version: 66.03
glider: 141
mission: 7
dive: 212
start: 5 21 108 4 38 2
data:
$ID,141
$MISSION,7
$DIVE,212
$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,330
$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,-10260.633
$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,21
$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
$GPS1,042938,6115.127,-2543.026,41,1.1,41,-18.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-49.4
$GPS2,043744,6115.134,-2543.159,9,1.5,14,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6124.486,-2545.743
$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,348.2,20000,-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,27,-1.34,-194.7,0.0,0.0,0,145,0.00,0.00,-115.35,0.000,2,0.000,0.000,568,2029,3742
$GC,148,-1.34,-194.7,3.4,-6.6,21,167,11.07,2.70,-2.70,0.000,4,0.198,0.069,2481,3437,3858
$GC,420,-1.34,-194.7,44.5,-12.2,69,427,0.00,2.55,0.00,0.000,6,0.000,0.046,2481,2022,3859
$GC,562,-1.34,-194.7,60.5,-11.0,94,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3860
$GC,907,-1.34,-194.7,97.9,-11.2,155,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2015,3859
$GC,1249,-1.34,-194.7,135.4,-10.9,216,1256,0.00,2.65,0.00,0.000,4,0.000,0.064,2481,3437,3859
$GC,1307,-1.34,-194.7,142.1,-11.5,226,1314,0.00,2.53,0.00,0.000,6,0.000,0.054,2481,2040,3859
$GC,1651,-1.34,-194.7,180.2,-10.9,287,1657,0.00,2.62,0.00,0.000,4,0.000,0.063,2481,626,3859
$GC,1709,-1.34,-194.7,186.8,-11.3,297,1715,0.00,2.60,0.00,0.000,6,0.000,0.047,2481,2059,3859
$GC,2053,-1.34,-194.7,225.3,-11.4,358,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2061,3860
$GC,2395,-1.34,-194.7,264.1,-11.0,419,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2062,3860
$GC,2737,-1.34,-194.7,302.0,-10.9,480,2743,0.00,2.70,0.00,0.000,4,0.000,0.063,2481,620,3860
$GC,2800,-1.34,-194.7,308.8,-11.1,491,2806,0.00,2.60,0.00,0.000,6,0.000,0.048,2481,2048,3860
$GC,3143,-1.34,-194.7,344.4,-10.2,552,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2050,3860
$GC,3477,-1.34,-194.7,379.1,-10.3,588,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2050,3860
$GC,3794,-1.34,-194.7,411.8,-10.2,618,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2050,3859
$GC,4113,-1.34,-194.7,445.3,-10.9,648,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2050,3859
$GC,4431,-1.34,-194.7,480.7,-10.9,678,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2050,3859
$GC,4750,-1.34,-194.7,515.8,-10.9,708,4754,0.00,2.70,0.00,0.000,4,0.000,0.071,2481,627,3859
$GC,4849,-1.34,-194.7,527.1,-11.1,716,4856,0.00,2.58,0.00,0.000,6,0.000,0.051,2481,2035,3859
$GC,5176,-1.34,-194.7,561.9,-10.6,747,5181,0.00,2.70,0.00,0.000,4,0.000,0.084,2482,3439,3859
$GC,5249,-1.34,-194.7,570.2,-10.6,753,5254,0.00,2.55,0.00,0.000,6,0.000,0.054,2481,2049,3859
$GC,5586,-1.34,-194.7,602.3,-9.1,783,5590,0.00,2.78,0.00,0.000,4,0.000,0.088,2481,620,3859
$GC,5648,-1.34,-194.7,608.5,-9.6,786,5652,0.00,2.60,0.00,0.000,6,0.000,0.054,2481,2042,3859
$GC,5973,-1.34,-194.7,638.4,-8.8,802,5978,0.00,2.75,0.00,0.000,4,0.000,0.092,2481,3446,3859
$GC,6040,-1.34,-194.7,644.6,-9.3,805,6044,0.00,2.60,0.00,0.000,6,0.000,0.060,2481,2046,3858
$GC,6360,-1.34,-194.7,675.1,-10.4,821,6365,0.00,2.83,0.00,0.000,4,0.000,0.100,2481,622,3858
$GC,6426,-1.34,-194.7,682.3,-10.4,824,6430,0.00,2.62,0.00,0.000,6,0.000,0.061,2481,2043,3858
$GC,6753,-1.34,-194.7,714.9,-9.9,840,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2045,3858
$GC,7062,-1.34,-194.7,745.1,-9.8,855,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2045,3858
$GC,7371,-1.34,-194.7,776.1,-10.0,870,7376,0.00,2.72,0.00,0.000,4,0.000,0.084,2481,621,3858
$GC,7420,-1.34,-194.7,781.3,-10.8,872,7425,0.00,2.60,0.00,0.000,6,0.000,0.061,2481,2032,3858
$GC,7736,-1.34,-194.7,813.2,-9.9,887,7741,0.00,2.75,0.00,0.000,4,0.000,0.099,2481,3438,3857
$GC,7808,-1.34,-194.7,820.8,-10.7,890,7812,0.00,2.60,0.00,0.000,6,0.000,0.064,2481,2033,3857
$GC,8130,-1.34,-194.7,852.4,-9.9,906,8134,0.00,2.78,0.00,0.000,4,0.000,0.098,2481,615,3857
$GC,8195,-1.34,-194.7,859.5,-11.1,909,8200,0.00,2.60,0.00,0.000,6,0.000,0.057,2481,2038,3856
$GC,8523,-1.34,-194.7,893.3,-10.3,925,8527,0.00,2.75,0.00,0.000,4,0.000,0.098,2481,3442,3856
$GC,8617,-1.34,-194.7,903.5,-11.2,929,8621,0.00,2.60,0.00,0.000,6,0.000,0.063,2481,2041,3856
$GC,8937,-1.34,-194.7,936.0,-10.0,945,8942,0.00,2.78,0.00,0.000,4,0.000,0.097,2481,619,3856
$GC,9001,-1.34,-194.7,942.5,-10.8,948,9005,0.00,2.62,0.00,0.000,6,0.000,0.060,2481,2049,3855
$GC,9327,-1.34,-194.7,974.8,-9.6,964,9332,0.00,2.70,0.00,0.000,4,0.000,0.094,2481,3444,3855
$GC,9405,-1.34,-194.7,982.9,-10.3,967,9411,0.00,2.60,0.00,0.000,6,0.000,0.062,2481,2041,3854
$STATE,9493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9493,begin apogee
$GC,9499,-0.37,0.0,991.4,9.9,972,9675,1.02,0.00,169.75,1.301,6,0.102,0.000,2697,1981,3062
$STATE,9675,end apogee,CONTROL_FINISHED_OK
$STATE,9675,begin climb
$GC,9677,1.34,194.7,997.0,0.0,981,9855,1.73,0.00,169.38,1.269,6,0.075,0.000,3071,1980,2267
$GC,10165,1.28,194.7,950.7,10.8,1005,10170,0.00,2.70,0.00,0.000,4,0.000,0.074,3071,3395,2262
$GC,10205,1.22,194.7,946.0,12.5,1007,10211,0.12,2.62,0.00,0.000,6,0.113,0.057,3048,1990,2262
$GC,10532,1.23,198.8,913.3,9.9,1023,10541,0.00,2.75,4.03,0.759,4,0.000,0.073,3048,3399,2251
$GC,10558,1.24,208.1,910.5,9.7,1024,10575,0.00,2.62,10.27,1.078,6,0.000,0.055,3048,1990,2213
$GC,10883,1.24,208.1,877.7,10.1,1040,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1989,2211
$GC,11193,1.25,219.6,847.8,9.6,1055,11207,0.00,0.00,11.77,1.093,6,0.000,0.000,3048,1989,2166
$GC,11502,1.28,244.6,818.8,9.1,1070,11528,0.00,0.00,24.35,1.153,6,0.000,0.000,3048,1989,2064
$GC,11831,1.31,268.0,787.4,9.2,1086,11855,0.00,0.00,22.25,1.127,6,0.000,0.000,3048,1988,1969
$GC,12160,1.32,272.2,755.4,9.9,1102,12170,0.00,2.78,4.85,0.815,4,0.000,0.072,3048,3396,1952
$GC,12181,1.32,272.2,753.1,10.1,1103,12185,0.00,2.62,0.00,0.000,6,0.000,0.055,3048,2000,1951
$GC,12509,1.32,272.2,717.7,10.5,1119,12513,0.00,2.80,0.00,0.000,4,0.000,0.085,3047,573,1950
$GC,12525,1.32,272.2,715.8,10.6,1120,12529,0.00,2.67,0.00,0.000,6,0.000,0.054,3048,2008,1950
$GC,12851,1.32,272.2,681.5,10.8,1136,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2010,1949
$GC,13160,1.32,272.2,648.9,10.4,1151,13164,0.00,2.70,0.00,0.000,4,0.000,0.081,3048,3396,1949
$GC,13176,1.32,272.2,647.1,10.8,1152,13180,0.00,2.60,0.00,0.000,6,0.000,0.055,3047,1998,1949
$GC,13502,1.32,272.2,612.4,10.7,1168,13506,0.00,2.70,0.00,0.000,4,0.000,0.072,3047,3395,1949
$GC,13518,1.32,272.2,610.6,10.9,1169,13523,0.00,2.60,0.00,0.000,6,0.000,0.055,3047,1998,1949
$GC,13844,1.32,274.1,577.6,9.9,1194,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1996,1948
$GC,14168,1.32,274.1,541.5,11.3,1225,14173,0.00,2.65,0.00,0.000,4,0.000,0.071,3047,3396,1948
$GC,14197,1.32,274.1,538.2,12.3,1227,14201,0.00,2.58,0.00,0.000,6,0.000,0.054,3048,1994,1948
$GC,14521,1.32,274.1,503.0,10.7,1257,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1992,1948
$GC,14841,1.34,287.4,471.9,9.5,1287,14861,0.10,0.00,15.02,0.923,6,0.068,0.000,3078,1992,1890
$GC,15178,1.34,287.4,433.4,11.6,1319,15183,0.00,2.67,0.00,0.000,4,0.000,0.067,3078,3397,1888
$GC,15195,1.34,287.4,431.2,12.2,1320,15199,0.00,2.55,0.00,0.000,6,0.000,0.053,3078,2012,1887
$GC,15521,1.34,287.4,391.9,11.9,1350,15522,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1887
$GC,15837,1.34,287.4,354.2,12.0,1380,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2009,1887
$GC,16171,1.34,287.4,312.9,12.0,1436,16177,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2010,1887
$GC,16514,1.34,287.4,269.5,13.4,1497,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2010,1887
$GC,16857,1.34,287.4,227.7,11.5,1558,16863,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2010,1887
$GC,17201,1.34,287.4,188.7,10.9,1619,17206,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2010,1888
$GC,17544,1.35,298.1,150.9,9.6,1680,17560,0.00,0.00,11.05,0.719,6,0.000,0.000,3078,2010,1845
$GC,17898,1.35,298.1,109.5,11.8,1743,17904,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2010,1844
$GC,18240,1.35,298.1,70.1,10.8,1804,18246,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1844
$GC,18583,1.35,298.1,27.3,12.4,1865,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1844
$GC,18725,1.35,298.1,10.9,12.4,1890,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2005,1844
$STATE,18803,end climb,SURFACE_DEPTH_REACHED
$STATE,18803,begin surface coast
$FINISH,0.3,1.017061
$STATE,18832,end surface coast,CONTROL_FINISHED_OK
$STATE,18832,begin surface
$SM_CCo,18911,0.00,0.000,0,0,1840,299.27
$SM_GC,0.79,10.55,0.00,0.00,0.038,0.000,0.000,569,2044,1840,-10.08,0.40,299.27
$IRIDIUM_FIX,6050.49,-2539.91,140897,232346
$TT8_MAMPS,0.041418
$HUMID,1670
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.50
$XPDR_PINGS,539
$24V_AH,23.4,42.573
$10V_AH,10.6,47.999
$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,24.600,122.550,442.725,0.000,0.000,31.094,40.704,271.490,134.750,0.000,0.000,15.746,3026.188,11577.817,650.350,3414.512,707.624,0.000,2147.416,0.000,3436.987,0.000,0.465
$DEVICE_MAMPS,197.886,110.448,1300.832,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1347.447,1412.135,703.783,1689.475,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139198,1909
$CAP_FILE_SIZE,167209,0
$CFSIZE,260165632,236077056
$ERRORS,0,28,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210508,095431,6116.409,-2549.539,36,1.1,42,-18.2