version: 66.03
glider: 141
mission: 7
dive: 206
start: 5 19 108 19 21 57
data:
$ID,141
$MISSION,7
$DIVE,206
$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,45
$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,-10158.483
$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,21
$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
$GPS1,191408,6107.768,-2549.515,40,1.5,40,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.9
$GPS2,192139,6107.728,-2549.539,8,2.0,8,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.364,-2545.867
$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,63.1,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-99.32,0.000,2,0.000,0.000,573,2025,3751
$GC,131,-1.34,-194.7,3.9,-9.6,18,151,11.12,2.65,-2.28,0.000,4,0.198,0.070,2482,3448,3856
$GC,325,-1.30,-194.7,34.4,-12.6,52,332,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2019,3857
$GC,467,-1.30,-194.7,52.0,-11.8,77,473,0.00,2.60,0.00,0.000,4,0.000,0.061,2482,619,3858
$GC,558,-1.30,-194.7,62.5,-11.5,93,564,0.00,2.50,0.00,0.000,6,0.000,0.045,2482,1999,3858
$GC,901,-1.30,-194.7,102.1,-11.3,154,908,0.00,2.67,0.00,0.000,4,0.000,0.065,2482,3442,3858
$GC,965,-1.30,-194.7,109.5,-11.7,165,971,0.00,2.62,0.00,0.000,6,0.000,0.046,2482,1988,3858
$GC,1309,-1.30,-194.7,146.4,-10.4,226,1315,0.00,2.53,0.00,0.000,4,0.000,0.067,2482,626,3857
$GC,1355,-1.30,-194.7,151.4,-10.9,234,1361,0.00,2.45,0.00,0.000,6,0.000,0.045,2482,1990,3858
$GC,1699,-1.30,-194.7,186.3,-10.0,295,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1992,3858
$GC,2041,-1.30,-194.7,220.1,-10.0,356,2048,0.00,2.70,0.00,0.000,4,0.000,0.064,2482,3439,3858
$GC,2100,-1.30,-194.7,226.1,-10.5,366,2107,0.00,2.62,0.00,0.000,6,0.000,0.048,2482,1991,3857
$GC,2445,-1.30,-194.7,260.7,-9.9,427,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1985,3858
$GC,2788,-1.30,-194.7,294.9,-9.9,488,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1984,3858
$GC,3131,-1.30,-194.7,328.2,-9.6,549,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1984,3858
$GC,3473,-1.30,-194.7,361.9,-9.8,600,3477,0.00,2.75,0.00,0.000,4,0.000,0.064,2482,3440,3858
$GC,3534,-1.30,-194.7,368.3,-10.2,605,3539,0.00,2.65,0.00,0.000,6,0.000,0.050,2482,1991,3858
$GC,3863,-1.30,-194.7,399.7,-9.2,635,3867,0.00,2.72,0.00,0.000,4,0.000,0.066,2482,3433,3858
$GC,3913,-1.30,-194.7,405.0,-10.2,639,3917,0.00,2.62,0.00,0.000,6,0.000,0.051,2482,1999,3857
$GC,4240,-1.30,-194.7,435.8,-9.8,669,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1997,3858
$GC,4556,-1.30,-194.7,467.4,-9.9,699,4561,0.00,2.75,0.00,0.000,4,0.000,0.071,2482,3438,3858
$GC,4611,-1.30,-194.7,473.4,-10.8,703,4618,0.00,2.65,0.00,0.000,6,0.000,0.053,2482,2000,3858
$GC,4938,-1.30,-194.7,507.4,-10.6,734,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1997,3858
$GC,5255,-1.30,-194.7,541.0,-10.9,764,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1997,3857
$GC,5573,-1.30,-194.7,575.8,-10.9,794,5578,0.00,2.78,0.00,0.000,4,0.000,0.076,2482,3437,3858
$GC,5623,-1.30,-194.7,581.6,-11.6,798,5628,0.00,2.65,0.00,0.000,6,0.000,0.056,2482,2010,3858
$GC,5944,-1.30,-194.7,616.1,-10.6,821,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2006,3857
$GC,6252,-1.30,-194.7,648.7,-10.4,836,6257,0.00,2.78,0.00,0.000,4,0.000,0.102,2482,616,3857
$GC,6295,-1.30,-194.7,653.3,-11.0,838,6300,0.00,2.55,0.00,0.000,6,0.000,0.058,2482,2005,3857
$GC,6623,-1.30,-194.7,685.9,-10.1,854,6627,0.00,2.85,0.00,0.000,4,0.000,0.096,2482,3439,3857
$GC,6684,-1.30,-194.7,692.7,-11.2,857,6689,0.00,2.70,0.00,0.000,6,0.000,0.067,2482,2015,3857
$GC,7010,-1.30,-194.7,726.9,-10.5,873,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2013,3857
$GC,7320,-1.30,-194.7,758.5,-10.0,888,7324,0.00,2.78,0.00,0.000,4,0.000,0.100,2482,617,3857
$GC,7376,-1.30,-194.7,764.3,-10.5,890,7382,0.00,2.55,0.00,0.000,6,0.000,0.058,2482,2014,3856
$GC,7691,-1.30,-194.7,794.8,-9.6,906,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3856
$GC,8001,-1.30,-194.7,822.8,-8.9,921,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3856
$GC,8309,-1.30,-194.7,850.2,-8.6,936,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3856
$GC,8620,-1.30,-194.7,876.8,-8.9,951,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3856
$GC,8928,-1.30,-194.7,904.0,-8.9,966,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3855
$GC,9237,-1.30,-194.7,932.2,-9.4,981,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3855
$GC,9547,-1.30,-194.7,961.4,-9.4,996,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2016,3854
$STATE,9853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9853,begin apogee
$GC,9859,-0.37,0.0,990.9,9.6,1011,10036,1.00,0.00,169.23,1.291,6,0.097,0.000,2695,1971,3062
$STATE,10037,end apogee,CONTROL_FINISHED_OK
$STATE,10037,begin climb
$GC,10039,1.34,194.7,995.4,0.0,1020,10217,1.73,0.00,169.30,1.259,6,0.074,0.000,3072,1970,2267
$GC,10527,1.28,194.7,947.9,11.0,1044,10532,0.00,2.83,0.00,0.000,4,0.000,0.081,3072,3398,2262
$GC,10554,1.22,194.7,944.3,11.5,1045,10560,0.12,2.65,0.00,0.000,6,0.111,0.056,3048,1983,2262
$GC,10870,1.22,194.7,911.7,10.6,1060,10874,0.00,2.75,0.00,0.000,4,0.000,0.072,3048,3402,2261
$GC,10892,1.22,194.7,909.3,11.1,1061,10897,0.00,2.62,0.00,0.000,6,0.000,0.056,3048,1992,2260
$GC,11213,1.22,194.7,874.5,10.8,1077,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1990,2260
$GC,11522,1.22,194.7,839.7,11.3,1092,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1990,2260
$GC,11832,1.22,194.7,805.2,11.2,1107,11836,0.00,2.75,0.00,0.000,4,0.000,0.071,3048,3405,2259
$GC,11852,1.22,194.7,802.6,10.6,1108,11857,0.00,2.65,0.00,0.000,6,0.000,0.057,3048,1988,2259
$GC,12180,1.23,200.0,769.2,9.8,1124,12190,0.00,2.78,4.75,0.816,4,0.000,0.086,3048,572,2246
$GC,12212,1.23,200.0,765.8,10.3,1125,12219,0.00,2.62,0.00,0.000,6,0.000,0.055,3048,1990,2246
$GC,12528,1.26,221.7,736.1,9.2,1141,12554,0.00,2.78,20.95,1.093,4,0.000,0.079,3048,3392,2157
$GC,12570,1.28,244.0,732.0,9.2,1143,12597,0.00,2.62,21.67,1.077,6,0.000,0.054,3048,1988,2067
$GC,12913,1.28,244.0,697.5,10.4,1160,12914,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1987,2062
$GC,13222,1.28,244.0,665.9,10.0,1175,13227,0.00,2.72,0.00,0.000,4,0.000,0.071,3048,3403,2061
$GC,13262,1.28,244.0,661.8,10.2,1177,13266,0.00,2.60,0.00,0.000,6,0.000,0.054,3048,2001,2061
$GC,13588,1.34,292.7,632.9,8.3,1193,13635,0.10,0.00,44.80,1.055,6,0.070,0.000,3078,2000,1868
$GC,13938,1.30,292.7,597.0,10.7,1211,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1999,1863
$GC,14258,1.26,292.7,561.7,11.0,1241,14263,0.12,2.67,0.00,0.000,4,0.102,0.068,3053,3395,1862
$GC,14279,1.26,292.7,559.1,10.6,1242,14286,0.00,2.60,0.00,0.000,6,0.000,0.053,3053,2007,1861
$GC,14606,1.26,292.7,526.7,10.1,1273,14607,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2004,1861
$GC,14923,1.26,292.7,494.1,10.3,1303,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2004,1861
$GC,15242,1.26,292.7,461.5,10.0,1333,15243,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2004,1861
$GC,15561,1.26,293.9,429.8,10.0,1363,15562,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2004,1861
$GC,15880,1.27,298.9,398.2,9.8,1393,15888,0.00,0.00,5.75,0.728,6,0.000,0.000,3053,2004,1843
$GC,16208,1.27,300.1,365.3,10.0,1424,16209,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2005,1842
$GC,16534,1.28,311.4,333.2,9.6,1469,16557,0.00,2.72,12.70,0.821,4,0.000,0.062,3053,3397,1791
$GC,16574,1.28,311.4,329.3,10.1,1476,16580,0.00,2.55,0.00,0.000,6,0.000,0.055,3053,2003,1790
$GC,16918,1.31,334.1,295.9,9.2,1537,16946,0.00,0.00,21.50,0.825,6,0.000,0.000,3053,2001,1697
$GC,17283,1.33,352.8,259.6,9.4,1602,17310,0.00,0.00,19.65,0.735,6,0.000,0.000,3053,2001,1623
$GC,17648,1.33,352.8,223.1,10.6,1667,17653,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2001,1619
$GC,17989,1.36,372.2,188.2,9.3,1728,18012,0.10,0.00,17.65,0.755,6,0.068,0.000,3084,2001,1543
$GC,18349,1.36,372.2,146.2,12.0,1792,18355,0.00,2.62,0.00,0.000,4,0.000,0.064,3084,3406,1540
$GC,18367,1.36,372.2,144.0,11.3,1795,18373,0.00,2.55,0.00,0.000,6,0.000,0.047,3084,2011,1540
$GC,18710,1.36,372.2,103.8,11.5,1856,18715,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2006,1540
$GC,19054,1.36,372.2,65.5,10.5,1917,19060,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2007,1539
$GC,19398,1.36,372.2,24.4,11.9,1978,19404,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2007,1539
$GC,19539,1.36,372.2,5.9,10.5,2003,19545,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2007,1539
$STATE,19568,end climb,SURFACE_DEPTH_REACHED
$STATE,19568,begin surface coast
$FINISH,0.3,1.027140
$STATE,19596,end surface coast,CONTROL_FINISHED_OK
$STATE,19596,begin surface
$SM_CCo,19676,0.00,0.000,0,0,1538,373.84
$SM_GC,0.74,10.52,0.00,0.00,0.036,0.000,0.000,563,2049,1538,-10.08,0.54,373.84
$IRIDIUM_FIX,6050.49,-2551.98,130897,141454
$TT8_MAMPS,0.042185
$HUMID,1680
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.70
$XPDR_PINGS,591
$24V_AH,23.4,41.369
$10V_AH,10.6,47.011
$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,24.825,111.950,507.950,0.000,0.000,26.226,51.056,243.526,147.750,0.000,0.000,10.461,3138.464,12100.886,683.530,3521.069,665.977,0.000,2214.425,0.000,3532.653,0.000,0.466
$DEVICE_MAMPS,197.886,102.011,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1410.953,1467.008,719.018,1771.358,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145207,2013
$CAP_FILE_SIZE,169148,0
$CFSIZE,260165632,236630016
$ERRORS,0,50,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200508,005108,6108.046,-2545.442,39,1.3,39,-18.1