version: 66.03
glider: 141
mission: 7
dive: 225
start: 5 24 108 2 27 21
data:
$ID,141
$MISSION,7
$DIVE,225
$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,340
$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,-10469.621
$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,8
$R_STBD_OVSHOOT,15
$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
$GPS1,021907,6140.339,-2624.422,25,1.5,25,-18.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.7
$GPS2,022703,6140.338,-2624.448,13,1.4,13,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6150.486,-2626.191
$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,358.8,20000,-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,-194.7,0.0,0.0,0,139,0.00,0.00,-110.00,0.000,2,0.000,0.000,569,2039,3710
$GC,142,-1.34,-194.7,3.2,-5.3,20,167,11.07,2.70,-3.53,0.000,4,0.196,0.148,2480,3448,3857
$GC,422,-1.29,-194.7,39.3,-10.4,69,428,0.00,2.67,0.00,0.000,6,0.000,0.138,2481,2019,3858
$GC,564,-1.29,-194.7,53.5,-9.3,94,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3858
$GC,908,-1.29,-194.7,87.0,-11.0,155,914,0.00,2.67,0.00,0.000,4,0.000,0.141,2480,3439,3858
$GC,1027,-1.24,-194.7,101.7,-12.6,176,1035,0.12,2.65,0.00,0.000,6,0.115,0.143,2504,2034,3858
$GC,1373,-1.24,-194.7,145.3,-12.7,237,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2033,3859
$GC,1715,-1.24,-194.7,190.8,-12.6,298,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2033,3859
$GC,2059,-1.24,-194.7,233.9,-12.2,359,2065,0.00,2.65,0.00,0.000,4,0.000,0.143,2504,3439,3859
$GC,2128,-1.24,-194.7,242.8,-12.4,371,2134,0.00,2.62,0.00,0.000,6,0.000,0.140,2504,2045,3858
$GC,2471,-1.24,-194.7,281.0,-10.2,432,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,2816,-1.24,-194.7,309.7,-6.9,493,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3859
$GC,3158,-1.24,-194.7,330.5,-5.8,554,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,3501,-1.24,-194.7,350.0,-6.0,615,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,3826,-1.24,-194.7,370.9,-6.9,646,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,4145,-1.24,-194.7,396.0,-8.5,676,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,4463,-1.24,-194.7,425.9,-9.8,706,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,4781,-1.24,-194.7,458.1,-10.2,736,4786,0.00,2.67,0.00,0.000,4,0.000,0.154,2504,3437,3858
$GC,4832,-1.24,-194.7,463.5,-10.6,740,4837,0.00,2.65,0.00,0.000,6,0.000,0.145,2504,2048,3859
$GC,5158,-1.24,-194.7,495.7,-10.2,770,5163,0.00,2.80,0.00,0.000,4,0.000,0.166,2504,613,3858
$GC,5220,-1.24,-194.7,502.4,-10.4,775,5225,0.00,2.65,0.00,0.000,6,0.000,0.130,2504,2049,3858
$GC,5546,-1.24,-194.7,536.2,-10.8,805,5551,0.00,2.70,0.00,0.000,4,0.000,0.160,2504,3448,3858
$GC,5598,-1.24,-194.7,542.0,-11.2,809,5602,0.00,2.67,0.00,0.000,6,0.000,0.146,2504,2045,3858
$GC,5924,-1.24,-194.7,577.2,-10.6,839,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2045,3858
$GC,6249,-1.24,-194.7,609.9,-9.4,865,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3858
$GC,6557,-1.24,-194.7,637.6,-8.6,880,6562,0.00,2.75,0.00,0.000,4,0.000,0.164,2504,3439,3858
$GC,6624,-1.24,-194.7,643.8,-9.7,883,6628,0.00,2.67,0.00,0.000,6,0.000,0.152,2504,2057,3858
$GC,6945,-1.24,-194.7,674.0,-10.1,899,6950,0.00,2.95,0.00,0.000,4,0.000,0.189,2504,617,3858
$GC,7011,-1.24,-194.7,681.3,-11.3,902,7016,0.00,2.72,0.00,0.000,6,0.000,0.141,2504,2061,3858
$GC,7338,-1.24,-194.7,715.7,-10.4,918,7343,0.00,2.75,0.00,0.000,4,0.000,0.173,2504,3449,3857
$GC,7394,-1.24,-194.7,721.7,-10.8,920,7401,0.00,2.67,0.00,0.000,6,0.000,0.155,2504,2061,3857
$GC,7709,-1.24,-194.7,754.1,-9.9,936,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2060,3857
$GC,8020,-1.24,-194.7,781.8,-8.5,951,8024,0.00,2.72,0.00,0.000,4,0.000,0.163,2504,3452,3857
$GC,8108,-1.24,-194.7,789.5,-8.0,955,8112,0.00,2.67,0.00,0.000,6,0.000,0.153,2504,2070,3857
$GC,8430,-1.24,-194.7,816.5,-8.5,971,8434,0.00,2.92,0.00,0.000,4,0.000,0.183,2504,613,3857
$GC,8502,-1.24,-194.7,822.7,-7.8,974,8506,0.00,2.78,0.00,0.000,6,0.000,0.143,2504,2079,3856
$GC,8818,-1.24,-194.7,851.2,-9.0,989,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2081,3856
$GC,9126,-1.24,-194.7,878.4,-8.9,1004,9131,0.00,2.72,0.00,0.000,4,0.000,0.176,2504,3447,3856
$GC,9198,-1.24,-194.7,885.5,-11.0,1007,9203,0.00,2.67,0.00,0.000,6,0.000,0.154,2504,2064,3855
$STATE,9491,end dive,NO_VERTICAL_VELOCITY
$STATE,9492,begin apogee
$GC,9497,-0.37,0.0,893.6,0.0,1021,9668,0.88,0.00,167.90,1.230,6,0.074,0.000,2700,1983,3062
$STATE,9669,end apogee,CONTROL_FINISHED_OK
$STATE,9669,begin climb
$GC,9672,1.34,194.7,893.5,0.0,1029,9843,1.65,0.00,167.25,1.195,6,0.074,0.000,3069,1983,2268
$GC,10149,1.28,194.7,845.8,11.4,1053,10153,0.00,2.75,0.00,0.000,4,0.000,0.150,3069,3399,2262
$GC,10211,1.22,194.7,838.1,11.7,1056,10216,0.12,2.72,0.00,0.000,6,0.108,0.148,3045,1996,2261
$GC,10537,1.31,265.0,809.8,7.6,1072,10607,0.00,2.80,62.60,1.146,4,0.000,0.152,3045,3403,1980
$GC,10624,1.40,337.6,802.8,7.5,1076,10704,0.17,2.72,67.62,1.104,6,0.057,0.148,3093,2009,1685
$GC,11012,1.34,337.6,749.4,16.5,1095,11017,0.00,2.70,0.00,0.000,4,0.000,0.154,3093,3399,1677
$GC,11029,1.30,337.6,746.4,16.3,1096,11035,0.15,2.70,0.00,0.000,6,0.104,0.150,3062,2012,1676
$GC,11356,1.30,337.6,699.8,13.9,1112,11360,0.00,2.90,0.00,0.000,4,0.000,0.174,3062,568,1676
$GC,11365,1.30,337.6,698.2,13.8,1112,11372,0.00,2.75,0.00,0.000,6,0.000,0.134,3062,2012,1676
$GC,11681,1.30,337.6,656.3,13.6,1128,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2014,1675
$GC,11991,1.30,337.6,615.5,12.5,1143,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2015,1675
$GC,12304,1.30,337.6,579.0,11.5,1166,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2015,1675
$GC,12623,1.30,337.6,541.6,12.0,1196,12628,0.00,2.85,0.00,0.000,4,0.000,0.164,3062,571,1674
$GC,12640,1.30,337.6,539.6,12.7,1197,12644,0.00,2.67,0.00,0.000,6,0.000,0.130,3062,2013,1674
$GC,12966,1.30,337.6,499.6,12.4,1227,12970,0.00,2.88,0.00,0.000,4,0.000,0.165,3062,565,1674
$GC,12976,1.30,337.6,498.0,12.2,1227,12982,0.00,2.67,0.00,0.000,6,0.000,0.133,3062,2002,1674
$GC,13301,1.30,337.6,460.0,11.6,1258,13306,0.00,2.85,0.00,0.000,4,0.000,0.164,3062,564,1674
$GC,13318,1.30,337.6,458.0,11.9,1259,13322,0.00,2.65,0.00,0.000,6,0.000,0.132,3062,1991,1674
$GC,13644,1.30,337.6,420.1,11.9,1289,13649,0.00,2.80,0.00,0.000,4,0.000,0.164,3062,571,1674
$GC,13654,1.30,337.6,418.6,12.1,1289,13660,0.00,2.62,0.00,0.000,6,0.000,0.133,3062,1981,1674
$GC,13980,1.30,337.6,379.5,12.3,1320,13981,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1983,1674
$GC,14302,1.30,337.6,338.4,12.1,1358,14308,0.00,2.75,0.00,0.000,4,0.000,0.161,3062,570,1674
$GC,14320,1.30,337.6,336.1,12.2,1361,14327,0.00,2.60,0.00,0.000,6,0.000,0.130,3063,1977,1674
$GC,14663,1.30,337.6,294.0,12.2,1422,14670,0.00,2.75,0.00,0.000,4,0.000,0.161,3062,570,1674
$GC,14676,1.30,337.6,292.4,12.3,1424,14683,0.00,2.55,0.00,0.000,6,0.000,0.133,3062,1965,1674
$GC,15021,1.30,337.6,250.4,12.7,1485,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1969,1674
$GC,15363,1.30,337.6,210.8,10.9,1546,15369,0.00,2.72,0.00,0.000,4,0.000,0.159,3062,567,1674
$GC,15375,1.30,337.6,209.4,11.2,1548,15382,0.00,2.55,0.00,0.000,6,0.000,0.130,3062,1965,1674
$GC,15719,1.30,337.6,171.8,11.5,1609,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1967,1674
$GC,16061,1.30,337.6,129.9,11.8,1670,16068,0.00,2.72,0.00,0.000,4,0.000,0.164,3062,569,1674
$GC,16074,1.30,337.6,128.4,11.5,1672,16080,0.00,2.55,0.00,0.000,6,0.000,0.127,3062,1965,1674
$GC,16418,1.30,337.6,89.6,10.8,1733,16423,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1967,1674
$GC,16759,1.30,337.6,56.9,11.4,1794,16766,0.00,2.72,0.00,0.000,4,0.000,0.166,3062,567,1674
$GC,16778,1.30,337.6,54.8,12.6,1797,16784,0.00,2.55,0.00,0.000,6,0.000,0.124,3062,1960,1674
$GC,17121,1.30,337.6,19.0,10.1,1858,17126,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1963,1674
$GC,17263,1.30,337.6,4.4,10.3,1883,17268,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1963,1674
$STATE,17278,end climb,SURFACE_DEPTH_REACHED
$STATE,17278,begin surface coast
$FINISH,0.3,1.012833
$STATE,17313,end surface coast,CONTROL_FINISHED_OK
$STATE,17313,begin surface
$SM_CCo,17393,0.00,0.000,0,0,1672,340.72
$SM_GC,1.10,10.48,0.00,0.00,0.039,0.000,0.000,571,2040,1672,-10.07,0.28,340.72
$IRIDIUM_FIX,6112.75,-2619.74,170897,212112
$TT8_MAMPS,0.041418
$HUMID,1680
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,702
$24V_AH,23.4,45.188
$10V_AH,10.6,50.090
$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,24.650,136.000,465.375,0.000,0.000,24.151,35.056,275.134,175.500,0.000,0.000,15.385,2970.123,10135.546,644.921,3419.635,680.734,0.000,2150.516,0.000,3425.372,0.000,0.465
$DEVICE_MAMPS,196.352,189.449,1229.501,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1331.220,1380.703,738.577,1781.735,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139182,1892
$CAP_FILE_SIZE,162899,0
$CFSIZE,260165632,234872832
$ERRORS,0,48,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240508,071826,6142.972,-2629.406,36,1.5,36,-18.8