version: 66.03
glider: 141
mission: 7
dive: 217
start: 5 22 108 7 56 51
data:
$ID,141
$MISSION,7
$DIVE,217
$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,25
$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,-10354.169
$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,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
$GPS1,074908,6120.535,-2604.459,28,1.0,28,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-52.4
$GPS2,075633,6120.500,-2604.566,15,1.1,15,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6130.288,-2602.389
$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,43.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-93.10,0.000,2,0.000,0.000,575,2048,3680
$GC,126,-1.34,-194.7,3.3,-6.3,17,150,11.10,2.67,-4.28,0.000,4,0.197,0.070,2484,3441,3858
$GC,331,-1.30,-194.7,33.1,-11.7,53,337,0.00,2.58,0.00,0.000,6,0.000,0.049,2484,2019,3859
$GC,473,-1.30,-194.7,49.6,-11.5,78,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2014,3859
$GC,614,-1.30,-194.7,66.5,-12.0,103,620,0.00,2.60,0.00,0.000,4,0.000,0.061,2483,620,3860
$GC,665,-1.30,-194.7,72.8,-12.3,112,672,0.00,2.58,0.00,0.000,6,0.000,0.044,2483,2049,3860
$GC,1010,-1.30,-194.7,114.0,-11.9,173,1017,0.00,2.58,0.00,0.000,4,0.000,0.060,2484,3435,3860
$GC,1073,-1.30,-194.7,122.1,-12.9,184,1080,0.00,2.55,0.00,0.000,6,0.000,0.047,2483,2019,3860
$GC,1417,-1.30,-194.7,162.5,-11.4,245,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2011,3860
$GC,1760,-1.30,-194.7,201.9,-11.5,306,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2011,3860
$GC,2102,-1.30,-194.7,240.3,-10.9,367,2108,0.00,2.67,0.00,0.000,4,0.000,0.059,2483,3437,3860
$GC,2154,-1.30,-194.7,246.2,-11.4,376,2160,0.00,2.55,0.00,0.000,6,0.000,0.047,2483,2025,3860
$GC,2498,-1.30,-194.7,284.2,-11.9,437,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3860
$GC,2840,-1.30,-194.7,327.2,-12.4,498,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2019,3860
$GC,3180,-1.30,-194.7,368.1,-12.1,546,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3860
$GC,3499,-1.30,-194.7,407.8,-12.3,576,3503,0.00,2.67,0.00,0.000,4,0.000,0.064,2484,3439,3860
$GC,3564,-1.30,-194.7,416.2,-12.5,581,3571,0.00,2.55,0.00,0.000,6,0.000,0.048,2484,2031,3860
$GC,3890,-1.30,-194.7,454.4,-11.3,612,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2030,3860
$GC,4208,-1.30,-194.7,488.9,-10.4,642,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,4526,-1.30,-194.7,520.3,-9.6,672,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2029,3860
$GC,4845,-1.30,-194.7,550.3,-9.6,702,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,5163,-1.30,-194.7,580.4,-9.5,732,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2028,3860
$GC,5489,-1.30,-194.7,612.5,-10.1,757,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2028,3860
$GC,5798,-1.30,-194.7,644.0,-9.8,772,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,6108,-1.30,-194.7,674.0,-9.9,787,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2026,3859
$GC,6417,-1.30,-194.7,703.4,-8.7,802,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2026,3859
$GC,6727,-1.30,-194.7,730.4,-8.9,817,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2026,3859
$GC,7035,-1.30,-194.7,760.1,-9.9,832,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2026,3859
$GC,7345,-1.30,-194.7,790.1,-9.7,847,7350,0.00,2.80,0.00,0.000,4,0.000,0.092,2483,3434,3858
$GC,7388,-1.30,-194.7,794.9,-10.5,849,7393,0.00,2.65,0.00,0.000,6,0.000,0.065,2483,2043,3858
$GC,7716,-1.30,-194.7,827.9,-10.5,865,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2041,3858
$GC,8025,-1.30,-194.7,859.4,-10.2,880,8030,0.00,2.85,0.00,0.000,4,0.000,0.106,2483,613,3858
$GC,8114,-1.30,-194.7,869.0,-10.6,884,8118,0.00,2.60,0.00,0.000,6,0.000,0.060,2483,2028,3857
$GC,8441,-1.30,-194.7,901.6,-9.7,900,8446,0.00,2.78,0.00,0.000,4,0.000,0.096,2483,3439,3857
$GC,8548,-1.30,-194.7,913.0,-11.0,905,8553,0.00,2.62,0.00,0.000,6,0.000,0.063,2484,2031,3857
$GC,8875,-1.30,-194.7,948.4,-11.1,921,8879,0.00,2.75,0.00,0.000,4,0.000,0.096,2483,619,3856
$GC,8946,-1.30,-194.7,956.4,-10.2,924,8951,0.00,2.60,0.00,0.000,6,0.000,0.058,2483,2038,3856
$GC,9261,-1.30,-194.7,989.1,-10.3,939,9266,0.00,2.72,0.00,0.000,4,0.000,0.093,2483,3446,3855
$STATE,9269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9269,begin apogee
$GC,9276,-0.37,0.0,990.1,10.1,939,9450,0.98,0.00,169.73,1.293,6,0.103,0.000,2692,1983,3062
$STATE,9450,end apogee,CONTROL_FINISHED_OK
$STATE,9450,begin climb
$GC,9453,1.34,194.7,995.9,0.0,948,9627,1.75,0.00,169.12,1.264,6,0.075,0.000,3072,1983,2268
$GC,9933,1.28,194.7,953.4,10.2,972,9938,0.00,2.72,0.00,0.000,4,0.000,0.071,3073,3402,2263
$GC,9954,1.22,194.7,950.9,10.4,973,9960,0.12,2.65,0.00,0.000,6,0.110,0.055,3049,1975,2262
$GC,10275,1.27,229.3,923.1,8.8,989,10309,0.00,0.00,31.48,1.197,6,0.000,0.000,3049,1974,2127
$GC,10605,1.29,250.8,893.0,9.3,1005,10639,0.00,2.83,22.80,1.077,4,0.000,0.071,3049,3398,2038
$GC,10662,1.33,282.6,887.5,8.9,1007,10708,0.00,2.62,32.08,1.113,6,0.000,0.056,3049,1987,1909
$GC,11017,1.33,282.6,851.4,10.4,1025,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1986,1905
$GC,11326,1.33,282.6,818.6,10.7,1040,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1986,1904
$GC,11636,1.33,282.6,785.9,10.7,1055,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1987,1903
$GC,11945,1.33,282.6,751.8,11.3,1070,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1986,1903
$GC,12254,1.33,282.6,719.1,10.1,1085,12259,0.00,2.70,0.00,0.000,4,0.000,0.070,3048,3399,1902
$GC,12281,1.33,282.6,716.1,10.9,1086,12286,0.00,2.60,0.00,0.000,6,0.000,0.055,3048,1992,1901
$GC,12597,1.33,282.6,683.8,10.4,1101,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1990,1902
$GC,12906,1.35,297.9,653.4,9.5,1116,12930,0.10,0.00,16.40,0.923,6,0.069,0.000,3078,1990,1847
$GC,13236,1.31,297.9,618.4,10.8,1132,13240,0.00,2.72,0.00,0.000,4,0.000,0.068,3078,3397,1845
$GC,13285,1.31,297.9,612.7,11.2,1134,13289,0.00,2.62,0.00,0.000,6,0.000,0.053,3078,1998,1844
$GC,13612,1.31,297.9,577.5,11.2,1159,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1998,1845
$GC,13932,1.31,297.9,541.9,11.4,1189,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1844
$GC,14249,1.31,297.9,503.9,11.9,1219,14254,0.00,2.70,0.00,0.000,4,0.000,0.067,3078,3399,1844
$GC,14282,1.31,297.9,499.6,12.2,1221,14288,0.00,2.60,0.00,0.000,6,0.000,0.055,3078,1995,1844
$GC,14608,1.31,297.9,459.7,12.2,1252,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1992,1844
$GC,14925,1.31,297.9,420.9,11.9,1282,14930,0.00,2.65,0.00,0.000,4,0.000,0.064,3078,3399,1844
$GC,14957,1.31,297.9,416.6,12.9,1284,14964,0.00,2.60,0.00,0.000,6,0.000,0.051,3078,1998,1844
$GC,15284,1.31,297.9,376.3,12.5,1315,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1844
$GC,15606,1.31,297.9,334.5,13.1,1355,15612,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1844
$GC,15949,1.31,297.9,290.4,12.9,1416,15955,0.00,2.62,0.00,0.000,4,0.000,0.060,3078,3400,1844
$GC,15972,1.31,297.9,287.3,13.2,1420,15978,0.00,2.55,0.00,0.000,6,0.000,0.051,3078,1997,1844
$GC,16316,1.31,297.9,244.0,13.0,1481,16322,0.00,2.62,0.00,0.000,4,0.000,0.060,3078,3399,1844
$GC,16340,1.31,297.9,240.8,13.0,1485,16346,0.00,2.53,0.00,0.000,6,0.000,0.049,3078,2013,1844
$GC,16683,1.31,297.9,197.1,12.7,1546,16688,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2012,1844
$GC,17025,1.31,297.9,152.4,12.6,1607,17031,0.00,2.62,0.00,0.000,4,0.000,0.060,3078,3399,1845
$GC,17043,1.31,297.9,150.0,13.6,1610,17049,0.00,2.53,0.00,0.000,6,0.000,0.055,3078,2016,1845
$GC,17386,1.31,297.9,105.6,13.4,1671,17392,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2011,1845
$GC,17730,1.31,297.9,61.2,12.5,1732,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1845
$GC,18073,1.31,297.9,17.4,13.4,1793,18079,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1845
$STATE,18206,end climb,SURFACE_DEPTH_REACHED
$STATE,18206,begin surface coast
$FINISH,0.1,1.027088
$STATE,18243,end surface coast,CONTROL_FINISHED_OK
$STATE,18243,begin surface
$SM_CCo,18323,0.00,0.000,0,0,1842,299.27
$SM_GC,0.92,10.57,0.00,0.00,0.041,0.000,0.000,572,2048,1842,-10.07,0.51,299.27
$IRIDIUM_FIX,6054.92,-2557.84,160897,020255
$TT8_MAMPS,0.042185
$HUMID,1680
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,558
$24V_AH,23.4,43.582
$10V_AH,10.6,48.810
$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,24.625,100.675,441.600,0.000,0.000,27.802,37.998,241.523,139.500,0.000,0.000,18.099,2855.337,11422.440,630.059,3212.504,630.399,0.000,2022.282,0.000,3220.362,0.000,0.465
$DEVICE_MAMPS,197.119,116.584,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1281.490,1336.906,661.602,1615.178,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132706,1823
$CAP_FILE_SIZE,153355,0
$CFSIZE,260165632,235622400
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220508,130326,6121.667,-2603.460,36,1.6,36,-18.4