version: 66.03
glider: 141
mission: 7
dive: 208
start: 5 20 108 6 35 21
data:
$ID,141
$MISSION,7
$DIVE,208
$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,20
$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,-10192.679
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,061938,6108.257,-2540.956,36,1.5,36,-18.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-51.3
$GPS2,063502,6108.162,-2541.163,9,1.1,14,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.310,-2539.390
$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,38.1,20000,-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,-194.7,0.0,0.0,0,123,0.00,0.00,-93.50,0.000,2,0.000,0.000,567,2046,3672
$GC,126,-1.34,-194.7,3.2,-5.9,17,151,11.18,2.62,-4.43,0.000,4,0.199,0.069,2483,3423,3859
$GC,343,-1.29,-194.7,37.2,-12.8,55,349,0.00,2.55,0.00,0.000,6,0.000,0.049,2482,2017,3860
$GC,484,-1.29,-194.7,52.9,-10.6,80,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2010,3860
$GC,828,-1.29,-194.7,91.1,-11.3,141,834,0.00,2.65,0.00,0.000,4,0.000,0.058,2483,3433,3860
$GC,913,-1.29,-194.7,101.1,-11.8,156,920,0.00,2.47,0.00,0.000,6,0.000,0.047,2483,2061,3860
$GC,1257,-1.29,-194.7,140.9,-11.9,217,1263,0.00,2.67,0.00,0.000,4,0.000,0.061,2483,623,3860
$GC,1308,-1.29,-194.7,147.1,-11.9,226,1315,0.00,2.60,0.00,0.000,6,0.000,0.047,2483,2060,3860
$GC,1653,-1.29,-194.7,185.8,-11.1,287,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3860
$GC,1996,-1.29,-194.7,223.6,-10.7,348,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2064,3861
$GC,2340,-1.29,-194.7,261.6,-10.9,409,2346,0.00,2.70,0.00,0.000,4,0.000,0.061,2483,620,3860
$GC,2397,-1.29,-194.7,268.1,-11.1,419,2403,0.00,2.58,0.00,0.000,6,0.000,0.045,2483,2060,3860
$GC,2742,-1.29,-194.7,305.0,-10.9,480,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3861
$GC,3086,-1.29,-194.7,342.1,-10.6,541,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3860
$GC,3417,-1.29,-194.7,377.7,-10.9,578,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2063,3860
$GC,3742,-1.29,-194.7,413.6,-11.1,609,3746,0.00,2.62,0.00,0.000,4,0.000,0.063,2483,627,3860
$GC,3819,-1.29,-194.7,422.4,-10.9,615,3825,0.00,2.55,0.00,0.000,6,0.000,0.046,2483,2053,3860
$GC,4145,-1.29,-194.7,458.0,-11.1,646,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2055,3860
$GC,4462,-1.29,-194.7,491.3,-10.0,676,4467,0.00,2.65,0.00,0.000,4,0.000,0.066,2483,626,3860
$GC,4517,-1.29,-194.7,497.0,-10.2,680,4524,0.00,2.58,0.00,0.000,6,0.000,0.052,2483,2042,3860
$GC,4843,-1.29,-194.7,529.9,-10.5,711,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2044,3860
$GC,5161,-1.29,-194.7,562.8,-10.1,741,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2045,3859
$GC,5479,-1.29,-194.7,594.9,-10.5,771,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2045,3859
$GC,5801,-1.29,-194.7,628.1,-10.4,789,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2045,3859
$GC,6109,-1.29,-194.7,660.5,-10.3,804,6114,0.00,2.80,0.00,0.000,4,0.000,0.097,2483,630,3859
$GC,6171,-1.29,-194.7,667.1,-10.7,807,6176,0.00,2.60,0.00,0.000,6,0.000,0.061,2483,2034,3859
$GC,6498,-1.29,-194.7,701.1,-10.1,823,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,6806,-1.29,-194.7,731.7,-9.9,838,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,7116,-1.29,-194.7,761.7,-9.7,853,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,7425,-1.29,-194.7,791.0,-9.5,868,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3858
$GC,7735,-1.29,-194.7,819.0,-8.9,883,7739,0.00,2.70,0.00,0.000,4,0.000,0.083,2483,631,3858
$GC,7784,-1.29,-194.7,823.6,-9.4,885,7788,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2032,3858
$GC,8105,-1.29,-194.7,852.2,-9.1,901,8110,0.00,2.78,0.00,0.000,4,0.000,0.098,2483,3439,3858
$GC,8154,-1.29,-194.7,857.0,-9.4,903,8159,0.00,2.60,0.00,0.000,6,0.000,0.064,2482,2041,3857
$GC,8470,-1.29,-194.7,883.0,-7.9,918,8474,0.00,2.80,0.00,0.000,4,0.000,0.098,2483,623,3857
$GC,8536,-1.29,-194.7,888.5,-8.3,921,8540,0.00,2.60,0.00,0.000,6,0.000,0.060,2482,2038,3857
$GC,8856,-1.29,-194.7,913.6,-7.6,937,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2039,3856
$GC,9166,-1.29,-194.7,935.6,-6.9,952,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2039,3856
$GC,9475,-1.29,-194.7,956.3,-6.9,967,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3855
$GC,9784,-1.29,-194.7,979.1,-7.7,982,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3854
$STATE,9926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9926,begin apogee
$GC,9932,-0.37,0.0,990.1,7.5,989,10109,1.00,0.00,170.05,1.294,6,0.102,0.000,2694,1979,3062
$STATE,10110,end apogee,CONTROL_FINISHED_OK
$STATE,10110,begin climb
$GC,10112,1.34,194.7,991.1,0.0,998,10289,1.73,0.00,169.60,1.259,6,0.075,0.000,3069,1979,2267
$GC,10599,1.28,194.7,936.4,12.4,1022,10604,0.00,2.78,0.00,0.000,4,0.000,0.081,3069,3395,2262
$GC,10621,1.23,194.7,933.5,12.6,1023,10626,0.12,2.62,0.00,0.000,6,0.111,0.056,3045,1989,2261
$GC,10941,1.24,202.2,900.6,9.7,1039,10950,0.00,0.00,7.20,0.985,6,0.000,0.000,3045,1988,2237
$GC,11251,1.27,233.4,871.5,8.9,1054,11282,0.00,0.00,29.73,1.172,6,0.000,0.000,3045,1987,2110
$GC,11580,1.32,268.9,841.6,8.8,1070,11619,0.00,0.00,33.42,1.161,6,0.000,0.000,3045,1987,1965
$GC,11929,1.32,268.9,807.0,10.7,1087,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1987,1960
$GC,12238,1.32,268.9,773.3,11.2,1102,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1988,1959
$GC,12547,1.32,269.4,740.4,10.0,1117,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1987,1958
$GC,12856,1.34,286.1,711.6,9.4,1132,12882,0.10,0.00,18.15,0.968,6,0.072,0.000,3075,1987,1895
$GC,13186,1.29,286.1,676.5,10.8,1148,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1987,1893
$GC,13495,1.25,286.1,642.5,11.0,1163,13501,0.12,2.72,0.00,0.000,4,0.106,0.070,3050,3396,1892
$GC,13522,1.25,286.1,639.5,10.7,1164,13526,0.00,2.65,0.00,0.000,6,0.000,0.055,3050,1972,1891
$GC,13844,1.27,304.0,609.1,9.4,1180,13874,0.00,2.83,19.77,0.931,4,0.000,0.070,3050,3403,1822
$GC,13890,1.29,319.7,604.5,9.5,1182,13911,0.00,2.65,15.52,0.979,6,0.000,0.054,3051,1987,1758
$GC,14234,1.32,342.2,572.7,9.2,1212,14258,0.00,0.00,21.40,0.989,6,0.000,0.000,3051,1985,1667
$GC,14573,1.33,348.8,540.4,9.8,1244,14586,0.00,2.80,7.30,0.841,4,0.000,0.069,3051,3405,1640
$GC,14597,1.33,348.8,537.9,10.3,1246,14602,0.00,2.62,0.00,0.000,6,0.000,0.054,3051,1992,1639
$GC,14922,1.33,348.8,503.5,11.2,1276,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1989,1637
$GC,15240,1.33,348.8,467.5,11.4,1306,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1989,1637
$GC,15558,1.33,348.8,432.3,10.7,1336,15563,0.00,2.67,0.00,0.000,4,0.000,0.064,3051,3403,1636
$GC,15575,1.33,348.8,430.4,11.0,1337,15580,0.00,2.58,0.00,0.000,6,0.000,0.051,3051,1991,1636
$GC,15900,1.33,351.1,398.2,9.9,1367,15901,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1988,1636
$GC,16220,1.36,372.9,368.2,9.2,1397,16249,0.10,0.00,23.12,0.876,6,0.067,0.000,3082,1989,1540
$GC,16577,1.36,372.9,327.2,11.5,1447,16582,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1536
$GC,16919,1.36,372.9,288.1,10.9,1508,16924,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1535
$GC,17263,1.36,372.9,248.1,11.8,1569,17268,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1535
$GC,17606,1.36,372.9,207.6,10.5,1630,17611,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1535
$GC,17949,1.36,372.9,165.4,11.2,1691,17954,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1988,1535
$GC,18291,1.36,372.9,121.2,13.5,1752,18297,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1535
$GC,18635,1.36,372.9,76.1,12.8,1813,18640,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1535
$GC,18977,1.36,372.9,33.1,11.0,1874,18983,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1989,1535
$GC,19118,1.36,372.9,16.1,12.5,1899,19124,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1989,1535
$STATE,19218,end climb,SURFACE_DEPTH_REACHED
$STATE,19218,begin surface coast
$FINISH,0.1,1.013449
$STATE,19248,end surface coast,CONTROL_FINISHED_OK
$STATE,19248,begin surface
$SM_CCo,19327,0.00,0.000,0,0,1532,375.06
$SM_GC,0.78,10.55,0.00,0.00,0.038,0.000,0.000,572,2050,1532,-10.07,0.57,375.06
$IRIDIUM_FIX,6046.07,-2538.14,140897,060612
$TT8_MAMPS,0.041418
$HUMID,1657
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.70
$XPDR_PINGS,566
$24V_AH,23.4,41.780
$10V_AH,10.6,47.339
$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,24.900,79.850,515.275,0.000,0.000,89.873,99.862,462.740,141.500,0.000,0.000,15.771,2995.129,12219.803,692.877,3341.008,984.603,0.000,2134.079,0.000,3342.070,0.000,0.465
$DEVICE_MAMPS,198.653,98.176,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1345.636,1413.698,678.866,1687.060,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139434,1922
$CAP_FILE_SIZE,163578,0
$CFSIZE,260165632,236457984
$ERRORS,0,33,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200508,115856,6109.347,-2537.970,53,1.0,53,-18.0