version: 66.03
glider: 141
mission: 7
dive: 267
start: 6 1 108 14 21 10
data:
$ID,141
$MISSION,7
$DIVE,267
$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,-11150.605
$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,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
$GPS1,141307,6146.374,-2600.165,24,1.4,24,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-53.9
$GPS2,142051,6146.373,-2600.060,14,1.3,14,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,18.2,18070,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-105.50,0.000,2,0.000,0.000,571,2009,3851
$GC,132,-1.34,-194.7,4.0,-7.9,14,149,11.07,2.78,0.00,0.000,4,0.198,0.156,2483,612,3853
$GC,402,-1.34,-194.7,43.8,-11.1,61,410,0.00,2.58,0.00,0.000,6,0.000,0.123,2483,2032,3854
$GC,546,-1.30,-194.7,58.5,-10.7,86,554,0.00,2.60,0.00,0.000,4,0.000,0.145,2483,3442,3855
$GC,634,-1.25,-194.7,68.0,-11.5,101,642,0.12,2.62,0.00,0.000,6,0.117,0.147,2506,2068,3854
$GC,980,-1.25,-194.7,103.9,-10.5,162,987,0.00,2.80,0.00,0.000,4,0.000,0.160,2506,621,3855
$GC,1035,-1.25,-194.7,109.4,-10.5,171,1042,0.00,2.65,0.00,0.000,6,0.000,0.125,2506,2068,3855
$GC,1379,-1.25,-194.7,146.6,-10.7,232,1386,0.00,2.55,0.00,0.000,4,0.000,0.143,2506,3442,3855
$GC,1455,-1.25,-194.7,155.3,-11.1,245,1462,0.00,2.62,0.00,0.000,6,0.000,0.146,2506,2064,3855
$GC,1800,-1.25,-194.7,191.5,-10.2,306,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2060,3855
$GC,2145,-1.25,-194.7,224.9,-9.6,367,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3855
$GC,2488,-1.25,-194.7,259.3,-10.1,428,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3855
$GC,2833,-1.25,-194.7,293.7,-10.3,489,2840,0.00,2.58,0.00,0.000,4,0.000,0.139,2506,3441,3855
$GC,2880,-1.25,-194.7,298.8,-10.8,497,2887,0.00,2.62,0.00,0.000,6,0.000,0.149,2506,2068,3854
$GC,3225,-1.25,-194.7,335.0,-10.5,558,3233,0.00,2.80,0.00,0.000,4,0.000,0.165,2506,620,3854
$GC,3284,-1.25,-194.7,341.3,-10.9,568,3292,0.00,2.65,0.00,0.000,6,0.000,0.128,2506,2071,3854
$GC,3617,-1.25,-194.7,376.8,-10.6,606,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2073,3854
$GC,3934,-1.25,-194.7,411.2,-11.1,636,3939,0.00,2.58,0.00,0.000,4,0.000,0.147,2506,3439,3854
$GC,3979,-1.25,-194.7,416.5,-12.0,639,3986,0.00,2.65,0.00,0.000,6,0.000,0.156,2506,2068,3854
$GC,4305,-1.25,-194.7,451.7,-10.5,670,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2062,3854
$GC,4623,-1.25,-194.7,485.8,-10.8,700,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2062,3853
$GC,4941,-1.25,-194.7,519.4,-10.1,730,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2062,3854
$GC,5260,-1.25,-194.7,551.2,-10.0,760,5265,0.00,2.88,0.00,0.000,4,0.000,0.173,2506,616,3854
$GC,5315,-1.25,-194.7,557.0,-10.4,764,5322,0.00,2.70,0.00,0.000,6,0.000,0.133,2506,2078,3854
$GC,5642,-1.25,-194.7,589.8,-10.4,795,5646,0.00,2.62,0.00,0.000,4,0.000,0.159,2506,3446,3853
$GC,5708,-1.25,-194.7,597.3,-10.3,800,5715,0.00,2.67,0.00,0.000,6,0.000,0.162,2506,2073,3853
$GC,6027,-1.25,-194.7,629.4,-10.0,817,6031,0.00,2.95,0.00,0.000,4,0.000,0.183,2506,619,3853
$GC,6076,-1.25,-194.7,634.7,-10.4,819,6081,0.00,2.70,0.00,0.000,6,0.000,0.137,2506,2070,3853
$GC,6392,-1.25,-194.7,665.1,-9.4,834,6396,0.00,2.70,0.00,0.000,4,0.000,0.168,2506,3442,3853
$GC,6454,-1.25,-194.7,671.4,-10.2,837,6459,0.00,2.70,0.00,0.000,6,0.000,0.160,2506,2068,3853
$GC,6782,-1.25,-194.7,702.4,-9.6,853,6786,0.00,2.95,0.00,0.000,4,0.000,0.186,2506,616,3852
$GC,6831,-1.25,-194.7,707.5,-10.0,855,6835,0.00,2.72,0.00,0.000,6,0.000,0.139,2506,2070,3853
$GC,7147,-1.25,-194.7,737.4,-9.4,870,7151,0.00,2.70,0.00,0.000,4,0.000,0.170,2506,3440,3853
$GC,7202,-1.25,-194.7,743.1,-10.6,872,7210,0.00,2.67,0.00,0.000,6,0.000,0.160,2506,2060,3852
$GC,7518,-1.25,-194.7,773.5,-9.6,888,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3852
$GC,7827,-1.25,-194.7,803.2,-10.2,903,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3852
$GC,8137,-1.25,-194.7,834.1,-9.2,918,8142,0.00,2.92,0.00,0.000,4,0.000,0.184,2506,619,3852
$GC,8199,-1.25,-194.7,840.8,-10.8,921,8204,0.00,2.72,0.00,0.000,6,0.000,0.138,2506,2077,3852
$GC,8527,-1.25,-194.7,871.4,-8.8,937,8532,0.00,2.70,0.00,0.000,4,0.000,0.173,2506,3445,3852
$GC,8616,-1.25,-194.7,879.7,-9.4,941,8621,0.00,2.67,0.00,0.000,6,0.000,0.160,2506,2075,3851
$GC,8937,-1.25,-194.7,906.4,-8.5,957,8942,0.00,2.95,0.00,0.000,4,0.000,0.184,2506,617,3851
$GC,8987,-1.25,-194.7,910.7,-8.6,959,8991,0.00,2.72,0.00,0.000,6,0.000,0.139,2506,2079,3851
$GC,9302,-1.25,-194.7,937.2,-8.9,974,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2081,3850
$GC,9612,-1.25,-194.7,963.4,-8.5,989,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2081,3850
$GC,9921,-1.25,-194.7,989.4,-8.3,1004,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2081,3849
$STATE,9939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9939,begin apogee
$GC,9945,-0.37,0.0,991.1,8.3,1005,10121,0.90,0.00,168.35,1.294,6,0.101,0.000,2697,1979,3061
$STATE,10122,end apogee,CONTROL_FINISHED_OK
$STATE,10122,begin climb
$GC,10124,1.34,194.7,995.4,0.0,1014,10302,1.73,0.00,169.35,1.262,6,0.077,0.000,3072,1979,2266
$GC,10613,1.29,194.7,950.0,11.2,1038,10618,0.00,2.80,0.00,0.000,4,0.000,0.162,3072,3401,2261
$GC,10669,1.24,194.7,943.4,11.0,1040,10677,0.12,2.78,0.00,0.000,6,0.112,0.155,3049,1986,2260
$GC,10985,1.24,197.9,912.7,9.9,1056,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1985,2260
$GC,11294,1.27,220.5,883.5,9.2,1071,11330,0.00,2.80,25.17,1.097,4,0.000,0.150,3048,3402,2162
$GC,11370,1.28,228.5,876.2,9.7,1074,11383,0.00,2.78,8.57,1.021,6,0.000,0.156,3049,1986,2130
$GC,11691,1.30,243.9,847.1,9.5,1090,11714,0.00,2.78,15.68,1.123,4,0.000,0.150,3049,3398,2065
$GC,11731,1.31,252.5,842.9,9.7,1091,11747,0.00,2.75,9.40,1.029,6,0.000,0.154,3049,2002,2032
$GC,12070,1.33,274.1,810.9,9.2,1108,12094,0.10,0.00,20.67,1.127,6,0.072,0.000,3078,2000,1944
$GC,12399,1.33,274.1,775.1,11.0,1124,12403,0.00,2.70,0.00,0.000,4,0.000,0.151,3078,3399,1940
$GC,12438,1.33,274.1,770.5,11.7,1126,12443,0.00,2.75,0.00,0.000,6,0.000,0.156,3078,2000,1939
$GC,12765,1.33,274.1,736.0,10.1,1142,12769,0.00,2.70,0.00,0.000,4,0.000,0.150,3078,3398,1939
$GC,12797,1.33,274.1,732.3,10.4,1143,12804,0.00,2.72,0.00,0.000,6,0.000,0.156,3078,2008,1939
$GC,13113,1.33,274.1,699.6,10.1,1159,13118,0.00,2.67,0.00,0.000,4,0.000,0.150,3078,3399,1938
$GC,13131,1.33,274.1,697.7,10.1,1160,13136,0.00,2.70,0.00,0.000,6,0.000,0.153,3078,2019,1938
$GC,13460,1.34,279.2,665.4,9.8,1176,13467,0.00,0.00,5.45,0.828,6,0.000,0.000,3078,2017,1923
$GC,13768,1.34,279.2,633.7,10.9,1191,13772,0.00,2.65,0.00,0.000,4,0.000,0.150,3078,3400,1922
$GC,13778,1.34,279.2,632.3,11.0,1191,13785,0.00,2.67,0.00,0.000,6,0.000,0.158,3078,2026,1922
$GC,14094,1.34,279.2,597.6,10.6,1208,14095,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2025,1922
$GC,14413,1.34,279.2,564.7,10.4,1238,14417,0.00,2.62,0.00,0.000,4,0.000,0.150,3078,3398,1922
$GC,14430,1.34,279.2,562.9,10.5,1239,14435,0.00,2.67,0.00,0.000,6,0.000,0.156,3078,2027,1921
$GC,14756,1.35,286.8,530.8,9.7,1269,14766,0.00,0.00,8.73,0.885,6,0.000,0.000,3078,2026,1892
$GC,15086,1.35,286.8,497.3,10.6,1300,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2026,1890
$GC,15402,1.35,286.8,461.8,11.4,1330,15407,0.00,2.62,0.00,0.000,4,0.000,0.145,3078,3405,1890
$GC,15420,1.35,286.8,459.8,11.3,1331,15425,0.00,2.70,0.00,0.000,6,0.000,0.154,3078,2018,1890
$GC,15745,1.35,286.8,423.2,11.0,1361,15747,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2017,1890
$GC,16066,1.35,286.8,388.6,10.9,1391,16070,0.00,2.62,0.00,0.000,4,0.000,0.143,3078,3406,1890
$GC,16094,1.35,286.8,385.1,11.7,1393,16099,0.00,2.67,0.00,0.000,6,0.000,0.153,3078,2030,1890
$GC,16419,1.35,286.8,348.8,11.3,1424,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2028,1890
$GC,16763,1.35,286.8,309.1,12.0,1485,16770,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2027,1890
$GC,17107,1.35,286.8,270.2,12.1,1546,17115,0.00,2.58,0.00,0.000,4,0.000,0.141,3078,3399,1890
$GC,17127,1.35,286.8,267.8,11.9,1549,17134,0.00,2.65,0.00,0.000,6,0.000,0.151,3078,2029,1890
$GC,17473,1.35,286.8,228.7,10.7,1610,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2027,1890
$GC,17816,1.35,286.8,190.7,11.9,1671,17822,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2027,1890
$GC,18160,1.35,286.8,152.4,10.8,1732,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2026,1890
$GC,18503,1.35,286.8,114.0,11.8,1793,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2026,1891
$GC,18846,1.35,286.8,72.6,12.4,1854,18853,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2026,1890
$GC,19188,1.35,286.8,33.9,10.4,1915,19196,0.00,2.58,0.00,0.000,4,0.000,0.139,3078,3405,1891
$GC,19220,1.35,286.8,30.5,11.3,1920,19228,0.00,2.62,0.00,0.000,6,0.000,0.156,3078,2042,1891
$GC,19362,1.35,286.8,15.6,10.8,1945,19369,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2042,1891
$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19491,begin surface coast
$FINISH,0.5,1.026948
$STATE,19521,end surface coast,CONTROL_FINISHED_OK
$STATE,19521,begin surface
$SM_CCo,19600,0.00,0.000,0,0,1889,287.74
$SM_GC,0.97,10.50,0.00,0.00,0.038,0.000,0.000,569,2040,1889,-10.07,0.28,287.74
$IRIDIUM_FIX,6121.73,-2605.48,260897,090931
$TT8_MAMPS,0.041418
$HUMID,1699
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,16.70
$XPDR_PINGS,1124
$24V_AH,23.3,53.422
$10V_AH,10.6,56.755
$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,24.550,151.575,431.375,0.000,0.000,30.025,31.078,255.171,281.000,0.000,0.000,15.681,3991.775,11098.475,706.520,3509.352,741.002,0.000,2241.322,0.000,3537.610,0.000,0.465
$DEVICE_MAMPS,197.886,185.614,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1378.559,1490.107,720.045,1739.373,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145557,1973
$CAP_FILE_SIZE,173433,0
$CFSIZE,260165632,231100416
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049,217.5,1
$GPS,010608,194927,6148.914,-2601.311,40,2.2,59,-18.6