version: 66.03
glider: 141
mission: 7
dive: 238
start: 5 26 108 16 40 45
data:
$ID,141
$MISSION,7
$DIVE,238
$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,100
$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,-10699.158
$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,16
$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
$GPS1,163238,6152.678,-2648.418,31,1.5,31,-19.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.6
$GPS2,164027,6152.678,-2648.452,9,2.0,9,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6150.803,-2643.434
$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,119.1,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-92.55,0.000,2,0.000,0.000,567,2040,3643
$GC,126,-1.34,-194.7,3.2,-5.6,17,150,11.02,2.65,-5.22,0.000,4,0.193,0.147,2483,3437,3857
$GC,389,-1.30,-194.7,41.1,-13.9,63,395,0.00,2.70,0.00,0.000,6,0.000,0.146,2483,2021,3859
$GC,530,-1.30,-194.7,59.1,-12.3,88,537,0.00,2.65,0.00,0.000,4,0.000,0.135,2483,3448,3858
$GC,561,-1.25,-194.7,62.8,-13.1,93,568,0.12,2.67,0.00,0.000,6,0.116,0.153,2507,2051,3859
$GC,905,-1.25,-194.7,101.6,-11.1,154,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3859
$GC,1248,-1.25,-194.7,139.2,-10.5,215,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2048,3859
$GC,1590,-1.25,-194.7,175.8,-10.4,276,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2048,3859
$GC,1933,-1.25,-194.7,212.5,-10.3,337,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2048,3859
$GC,2276,-1.25,-194.7,246.4,-9.6,398,2282,0.00,2.60,0.00,0.000,4,0.000,0.137,2507,3446,3859
$GC,2305,-1.25,-194.7,249.4,-10.2,403,2311,0.00,2.65,0.00,0.000,6,0.000,0.148,2507,2062,3859
$GC,2649,-1.25,-194.7,282.4,-9.6,464,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2061,3859
$GC,2993,-1.25,-194.7,315.8,-9.4,525,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3859
$GC,3336,-1.25,-194.7,349.3,-10.0,586,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2061,3859
$GC,3666,-1.25,-194.7,382.8,-10.4,618,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2061,3859
$GC,3986,-1.25,-194.7,415.4,-9.7,648,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3859
$GC,4304,-1.25,-194.7,445.7,-9.4,678,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3859
$GC,4623,-1.25,-194.7,474.4,-9.0,708,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3859
$GC,4942,-1.25,-194.7,505.3,-9.7,738,4947,0.00,2.85,0.00,0.000,4,0.000,0.170,2507,620,3859
$GC,4974,-1.25,-194.7,509.1,-11.7,740,4981,0.00,2.65,0.00,0.000,6,0.000,0.133,2506,2063,3859
$GC,5301,-1.25,-194.7,543.7,-10.2,771,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3859
$GC,5618,-1.25,-194.7,574.3,-8.4,801,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3859
$GC,5947,-1.25,-194.7,602.0,-9.3,831,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2066,3859
$GC,6255,-1.25,-194.7,633.4,-10.5,846,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2065,3859
$GC,6565,-1.25,-194.7,668.4,-11.6,861,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3858
$GC,6874,-1.25,-194.7,699.5,-9.2,876,6878,0.00,3.00,0.00,0.000,4,0.000,0.193,2506,621,3858
$GC,6922,-1.25,-194.7,704.6,-10.8,878,6927,0.00,2.70,0.00,0.000,6,0.000,0.140,2506,2070,3858
$GC,7244,-1.25,-194.7,739.4,-12.9,894,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2071,3858
$GC,7554,-1.25,-194.7,773.5,-9.7,909,7558,0.00,2.70,0.00,0.000,4,0.000,0.170,2506,3445,3858
$GC,7631,-1.25,-194.7,781.4,-10.2,912,7638,0.00,2.65,0.00,0.000,6,0.000,0.160,2506,2081,3857
$GC,7947,-1.25,-194.7,815.2,-10.1,928,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2081,3857
$GC,8256,-1.25,-194.7,841.4,-7.6,943,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2080,3857
$GC,8565,-1.25,-194.7,865.1,-7.2,958,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2080,3856
$GC,8875,-1.25,-194.7,890.9,-10.2,973,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2079,3855
$GC,9183,-1.25,-194.7,920.8,-10.1,988,9188,0.00,2.62,0.00,0.000,4,0.000,0.157,2506,3444,3855
$GC,9216,-1.25,-194.7,924.1,-10.4,989,9222,0.00,2.67,0.00,0.000,6,0.000,0.157,2506,2074,3855
$GC,9532,-1.25,-194.7,954.0,-9.1,1005,9536,0.00,2.65,0.00,0.000,4,0.000,0.156,2507,3448,3854
$GC,9553,-1.25,-194.7,956.0,-9.3,1006,9558,0.00,2.70,0.00,0.000,6,0.000,0.160,2506,2068,3854
$GC,9874,-1.25,-194.7,985.2,-8.5,1022,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2067,3854
$STATE,9934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9934,begin apogee
$GC,9939,-0.37,0.0,990.7,8.7,1025,10116,0.90,0.00,169.32,1.288,6,0.097,0.000,2698,1977,3062
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10120,1.34,194.7,995.7,0.0,1034,10298,1.67,2.95,168.18,1.256,4,0.074,0.179,3068,566,2267
$GC,10332,1.28,194.7,980.6,11.1,1043,10337,0.00,2.67,0.00,0.000,6,0.000,0.132,3069,1989,2266
$GC,10647,1.23,194.7,947.3,10.4,1058,10652,0.12,2.72,0.00,0.000,4,0.104,0.159,3045,3396,2262
$GC,10714,1.23,194.7,940.7,10.0,1061,10718,0.00,2.75,0.00,0.000,6,0.000,0.153,3044,1986,2261
$GC,11035,1.23,194.7,909.8,10.4,1077,11039,0.00,2.70,0.00,0.000,4,0.000,0.150,3044,3396,2261
$GC,11089,1.23,194.7,903.6,10.9,1079,11095,0.00,2.70,0.00,0.000,6,0.000,0.153,3044,2008,2260
$GC,11405,1.23,198.8,871.2,9.9,1095,11411,0.00,0.00,3.95,0.736,6,0.000,0.000,3045,2005,2251
$GC,11715,1.26,225.7,842.6,9.1,1110,11757,0.00,2.75,27.83,1.091,4,0.000,0.146,3044,3394,2140
$GC,11812,1.26,225.7,832.8,10.6,1114,11817,0.00,2.70,0.00,0.000,6,0.000,0.153,3045,2011,2138
$GC,12128,1.26,225.7,802.0,10.1,1129,12133,0.00,2.65,0.00,0.000,4,0.000,0.147,3044,3396,2137
$GC,12172,1.26,225.7,797.3,10.8,1131,12177,0.00,2.65,0.00,0.000,6,0.000,0.154,3044,2034,2136
$GC,12499,1.26,225.7,765.4,10.5,1147,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2033,2136
$GC,12808,1.27,231.5,734.1,9.8,1162,12816,0.00,0.00,5.88,0.879,6,0.000,0.000,3044,2033,2118
$GC,13118,1.28,238.4,703.2,9.8,1177,13132,0.00,2.67,8.25,0.954,4,0.000,0.147,3044,3393,2088
$GC,13177,1.28,238.4,696.6,10.9,1179,13183,0.00,2.65,0.00,0.000,6,0.000,0.154,3044,2040,2087
$GC,13493,1.28,238.4,663.2,10.7,1195,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2037,2086
$GC,13802,1.30,254.0,633.8,9.5,1210,13822,0.00,0.00,15.40,1.009,6,0.000,0.000,3045,2038,2026
$GC,14132,1.31,260.5,600.7,9.8,1226,14141,0.00,0.00,7.18,0.871,6,0.000,0.000,3044,2038,2000
$GC,14451,1.31,260.5,567.1,10.9,1255,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2038,1998
$GC,14768,1.31,260.5,531.8,10.7,1285,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2038,1998
$GC,15086,1.31,260.5,498.2,10.4,1315,15091,0.00,2.58,0.00,0.000,4,0.000,0.146,3044,3398,1997
$GC,15126,1.31,260.5,493.8,11.1,1318,15130,0.00,2.65,0.00,0.000,6,0.000,0.153,3044,2032,1997
$GC,15450,1.31,260.5,459.4,10.6,1348,15451,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2031,1997
$GC,15770,1.33,279.8,428.2,9.3,1378,15791,0.10,0.00,18.62,0.901,6,0.071,0.000,3076,2032,1921
$GC,16107,1.33,279.8,392.2,10.2,1410,16108,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2032,1918
$GC,16426,1.33,279.8,354.9,12.8,1440,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2031,1918
$GC,16760,1.33,279.8,315.8,11.0,1496,16765,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2031,1918
$GC,17103,1.33,279.8,276.4,11.4,1557,17108,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2031,1917
$GC,17445,1.33,279.8,236.1,12.3,1618,17451,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2031,1918
$GC,17787,1.33,279.8,196.1,10.6,1679,17793,0.00,2.88,0.00,0.000,4,0.000,0.165,3076,566,1918
$GC,17839,1.33,279.8,189.9,10.9,1688,17845,0.00,2.72,0.00,0.000,6,0.000,0.129,3076,2046,1918
$GC,18182,1.33,279.8,150.0,11.4,1749,18187,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2048,1918
$GC,18524,1.33,279.8,110.3,10.8,1810,18530,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2049,1918
$GC,18868,1.33,279.8,68.9,11.8,1871,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2049,1918
$GC,19211,1.33,279.8,29.3,11.2,1932,19217,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2049,1918
$GC,19354,1.33,279.8,12.9,12.7,1957,19361,0.00,2.90,0.00,0.000,4,0.000,0.163,3076,571,1918
$GC,19397,1.33,279.8,8.1,10.9,1964,19403,0.00,2.67,0.00,0.000,6,0.000,0.126,3076,2036,1918
$STATE,19440,end climb,SURFACE_DEPTH_REACHED
$STATE,19440,begin surface coast
$FINISH,0.3,1.023245
$STATE,19470,end surface coast,CONTROL_FINISHED_OK
$STATE,19471,begin surface
$SM_CCo,19551,0.00,0.000,0,0,1915,281.11
$SM_GC,1.01,10.50,0.00,0.00,0.038,0.000,0.000,572,2039,1915,-10.07,0.25,281.11
$IRIDIUM_FIX,6126.23,-2658.37,200897,111112
$TT8_MAMPS,0.041418
$HUMID,1664
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,15.10
$XPDR_PINGS,790
$24V_AH,23.4,47.732
$10V_AH,10.6,52.127
$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,24.450,92.300,424.600,0.000,0.000,30.873,31.375,266.051,197.500,0.000,0.000,10.844,3103.964,12132.647,580.669,3488.913,694.407,0.000,2104.967,0.000,3505.126,0.000,0.465
$DEVICE_MAMPS,193.284,192.517,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1395.596,1450.019,713.858,1743.208,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145652,1977
$CAP_FILE_SIZE,165946,0
$CFSIZE,260165632,233689088
$ERRORS,0,12,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260508,220755,6152.776,-2642.293,26,1.5,43,-19.1