version: 66.03
glider: 141
mission: 7
dive: 268
start: 6 1 108 20 1 36
data:
$ID,141
$MISSION,7
$DIVE,268
$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,-11164.06
$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,8
$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
$GPS1,194927,6148.914,-2601.311,40,2.2,59,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-57.9
$GPS2,200115,6148.938,-2601.213,11,1.9,11,-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,22.4,13348,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.34,-194.7,0.0,0.0,0,112,0.00,0.00,-89.15,0.000,2,0.000,0.000,569,2035,3667
$GC,115,-1.34,-194.7,3.2,-6.1,12,139,10.93,2.62,-4.50,0.000,4,0.193,0.145,2481,3445,3858
$GC,392,-1.27,-194.7,42.9,-11.9,60,400,0.10,2.72,0.00,0.000,6,0.123,0.151,2499,2022,3859
$GC,536,-1.27,-194.7,56.0,-8.9,85,543,0.00,2.67,0.00,0.000,4,0.000,0.139,2499,3453,3859
$GC,663,-1.27,-194.7,69.1,-10.4,107,669,0.00,2.72,0.00,0.000,6,0.000,0.154,2499,2030,3859
$GC,1007,-1.27,-194.7,105.5,-10.6,168,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2027,3859
$GC,1352,-1.27,-194.7,142.9,-11.3,229,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3859
$GC,1695,-1.27,-194.7,180.9,-11.4,290,1703,0.00,2.65,0.00,0.000,4,0.000,0.145,2499,3446,3859
$GC,1749,-1.27,-194.7,187.1,-11.8,299,1756,0.00,2.72,0.00,0.000,6,0.000,0.147,2499,2031,3859
$GC,2094,-1.27,-194.7,226.2,-11.3,360,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2029,3859
$GC,2439,-1.27,-194.7,266.3,-11.5,421,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2029,3859
$GC,2782,-1.27,-194.7,305.6,-11.6,482,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2029,3860
$GC,3127,-1.27,-194.7,344.2,-11.0,543,3134,0.00,2.67,0.00,0.000,4,0.000,0.143,2499,3452,3859
$GC,3186,-1.27,-194.7,351.0,-11.8,553,3190,0.00,2.72,0.00,0.000,6,0.000,0.150,2499,2040,3859
$GC,3512,-1.27,-194.7,386.4,-10.9,583,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2039,3860
$GC,3830,-1.27,-194.7,418.7,-10.0,613,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2038,3859
$GC,4148,-1.27,-194.7,450.0,-9.5,643,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2038,3859
$GC,4467,-1.27,-194.7,479.7,-9.4,673,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2038,3859
$GC,4784,-1.27,-194.7,509.7,-9.7,703,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2038,3859
$GC,5103,-1.27,-194.7,542.8,-11.2,733,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2038,3859
$GC,5421,-1.27,-194.7,576.3,-10.5,763,5425,0.00,2.88,0.00,0.000,4,0.000,0.176,2499,612,3858
$GC,5482,-1.27,-194.7,582.9,-10.7,768,5487,0.00,2.67,0.00,0.000,6,0.000,0.136,2499,2048,3858
$GC,5804,-1.27,-194.7,614.8,-9.9,791,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2050,3858
$GC,6113,-1.27,-194.7,644.0,-8.8,806,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2050,3858
$GC,6422,-1.27,-194.7,671.8,-9.5,821,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2050,3858
$GC,6731,-1.27,-194.7,701.9,-9.6,836,6736,0.00,2.92,0.00,0.000,4,0.000,0.190,2499,620,3857
$GC,6797,-1.27,-194.7,708.9,-10.5,839,6801,0.00,2.67,0.00,0.000,6,0.000,0.140,2499,2042,3857
$GC,7121,-1.27,-194.7,741.8,-10.4,855,7125,0.00,2.78,0.00,0.000,4,0.000,0.174,2499,3450,3857
$GC,7170,-1.27,-194.7,747.5,-11.2,857,7174,0.00,2.78,0.00,0.000,6,0.000,0.170,2499,2036,3857
$GC,7486,-1.27,-194.7,779.8,-10.5,872,7491,0.00,2.90,0.00,0.000,4,0.000,0.193,2499,610,3856
$GC,7593,-1.27,-194.7,791.3,-10.9,877,7598,0.00,2.65,0.00,0.000,6,0.000,0.140,2499,2028,3856
$GC,7921,-1.27,-194.7,824.0,-9.9,893,7926,0.00,2.78,0.00,0.000,4,0.000,0.172,2499,3443,3856
$GC,7983,-1.27,-194.7,830.5,-10.6,896,7988,0.00,2.78,0.00,0.000,6,0.000,0.177,2499,2019,3856
$GC,8310,-1.27,-194.7,863.4,-9.8,912,8314,0.00,2.85,0.00,0.000,4,0.000,0.189,2499,614,3855
$GC,8365,-1.27,-194.7,869.3,-11.2,914,8372,0.00,2.62,0.00,0.000,6,0.000,0.141,2499,2027,3855
$GC,8681,-1.27,-194.7,900.3,-9.4,930,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3855
$GC,8990,-1.27,-194.7,929.7,-9.7,945,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3855
$GC,9299,-1.27,-194.7,960.6,-10.4,960,9303,0.00,2.78,0.00,0.000,4,0.000,0.176,2499,3445,3855
$GC,9348,-1.27,-194.7,966.2,-11.2,962,9353,0.00,2.78,0.00,0.000,6,0.000,0.169,2499,2025,3854
$STATE,9579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9579,begin apogee
$GC,9585,-0.37,0.0,990.4,10.7,973,9762,0.93,0.00,169.38,1.297,6,0.100,0.000,2695,1983,3062
$STATE,9763,end apogee,CONTROL_FINISHED_OK
$STATE,9763,begin climb
$GC,9765,1.34,194.7,996.0,0.0,982,9943,1.73,2.85,168.62,1.267,4,0.077,0.158,3070,3395,2267
$GC,9957,1.32,221.8,983.7,9.1,991,9987,0.00,2.80,25.08,1.187,6,0.000,0.157,3070,1981,2157
$GC,10306,1.28,221.8,947.9,10.2,1008,10310,0.00,2.75,0.00,0.000,4,0.000,0.156,3070,3398,2152
$GC,10333,1.24,221.8,944.7,10.7,1009,10337,0.00,2.75,0.00,0.000,6,0.000,0.160,3070,1993,2152
$GC,10649,1.24,221.8,911.9,10.5,1024,10653,0.00,2.72,0.00,0.000,4,0.000,0.155,3070,3402,2151
$GC,10675,1.20,221.8,908.9,10.2,1025,10681,0.15,2.75,0.00,0.000,6,0.106,0.161,3041,1998,2150
$GC,10992,1.23,249.0,880.6,9.1,1040,11036,0.00,2.78,28.98,1.044,4,0.000,0.156,3040,3399,2046
$GC,11049,1.28,283.1,875.3,8.8,1043,11093,0.00,2.75,32.90,1.172,6,0.000,0.157,3041,2002,1906
$GC,11403,1.30,299.5,841.6,9.4,1060,11433,0.00,2.75,18.05,1.013,4,0.000,0.152,3040,3400,1839
$GC,11450,1.32,319.7,836.7,9.3,1062,11477,0.12,2.72,19.85,1.118,6,0.065,0.161,3076,2016,1757
$GC,11802,1.32,319.7,795.9,12.0,1079,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1751
$GC,12110,1.32,319.7,759.9,11.6,1094,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1751
$GC,12418,1.32,319.7,723.9,11.6,1109,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1750
$GC,12729,1.32,319.7,688.6,11.4,1124,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1750
$GC,13037,1.32,319.7,653.7,11.3,1139,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1749
$GC,13347,1.32,319.7,618.9,11.5,1154,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1749
$GC,13659,1.32,319.7,581.4,12.0,1176,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1749
$GC,13977,1.32,319.7,543.3,11.7,1206,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1749
$GC,14296,1.32,319.7,509.0,10.7,1236,14297,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1749
$GC,14615,1.33,328.9,476.2,9.7,1266,14627,0.00,0.00,7.97,0.842,6,0.000,0.000,3076,2014,1721
$GC,14947,1.33,328.9,441.0,11.0,1297,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1720
$GC,15264,1.33,328.9,404.8,11.6,1327,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1720
$GC,15583,1.33,328.9,368.6,11.1,1357,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1719
$GC,15909,1.33,328.9,331.2,11.6,1401,15915,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1720
$GC,16252,1.33,328.9,291.5,11.0,1462,16258,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1719
$GC,16596,1.33,328.9,251.6,11.8,1523,16602,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1720
$GC,16940,1.33,328.9,212.2,10.7,1584,16947,0.00,2.60,0.00,0.000,4,0.000,0.145,3076,3398,1719
$GC,16953,1.33,328.9,210.6,11.2,1586,16961,0.00,2.70,0.00,0.000,6,0.000,0.156,3076,2002,1719
$GC,17299,1.33,328.9,171.5,10.7,1647,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1999,1719
$GC,17643,1.34,336.8,135.9,9.7,1708,17658,0.00,2.70,8.75,0.683,4,0.000,0.143,3076,3398,1688
$GC,17670,1.34,336.8,133.0,10.2,1712,17677,0.00,2.70,0.00,0.000,6,0.000,0.160,3076,2009,1687
$GC,18015,1.34,336.8,96.1,10.8,1773,18021,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2007,1687
$GC,18356,1.34,337.0,58.7,10.0,1834,18363,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2007,1687
$GC,18698,1.34,337.0,22.5,10.1,1895,18706,0.00,2.80,0.00,0.000,4,0.000,0.170,3076,574,1687
$GC,18742,1.36,349.6,18.3,9.6,1902,18763,0.00,2.65,12.95,0.646,6,0.000,0.139,3076,2022,1636
$STATE,18898,end climb,SURFACE_DEPTH_REACHED
$STATE,18898,begin surface coast
$FINISH,0.1,1.026959
$STATE,18932,end surface coast,CONTROL_FINISHED_OK
$STATE,18932,begin surface
$SM_CCo,19013,0.00,0.000,0,0,1631,351.02
$SM_GC,0.86,10.52,0.00,0.00,0.038,0.000,0.000,570,2026,1631,-10.08,-0.11,351.02
$IRIDIUM_FIX,6126.23,-2605.39,260897,202041
$TT8_MAMPS,0.041418
$HUMID,1689
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,1064
$24V_AH,23.3,53.651
$10V_AH,10.6,56.926
$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,24.475,104.225,492.525,0.000,0.000,53.421,74.422,367.249,266.000,0.000,0.000,12.824,3873.982,10826.439,680.243,3434.428,887.422,0.000,2171.842,0.000,3452.514,0.000,0.465
$DEVICE_MAMPS,193.284,194.818,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1350.963,1452.185,728.938,1717.746,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142250,1935
$CAP_FILE_SIZE,165320,0
$CFSIZE,260165632,231018496
$ERRORS,0,11,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.041,120.7,1
$GPS,020608,011937,6151.685,-2600.236,32,1.5,32,-18.7