.34,-194.7,669.8,-9.1,850,6574,0.00,2.78,0.00,0.000,4,0.000,0.086,2481,3435,3858
$GC,6588,-1.34,-194.7,671.4,-9.2,851,6592,0.00,2.62,0.00,0.000,6,0.000,0.066,2482,2043,3858
$GC,6914,-1.34,-194.7,700.5,-9.0,867,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3858
$GC,7223,-1.34,-194.7,732.0,-10.9,882,7227,0.00,2.72,0.00,0.000,4,0.000,0.087,2481,3433,3858
$GC,7239,-1.34,-194.7,733.8,-10.7,883,7243,0.00,2.62,0.00,0.000,6,0.000,0.067,2481,2035,3858
$GC,7564,-1.34,-194.7,768.1,-10.5,899,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3857
$GC,7873,-1.34,-194.7,800.8,-10.4,914,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,8184,-1.34,-194.7,834.1,-10.7,929,8188,0.00,2.72,0.00,0.000,4,0.000,0.086,2481,3434,3857
$GC,8200,-1.34,-194.7,835.9,-10.6,930,8204,0.00,2.62,0.00,0.000,6,0.000,0.065,2482,2034,3856
$GC,8525,-1.34,-194.7,869.7,-10.5,946,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3856
$GC,8836,-1.34,-194.7,902.1,-10.4,961,8840,0.00,2.75,0.00,0.000,4,0.000,0.084,2481,3434,3856
$GC,8868,-1.34,-194.7,905.8,-10.9,962,8874,0.00,2.62,0.00,0.000,6,0.000,0.064,2481,2039,3856
$GC,9183,-1.34,-194.7,936.5,-9.5,978,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3855
$GC,9493,-1.34,-194.7,965.3,-9.5,993,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3855
$STATE,9758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9758,begin apogee
$GC,9764,-0.37,0.0,990.3,9.4,1006,9941,1.00,0.00,169.70,1.298,6,0.100,0.000,2694,1981,3062
$STATE,9942,end apogee,CONTROL_FINISHED_OK
$STATE,9942,begin climb
$GC,9944,1.34,194.7,994.6,0.0,1015,10122,1.73,0.00,169.25,1.265,6,0.076,0.000,3068,1980,2268
$GC,10432,1.28,194.7,946.3,11.9,1039,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1979,2263
$GC,10740,1.23,194.7,909.7,11.6,1054,10744,0.00,2.75,0.00,0.000,4,0.000,0.074,3068,3392,2261
$GC,10802,1.17,194.7,902.2,12.0,1057,10807,0.17,2.65,0.00,0.000,6,0.106,0.058,3034,1978,2261
$GC,11131,1.18,207.6,869.4,9.6,1073,11148,0.00,0.00,11.75,1.096,6,0.000,0.000,3033,1977,2216
$GC,11458,1.23,242.3,839.0,8.8,1089,11497,0.00,0.00,32.88,1.175,6,0.000,0.000,3033,1976,2074
$GC,11806,1.27,278.5,808.1,8.7,1106,11855,0.10,2.80,35.97,1.106,4,0.071,0.073,3063,3397,1924
$GC,11911,1.27,278.5,797.2,10.8,1111,11916,0.00,2.62,0.00,0.000,6,0.000,0.058,3063,1988,1922
$GC,12238,1.27,278.5,764.3,10.1,1127,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1986,1920
$GC,12547,1.27,278.5,731.5,10.8,1142,12551,0.00,2.70,0.00,0.000,4,0.000,0.073,3063,3391,1919
$GC,12612,1.27,278.5,723.9,11.3,1145,12617,0.00,2.62,0.00,0.000,6,0.000,0.056,3063,1994,1918
$GC,12939,1.27,278.5,688.0,11.5,1161,12944,0.00,2.70,0.00,0.000,4,0.000,0.073,3063,3399,1918
$GC,13005,1.27,278.5,679.7,13.0,1164,13010,0.00,2.55,0.00,0.000,6,0.000,0.056,3063,2022,1918
$GC,13333,1.27,278.5,640.5,12.3,1180,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2022,1918
$GC,13641,1.27,278.5,602.8,12.4,1195,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2021,1918
$GC,13959,1.27,278.5,564.5,11.9,1223,13963,0.00,2.65,0.00,0.000,4,0.000,0.071,3063,3398,1917
$GC,14020,1.27,278.5,557.1,12.2,1228,14024,0.00,2.55,0.00,0.000,6,0.000,0.054,3062,2020,1917
$GC,14344,1.27,278.5,520.1,11.1,1258,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2018,1917
$GC,14664,1.27,278.5,484.1,11.3,1288,14668,0.00,2.62,0.00,0.000,4,0.000,0.069,3063,3394,1917
$GC,14706,1.27,278.5,478.9,11.6,1291,14713,0.00,2.50,0.00,0.000,6,0.000,0.052,3063,2034,1917
$GC,15035,1.27,278.5,443.4,10.9,1322,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2034,1917
$GC,15360,1.27,278.5,408.0,10.8,1353,15364,0.00,2.58,0.00,0.000,4,0.000,0.066,3063,3392,1917
$GC,15403,1.27,278.5,402.9,11.5,1356,15410,0.00,2.50,0.00,0.000,6,0.000,0.052,3063,2044,1917
$GC,15729,1.27,278.5,368.1,10.8,1387,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2043,1917
$GC,16054,1.27,278.5,333.3,10.3,1430,16059,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2043,1918
$GC,16396,1.27,278.5,295.9,10.2,1491,16401,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2042,1918
$GC,16738,1.27,278.5,257.9,11.2,1552,16743,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2042,1918
$GC,17081,1.27,278.5,219.1,12.8,1613,17087,0.00,2.80,0.00,0.000,4,0.000,0.070,3063,570,1918
$GC,17121,1.27,278.5,214.2,11.9,1620,17127,0.00,2.72,0.00,0.000,6,0.000,0.050,3062,2057,1918
$GC,17465,1.27,278.5,174.6,12.2,1681,17471,0.00,2.53,0.00,0.000,4,0.000,0.067,3063,3400,1918
$GC,17522,1.27,278.5,167.8,11.9,1691,17528,0.00,2.50,0.00,0.000,6,0.000,0.049,3063,2038,1918
$GC,17865,1.27,278.5,129.0,12.6,1752,17872,0.00,2.75,0.00,0.000,4,0.000,0.068,3063,574,1919
$GC,17906,1.27,278.5,124.2,11.1,1759,17912,0.00,2.70,0.00,0.000,6,0.000,0.049,3063,2052,1919
$GC,18250,1.27,278.5,87.5,11.0,1820,18256,0.00,2.53,0.00,0.000,4,0.000,0.067,3063,3398,1919
$GC,18313,1.27,278.5,80.6,11.0,1831,18319,0.00,2.47,0.00,0.000,6,0.000,0.048,3063,2040,1919
$GC,18657,1.29,290.6,46.1,9.6,1892,18670,0.00,0.00,11.02,0.655,6,0.000,0.000,3063,2037,1877
$GC,18806,1.29,290.6,30.7,10.7,1918,18812,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2038,1875
$GC,18948,1.29,290.6,16.2,10.7,1943,18953,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2037,1875
$STATE,19058,end climb,SURFACE_DEPTH_REACHED
$STATE,19059,begin surface coast
$FINISH,0.2,1.026353
$STATE,19088,end surface coast,CONTROL_FINISHED_OK
$STATE,19088,begin surface
$SM_CCo,19167,0.00,0.000,0,0,1872,291.91
$SM_GC,0.99,10.48,0.00,0.00,0.038,0.000,0.000,570,2033,1872,-10.07,0.08,291.91
$IRIDIUM_FIX,6103.81,-2621.82,110897,232320
$TT8_MAMPS,0.042185
$HUMID,1653
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,466
$24V_AH,23.4,39.837
$10V_AH,10.6,45.694
$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,24.625,100.700,430.575,0.000,0.000,56.412,142.703,219.815,116.500,0.000,0.000,17.242,3075.431,11996.937,640.527,3294.016,762.619,0.000,2128.157,0.000,3315.111,0.000,0.466
$DEVICE_MAMPS,198.653,92.807,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1380.157,1444.599,745.757,1100.855,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138981,1968
$CAP_FILE_SIZE,164194,0
$CFSIZE,260165632,237391872
$ERRORS,0,23,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180508,045238,6126.290,-2621.435,27,1.2,27,-18.6