version: 66.03
glider: 141
mission: 7
dive: 209
start: 5 20 108 12 10 47
data:
$ID,141
$MISSION,7
$DIVE,209
$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,-10209.677
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,115856,6109.347,-2537.970,53,1.0,53,-18.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-45.4
$GPS2,121027,6109.322,-2537.838,14,1.1,14,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.470,-2536.066
$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,38.0,20000,-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,23,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,133,0.00,0.00,-104.07,0.000,2,0.000,0.000,572,2048,3604
$GC,136,-1.34,-194.7,3.1,-5.8,19,160,11.10,2.62,-6.30,0.000,4,0.197,0.072,2483,3437,3857
$GC,292,-1.29,-194.7,24.7,-11.7,46,299,0.00,2.58,0.00,0.000,6,0.000,0.045,2483,2018,3858
$GC,434,-1.29,-194.7,42.4,-11.0,71,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,575,-1.29,-194.7,58.5,-11.2,96,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,919,-1.29,-194.7,98.4,-12.3,157,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,1261,-1.29,-194.7,138.9,-11.6,218,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,1604,-1.29,-194.7,177.5,-11.4,279,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,1947,-1.29,-194.7,217.8,-11.9,340,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,2290,-1.29,-194.7,255.5,-10.8,401,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,2631,-1.29,-194.7,291.0,-10.3,462,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,2974,-1.29,-194.7,326.1,-10.5,523,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,3310,-1.29,-194.7,360.8,-10.2,574,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,3629,-1.29,-194.7,393.5,-9.9,604,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3859
$GC,3948,-1.29,-194.7,424.0,-9.2,634,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,4266,-1.29,-194.7,455.2,-10.2,664,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,4585,-1.29,-194.7,490.6,-11.2,694,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,4903,-1.29,-194.7,526.1,-11.2,724,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,5222,-1.29,-194.7,560.5,-10.7,754,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,5541,-1.29,-194.7,594.0,-10.1,784,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2011,3858
$GC,5852,-1.29,-194.7,624.3,-9.7,802,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3858
$GC,6161,-1.29,-194.7,655.4,-10.3,817,6166,0.00,2.80,0.00,0.000,4,0.000,0.088,2483,3424,3857
$GC,6204,-1.29,-194.7,660.3,-11.2,819,6209,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2050,3857
$GC,6531,-1.29,-194.7,693.6,-10.2,835,6536,0.00,2.88,0.00,0.000,4,0.000,0.107,2483,620,3857
$GC,6615,-1.29,-194.7,702.5,-10.8,839,6620,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2015,3857
$GC,6942,-1.29,-194.7,734.3,-9.3,855,6946,0.00,2.83,0.00,0.000,4,0.000,0.097,2483,3439,3856
$GC,7008,-1.29,-194.7,740.8,-9.7,858,7012,0.00,2.65,0.00,0.000,6,0.000,0.065,2483,2031,3856
$GC,7328,-1.29,-194.7,769.9,-9.3,874,7333,0.00,2.78,0.00,0.000,4,0.000,0.101,2483,619,3856
$GC,7394,-1.29,-194.7,776.5,-10.2,877,7399,0.00,2.60,0.00,0.000,6,0.000,0.058,2483,2021,3856
$GC,7722,-1.29,-194.7,805.2,-8.5,893,7726,0.00,2.78,0.00,0.000,4,0.000,0.099,2483,3437,3856
$GC,7771,-1.29,-194.7,810.0,-9.5,895,7775,0.00,2.65,0.00,0.000,6,0.000,0.064,2483,2016,3855
$GC,8087,-1.29,-194.7,839.1,-9.8,910,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3856
$GC,8396,-1.29,-194.7,871.8,-10.7,925,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3855
$GC,8705,-1.29,-194.7,905.5,-11.1,940,8709,0.00,2.78,0.00,0.000,4,0.000,0.081,2483,3441,3855
$GC,8759,-1.29,-194.7,911.8,-11.4,942,8765,0.00,2.65,0.00,0.000,6,0.000,0.062,2483,2022,3854
$GC,9075,-1.29,-194.7,948.1,-12.7,958,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2020,3854
$GC,9384,-1.29,-194.7,984.5,-10.8,973,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3854
$STATE,9443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9444,begin apogee
$GC,9449,-0.37,0.0,991.3,11.0,976,9626,1.00,0.00,169.45,1.298,6,0.101,0.000,2694,1982,3061
$STATE,9627,end apogee,CONTROL_FINISHED_OK
$STATE,9627,begin climb
$GC,9630,1.34,194.7,998.4,0.0,985,9807,1.73,0.00,169.15,1.267,6,0.075,0.000,3069,1982,2268
$GC,10117,1.28,194.7,958.8,10.3,1009,10121,0.00,2.78,0.00,0.000,4,0.000,0.074,3069,3396,2263
$GC,10133,1.23,194.7,956.7,11.7,1010,10139,0.12,2.67,0.00,0.000,6,0.110,0.058,3045,1975,2263
$GC,10460,1.23,194.7,922.9,10.6,1026,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1974,2262
$GC,10769,1.23,194.7,891.2,11.0,1041,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1974,2262
$GC,11078,1.23,198.6,858.3,9.9,1056,11087,0.00,2.78,4.05,0.762,4,0.000,0.074,3045,3400,2252
$GC,11104,1.24,209.9,855.6,9.6,1057,11124,0.00,2.65,12.07,1.094,6,0.000,0.058,3045,1979,2206
$GC,11451,1.24,209.9,820.3,10.1,1074,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1979,2203
$GC,11762,1.25,217.6,790.1,9.7,1089,11776,0.00,2.80,8.23,1.004,4,0.000,0.072,3045,3392,2174
$GC,11806,1.26,225.1,785.7,9.7,1091,11820,0.00,2.62,8.35,0.995,6,0.000,0.057,3045,1992,2144
$GC,12137,1.26,225.1,749.7,11.4,1107,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1989,2141
$GC,12446,1.26,225.1,714.7,11.2,1122,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1989,2141
$GC,12755,1.26,225.1,682.0,10.4,1137,12759,0.00,2.72,0.00,0.000,4,0.000,0.071,3045,3402,2141
$GC,12776,1.26,225.1,679.6,10.4,1138,12780,0.00,2.62,0.00,0.000,6,0.000,0.056,3045,1993,2141
$GC,13103,1.27,227.1,646.6,9.9,1154,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,2141
$GC,13413,1.27,231.0,616.0,9.9,1169,13421,0.00,0.00,6.60,0.871,6,0.000,0.000,3045,1993,2120
$GC,13725,1.30,255.7,586.2,9.1,1190,13755,0.00,0.00,23.90,1.017,6,0.000,0.000,3045,1992,2018
$GC,14074,1.30,255.7,552.8,10.0,1223,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1991,2015
$GC,14393,1.30,255.7,519.6,10.0,1253,14398,0.00,2.70,0.00,0.000,4,0.000,0.071,3045,3402,2015
$GC,14410,1.30,255.7,517.7,10.1,1254,14414,0.00,2.60,0.00,0.000,6,0.000,0.054,3045,1996,2015
$GC,14736,1.33,278.4,486.0,9.2,1284,14759,0.10,0.00,21.00,0.950,6,0.071,0.000,3076,1993,1927
$GC,15073,1.33,278.4,448.4,11.1,1316,15077,0.00,2.67,0.00,0.000,4,0.000,0.068,3076,3396,1924
$GC,15127,1.33,278.4,441.7,11.6,1320,15134,0.00,2.60,0.00,0.000,6,0.000,0.056,3076,2001,1923
$GC,15454,1.33,278.4,405.5,11.2,1351,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1923
$GC,15772,1.33,278.4,368.7,11.2,1381,15777,0.00,2.65,0.00,0.000,4,0.000,0.064,3077,3397,1923
$GC,15794,1.33,278.4,365.9,11.5,1382,15800,0.00,2.55,0.00,0.000,6,0.000,0.052,3076,1998,1922
$GC,16129,1.33,278.4,328.3,10.1,1430,16136,0.00,2.62,0.00,0.000,4,0.000,0.064,3076,3398,1922
$GC,16159,1.33,278.4,325.0,11.7,1435,16165,0.00,2.53,0.00,0.000,6,0.000,0.051,3076,2015,1923
$GC,16502,1.33,278.4,287.2,11.2,1496,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2011,1922
$GC,16845,1.33,278.4,246.4,11.7,1557,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2011,1922
$GC,17187,1.33,278.4,205.0,12.6,1618,17192,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2012,1922
$GC,17529,1.33,278.4,162.1,13.2,1679,17535,0.00,2.65,0.00,0.000,4,0.000,0.061,3076,3405,1923
$GC,17557,1.33,278.4,158.4,11.9,1684,17564,0.00,2.55,0.00,0.000,6,0.000,0.054,3076,2008,1923
$GC,17901,1.33,278.4,121.0,10.0,1745,17906,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1923
$GC,18243,1.33,278.4,82.6,11.0,1806,18249,0.00,2.60,0.00,0.000,4,0.000,0.061,3076,3398,1923
$GC,18284,1.33,278.4,77.8,11.4,1813,18290,0.00,2.50,0.00,0.000,6,0.000,0.049,3076,2023,1922
$GC,18628,1.33,278.4,42.3,10.9,1874,18634,0.00,2.58,0.00,0.000,4,0.000,0.062,3076,3398,1923
$GC,18657,1.33,278.4,38.8,11.5,1879,18663,0.00,2.45,0.00,0.000,6,0.000,0.051,3076,2042,1923
$GC,18801,1.33,278.4,21.8,13.0,1904,18807,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2041,1923
$GC,18942,1.33,278.4,7.0,13.1,1929,18948,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2040,1923
$STATE,18975,end climb,SURFACE_DEPTH_REACHED
$STATE,18975,begin surface coast
$FINISH,0.5,1.027102
$STATE,18999,end surface coast,CONTROL_FINISHED_OK
$STATE,18999,begin surface
$SM_CCo,19079,0.00,0.000,0,0,1920,280.13
$SM_GC,0.86,10.52,0.00,0.00,0.038,0.000,0.000,570,2035,1920,-10.08,0.17,280.13
$IRIDIUM_FIX,6046.07,-2536.05,140897,121250
$TT8_MAMPS,0.041418
$HUMID,1679
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,15.20
$XPDR_PINGS,562
$24V_AH,23.4,41.970
$10V_AH,10.6,47.504
$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,24.575,95.750,422.800,0.000,0.000,60.700,71.784,354.825,140.500,0.000,0.000,16.371,3030.778,11855.943,620.274,3395.167,852.321,0.000,2096.056,0.000,3424.516,0.000,0.465
$DEVICE_MAMPS,197.119,108.914,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1366.479,1426.041,721.020,1722.776,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142536,1939
$CAP_FILE_SIZE,164836,0
$CFSIZE,260165632,236359680
$ERRORS,0,35,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,173002,6111.592,-2534.205,40,1.2,40,-18.0