version: 66.03
glider: 141
mission: 7
dive: 220
start: 5 22 108 23 55 9
data:
$ID,141
$MISSION,7
$DIVE,220
$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,-10398.989
$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,9
$R_STBD_OVSHOOT,6
$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
$GPS1,234707,6125.454,-2600.562,35,0.9,40,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.0
$GPS2,235451,6125.437,-2600.566,10,1.0,10,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6135.224,-2558.395
$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,-93.40,0.000,2,0.000,0.000,567,2028,3724
$GC,126,-1.34,-194.7,3.5,-6.7,17,146,11.07,2.80,-3.10,0.000,4,0.195,0.156,2481,3448,3859
$GC,309,-1.30,-194.7,31.4,-12.1,49,316,0.00,2.70,0.00,0.000,6,0.000,0.142,2481,2026,3860
$GC,451,-1.30,-194.7,48.3,-11.9,74,458,0.00,2.70,0.00,0.000,4,0.000,0.158,2481,620,3860
$GC,492,-1.30,-194.7,53.4,-12.1,81,498,0.00,2.60,0.00,0.000,6,0.000,0.125,2481,2039,3860
$GC,835,-1.30,-194.7,93.2,-12.1,142,841,0.00,2.62,0.00,0.000,4,0.000,0.140,2481,3450,3860
$GC,966,-1.30,-194.7,109.5,-12.7,165,972,0.00,2.65,0.00,0.000,6,0.000,0.138,2481,2041,3860
$GC,1310,-1.30,-194.7,149.5,-12.0,226,1316,0.00,2.72,0.00,0.000,4,0.000,0.159,2480,617,3860
$GC,1362,-1.30,-194.7,155.9,-11.9,235,1368,0.00,2.60,0.00,0.000,6,0.000,0.123,2481,2041,3860
$GC,1706,-1.30,-194.7,195.3,-11.4,296,1712,0.00,2.60,0.00,0.000,4,0.000,0.138,2480,3442,3860
$GC,1780,-1.30,-194.7,204.1,-11.7,309,1786,0.00,2.62,0.00,0.000,6,0.000,0.137,2480,2039,3860
$GC,2123,-1.30,-194.7,243.9,-11.3,370,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2038,3860
$GC,2466,-1.30,-194.7,282.4,-11.5,431,2472,0.00,2.65,0.00,0.000,4,0.000,0.137,2481,3441,3860
$GC,2523,-1.30,-194.7,289.0,-11.2,441,2529,0.00,2.65,0.00,0.000,6,0.000,0.138,2480,2036,3860
$GC,2867,-1.30,-194.7,326.3,-10.8,502,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2035,3860
$GC,3204,-1.30,-194.7,361.3,-10.1,553,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2035,3860
$GC,3523,-1.30,-194.7,394.5,-10.3,583,3527,0.00,2.70,0.00,0.000,4,0.000,0.144,2481,3449,3860
$GC,3577,-1.30,-194.7,400.5,-10.5,587,3584,0.00,2.65,0.00,0.000,6,0.000,0.140,2481,2048,3860
$GC,3904,-1.30,-194.7,433.2,-10.3,618,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2046,3860
$GC,4221,-1.30,-194.7,466.9,-11.0,648,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2045,3860
$GC,4540,-1.30,-194.7,501.8,-11.0,678,4544,0.00,2.80,0.00,0.000,4,0.000,0.165,2480,613,3860
$GC,4594,-1.30,-194.7,508.1,-11.4,682,4601,0.00,2.67,0.00,0.000,6,0.000,0.133,2480,2068,3860
$GC,4921,-1.30,-194.7,545.0,-11.3,713,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2070,3860
$GC,5238,-1.30,-194.7,579.9,-10.7,743,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2071,3860
$GC,5563,-1.30,-194.7,613.5,-10.2,768,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2071,3860
$GC,5873,-1.30,-194.7,645.2,-10.0,783,5878,0.00,2.95,0.00,0.000,4,0.000,0.180,2481,615,3860
$GC,5945,-1.30,-194.7,652.7,-10.3,786,5949,0.00,2.67,0.00,0.000,6,0.000,0.140,2480,2039,3859
$GC,6266,-1.30,-194.7,683.2,-9.4,802,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3859
$GC,6576,-1.30,-194.7,712.3,-9.5,817,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3859
$GC,6884,-1.30,-194.7,744.8,-11.1,832,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3859
$GC,7194,-1.30,-194.7,780.2,-11.6,847,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3859
$GC,7503,-1.30,-194.7,814.7,-10.6,862,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3859
$GC,7813,-1.30,-194.7,847.1,-10.6,877,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3858
$GC,8121,-1.30,-194.7,879.9,-10.8,892,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3858
$GC,8431,-1.30,-194.7,911.7,-10.1,907,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3858
$GC,8740,-1.30,-194.7,941.0,-9.3,922,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3857
$GC,9050,-1.30,-194.7,969.2,-8.6,937,9054,0.00,2.80,0.00,0.000,4,0.000,0.176,2480,3442,3857
$GC,9099,-1.30,-194.7,974.1,-10.3,939,9103,0.00,2.75,0.00,0.000,6,0.000,0.155,2480,2030,3857
$STATE,9267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9267,begin apogee
$GC,9273,-0.37,0.0,990.1,9.4,947,9450,1.02,0.00,170.05,1.295,6,0.100,0.000,2697,1975,3061
$STATE,9451,end apogee,CONTROL_FINISHED_OK
$STATE,9451,begin climb
$GC,9453,1.34,194.7,995.2,0.0,956,9632,1.73,2.85,168.43,1.263,4,0.074,0.151,3073,3400,2267
$GC,9661,1.28,194.7,978.8,12.0,966,9666,0.00,2.78,0.00,0.000,6,0.000,0.149,3073,1979,2265
$GC,9983,1.23,205.9,945.8,9.6,982,9996,0.12,0.00,10.80,1.084,6,0.109,0.000,3049,1977,2222
$GC,10292,1.29,255.7,919.9,8.3,997,10345,0.00,2.83,46.20,1.210,4,0.000,0.149,3049,3404,2018
$GC,10357,1.35,305.2,914.1,8.3,1000,10414,0.10,2.78,46.72,1.197,6,0.070,0.145,3078,1982,1816
$GC,10722,1.35,305.2,870.6,12.1,1018,10726,0.00,2.78,0.00,0.000,4,0.000,0.151,3077,3406,1809
$GC,10742,1.35,305.2,867.8,13.1,1019,10747,0.00,2.75,0.00,0.000,6,0.000,0.149,3078,1982,1807
$GC,11070,1.35,305.2,828.0,12.5,1035,11074,0.00,2.75,0.00,0.000,4,0.000,0.152,3078,3400,1806
$GC,11096,1.35,305.2,824.3,13.9,1036,11100,0.00,2.72,0.00,0.000,6,0.000,0.146,3078,1985,1806
$GC,11417,1.35,305.2,783.9,13.0,1052,11422,0.00,2.75,0.00,0.000,4,0.000,0.151,3077,3403,1805
$GC,11450,1.35,305.2,779.3,14.0,1053,11456,0.00,2.67,0.00,0.000,6,0.000,0.147,3078,2014,1805
$GC,11766,1.35,305.2,737.8,13.0,1069,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2013,1805
$GC,12074,1.35,305.2,698.7,12.5,1084,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1805
$GC,12384,1.35,305.2,660.9,11.9,1099,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1805
$GC,12693,1.35,305.2,624.8,11.5,1114,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2011,1805
$GC,13005,1.35,305.2,588.0,11.9,1133,13009,0.00,2.70,0.00,0.000,4,0.000,0.151,3078,3400,1804
$GC,13044,1.35,305.2,583.2,12.4,1136,13048,0.00,2.65,0.00,0.000,6,0.000,0.147,3078,2019,1804
$GC,13369,1.35,305.2,543.8,12.7,1166,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2019,1804
$GC,13686,1.35,305.2,503.7,12.6,1196,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2018,1804
$GC,14005,1.35,305.2,464.0,12.4,1226,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2018,1804
$GC,14323,1.35,305.2,424.4,12.6,1256,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2019,1804
$GC,14642,1.35,305.2,384.4,12.2,1286,14647,0.00,2.67,0.00,0.000,4,0.000,0.150,3078,3408,1804
$GC,14670,1.35,305.2,380.8,12.1,1288,14674,0.00,2.65,0.00,0.000,6,0.000,0.142,3078,2012,1804
$GC,14998,1.35,305.2,340.5,12.3,1324,15004,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1804
$GC,15341,1.35,305.2,299.6,11.4,1385,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1804
$GC,15683,1.35,305.2,260.0,11.3,1446,15689,0.00,2.62,0.00,0.000,4,0.000,0.140,3078,3406,1804
$GC,15702,1.35,305.2,257.9,11.8,1449,15708,0.00,2.62,0.00,0.000,6,0.000,0.143,3078,2020,1804
$GC,16044,1.35,305.2,217.0,11.8,1510,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2018,1804
$GC,16387,1.35,305.2,175.9,12.6,1571,16392,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2019,1805
$GC,16729,1.35,305.2,135.2,12.3,1632,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2019,1805
$GC,17072,1.35,305.2,97.1,12.2,1693,17077,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2019,1805
$GC,17415,1.35,305.2,58.7,11.2,1754,17422,0.00,2.83,0.00,0.000,4,0.000,0.168,3078,567,1805
$GC,17450,1.35,305.2,54.8,11.0,1760,17456,0.00,2.67,0.00,0.000,6,0.000,0.127,3078,2025,1805
$GC,17794,1.35,305.2,17.4,11.2,1821,17800,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2027,1805
$STATE,17916,end climb,SURFACE_DEPTH_REACHED
$STATE,17916,begin surface coast
$FINISH,0.4,1.027105
$STATE,17939,end surface coast,CONTROL_FINISHED_OK
$STATE,17939,begin surface
$SM_CCo,18019,0.00,0.000,0,0,1804,308.59
$SM_GC,0.87,10.50,0.00,0.00,0.036,0.000,0.000,565,2028,1804,-10.08,-0.06,308.59
$IRIDIUM_FIX,6059.36,-2603.75,160897,181853
$TT8_MAMPS,0.042185
$HUMID,1679
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,582
$24V_AH,23.4,44.166
$10V_AH,10.6,49.283
$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,24.550,103.125,442.200,0.000,0.000,26.095,37.647,263.529,145.500,0.000,0.000,14.047,2877.073,11100.050,587.716,3246.423,653.819,0.000,2013.057,0.000,3261.385,0.000,0.465
$DEVICE_MAMPS,194.818,180.245,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1306.950,1343.984,696.590,1633.587,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136241,1847
$CAP_FILE_SIZE,152266,0
$CFSIZE,260165632,235347968
$ERRORS,0,35,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230508,045638,6127.805,-2559.198,35,1.2,35,-18.4