version: 66.03
glider: 141
mission: 7
dive: 207
start: 5 20 108 0 59 2
data:
$ID,141
$MISSION,7
$DIVE,207
$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,-10176.28
$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,32
$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
$GPS1,005108,6108.046,-2545.442,39,1.3,39,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-50.7
$GPS2,005845,6107.981,-2545.488,14,1.7,14,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.618,-2541.816
$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,-194.7,0.0,0.0,0,144,0.00,0.00,-114.82,0.000,2,0.000,0.000,562,2051,3812
$GC,147,-1.34,-194.7,3.9,-9.0,21,166,11.10,2.58,-0.95,0.000,4,0.194,0.070,2483,3428,3856
$GC,318,-1.30,-194.7,30.7,-11.9,51,325,0.00,2.55,0.00,0.000,6,0.000,0.051,2483,2017,3857
$GC,460,-1.30,-194.7,45.0,-10.1,76,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2014,3858
$GC,602,-1.30,-194.7,59.7,-10.3,101,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2011,3857
$GC,943,-1.30,-194.7,96.4,-11.0,162,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2010,3857
$GC,1288,-1.30,-194.7,135.2,-12.0,223,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2010,3857
$GC,1629,-1.30,-194.7,175.0,-11.5,284,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2010,3857
$GC,1973,-1.30,-194.7,214.4,-11.7,345,1979,0.00,2.67,0.00,0.000,4,0.000,0.059,2483,3430,3857
$GC,2035,-1.30,-194.7,222.1,-12.5,356,2042,0.00,2.53,0.00,0.000,6,0.000,0.051,2484,2036,3857
$GC,2379,-1.30,-194.7,261.6,-11.0,417,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,2722,-1.30,-194.7,299.7,-11.2,478,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2031,3857
$GC,3065,-1.30,-194.7,337.3,-10.7,539,3071,0.00,2.62,0.00,0.000,4,0.000,0.063,2483,624,3857
$GC,3116,-1.30,-194.7,343.1,-11.1,548,3122,0.00,2.50,0.00,0.000,6,0.000,0.045,2483,2031,3857
$GC,3444,-1.30,-194.7,378.8,-10.4,584,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,3763,-1.30,-194.7,413.0,-10.9,614,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,4081,-1.30,-194.7,447.3,-10.8,644,4086,0.00,2.65,0.00,0.000,4,0.000,0.064,2483,623,3857
$GC,4132,-1.30,-194.7,452.9,-11.4,648,4136,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2030,3857
$GC,4457,-1.30,-194.7,488.5,-11.2,678,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,4775,-1.30,-194.7,523.4,-10.8,708,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,5093,-1.30,-194.7,558.2,-11.1,738,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,5412,-1.30,-194.7,593.9,-11.0,768,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,5722,-1.30,-194.7,627.6,-10.8,786,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,6032,-1.30,-194.7,658.9,-9.9,801,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,6342,-1.30,-194.7,689.4,-9.9,816,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,6650,-1.30,-194.7,720.4,-10.3,831,6655,0.00,2.83,0.00,0.000,4,0.000,0.104,2484,629,3857
$GC,6727,-1.30,-194.7,728.8,-10.7,834,6734,0.00,2.60,0.00,0.000,6,0.000,0.063,2483,2016,3857
$GC,7043,-1.30,-194.7,760.9,-10.1,850,7048,0.00,2.85,0.00,0.000,4,0.000,0.100,2483,3448,3856
$GC,7120,-1.30,-194.7,769.1,-10.7,853,7127,0.00,2.62,0.00,0.000,6,0.000,0.063,2483,2040,3856
$GC,7437,-1.30,-194.7,799.0,-9.6,869,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2038,3856
$GC,7746,-1.30,-194.7,827.4,-9.1,884,7750,0.00,2.78,0.00,0.000,4,0.000,0.095,2483,620,3856
$GC,7817,-1.30,-194.7,834.3,-9.6,887,7822,0.00,2.58,0.00,0.000,6,0.000,0.058,2483,2032,3856
$GC,8133,-1.30,-194.7,863.6,-9.1,902,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2034,3856
$GC,8443,-1.30,-194.7,893.2,-9.8,917,8447,0.00,2.75,0.00,0.000,4,0.000,0.096,2483,3440,3855
$GC,8492,-1.30,-194.7,898.7,-11.0,919,8496,0.00,2.62,0.00,0.000,6,0.000,0.062,2483,2040,3855
$GC,8813,-1.30,-194.7,930.4,-9.7,935,8818,0.00,2.80,0.00,0.000,4,0.000,0.097,2484,617,3855
$GC,8875,-1.30,-194.7,936.9,-10.8,938,8880,0.00,2.58,0.00,0.000,6,0.000,0.058,2483,2026,3855
$GC,9201,-1.30,-194.7,971.3,-10.8,954,9206,0.00,2.78,0.00,0.000,4,0.000,0.095,2484,3446,3855
$GC,9244,-1.30,-194.7,976.3,-12.3,956,9249,0.00,2.65,0.00,0.000,6,0.000,0.063,2483,2021,3854
$STATE,9384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9384,begin apogee
$GC,9389,-0.37,0.0,991.3,10.8,963,9567,1.00,0.00,169.60,1.292,6,0.103,0.000,2694,1983,3062
$STATE,9567,end apogee,CONTROL_FINISHED_OK
$STATE,9567,begin climb
$GC,9569,1.34,194.7,998.2,0.0,972,9748,1.70,2.78,168.18,1.262,4,0.074,0.076,3069,3394,2267
$GC,9765,1.31,221.0,986.0,9.1,980,9794,0.00,2.67,24.38,1.182,6,0.000,0.060,3069,1982,2161
$GC,10124,1.26,221.0,949.5,10.1,998,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1980,2155
$GC,10432,1.22,224.5,918.2,9.9,1013,10442,0.12,2.78,3.88,0.732,4,0.107,0.072,3045,3399,2146
$GC,10464,1.25,254.1,915.1,9.0,1014,10505,0.00,2.65,30.52,1.121,6,0.000,0.056,3045,1981,2026
$GC,10821,1.25,254.1,880.0,10.5,1032,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1981,2023
$GC,11129,1.25,254.1,847.4,10.4,1047,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1981,2021
$GC,11438,1.25,254.1,813.1,11.5,1062,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1981,2021
$GC,11749,1.25,254.1,777.7,11.3,1077,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1981,2020
$GC,12057,1.25,254.1,742.4,11.6,1092,12061,0.00,2.70,0.00,0.000,4,0.000,0.071,3045,3405,2020
$GC,12077,1.25,254.1,739.9,12.2,1093,12081,0.00,2.60,0.00,0.000,6,0.000,0.054,3045,1994,2020
$GC,12404,1.25,254.1,704.3,10.7,1109,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1994,2019
$GC,12713,1.25,254.1,671.9,10.5,1124,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1994,2019
$GC,13023,1.26,258.8,640.7,9.8,1139,13029,0.00,0.00,4.93,0.783,6,0.000,0.000,3045,1994,2006
$GC,13332,1.26,260.7,610.2,9.9,1154,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1992,2005
$GC,13646,1.26,260.7,579.0,10.1,1178,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1991,2005
$GC,13964,1.26,260.7,546.7,10.0,1208,13969,0.00,2.67,0.00,0.000,4,0.000,0.069,3045,3397,2005
$GC,13992,1.26,260.7,543.8,10.2,1210,13996,0.00,2.58,0.00,0.000,6,0.000,0.052,3045,1996,2005
$GC,14317,1.26,260.7,510.8,10.2,1240,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,2005
$GC,14637,1.26,262.4,479.0,9.9,1270,14649,0.00,2.72,4.82,0.708,4,0.000,0.073,3045,573,1992
$GC,14665,1.26,262.4,475.7,10.4,1272,14672,0.00,2.65,0.00,0.000,6,0.000,0.055,3045,2000,1992
$GC,14992,1.28,273.6,444.2,9.6,1303,15010,0.00,0.00,11.73,0.873,6,0.000,0.000,3045,2003,1945
$GC,15329,1.28,273.6,409.7,10.6,1335,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2003,1944
$GC,15648,1.28,273.6,375.9,10.2,1365,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2003,1944
$GC,15970,1.28,277.5,343.9,9.9,1400,15977,0.00,0.00,5.07,0.671,6,0.000,0.000,3045,2003,1930
$GC,16314,1.30,288.7,309.9,9.6,1461,16330,0.00,0.00,11.80,0.799,6,0.000,0.000,3044,2003,1884
$GC,16667,1.32,306.9,274.9,9.4,1524,16690,0.10,0.00,17.77,0.806,6,0.071,0.000,3077,2003,1809
$GC,17026,1.32,306.9,233.5,10.6,1588,17032,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2003,1805
$GC,17369,1.32,306.9,195.1,12.1,1649,17374,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2002,1805
$GC,17712,1.32,306.9,156.5,11.2,1710,17718,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2003,1805
$GC,18057,1.32,306.9,117.4,12.6,1771,18063,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2003,1805
$GC,18399,1.32,306.9,77.7,12.3,1832,18406,0.00,2.60,0.00,0.000,4,0.000,0.062,3076,3397,1805
$GC,18425,1.32,306.9,75.0,11.6,1836,18432,0.00,2.58,0.00,0.000,6,0.000,0.048,3076,1975,1805
$GC,18770,1.32,306.9,36.9,11.0,1897,18776,0.00,2.67,0.00,0.000,4,0.000,0.059,3077,3400,1804
$GC,18805,1.32,306.9,32.7,12.0,1903,18812,0.00,2.58,0.00,0.000,6,0.000,0.053,3076,1986,1805
$GC,18947,1.32,306.9,16.3,10.8,1928,18954,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1984,1804
$STATE,19059,end climb,SURFACE_DEPTH_REACHED
$STATE,19059,begin surface coast
$FINISH,0.3,1.027117
$STATE,19084,end surface coast,CONTROL_FINISHED_OK
$STATE,19085,begin surface
$SM_CCo,19165,0.00,0.000,0,0,1803,308.83
$SM_GC,0.86,10.45,0.00,0.00,0.035,0.000,0.000,568,2045,1803,-10.06,0.42,308.83
$IRIDIUM_FIX,6041.65,-2558.05,130897,191901
$TT8_MAMPS,0.041418
$HUMID,1682
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.70
$XPDR_PINGS,548
$24V_AH,23.1,41.556
$10V_AH,10.6,47.175
$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,24.475,90.475,452.675,0.000,0.000,28.343,33.868,256.342,137.000,0.000,0.000,17.168,3040.144,11842.174,592.964,3458.165,668.545,0.000,2119.558,0.000,3472.635,0.000,0.465
$DEVICE_MAMPS,194.051,115.050,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1367.117,1437.982,723.499,1730.381,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142516,1952
$CAP_FILE_SIZE,162132,0
$CFSIZE,260165632,236552192
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200508,061938,6108.257,-2540.956,36,1.5,36,-18.1