version: 66.03
glider: 141
mission: 7
dive: 306
start: 6 9 108 6 18 12
data:
$ID,141
$MISSION,7
$DIVE,306
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-11826.672
$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,13
$R_STBD_OVSHOOT,12
$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
$GPS1,060625,6148.084,-2611.139,41,1.2,58,-18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-55.8
$GPS2,061751,6148.050,-2611.097,12,1.4,12,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$TGT_RADIUS,2000.000
$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,136.2,10763,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,136,0.00,0.00,-112.18,0.000,6,0.000,0.000,572,2034,3857
$GC,139,-1.34,-194.7,4.2,-7.8,15,156,11.12,2.67,0.00,0.000,4,0.198,0.138,2481,3451,3858
$GC,410,-1.28,-194.7,45.1,-12.5,62,418,0.00,2.58,0.00,0.000,6,0.000,0.125,2481,2023,3859
$GC,554,-1.24,-194.7,61.7,-11.1,87,561,0.12,2.67,0.00,0.000,4,0.113,0.144,2506,3451,3860
$GC,647,-1.24,-194.7,72.5,-11.5,103,655,0.00,2.53,0.00,0.000,6,0.000,0.125,2506,2060,3860
$GC,991,-1.24,-194.7,110.2,-10.2,164,999,0.00,2.78,0.00,0.000,4,0.000,0.176,2506,624,3860
$GC,1017,-1.24,-194.7,112.9,-10.2,168,1025,0.00,2.62,0.00,0.000,6,0.000,0.131,2506,2059,3860
$GC,1361,-1.24,-194.7,146.8,-9.0,229,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3860
$GC,1705,-1.24,-194.7,179.9,-10.6,290,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3860
$GC,2049,-1.24,-194.7,214.4,-10.0,351,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2062,3860
$GC,2394,-1.24,-194.7,247.0,-9.8,412,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2062,3860
$GC,2739,-1.24,-194.7,281.0,-10.2,473,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2062,3860
$GC,3082,-1.24,-194.7,316.4,-10.2,534,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2062,3860
$GC,3430,-1.24,-194.7,352.7,-10.3,594,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2062,3859
$GC,3750,-1.24,-194.7,385.2,-9.9,624,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2062,3859
$GC,4067,-1.24,-194.7,415.9,-9.8,654,4072,0.00,2.80,0.00,0.000,4,0.000,0.184,2506,621,3859
$GC,4089,-1.24,-194.7,418.2,-10.0,655,4096,0.00,2.65,0.00,0.000,6,0.000,0.136,2505,2062,3859
$GC,4415,-1.24,-194.7,450.6,-10.1,686,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2066,3859
$GC,4733,-1.24,-194.7,480.6,-9.8,716,4738,0.00,2.75,0.00,0.000,4,0.000,0.156,2506,624,3858
$GC,4755,-1.24,-194.7,483.1,-10.6,717,4762,0.00,2.67,0.00,0.000,6,0.000,0.138,2506,2073,3858
$GC,5082,-1.24,-194.7,513.6,-9.4,748,5087,0.00,2.85,0.00,0.000,4,0.000,0.186,2505,618,3858
$GC,5125,-1.24,-194.7,517.8,-9.9,751,5129,0.00,2.65,0.00,0.000,6,0.000,0.137,2506,2053,3858
$GC,5454,-1.24,-194.7,550.5,-9.6,781,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2056,3857
$GC,5779,-1.24,-194.7,583.6,-10.3,812,5784,0.00,2.85,0.00,0.000,4,0.000,0.187,2505,623,3858
$GC,5801,-1.24,-194.7,586.0,-10.3,813,5808,0.00,2.65,0.00,0.000,6,0.000,0.137,2506,2050,3858
$GC,6132,-1.24,-194.7,618.1,-9.3,836,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2054,3858
$GC,6441,-1.24,-194.7,646.2,-9.2,851,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2054,3857
$GC,6750,-1.24,-194.7,672.7,-8.1,866,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2054,3857
$GC,7061,-1.24,-194.7,696.6,-7.7,881,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2054,3857
$GC,7370,-1.24,-194.7,722.3,-8.7,896,7375,0.00,2.92,0.00,0.000,4,0.000,0.206,2506,621,3856
$GC,7420,-1.24,-194.7,726.9,-9.5,898,7424,0.00,2.67,0.00,0.000,6,0.000,0.141,2505,2056,3856
$GC,7737,-1.24,-194.7,758.1,-10.1,913,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2058,3856
$GC,8045,-1.24,-194.7,789.1,-10.0,928,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2058,3856
$GC,8356,-1.24,-194.7,817.2,-8.9,943,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2058,3856
$GC,8666,-1.24,-194.7,843.5,-8.3,958,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3856
$GC,8974,-1.24,-194.7,871.7,-9.6,973,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2059,3855
$GC,9284,-1.24,-194.7,902.2,-9.9,988,9288,0.00,2.88,0.00,0.000,4,0.000,0.210,2505,623,3855
$GC,9305,-1.24,-194.7,904.8,-10.5,989,9309,0.00,2.65,0.00,0.000,6,0.000,0.142,2505,2042,3855
$GC,9627,-1.24,-194.7,936.1,-9.7,1005,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3854
$GC,9936,-1.24,-194.7,966.2,-9.7,1020,9940,0.00,2.80,0.00,0.000,4,0.000,0.176,2505,621,3854
$GC,9957,-1.24,-194.7,968.4,-9.2,1021,9961,0.00,2.67,0.00,0.000,6,0.000,0.142,2505,2053,3854
$STATE,10215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10215,begin apogee
$GC,10222,-0.37,0.0,992.0,9.9,1034,10397,0.90,0.00,169.88,1.291,6,0.096,0.000,2697,1982,3062
$STATE,10398,end apogee,CONTROL_FINISHED_OK
$STATE,10398,begin climb
$GC,10400,1.34,194.7,997.2,0.0,1043,10578,1.73,0.00,169.57,1.259,6,0.074,0.000,3073,1982,2267
$GC,10889,1.30,202.3,955.0,9.7,1067,10898,0.00,0.00,7.57,0.998,6,0.000,0.000,3073,1983,2237
$GC,11195,1.25,202.3,923.2,10.4,1082,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1983,2235
$GC,11506,1.20,202.3,890.9,10.2,1097,11507,0.15,0.00,0.00,0.000,6,0.106,0.000,3043,1983,2234
$GC,11814,1.27,261.7,866.0,7.9,1112,11874,0.00,0.00,54.75,1.195,6,0.000,0.000,3043,1983,1994
$GC,12183,1.27,261.7,832.7,10.1,1130,12187,0.00,2.80,0.00,0.000,4,0.000,0.187,3043,573,1989
$GC,12215,1.27,261.7,828.9,10.9,1131,12223,0.00,2.62,0.00,0.000,6,0.000,0.136,3043,1982,1989
$GC,12531,1.27,261.7,793.8,11.3,1147,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1984,1988
$GC,12840,1.27,261.7,759.2,10.9,1162,12845,0.00,2.78,0.00,0.000,4,0.000,0.166,3043,3400,1987
$GC,12874,1.28,267.3,755.6,9.8,1163,12884,0.00,2.75,5.20,0.841,6,0.000,0.179,3043,1983,1972
$GC,13212,1.35,320.2,726.7,8.2,1180,13281,0.12,2.90,51.65,1.083,4,0.064,0.176,3080,576,1754
$GC,13320,1.35,320.2,715.3,10.8,1184,13327,0.00,2.65,0.00,0.000,6,0.000,0.141,3080,1995,1753
$GC,13637,1.35,327.7,683.4,9.7,1200,13646,0.00,0.00,7.35,0.906,6,0.000,0.000,3080,1997,1726
$GC,13945,1.35,327.7,652.2,10.2,1215,13950,0.00,2.70,0.00,0.000,4,0.000,0.160,3080,3398,1723
$GC,13979,1.35,327.7,648.6,10.1,1216,13986,0.00,2.62,0.00,0.000,6,0.000,0.142,3080,1980,1722
$GC,14294,1.35,327.7,616.6,10.5,1232,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1978,1722
$GC,14608,1.35,327.7,581.4,11.7,1254,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1977,1721
$GC,14926,1.35,327.7,543.0,12.0,1284,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1977,1722
$GC,15245,1.35,327.7,506.7,11.3,1314,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1977,1722
$GC,15564,1.35,327.7,469.7,11.3,1344,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1977,1721
$GC,15882,1.35,327.7,435.0,10.7,1374,15886,0.00,2.75,0.00,0.000,4,0.000,0.184,3080,573,1721
$GC,15915,1.35,327.7,431.2,11.3,1376,15922,0.00,2.60,0.00,0.000,6,0.000,0.136,3080,1993,1721
$GC,16243,1.35,327.7,396.6,11.2,1407,16249,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1996,1721
$GC,16570,1.35,327.7,360.2,10.9,1438,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1996,1721
$GC,16899,1.36,329.8,324.7,9.9,1489,16905,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1997,1721
$GC,17242,1.36,329.8,286.6,10.8,1550,17249,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1997,1721
$GC,17587,1.37,337.2,248.7,9.7,1611,17601,0.00,0.00,9.50,0.739,6,0.000,0.000,3080,1997,1687
$GC,17940,1.37,337.2,210.3,10.8,1673,17947,0.00,2.70,0.00,0.000,4,0.000,0.153,3080,570,1686
$GC,17988,1.37,337.2,205.2,10.5,1681,17995,0.00,2.60,0.00,0.000,6,0.000,0.140,3080,1982,1686
$GC,18333,1.37,337.2,168.0,10.1,1742,18341,0.00,2.65,0.00,0.000,4,0.000,0.146,3080,3403,1685
$GC,18369,1.37,337.2,163.9,11.0,1748,18377,0.00,2.60,0.00,0.000,6,0.000,0.136,3080,1979,1685
$GC,18716,1.37,337.2,126.2,10.2,1809,18723,0.00,2.75,0.00,0.000,4,0.000,0.191,3080,570,1685
$GC,18753,1.37,337.2,121.6,13.7,1815,18760,0.00,2.60,0.00,0.000,6,0.000,0.132,3080,1986,1685
$GC,19098,1.37,337.2,87.0,10.1,1876,19105,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1989,1685
$GC,19445,1.37,337.2,51.4,11.3,1937,19452,0.00,2.67,0.00,0.000,4,0.000,0.150,3080,574,1685
$GC,19498,1.37,337.2,45.0,12.4,1946,19505,0.00,2.55,0.00,0.000,6,0.000,0.131,3080,1971,1685
$GC,19643,1.39,355.4,30.9,9.4,1971,19666,0.00,2.75,17.80,0.662,4,0.000,0.143,3080,3394,1611
$GC,19702,1.39,355.4,24.8,10.6,1980,19710,0.00,2.70,0.00,0.000,6,0.000,0.161,3080,1975,1610
$GC,19844,1.39,355.4,10.8,10.2,2005,19852,0.00,2.72,0.00,0.000,4,0.000,0.182,3080,573,1610
$GC,19897,1.39,355.4,5.4,10.9,2014,19905,0.00,2.53,0.00,0.000,6,0.000,0.130,3080,1957,1610
$STATE,19920,end climb,SURFACE_DEPTH_REACHED
$STATE,19920,begin surface coast
$FINISH,0.7,1.026864
$STATE,19949,end surface coast,CONTROL_FINISHED_OK
$STATE,19949,begin surface
$SM_CCo,20030,0.00,0.000,0,0,1606,357.16
$SM_GC,0.77,10.52,0.00,0.00,0.037,0.000,0.000,569,2034,1606,-10.07,0.08,357.16
$IRIDIUM_FIX,6108.28,-2217.41,030997,060639
$TT8_MAMPS,0.042185
$HUMID,1692
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,17.00
$XPDR_PINGS,1246
$24V_AH,23.3,61.541
$10V_AH,10.6,62.881
$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,24.675,113.650,493.275,0.000,0.000,54.268,70.168,345.785,311.500,0.000,0.000,13.790,4096.041,11467.046,753.000,3494.539,891.384,0.000,2262.652,0.000,3511.417,0.000,0.465
$DEVICE_MAMPS,197.886,233.935,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1402.852,1533.209,740.446,1783.067,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148772,2023
$CAP_FILE_SIZE,174189,0
$CFSIZE,260165632,227672064
$ERRORS,0,18,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,246.2,1
$GPS,090608,115307,6146.242,-2607.756,28,1.2,28,-18.7