version: 66.03
glider: 141
mission: 7
dive: 199
start: 5 18 108 5 0 32
data:
$ID,141
$MISSION,7
$DIVE,199
$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,125
$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,-10042.729
$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,18
$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
$GPS1,045238,6126.290,-2621.435,27,1.2,27,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.4
$GPS2,050014,6126.398,-2621.565,17,1.1,34,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6120.204,-2617.322
$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,143.6,20000,-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,27,-1.34,-194.7,0.0,0.0,0,118,0.00,0.00,-88.20,0.000,2,0.000,0.000,570,2034,3612
$GC,120,-1.34,-194.7,3.0,-6.2,16,145,11.12,2.67,-6.22,0.000,4,0.196,0.071,2483,616,3857
$GC,181,-1.34,-194.7,13.3,-13.1,26,187,0.00,2.58,0.00,0.000,6,0.000,0.053,2483,2033,3858
$GC,323,-1.34,-194.7,30.2,-12.0,51,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,465,-1.34,-194.7,45.0,-10.6,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,606,-1.34,-194.7,60.2,-10.8,101,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,948,-1.34,-194.7,97.9,-11.5,162,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,1291,-1.34,-194.7,136.9,-11.5,223,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,1633,-1.34,-194.7,176.6,-11.4,284,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,1977,-1.34,-194.7,217.0,-12.3,345,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,2321,-1.34,-194.7,260.1,-12.5,406,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,2664,-1.34,-194.7,305.3,-13.2,467,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,3006,-1.34,-194.7,349.1,-12.3,528,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,3336,-1.34,-194.7,388.9,-11.9,560,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,3654,-1.34,-194.7,426.3,-11.7,590,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,3973,-1.34,-194.7,463.1,-11.6,620,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,4291,-1.34,-194.7,498.6,-11.0,650,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,4610,-1.34,-194.7,532.6,-10.4,680,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,4928,-1.34,-194.7,565.2,-10.0,710,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,5248,-1.34,-194.7,596.3,-9.1,740,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,5558,-1.34,-194.7,625.3,-9.5,757,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,5867,-1.34,-194.7,653.5,-9.2,772,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,6177,-1.34,-194.7,682.1,-9.3,787,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,6485,-1.34,-194.7,711.4,-9.6,802,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,6795,-1.34,-194.7,742.8,-10.2,817,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,7104,-1.34,-194.7,775.3,-11.0,832,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,7413,-1.34,-194.7,807.9,-10.5,847,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,7722,-1.34,-194.7,839.1,-9.8,862,7727,0.00,2.78,0.00,0.000,4,0.000,0.095,2483,3433,3856
$GC,7755,-1.34,-194.7,842.6,-11.1,863,7761,0.00,2.62,0.00,0.000,6,0.000,0.066,2483,2039,3856
$GC,8070,-1.34,-194.7,873.2,-9.1,879,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3856
$GC,8379,-1.34,-194.7,900.6,-8.7,894,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3856
$GC,8689,-1.34,-194.7,927.2,-8.4,909,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3855
$GC,8998,-1.34,-194.7,953.7,-8.8,924,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3855
$GC,9307,-1.34,-194.7,981.4,-8.8,939,9311,0.00,2.72,0.00,0.000,4,0.000,0.086,2483,3437,3854
$GC,9335,-1.34,-194.7,983.9,-10.1,940,9340,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2027,3854
$STATE,9421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9421,begin apogee
$GC,9426,-0.37,0.0,991.3,8.5,944,9604,1.00,0.00,169.70,1.299,6,0.101,0.000,2694,1979,3061
$STATE,9604,end apogee,CONTROL_FINISHED_OK
$STATE,9605,begin climb
$GC,9607,1.34,194.7,993.1,0.0,953,9780,1.70,0.00,169.05,1.264,6,0.074,0.000,3068,1979,2268
$GC,10079,1.29,194.7,943.0,12.2,976,10083,0.00,2.72,0.00,0.000,4,0.000,0.076,3067,3388,2262
$GC,10118,1.23,194.7,937.9,12.7,978,10122,0.00,2.62,0.00,0.000,6,0.000,0.058,3067,1982,2261
$GC,10444,1.18,194.7,899.3,11.4,994,10446,0.15,0.00,0.00,0.000,6,0.104,0.000,3038,1980,2261
$GC,10753,1.21,219.7,870.3,9.1,1009,10778,0.00,0.00,22.58,1.165,6,0.000,0.000,3038,1979,2166
$GC,11082,1.23,239.9,840.2,9.3,1025,11107,0.00,2.80,19.45,1.141,4,0.000,0.074,3038,3394,2083
$GC,11152,1.24,246.9,833.5,9.8,1028,11166,0.00,2.60,8.20,0.999,6,0.000,0.058,3038,1993,2054
$GC,11495,1.26,264.4,801.7,9.4,1045,11515,0.00,0.00,16.90,1.107,6,0.000,0.000,3038,1991,1984
$GC,11824,1.26,264.4,769.8,10.1,1061,11829,0.00,2.70,0.00,0.000,4,0.000,0.072,3038,3392,1980
$GC,11881,1.26,264.4,763.6,10.5,1063,11887,0.00,2.58,0.00,0.000,6,0.000,0.061,3038,2014,1980
$GC,12196,1.26,264.4,731.3,10.1,1079,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2014,1979
$GC,12505,1.27,271.2,701.1,9.8,1094,12519,0.00,2.72,7.05,0.927,4,0.000,0.072,3038,3390,1955
$GC,12553,1.27,271.2,696.1,10.5,1096,12558,0.00,2.55,0.00,0.000,6,0.000,0.055,3038,2012,1954
$GC,12881,1.29,287.6,665.3,9.4,1112,12904,0.10,2.70,17.08,1.041,4,0.070,0.071,3068,3391,1888
$GC,12943,1.29,287.6,658.3,11.8,1114,12949,0.00,2.50,0.00,0.000,6,0.000,0.055,3068,2039,1886
$GC,13258,1.29,287.6,621.6,11.9,1130,13262,0.00,2.80,0.00,0.000,4,0.000,0.084,3068,573,1885
$GC,13290,1.29,287.6,617.5,12.5,1131,13296,0.00,2.67,0.00,0.000,6,0.000,0.054,3068,2032,1885
$GC,13611,1.29,287.6,579.4,11.5,1155,13615,0.00,2.60,0.00,0.000,4,0.000,0.079,3068,3402,1885
$GC,13662,1.29,287.6,573.3,12.1,1159,13666,0.00,2.50,0.00,0.000,6,0.000,0.054,3068,2041,1884
$GC,13988,1.29,287.6,536.3,11.6,1189,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2041,1885
$GC,14304,1.29,287.6,498.1,12.0,1219,14309,0.00,2.60,0.00,0.000,4,0.000,0.069,3069,3398,1884
$GC,14344,1.29,287.6,493.1,12.3,1222,14348,0.00,2.50,0.00,0.000,6,0.000,0.054,3068,2043,1884
$GC,14668,1.29,287.6,452.8,12.4,1252,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2042,1884
$GC,14987,1.29,287.6,412.9,12.5,1282,14988,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2042,1884
$GC,15305,1.29,287.6,373.4,12.1,1312,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2042,1884
$GC,15630,1.29,287.6,335.0,11.1,1353,15636,0.00,2.55,0.00,0.000,4,0.000,0.064,3068,3394,1884
$GC,15681,1.29,287.6,328.6,12.5,1362,15688,0.00,2.45,0.00,0.000,6,0.000,0.051,3069,2048,1884
$GC,16025,1.29,287.6,287.8,11.4,1423,16031,0.00,2.78,0.00,0.000,4,0.000,0.069,3068,574,1885
$GC,16065,1.29,287.6,282.7,13.1,1430,16072,0.00,2.95,0.00,0.000,6,0.000,0.097,3068,2049,1885
$GC,16409,1.29,287.6,242.5,12.1,1491,16415,0.00,2.50,0.00,0.000,4,0.000,0.067,3068,3395,1884
$GC,16460,1.29,287.6,236.2,12.7,1500,16467,0.00,2.42,0.00,0.000,6,0.000,0.051,3068,2047,1884
$GC,16804,1.29,287.6,195.8,11.8,1561,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2045,1885
$GC,17146,1.29,287.6,156.4,10.3,1622,17151,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2045,1885
$GC,17488,1.29,287.6,117.8,12.0,1683,17494,0.00,2.50,0.00,0.000,4,0.000,0.061,3068,3399,1885
$GC,17534,1.29,287.6,112.4,11.9,1691,17540,0.00,2.42,0.00,0.000,6,0.000,0.048,3068,2054,1885
$GC,17877,1.29,287.6,74.4,10.5,1752,17883,0.00,2.72,0.00,0.000,4,0.000,0.071,3068,572,1885
$GC,17914,1.29,287.6,70.2,11.5,1758,17920,0.00,2.67,0.00,0.000,6,0.000,0.048,3068,2073,1885
$GC,18259,1.32,309.7,31.9,9.2,1819,18288,0.00,2.50,20.08,0.672,4,0.000,0.067,3068,3396,1798
$GC,18329,1.32,309.7,24.2,12.2,1831,18335,0.00,2.40,0.00,0.000,6,0.000,0.050,3068,2059,1797
$GC,18471,1.43,403.0,9.5,6.8,1856,18529,0.10,0.00,54.62,0.662,2,0.070,0.000,3101,2057,1542
$STATE,18530,end climb,SURFACE_DEPTH_REACHED
$STATE,18530,begin surface coast
$FINISH,0.2,1.019569
$STATE,18557,end surface coast,CONTROL_FINISHED_OK
$STATE,18557,begin surface
$SM_CCo,18637,0.00,0.000,0,0,1534,374.82
$SM_GC,0.84,10.70,0.00,0.00,0.037,0.000,0.000,571,2017,1534,-10.07,-0.37,374.82
$IRIDIUM_FIX,6103.81,-2625.85,110897,232342
$TT8_MAMPS,0.042185
$HUMID,1656
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,519
$24V_AH,23.4,40.034
$10V_AH,10.6,45.852
$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,24.875,89.200,504.700,0.000,0.000,30.862,37.404,229.643,129.750,0.000,0.000,35.747,2920.441,11593.850,655.630,3273.705,631.065,0.000,2083.557,0.000,3279.658,0.000,0.465
$DEVICE_MAMPS,196.352,105.846,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1310.652,1377.414,710.274,1666.296,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136176,1871
$CAP_FILE_SIZE,157471,0
$CFSIZE,260165632,237305856
$ERRORS,0,28,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,101225,6125.848,-2617.540,23,1.0,41,-18.6