version: 66.03
glider: 141
mission: 7
dive: 205
start: 5 19 108 13 58 10
data:
$ID,141
$MISSION,7
$DIVE,205
$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,140
$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,-10147.396
$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,16
$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
$GPS1,134956,6111.678,-2552.515,56,1.7,56,-18.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-50.5
$GPS2,135753,6111.634,-2552.574,9,2.2,28,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6103.362,-2549.214
$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,158.2,20000,-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,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.10,0.000,2,0.000,0.000,568,2010,3632
$GC,125,-1.34,-194.7,3.1,-6.6,17,149,11.05,2.67,-5.53,0.000,4,0.194,0.073,2481,616,3859
$GC,195,-1.34,-194.7,15.5,-15.0,29,202,0.00,2.58,0.00,0.000,6,0.000,0.046,2481,2036,3860
$GC,338,-1.30,-194.7,32.1,-12.2,54,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3860
$GC,479,-1.30,-194.7,48.7,-12.1,79,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2038,3860
$GC,620,-1.30,-194.7,65.5,-11.7,104,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3860
$GC,963,-1.30,-194.7,104.7,-11.6,165,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3860
$GC,1305,-1.30,-194.7,144.0,-12.0,226,1312,0.00,2.65,0.00,0.000,4,0.000,0.060,2482,614,3860
$GC,1324,-1.30,-194.7,146.1,-11.3,229,1330,0.00,2.58,0.00,0.000,6,0.000,0.045,2482,2033,3861
$GC,1668,-1.30,-194.7,185.0,-11.2,290,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3861
$GC,2011,-1.30,-194.7,223.7,-11.3,351,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3860
$GC,2352,-1.30,-194.7,263.1,-12.0,412,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3860
$GC,2696,-1.30,-194.7,302.4,-11.6,473,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3861
$GC,3039,-1.30,-194.7,342.2,-11.6,534,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3861
$GC,3374,-1.30,-194.7,381.1,-11.6,571,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3860
$GC,3692,-1.30,-194.7,416.8,-11.0,601,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3860
$GC,4010,-1.30,-194.7,451.4,-10.7,631,4014,0.00,2.65,0.00,0.000,4,0.000,0.064,2481,618,3860
$GC,4053,-1.30,-194.7,456.2,-11.1,634,4060,0.00,2.53,0.00,0.000,6,0.000,0.051,2482,2029,3860
$GC,4381,-1.30,-194.7,490.2,-10.4,665,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3860
$GC,4697,-1.30,-194.7,523.7,-10.3,695,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3860
$GC,5015,-1.30,-194.7,556.0,-10.1,725,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3860
$GC,5334,-1.30,-194.7,586.9,-9.6,755,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3860
$GC,5657,-1.30,-194.7,618.6,-9.9,777,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3860
$GC,5966,-1.30,-194.7,650.5,-10.2,792,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3860
$GC,6276,-1.30,-194.7,682.4,-10.2,807,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3860
$GC,6584,-1.30,-194.7,714.1,-10.3,822,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3859
$GC,6894,-1.30,-194.7,746.4,-10.6,837,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3859
$GC,7203,-1.30,-194.7,778.7,-10.4,852,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2031,3859
$GC,7513,-1.30,-194.7,811.0,-10.8,867,7517,0.00,2.78,0.00,0.000,4,0.000,0.093,2481,3438,3859
$GC,7533,-1.30,-194.7,813.5,-11.7,868,7538,0.00,2.65,0.00,0.000,6,0.000,0.064,2481,2029,3858
$GC,7855,-1.30,-194.7,845.5,-9.7,884,7859,0.00,2.75,0.00,0.000,4,0.000,0.083,2481,3436,3858
$GC,7893,-1.30,-194.7,849.5,-10.6,886,7898,0.00,2.60,0.00,0.000,6,0.000,0.061,2481,2043,3858
$GC,8219,-1.30,-194.7,880.2,-9.4,902,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,8529,-1.30,-194.7,909.0,-9.4,917,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3857
$GC,8837,-1.30,-194.7,938.2,-9.5,932,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3857
$GC,9147,-1.30,-194.7,968.0,-9.9,947,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2039,3857
$STATE,9372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9372,begin apogee
$GC,9378,-0.37,0.0,991.0,10.3,958,9554,1.02,0.00,169.90,1.289,6,0.101,0.000,2698,1984,3062
$STATE,9555,end apogee,CONTROL_FINISHED_OK
$STATE,9555,begin climb
$GC,9557,1.34,194.7,995.9,0.0,967,9734,1.70,0.00,169.27,1.260,6,0.074,0.000,3069,1983,2267
$GC,10044,1.29,194.7,951.3,10.6,991,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1981,2262
$GC,10353,1.23,194.7,918.1,10.8,1006,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1981,2261
$GC,10662,1.17,194.7,884.7,10.8,1021,10667,0.15,2.72,0.00,0.000,4,0.104,0.071,3034,3394,2261
$GC,10717,1.17,194.7,878.9,10.7,1023,10724,0.00,2.62,0.00,0.000,6,0.000,0.054,3034,1974,2260
$GC,11033,1.21,222.1,850.0,9.0,1039,11060,0.00,0.00,24.70,1.159,6,0.000,0.000,3034,1973,2156
$GC,11364,1.24,249.5,819.6,9.0,1055,11397,0.00,2.78,26.17,1.142,4,0.000,0.071,3034,3392,2043
$GC,11432,1.24,249.5,813.0,10.3,1058,11436,0.00,2.60,0.00,0.000,6,0.000,0.054,3034,1989,2041
$GC,11752,1.27,270.3,783.3,9.3,1074,11777,0.00,2.83,19.50,1.104,4,0.000,0.087,3034,577,1959
$GC,11805,1.27,275.6,778.0,9.8,1076,11819,0.10,2.65,6.60,0.912,6,0.070,0.052,3065,2001,1938
$GC,12126,1.27,275.6,739.2,12.5,1092,12131,0.00,2.67,0.00,0.000,4,0.000,0.079,3065,3396,1934
$GC,12175,1.27,275.6,732.4,13.2,1094,12179,0.00,2.60,0.00,0.000,6,0.000,0.054,3065,2000,1934
$GC,12496,1.27,275.6,691.4,12.8,1110,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1998,1933
$GC,12806,1.27,275.6,651.7,12.7,1125,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1998,1933
$GC,13114,1.27,275.6,614.1,11.9,1140,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1998,1933
$GC,13430,1.27,275.6,579.0,10.7,1164,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1998,1933
$GC,13748,1.27,275.6,545.1,10.9,1194,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1997,1933
$GC,14067,1.27,275.6,510.5,10.7,1224,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1997,1932
$GC,14385,1.27,275.6,474.6,11.6,1254,14389,0.00,2.67,0.00,0.000,4,0.000,0.067,3065,3394,1932
$GC,14426,1.27,275.6,469.9,12.0,1257,14430,0.00,2.58,0.00,0.000,6,0.000,0.051,3065,1996,1932
$GC,14750,1.27,275.6,432.7,11.4,1287,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1993,1932
$GC,15070,1.27,275.6,396.2,11.3,1317,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1993,1933
$GC,15387,1.27,275.6,359.9,11.1,1347,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1993,1932
$GC,15718,1.27,275.6,322.4,10.5,1398,15724,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1993,1933
$GC,16061,1.27,275.6,287.2,10.3,1459,16066,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1993,1933
$GC,16404,1.28,284.4,253.7,9.7,1520,16421,0.00,2.70,8.77,0.739,4,0.000,0.060,3065,3398,1901
$GC,16455,1.28,284.4,248.4,10.0,1529,16461,0.00,2.55,0.00,0.000,6,0.000,0.048,3065,2005,1900
$GC,16799,1.31,306.3,214.6,9.2,1590,16822,0.00,0.00,20.88,0.777,6,0.000,0.000,3065,2003,1812
$GC,17160,1.31,306.3,176.6,11.7,1654,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2002,1809
$GC,17503,1.31,306.3,139.5,10.6,1715,17508,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2003,1808
$GC,17846,1.31,306.3,102.9,10.8,1776,17852,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2003,1808
$GC,18189,1.31,306.3,64.0,11.5,1837,18195,0.00,2.60,0.00,0.000,4,0.000,0.059,3065,3399,1808
$GC,18226,1.31,306.3,59.9,11.5,1843,18232,0.00,2.53,0.00,0.000,6,0.000,0.048,3065,2007,1808
$GC,18570,1.31,306.3,23.0,12.3,1904,18576,0.00,2.60,0.00,0.000,4,0.000,0.064,3065,3405,1808
$GC,18613,1.31,309.6,18.6,9.9,1911,18619,0.00,2.47,0.00,0.000,6,0.000,0.047,3065,2032,1808
$GC,18755,1.39,368.4,3.8,8.0,1936,18768,0.00,0.00,11.57,0.627,2,0.000,0.000,3065,2030,1760
$STATE,18769,end climb,SURFACE_DEPTH_REACHED
$STATE,18769,begin surface coast
$FINISH,0.1,1.027109
$STATE,18804,end surface coast,CONTROL_FINISHED_OK
$STATE,18804,begin surface
$SM_CCo,18883,0.00,0.000,0,0,1756,320.36
$SM_GC,0.81,10.52,0.00,0.00,0.038,0.000,0.000,573,2027,1756,-10.06,-0.08,320.36
$IRIDIUM_FIX,6050.49,-2613.92,130897,080854
$TT8_MAMPS,0.042185
$HUMID,1645
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,548
$24V_AH,23.4,41.167
$10V_AH,10.6,46.843
$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,24.550,68.725,457.375,0.000,0.000,29.483,32.787,258.420,137.000,0.000,0.000,30.817,3022.537,11687.210,609.795,3386.309,633.653,0.000,2055.004,0.000,3374.200,0.000,0.466
$DEVICE_MAMPS,194.051,92.807,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1359.444,1417.820,723.730,1728.603,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142393,1944
$CAP_FILE_SIZE,157093,0
$CFSIZE,260165632,236740608
$ERRORS,0,27,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,191408,6107.768,-2549.515,40,1.5,40,-18.1