version: 66.03
glider: 141
mission: 7
dive: 216
start: 5 22 108 2 35 13
data:
$ID,141
$MISSION,7
$DIVE,216
$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,-10335.442
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,022658,6119.382,-2602.232,41,3.3,60,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-53.8
$GPS2,023456,6119.316,-2602.383,11,1.1,28,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6130.074,-2601.934
$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,23.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-98.90,0.000,2,0.000,0.000,573,2012,3753
$GC,130,-1.34,-194.7,3.6,-7.4,18,150,11.10,2.72,-2.35,0.000,4,0.197,0.071,2482,3450,3857
$GC,313,-1.30,-194.7,32.3,-11.8,50,320,0.00,2.60,0.00,0.000,6,0.000,0.047,2482,2028,3858
$GC,456,-1.30,-194.7,48.7,-11.0,75,462,0.00,2.65,0.00,0.000,4,0.000,0.064,2482,619,3858
$GC,518,-1.30,-194.7,55.5,-11.1,86,524,0.00,2.58,0.00,0.000,6,0.000,0.047,2482,2035,3859
$GC,862,-1.30,-194.7,93.3,-11.7,147,868,0.00,2.65,0.00,0.000,4,0.000,0.064,2482,3446,3859
$GC,931,-1.30,-194.7,101.0,-10.9,159,937,0.00,2.62,0.00,0.000,6,0.000,0.048,2482,2012,3858
$GC,1274,-1.30,-194.7,143.6,-14.7,220,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2004,3858
$GC,1617,-1.30,-194.7,185.2,-12.2,281,1623,0.00,3.12,0.00,0.000,4,0.000,0.144,2483,3428,3858
$GC,1691,-1.30,-194.7,194.4,-12.2,294,1698,0.00,2.50,0.00,0.000,6,0.000,0.048,2482,2033,3858
$GC,2037,-1.30,-194.7,233.1,-11.2,355,2043,0.00,2.58,0.00,0.000,4,0.000,0.061,2482,627,3858
$GC,2100,-1.30,-194.7,240.5,-11.8,366,2106,0.00,2.50,0.00,0.000,6,0.000,0.044,2482,2038,3859
$GC,2444,-1.30,-194.7,276.8,-10.0,427,2450,0.00,2.58,0.00,0.000,4,0.000,0.061,2482,3443,3858
$GC,2501,-1.30,-194.7,282.8,-10.7,437,2507,0.00,2.53,0.00,0.000,6,0.000,0.046,2482,2031,3858
$GC,2845,-1.30,-194.7,314.5,-9.2,498,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3858
$GC,3188,-1.30,-194.7,348.5,-10.3,559,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3858
$GC,3513,-1.30,-194.7,382.3,-10.4,591,3517,0.00,2.62,0.00,0.000,4,0.000,0.063,2482,3444,3859
$GC,3567,-1.30,-194.7,388.4,-11.4,595,3574,0.00,2.53,0.00,0.000,6,0.000,0.046,2482,2039,3859
$GC,3894,-1.30,-194.7,422.7,-10.3,626,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3858
$GC,4211,-1.30,-194.7,453.9,-9.8,656,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3858
$GC,4530,-1.30,-194.7,484.6,-10.0,686,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3858
$GC,4848,-1.30,-194.7,516.0,-9.5,716,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3858
$GC,5167,-1.30,-194.7,547.5,-10.3,746,5171,0.00,2.70,0.00,0.000,4,0.000,0.077,2483,624,3858
$GC,5210,-1.30,-194.7,552.2,-10.2,749,5217,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2042,3858
$GC,5538,-1.30,-194.7,584.7,-10.3,780,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2044,3858
$GC,5868,-1.30,-194.7,620.3,-11.1,803,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2044,3858
$GC,6178,-1.30,-194.7,652.1,-10.2,818,6182,0.00,2.78,0.00,0.000,4,0.000,0.094,2482,629,3858
$GC,6249,-1.30,-194.7,660.2,-10.9,821,6254,0.00,2.58,0.00,0.000,6,0.000,0.059,2482,2030,3858
$GC,6564,-1.30,-194.7,693.2,-10.6,836,6569,0.00,2.78,0.00,0.000,4,0.000,0.097,2482,3440,3857
$GC,6641,-1.30,-194.7,701.9,-11.4,839,6648,0.00,2.60,0.00,0.000,6,0.000,0.061,2482,2041,3857
$GC,6958,-1.30,-194.7,733.7,-9.3,855,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2040,3857
$GC,7266,-1.30,-194.7,765.0,-10.6,870,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2039,3857
$GC,7576,-1.30,-194.7,798.0,-11.1,885,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2038,3857
$GC,7885,-1.30,-194.7,835.1,-11.7,900,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3857
$GC,8194,-1.30,-194.7,868.0,-10.5,915,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3856
$GC,8503,-1.30,-194.7,902.3,-11.4,930,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3856
$GC,8813,-1.30,-194.7,935.2,-10.3,945,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3855
$GC,9122,-1.30,-194.7,965.3,-9.6,960,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3855
$STATE,9388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9388,begin apogee
$GC,9393,-0.37,0.0,990.7,9.5,973,9570,1.00,0.00,169.45,1.295,6,0.100,0.000,2694,1978,3062
$STATE,9571,end apogee,CONTROL_FINISHED_OK
$STATE,9571,begin climb
$GC,9573,1.34,194.7,994.8,0.0,982,9750,1.73,0.00,169.25,1.262,6,0.074,0.000,3069,1978,2267
$GC,10061,1.28,194.7,947.9,10.7,1006,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1978,2262
$GC,10369,1.22,194.7,915.5,10.5,1021,10374,0.12,2.72,0.00,0.000,4,0.107,0.069,3046,3398,2261
$GC,10413,1.22,194.7,910.8,10.8,1023,10417,0.00,2.62,0.00,0.000,6,0.000,0.054,3045,1986,2260
$GC,10734,1.28,239.7,882.2,8.4,1039,10780,0.00,2.75,40.58,1.194,4,0.000,0.069,3046,3397,2083
$GC,10802,1.32,274.0,876.1,8.8,1042,10847,0.00,2.62,33.95,1.114,6,0.000,0.054,3045,1985,1945
$GC,11166,1.35,298.1,842.5,9.2,1060,11196,0.12,2.80,23.20,1.140,4,0.063,0.069,3082,3395,1845
$GC,11218,1.31,298.1,836.4,11.4,1062,11223,0.00,2.65,0.00,0.000,6,0.000,0.054,3082,1981,1843
$GC,11534,1.26,298.1,799.9,11.8,1077,11536,0.15,0.00,0.00,0.000,6,0.105,0.000,3052,1979,1841
$GC,11843,1.26,298.1,767.0,10.9,1092,11847,0.00,2.70,0.00,0.000,4,0.000,0.070,3052,3396,1840
$GC,11859,1.26,298.1,765.1,11.1,1093,11864,0.00,2.60,0.00,0.000,6,0.000,0.054,3052,1987,1840
$GC,12186,1.26,298.1,729.5,10.8,1109,12190,0.00,2.72,0.00,0.000,4,0.000,0.071,3052,3403,1840
$GC,12212,1.26,298.1,726.3,10.9,1110,12217,0.00,2.60,0.00,0.000,6,0.000,0.053,3052,1998,1839
$GC,12534,1.26,298.1,691.0,11.4,1126,12538,0.00,2.67,0.00,0.000,4,0.000,0.068,3052,3399,1839
$GC,12560,1.26,298.1,687.7,11.8,1127,12564,0.00,2.55,0.00,0.000,6,0.000,0.053,3052,2012,1839
$GC,12882,1.26,298.1,651.1,11.4,1143,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2012,1839
$GC,13191,1.26,298.1,615.8,11.4,1158,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2011,1838
$GC,13505,1.26,298.1,581.6,10.5,1181,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2009,1839
$GC,13825,1.26,298.1,546.4,11.5,1211,13829,0.00,2.62,0.00,0.000,4,0.000,0.067,3052,3406,1839
$GC,13846,1.26,298.1,543.6,12.0,1212,13853,0.00,2.55,0.00,0.000,6,0.000,0.051,3052,2013,1839
$GC,14172,1.26,298.1,508.5,10.8,1243,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2011,1839
$GC,14490,1.26,298.1,474.9,10.8,1273,14494,0.00,2.60,0.00,0.000,4,0.000,0.065,3052,3402,1838
$GC,14518,1.26,298.1,471.9,10.3,1275,14522,0.00,2.50,0.00,0.000,6,0.000,0.050,3052,2022,1839
$GC,14842,1.26,298.1,437.3,10.8,1305,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2019,1839
$GC,15161,1.26,298.1,401.9,11.5,1335,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2020,1839
$GC,15480,1.26,298.1,365.3,11.0,1365,15485,0.00,2.62,0.00,0.000,4,0.000,0.061,3052,3407,1839
$GC,15497,1.26,298.1,363.2,11.3,1366,15501,0.00,2.53,0.00,0.000,6,0.000,0.048,3052,2023,1839
$GC,15833,1.26,298.1,325.2,10.8,1415,15839,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2020,1839
$GC,16176,1.26,298.1,289.3,10.2,1476,16183,0.00,2.58,0.00,0.000,4,0.000,0.061,3052,3403,1839
$GC,16206,1.26,298.1,286.0,11.1,1481,16212,0.00,2.47,0.00,0.000,6,0.000,0.047,3052,2036,1839
$GC,16549,1.26,298.1,246.9,12.2,1542,16556,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2035,1839
$GC,16893,1.26,298.1,206.3,10.9,1603,16899,0.00,2.72,0.00,0.000,4,0.000,0.067,3052,574,1840
$GC,16905,1.26,298.1,204.8,11.3,1605,16911,0.00,2.65,0.00,0.000,6,0.000,0.044,3052,2039,1839
$GC,17247,1.26,298.1,163.9,11.5,1666,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2042,1839
$GC,17591,1.26,298.1,123.1,11.9,1727,17597,0.00,2.75,0.00,0.000,4,0.000,0.063,3052,574,1839
$GC,17604,1.26,298.1,121.5,11.7,1729,17610,0.00,2.65,0.00,0.000,6,0.000,0.044,3052,2042,1840
$GC,17947,1.26,298.1,81.5,11.7,1790,17953,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2044,1839
$GC,18290,1.26,298.1,44.1,11.7,1851,18297,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2044,1839
$GC,18433,1.26,298.1,28.9,12.2,1876,18438,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2044,1839
$GC,18574,1.26,298.1,12.1,10.9,1901,18580,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2044,1840
$STATE,18663,end climb,SURFACE_DEPTH_REACHED
$STATE,18663,begin surface coast
$FINISH,0.1,1.003381
$STATE,18692,end surface coast,CONTROL_FINISHED_OK
$STATE,18692,begin surface
$SM_CCo,18771,0.00,0.000,0,0,1837,300.49
$SM_GC,0.76,10.38,0.00,0.00,0.036,0.000,0.000,575,2045,1837,-10.06,0.42,300.49
$IRIDIUM_FIX,6054.92,-2605.89,150897,212157
$TT8_MAMPS,0.042185
$HUMID,1678
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,572
$24V_AH,23.4,43.394
$10V_AH,10.6,48.657
$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,24.600,116.175,436.425,0.000,0.000,29.800,31.731,261.036,143.000,0.000,0.000,30.300,3002.335,11552.145,628.896,3366.968,679.174,0.000,2097.501,0.000,3375.273,0.000,0.465
$DEVICE_MAMPS,197.119,144.196,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1353.599,1415.713,709.006,1703.439,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142476,1922
$CAP_FILE_SIZE,160863,0
$CFSIZE,260165632,235700224
$ERRORS,0,29,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220508,074908,6120.535,-2604.459,28,1.0,28,-18.4