version: 66.03
glider: 141
mission: 7
dive: 210
start: 5 20 108 17 40 57
data:
$ID,141
$MISSION,7
$DIVE,210
$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,320
$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,-10226.48
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,173002,6111.592,-2534.205,40,1.2,40,-18.0
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-52.2
$GPS2,174039,6111.640,-2534.191,14,1.5,14,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.913,-2537.521
$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,338.0,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.34,-194.7,0.0,0.0,0,119,0.00,0.00,-87.80,0.000,2,0.000,0.000,570,2033,3703
$GC,121,-1.34,-194.7,3.5,-7.4,16,146,11.07,2.72,-3.58,0.000,4,0.196,0.073,2484,3442,3859
$GC,387,-1.34,-194.7,42.8,-12.4,63,394,0.00,2.55,0.00,0.000,6,0.000,0.046,2484,2028,3860
$GC,529,-1.34,-194.7,60.7,-13.1,88,536,0.00,2.60,0.00,0.000,4,0.000,0.065,2484,623,3860
$GC,581,-1.34,-194.7,67.7,-13.5,97,587,0.00,2.58,0.00,0.000,6,0.000,0.046,2483,2038,3860
$GC,924,-1.34,-194.7,109.9,-11.7,158,931,0.00,2.60,0.00,0.000,4,0.000,0.066,2484,3435,3860
$GC,977,-1.34,-194.7,116.1,-11.6,167,983,0.00,2.58,0.00,0.000,6,0.000,0.046,2483,2013,3860
$GC,1320,-1.34,-194.7,156.4,-12.1,228,1326,0.00,2.55,0.00,0.000,4,0.000,0.061,2484,626,3860
$GC,1395,-1.34,-194.7,166.0,-13.0,241,1401,0.00,2.53,0.00,0.000,6,0.000,0.046,2484,2027,3861
$GC,1739,-1.34,-194.7,205.4,-10.4,302,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3861
$GC,2083,-1.34,-194.7,242.6,-11.1,363,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3861
$GC,2425,-1.34,-194.7,280.8,-11.6,424,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3861
$GC,2768,-1.34,-194.7,319.6,-10.9,485,2774,0.00,2.62,0.00,0.000,4,0.000,0.062,2483,615,3860
$GC,2836,-1.34,-194.7,327.4,-11.7,497,2842,0.00,2.53,0.00,0.000,6,0.000,0.047,2483,2019,3860
$GC,3177,-1.34,-194.7,365.4,-11.1,546,3181,0.00,2.65,0.00,0.000,4,0.000,0.068,2484,3441,3861
$GC,3226,-1.34,-194.7,371.3,-12.0,550,3231,0.00,2.60,0.00,0.000,6,0.000,0.049,2484,2002,3861
$GC,3552,-1.34,-194.7,407.7,-11.1,580,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2000,3860
$GC,3869,-1.34,-194.7,443.0,-10.9,610,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1999,3860
$GC,4188,-1.34,-194.7,477.8,-10.9,640,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2000,3860
$GC,4506,-1.34,-194.7,512.1,-10.6,670,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1999,3860
$GC,4825,-1.34,-194.7,546.3,-10.6,700,4829,0.00,2.62,0.00,0.000,4,0.000,0.077,2483,617,3860
$GC,4879,-1.34,-194.7,552.4,-11.1,704,4886,0.00,2.55,0.00,0.000,6,0.000,0.052,2484,2011,3860
$GC,5206,-1.34,-194.7,586.3,-10.3,735,5211,0.00,2.72,0.00,0.000,4,0.000,0.082,2483,3442,3859
$GC,5290,-1.34,-194.7,595.4,-10.4,742,5294,0.00,2.60,0.00,0.000,6,0.000,0.058,2483,2030,3859
$GC,5607,-1.34,-194.7,628.0,-10.8,759,5611,0.00,2.78,0.00,0.000,4,0.000,0.099,2484,618,3859
$GC,5695,-1.34,-194.7,638.4,-11.4,763,5699,0.00,2.55,0.00,0.000,6,0.000,0.058,2484,2013,3859
$GC,6023,-1.34,-194.7,669.9,-8.5,779,6027,0.00,2.83,0.00,0.000,4,0.000,0.098,2484,3445,3859
$GC,6095,-1.34,-194.7,676.6,-9.3,782,6099,0.00,2.67,0.00,0.000,6,0.000,0.067,2483,2017,3859
$GC,6410,-1.34,-194.7,706.3,-10.0,797,6415,0.00,2.78,0.00,0.000,4,0.000,0.102,2484,618,3859
$GC,6482,-1.34,-194.7,713.7,-10.1,800,6486,0.00,2.60,0.00,0.000,6,0.000,0.061,2484,2030,3859
$GC,6804,-1.34,-194.7,745.0,-9.7,816,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2031,3858
$GC,7113,-1.34,-194.7,772.9,-8.4,831,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2031,3858
$GC,7422,-1.34,-194.7,800.0,-9.2,846,7426,0.00,2.70,0.00,0.000,4,0.000,0.081,2483,621,3858
$GC,7488,-1.34,-194.7,806.4,-10.1,849,7492,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2016,3858
$GC,7808,-1.34,-194.7,837.8,-10.1,865,7813,0.00,2.80,0.00,0.000,4,0.000,0.095,2484,3446,3857
$GC,7893,-1.34,-194.7,847.0,-11.3,869,7898,0.00,2.65,0.00,0.000,6,0.000,0.062,2484,2023,3857
$GC,8220,-1.34,-194.7,880.2,-10.0,885,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2022,3856
$GC,8529,-1.34,-194.7,910.6,-9.8,900,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2022,3856
$GC,8839,-1.34,-194.7,941.5,-9.8,915,8843,0.00,2.75,0.00,0.000,4,0.000,0.097,2484,614,3856
$GC,8893,-1.34,-194.7,947.2,-10.1,917,8900,0.00,2.62,0.00,0.000,6,0.000,0.059,2484,2041,3856
$GC,9209,-1.34,-194.7,978.3,-10.0,933,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2042,3855
$STATE,9330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9330,begin apogee
$GC,9336,-0.37,0.0,991.0,10.3,939,9513,1.00,0.00,169.77,1.299,6,0.100,0.000,2695,1969,3062
$STATE,9514,end apogee,CONTROL_FINISHED_OK
$STATE,9514,begin climb
$GC,9516,1.34,194.7,997.4,0.0,948,9690,1.70,0.00,169.27,1.267,6,0.075,0.000,3070,1969,2268
$GC,9988,1.28,194.7,956.3,10.2,971,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1969,2262
$GC,10297,1.23,194.7,923.4,10.8,986,10299,0.12,0.00,0.00,0.000,6,0.109,0.000,3045,1969,2261
$GC,10606,1.25,210.9,894.4,9.4,1001,10628,0.00,2.88,14.90,1.137,4,0.000,0.080,3046,3398,2201
$GC,10644,1.28,238.1,890.4,9.1,1002,10676,0.00,2.65,26.15,1.174,6,0.000,0.055,3046,1982,2091
$GC,10998,1.28,238.1,854.8,10.4,1020,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1982,2086
$GC,11307,1.28,238.1,821.8,10.5,1035,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1980,2086
$GC,11615,1.28,238.1,790.8,10.2,1050,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1979,2085
$GC,11925,1.28,238.1,758.9,10.3,1065,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1979,2084
$GC,12234,1.29,245.8,728.8,9.7,1080,12248,0.00,2.80,7.65,0.966,4,0.000,0.071,3045,3392,2059
$GC,12270,1.29,245.8,724.9,10.0,1081,12277,0.00,2.62,0.00,0.000,6,0.000,0.055,3046,1988,2058
$GC,12586,1.29,245.8,692.9,10.0,1097,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1988,2058
$GC,12895,1.29,245.8,661.4,10.1,1112,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1988,2057
$GC,13205,1.29,245.8,629.1,10.2,1127,13209,0.00,2.72,0.00,0.000,4,0.000,0.072,3046,3400,2057
$GC,13231,1.30,253.2,626.1,9.7,1128,13244,0.00,2.62,8.05,0.927,6,0.000,0.055,3045,1986,2029
$GC,13553,1.31,260.8,594.5,9.7,1146,13564,0.00,0.00,8.45,0.917,6,0.000,0.000,3046,1985,1998
$GC,13884,1.31,260.8,561.7,10.5,1177,13888,0.00,2.72,0.00,0.000,4,0.000,0.071,3045,3403,1996
$GC,13911,1.31,260.8,558.4,11.2,1179,13916,0.00,2.60,0.00,0.000,6,0.000,0.054,3045,1996,1995
$GC,14236,1.31,260.8,522.1,12.0,1209,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1996
$GC,14557,1.32,267.8,489.6,9.8,1239,14572,0.00,2.75,7.50,0.841,4,0.000,0.068,3045,3399,1969
$GC,14591,1.33,276.3,485.9,9.7,1242,14606,0.10,2.58,9.52,0.872,6,0.071,0.052,3076,2005,1935
$GC,14931,1.33,276.3,444.6,12.7,1274,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2002,1933
$GC,15251,1.33,276.3,404.0,12.8,1304,15255,0.00,2.65,0.00,0.000,4,0.000,0.065,3076,3401,1933
$GC,15278,1.33,276.3,400.1,13.2,1306,15282,0.00,2.55,0.00,0.000,6,0.000,0.051,3076,2011,1933
$GC,15602,1.33,276.3,358.1,12.8,1336,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2008,1933
$GC,15935,1.33,276.3,315.9,12.7,1390,15942,0.00,2.62,0.00,0.000,4,0.000,0.062,3076,3403,1932
$GC,15954,1.33,276.3,313.6,12.8,1393,15960,0.00,2.55,0.00,0.000,6,0.000,0.049,3076,2009,1933
$GC,16298,1.33,276.3,270.7,12.1,1454,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2006,1933
$GC,16641,1.33,276.3,229.9,10.9,1515,16647,0.00,2.65,0.00,0.000,4,0.000,0.061,3076,3406,1933
$GC,16676,1.33,276.3,225.6,12.7,1521,16683,0.00,2.55,0.00,0.000,6,0.000,0.048,3076,2016,1933
$GC,17020,1.33,276.3,183.6,11.9,1582,17026,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1933
$GC,17364,1.33,276.3,143.0,11.1,1643,17369,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1932
$GC,17706,1.33,276.3,105.3,11.3,1704,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1932
$GC,18050,1.37,308.7,70.4,8.9,1765,18088,0.00,2.72,29.67,0.709,4,0.000,0.061,3076,3400,1801
$GC,18105,1.37,308.7,64.6,12.7,1775,18112,0.00,2.55,0.00,0.000,6,0.000,0.048,3076,2020,1799
$GC,18448,1.38,321.0,25.3,9.6,1836,18461,0.00,0.00,10.82,0.637,6,0.000,0.000,3076,2019,1753
$GC,18600,1.43,360.0,10.6,8.6,1862,18641,0.00,2.85,35.17,0.663,4,0.000,0.067,3076,580,1593
$GC,18647,1.43,360.0,3.3,12.9,1870,18654,0.00,2.72,0.00,0.000,6,0.000,0.048,3076,2050,1592
$STATE,18659,end climb,SURFACE_DEPTH_REACHED
$STATE,18659,begin surface coast
$FINISH,0.1,1.013840
$STATE,18681,end surface coast,CONTROL_FINISHED_OK
$STATE,18681,begin surface
$SM_CCo,18761,0.00,0.000,0,0,1587,361.57
$SM_GC,0.79,10.60,0.00,0.00,0.037,0.000,0.000,569,2056,1587,-10.07,0.74,361.57
$IRIDIUM_FIX,6046.07,-2540.07,140897,121230
$TT8_MAMPS,0.041418
$HUMID,1658
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.70
$XPDR_PINGS,526
$24V_AH,23.4,42.176
$10V_AH,10.6,47.666
$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,24.600,127.425,496.950,0.000,0.000,29.439,34.136,433.201,131.500,0.000,0.000,16.174,2953.362,11578.223,644.644,3354.748,847.503,0.000,2129.401,0.000,3367.455,0.000,0.465
$DEVICE_MAMPS,195.585,102.011,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1323.309,1363.013,692.987,1658.605,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139318,1876
$CAP_FILE_SIZE,169419,0
$CFSIZE,260165632,236257280
$ERRORS,0,43,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,225455,6113.737,-2537.642,24,1.2,41,-18.1