version: 66.03
glider: 141
mission: 7
dive: 215
start: 5 21 108 21 14 38
data:
$ID,141
$MISSION,7
$DIVE,215
$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,5
$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,-10304.514
$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,19
$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
$GPS1,210702,6118.438,-2559.887,35,1.5,35,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-47.0
$GPS2,211420,6118.429,-2600.022,9,1.3,14,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6129.187,-2559.573
$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,23.3,20000,-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,-194.7,0.0,0.0,0,150,0.00,0.00,-120.85,0.000,2,0.000,0.000,570,2017,3787
$GC,153,-1.34,-194.7,3.7,-8.1,22,173,11.23,2.70,-1.52,0.000,4,0.201,0.071,2482,3441,3857
$GC,386,-1.34,-194.7,43.7,-13.0,63,393,0.00,2.60,0.00,0.000,6,0.000,0.054,2482,2026,3857
$GC,530,-1.34,-194.7,61.9,-11.9,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2020,3858
$GC,873,-1.34,-194.7,99.1,-10.9,149,879,0.00,2.62,0.00,0.000,4,0.000,0.064,2482,624,3858
$GC,952,-1.34,-194.7,107.6,-10.7,163,958,0.00,2.60,0.00,0.000,6,0.000,0.046,2481,2068,3858
$GC,1296,-1.34,-194.7,142.4,-9.7,224,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2070,3858
$GC,1640,-1.34,-194.7,178.6,-11.7,285,1646,0.00,2.72,0.00,0.000,4,0.000,0.062,2481,624,3858
$GC,1720,-1.34,-194.7,188.0,-11.2,299,1726,0.00,2.60,0.00,0.000,6,0.000,0.046,2482,2056,3858
$GC,2062,-1.34,-194.7,226.1,-11.9,360,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2058,3858
$GC,2407,-1.34,-194.7,265.8,-11.6,421,2413,0.00,2.70,0.00,0.000,4,0.000,0.062,2481,619,3858
$GC,2475,-1.34,-194.7,274.2,-12.0,433,2481,0.00,2.60,0.00,0.000,6,0.000,0.048,2481,2048,3858
$GC,2818,-1.34,-194.7,315.2,-12.1,494,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2049,3858
$GC,3163,-1.34,-194.7,355.1,-11.7,552,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2050,3858
$GC,3482,-1.34,-194.7,390.9,-11.0,582,3486,0.00,2.67,0.00,0.000,4,0.000,0.064,2481,623,3857
$GC,3566,-1.34,-194.7,400.1,-11.1,589,3570,0.00,2.53,0.00,0.000,6,0.000,0.047,2481,2031,3858
$GC,3892,-1.34,-194.7,432.9,-9.7,619,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,4211,-1.34,-194.7,462.5,-9.1,649,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,4527,-1.34,-194.7,488.6,-8.3,679,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3858
$GC,4846,-1.34,-194.7,518.4,-9.6,709,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3857
$GC,5164,-1.34,-194.7,548.7,-9.9,739,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3857
$GC,5483,-1.34,-194.7,581.7,-10.6,769,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,5807,-1.34,-194.7,615.2,-10.2,793,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3857
$GC,6117,-1.34,-194.7,646.4,-9.7,808,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3857
$GC,6426,-1.34,-194.7,676.8,-10.0,823,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3857
$GC,6735,-1.34,-194.7,706.9,-9.4,838,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3856
$GC,7046,-1.34,-194.7,737.1,-9.6,853,7050,0.00,2.83,0.00,0.000,4,0.000,0.101,2481,631,3856
$GC,7111,-1.34,-194.7,742.6,-8.4,856,7116,0.00,2.58,0.00,0.000,6,0.000,0.063,2481,2024,3856
$GC,7437,-1.34,-194.7,771.4,-10.3,872,7442,0.00,2.83,0.00,0.000,4,0.000,0.097,2481,3444,3856
$GC,7566,-1.34,-194.7,785.4,-10.5,878,7571,0.00,2.62,0.00,0.000,6,0.000,0.062,2481,2040,3856
$GC,7892,-1.34,-194.7,819.3,-10.2,894,7897,0.00,2.80,0.00,0.000,4,0.000,0.098,2481,613,3856
$GC,7986,-1.34,-194.7,829.1,-11.0,898,7991,0.00,2.60,0.00,0.000,6,0.000,0.061,2481,2030,3856
$GC,8308,-1.34,-194.7,862.1,-10.7,914,8312,0.00,2.75,0.00,0.000,4,0.000,0.094,2481,3442,3855
$GC,8391,-1.34,-194.7,871.5,-11.8,918,8395,0.00,2.65,0.00,0.000,6,0.000,0.064,2481,2019,3855
$GC,8717,-1.34,-194.7,909.1,-11.7,934,8721,0.00,2.75,0.00,0.000,4,0.000,0.099,2481,614,3855
$GC,8765,-1.34,-194.7,915.0,-11.6,936,8770,0.00,2.60,0.00,0.000,6,0.000,0.061,2481,2030,3854
$GC,9087,-1.34,-194.7,951.2,-11.4,952,9091,0.00,2.75,0.00,0.000,4,0.000,0.094,2481,3442,3854
$GC,9181,-1.34,-194.7,962.9,-12.5,956,9185,0.00,2.62,0.00,0.000,6,0.000,0.063,2481,2028,3853
$STATE,9411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9411,begin apogee
$GC,9417,-0.37,0.0,990.1,11.6,967,9594,1.02,0.00,169.40,1.295,6,0.102,0.000,2697,1980,3062
$STATE,9595,end apogee,CONTROL_FINISHED_OK
$STATE,9595,begin climb
$GC,9597,1.34,194.7,999.0,0.0,976,9774,1.73,0.00,169.27,1.266,6,0.073,0.000,3074,1980,2267
$GC,10086,1.36,262.2,966.1,7.7,1000,10152,0.00,2.80,60.80,1.228,4,0.000,0.074,3074,3403,1991
$GC,10192,1.33,267.5,956.8,9.8,1005,10204,0.00,2.65,5.95,0.920,6,0.000,0.058,3074,1989,1971
$GC,10515,1.33,299.9,928.1,8.9,1020,10552,0.00,0.00,31.30,1.194,6,0.000,0.000,3074,1988,1839
$GC,10861,1.33,299.9,894.3,10.2,1037,10866,0.00,2.70,0.00,0.000,4,0.000,0.074,3074,3397,1833
$GC,10888,1.33,299.9,891.3,10.3,1038,10892,0.00,2.62,0.00,0.000,6,0.000,0.058,3074,1985,1833
$GC,11203,1.33,299.9,856.7,10.8,1053,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1983,1832
$GC,11512,1.33,299.9,825.0,10.0,1068,11517,0.00,2.70,0.00,0.000,4,0.000,0.073,3074,3400,1831
$GC,11551,1.33,299.9,820.8,10.6,1070,11556,0.00,2.58,0.00,0.000,6,0.000,0.057,3074,2005,1831
$GC,11877,1.33,299.9,785.0,11.4,1086,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2005,1831
$GC,12186,1.33,299.9,749.2,11.8,1101,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2003,1831
$GC,12495,1.33,299.9,711.8,12.8,1116,12499,0.00,2.70,0.00,0.000,4,0.000,0.073,3074,3397,1830
$GC,12512,1.33,299.9,709.8,11.8,1117,12516,0.00,2.60,0.00,0.000,6,0.000,0.056,3074,2001,1830
$GC,12838,1.33,299.9,672.1,11.5,1133,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2000,1830
$GC,13147,1.33,299.9,636.7,11.3,1148,13151,0.00,2.70,0.00,0.000,4,0.000,0.072,3074,3404,1830
$GC,13163,1.33,299.9,634.7,11.8,1149,13168,0.00,2.60,0.00,0.000,6,0.000,0.056,3074,2001,1830
$GC,13490,1.33,299.9,598.6,11.0,1165,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2001,1830
$GC,13809,1.33,299.9,563.4,11.3,1195,13813,0.00,2.70,0.00,0.000,4,0.000,0.071,3073,3399,1830
$GC,13829,1.33,299.9,560.8,12.0,1196,13836,0.00,2.62,0.00,0.000,6,0.000,0.056,3074,2003,1830
$GC,14156,1.33,299.9,524.3,10.8,1227,14160,0.00,2.67,0.00,0.000,4,0.000,0.070,3074,3399,1830
$GC,14184,1.33,299.9,520.8,12.4,1229,14188,0.00,2.58,0.00,0.000,6,0.000,0.054,3073,2007,1830
$GC,14510,1.33,299.9,483.3,11.9,1259,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2004,1830
$GC,14827,1.33,299.9,442.3,12.8,1289,14832,0.00,2.65,0.00,0.000,4,0.000,0.067,3075,3403,1830
$GC,14843,1.33,299.9,440.1,12.7,1290,14848,0.00,2.60,0.00,0.000,6,0.000,0.053,3074,2005,1830
$GC,15167,1.33,299.9,397.3,13.2,1320,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2003,1829
$GC,15488,1.33,299.9,356.8,12.8,1350,15492,0.00,2.62,0.00,0.000,4,0.000,0.063,3074,3398,1830
$GC,15504,1.33,299.9,354.4,13.1,1351,15509,0.00,2.55,0.00,0.000,6,0.000,0.051,3074,2007,1830
$GC,15845,1.33,299.9,312.2,12.4,1408,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2005,1830
$GC,16190,1.33,299.9,272.1,10.9,1469,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2005,1830
$GC,16532,1.33,299.9,230.7,12.3,1530,16538,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2005,1830
$GC,16876,1.33,299.9,189.8,11.3,1591,16881,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2005,1831
$GC,17218,1.33,299.9,149.5,12.0,1652,17224,0.00,2.62,0.00,0.000,4,0.000,0.064,3074,3406,1831
$GC,17242,1.33,299.9,146.7,11.4,1656,17249,0.00,2.55,0.00,0.000,6,0.000,0.056,3074,2018,1831
$GC,17587,1.33,299.9,106.4,10.4,1717,17592,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2014,1831
$GC,17929,1.33,299.9,68.9,10.3,1778,17935,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2014,1831
$GC,18271,1.33,299.9,32.1,10.5,1839,18277,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2014,1831
$GC,18415,1.34,308.3,15.6,9.7,1864,18427,0.00,0.00,7.38,0.601,6,0.000,0.000,3074,2015,1805
$STATE,18538,end climb,SURFACE_DEPTH_REACHED
$STATE,18538,begin surface coast
$FINISH,0.4,1.027116
$STATE,18563,end surface coast,CONTROL_FINISHED_OK
$STATE,18563,begin surface
$SM_CCo,18643,0.00,0.000,0,0,1801,309.32
$SM_GC,0.77,10.52,0.00,0.00,0.037,0.000,0.000,573,2011,1801,-10.06,-0.54,309.32
$IRIDIUM_FIX,6054.92,-2551.86,150897,151555
$TT8_MAMPS,0.041418
$HUMID,1675
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,15.00
$XPDR_PINGS,561
$24V_AH,23.4,43.205
$10V_AH,10.6,48.495
$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,24.500,111.650,444.100,0.000,0.000,28.536,33.264,238.989,140.250,0.000,0.000,17.195,2971.021,11422.106,635.929,3386.663,647.130,0.000,2106.983,0.000,3402.806,0.000,0.465
$DEVICE_MAMPS,200.954,101.244,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1327.478,1382.445,710.560,1669.674,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139195,1890
$CAP_FILE_SIZE,159672,0
$CFSIZE,260165632,235798528
$ERRORS,0,25,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220508,022658,6119.382,-2602.232,41,3.3,60,-18.4