version: 66.03
glider: 141
mission: 7
dive: 288
start: 6 5 108 18 40 22
data:
$ID,141
$MISSION,7
$DIVE,288
$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,-11526.522
$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,17
$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
$GPS1,183214,6147.806,-2602.195,35,1.9,41,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.8
$GPS2,184003,6147.805,-2602.151,14,1.8,14,-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,24.9,15511,-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,21,-1.34,-194.7,0.0,0.0,0,146,0.00,0.00,-122.45,0.000,2,0.000,0.000,571,2038,3773
$GC,149,-1.34,-194.7,3.5,-6.8,16,173,10.90,2.80,-1.85,0.000,4,0.191,0.165,2482,619,3858
$GC,312,-1.30,-194.7,30.8,-14.1,43,319,0.00,2.55,0.00,0.000,6,0.000,0.128,2483,2031,3859
$GC,454,-1.24,-194.7,52.2,-14.1,68,461,0.12,0.00,0.00,0.000,6,0.117,0.000,2507,2032,3859
$GC,800,-1.24,-194.7,86.0,-8.6,129,807,0.00,2.62,0.00,0.000,4,0.000,0.143,2507,3446,3859
$GC,909,-1.24,-194.7,96.4,-9.3,148,917,0.00,2.70,0.00,0.000,6,0.000,0.143,2507,2016,3859
$GC,1253,-1.24,-194.7,128.6,-9.1,209,1260,0.00,2.70,0.00,0.000,4,0.000,0.166,2507,621,3860
$GC,1301,-1.24,-194.7,133.1,-9.5,217,1308,0.00,2.55,0.00,0.000,6,0.000,0.131,2507,2020,3859
$GC,1646,-1.24,-194.7,165.7,-9.5,278,1654,0.00,2.62,0.00,0.000,4,0.000,0.140,2507,3440,3860
$GC,1700,-1.24,-194.7,171.0,-10.1,287,1707,0.00,2.70,0.00,0.000,6,0.000,0.148,2507,2020,3859
$GC,2045,-1.24,-194.7,206.6,-10.8,348,2052,0.00,2.70,0.00,0.000,4,0.000,0.163,2507,621,3859
$GC,2109,-1.24,-194.7,213.9,-11.5,359,2116,0.00,2.55,0.00,0.000,6,0.000,0.123,2507,2023,3860
$GC,2455,-1.24,-194.7,251.1,-9.8,420,2462,0.00,2.62,0.00,0.000,4,0.000,0.148,2507,3439,3859
$GC,2521,-1.24,-194.7,257.5,-9.9,431,2528,0.00,2.70,0.00,0.000,6,0.000,0.149,2507,2022,3860
$GC,2866,-1.24,-194.7,291.8,-10.0,492,2873,0.00,2.70,0.00,0.000,4,0.000,0.161,2506,621,3859
$GC,2920,-1.24,-194.7,297.4,-10.8,501,2927,0.00,2.55,0.00,0.000,6,0.000,0.124,2507,2021,3859
$GC,3263,-1.24,-194.7,331.9,-10.4,562,3271,0.00,2.65,0.00,0.000,4,0.000,0.144,2507,3442,3859
$GC,3317,-1.24,-194.7,337.6,-10.6,571,3324,0.00,2.72,0.00,0.000,6,0.000,0.147,2507,2017,3859
$GC,3649,-1.24,-194.7,373.9,-10.9,612,3654,0.00,2.70,0.00,0.000,4,0.000,0.162,2506,622,3860
$GC,3712,-1.24,-194.7,380.9,-10.9,617,3717,0.00,2.55,0.00,0.000,6,0.000,0.125,2506,2020,3859
$GC,4042,-1.24,-194.7,417.4,-11.2,647,4046,0.00,2.67,0.00,0.000,4,0.000,0.149,2507,3439,3859
$GC,4085,-1.24,-194.7,423.2,-12.0,650,4093,0.00,2.75,0.00,0.000,6,0.000,0.153,2507,2025,3859
$GC,4414,-1.24,-194.7,459.3,-11.0,681,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2023,3859
$GC,4739,-1.24,-194.7,495.3,-10.9,712,4744,0.00,2.78,0.00,0.000,4,0.000,0.168,2506,610,3859
$GC,4812,-1.24,-194.7,503.2,-10.6,718,4817,0.00,2.58,0.00,0.000,6,0.000,0.128,2507,2012,3859
$GC,5139,-1.24,-194.7,537.0,-10.2,748,5143,0.00,2.75,0.00,0.000,4,0.000,0.155,2507,3449,3858
$GC,5201,-1.24,-194.7,543.8,-11.0,753,5206,0.00,2.80,0.00,0.000,6,0.000,0.158,2507,2007,3858
$GC,5529,-1.24,-194.7,577.2,-10.4,783,5533,0.00,2.78,0.00,0.000,4,0.000,0.176,2506,615,3859
$GC,5583,-1.24,-194.7,583.4,-10.5,787,5590,0.00,2.60,0.00,0.000,6,0.000,0.137,2506,2019,3858
$GC,5915,-1.24,-194.7,618.8,-11.2,811,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2021,3858
$GC,6224,-1.24,-194.7,651.3,-9.7,826,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2021,3858
$GC,6533,-1.24,-194.7,678.9,-8.5,841,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2021,3858
$GC,6842,-1.24,-194.7,706.2,-9.0,856,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2021,3857
$GC,7152,-1.24,-194.7,734.8,-9.5,871,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2021,3857
$GC,7461,-1.24,-194.7,763.9,-9.2,886,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2021,3857
$GC,7770,-1.24,-194.7,791.8,-9.1,901,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2021,3857
$GC,8080,-1.24,-194.7,821.6,-9.6,916,8084,0.00,2.80,0.00,0.000,4,0.000,0.172,2507,3445,3856
$GC,8142,-1.24,-194.7,828.2,-10.7,919,8147,0.00,2.83,0.00,0.000,6,0.000,0.163,2506,2004,3856
$GC,8469,-1.24,-194.7,861.0,-10.0,935,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2001,3856
$GC,8780,-1.24,-194.7,891.1,-9.6,950,8785,0.00,2.80,0.00,0.000,4,0.000,0.161,2506,3446,3855
$GC,8852,-1.24,-194.7,898.5,-10.0,953,8856,0.00,2.80,0.00,0.000,6,0.000,0.160,2506,2014,3855
$GC,9168,-1.24,-194.7,928.7,-10.1,968,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2012,3855
$GC,9477,-1.24,-194.7,959.9,-9.6,983,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2011,3854
$GC,9787,-1.24,-194.7,987.0,-9.0,998,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2011,3854
$STATE,9825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9825,begin apogee
$GC,9831,-0.37,0.0,991.4,10.1,1000,10008,0.90,0.00,169.77,1.293,6,0.100,0.000,2697,1981,3061
$STATE,10009,end apogee,CONTROL_FINISHED_OK
$STATE,10009,begin climb
$GC,10012,1.34,194.7,998.9,0.0,1009,10186,1.67,0.00,168.70,1.263,6,0.077,0.000,3066,1981,2268
$GC,10489,1.36,210.4,961.5,9.5,1032,10516,0.00,2.78,16.52,1.018,4,0.000,0.151,3065,3402,2204
$GC,10533,1.39,232.4,957.1,9.2,1034,10559,0.00,2.78,21.35,1.164,6,0.000,0.154,3065,1985,2114
$GC,10877,1.41,252.0,922.8,9.3,1051,10904,0.10,2.83,18.80,1.154,4,0.071,0.149,3095,3396,2033
$GC,10938,1.36,252.0,916.0,11.7,1053,10946,0.00,2.75,0.00,0.000,6,0.000,0.157,3095,1987,2032
$GC,11255,1.30,252.0,882.4,11.0,1069,11260,0.15,2.72,0.00,0.000,4,0.107,0.150,3065,3402,2031
$GC,11296,1.30,252.0,878.0,10.7,1071,11301,0.00,2.72,0.00,0.000,6,0.000,0.154,3065,2005,2030
$GC,11625,1.31,255.2,845.6,9.9,1087,11630,0.00,0.00,3.88,0.726,6,0.000,0.000,3065,2003,2021
$GC,11933,1.31,255.2,812.5,11.2,1102,11937,0.00,2.67,0.00,0.000,4,0.000,0.150,3065,3395,2020
$GC,11972,1.31,255.2,807.9,11.4,1104,11977,0.00,2.70,0.00,0.000,6,0.000,0.156,3065,2010,2019
$GC,12299,1.31,255.2,770.4,11.4,1120,12303,0.00,2.67,0.00,0.000,4,0.000,0.149,3065,3403,2019
$GC,12331,1.31,255.2,766.5,11.3,1121,12338,0.00,2.67,0.00,0.000,6,0.000,0.156,3065,2024,2019
$GC,12648,1.34,285.1,735.3,9.0,1137,12684,0.00,2.72,28.75,1.113,4,0.000,0.149,3065,3394,1898
$GC,12702,1.41,336.7,730.4,8.2,1139,12762,0.00,2.67,49.85,1.076,6,0.000,0.153,3065,2028,1688
$GC,13084,1.41,336.7,693.3,10.0,1158,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2027,1682
$GC,13393,1.41,336.7,661.8,10.0,1173,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2027,1681
$GC,13704,1.41,336.7,631.0,10.1,1188,13708,0.00,2.90,0.00,0.000,4,0.000,0.174,3065,568,1680
$GC,13713,1.41,336.7,629.6,10.4,1188,13721,0.00,2.70,0.00,0.000,6,0.000,0.129,3065,2029,1680
$GC,14031,1.41,336.7,595.3,11.4,1205,14036,0.00,2.90,0.00,0.000,4,0.000,0.167,3065,571,1680
$GC,14048,1.41,336.7,593.1,11.7,1206,14052,0.00,2.70,0.00,0.000,6,0.000,0.130,3065,2026,1680
$GC,14375,1.41,336.7,557.8,10.5,1236,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2029,1680
$GC,14691,1.41,336.7,524.0,10.6,1266,14695,0.00,2.90,0.00,0.000,4,0.000,0.168,3065,571,1679
$GC,14700,1.41,336.7,522.8,10.3,1266,14708,0.00,2.70,0.00,0.000,6,0.000,0.131,3065,2018,1680
$GC,15030,1.41,336.7,488.7,10.8,1297,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2020,1680
$GC,15354,1.41,336.7,452.6,10.9,1328,15359,0.00,2.88,0.00,0.000,4,0.000,0.166,3065,567,1680
$GC,15364,1.41,336.7,451.4,10.6,1328,15372,0.00,2.67,0.00,0.000,6,0.000,0.131,3065,2025,1680
$GC,15692,1.41,336.7,415.6,11.3,1359,15696,0.00,2.88,0.00,0.000,4,0.000,0.166,3065,566,1680
$GC,15702,1.41,336.7,413.9,11.5,1359,15709,0.00,2.67,0.00,0.000,6,0.000,0.131,3064,2022,1679
$GC,16029,1.41,336.7,377.9,10.8,1390,16030,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2024,1680
$GC,16352,1.42,350.9,344.2,9.5,1425,16374,0.10,2.92,12.88,0.825,4,0.068,0.162,3095,564,1631
$GC,16381,1.42,350.9,340.7,11.2,1429,16389,0.00,2.70,0.00,0.000,6,0.000,0.126,3095,2020,1631
$GC,16727,1.42,350.9,301.0,11.6,1490,16733,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2022,1629
$GC,17070,1.42,350.9,260.6,11.4,1551,17077,0.00,2.83,0.00,0.000,4,0.000,0.160,3095,565,1629
$GC,17085,1.42,350.9,258.9,12.2,1553,17092,0.00,2.65,0.00,0.000,6,0.000,0.127,3095,2009,1629
$GC,17430,1.42,350.9,219.2,11.8,1614,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2012,1629
$GC,17773,1.42,350.9,179.1,10.8,1675,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2012,1628
$GC,18118,1.42,350.9,137.5,11.3,1736,18125,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2012,1629
$GC,18463,1.42,350.9,95.8,11.5,1797,18469,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2012,1629
$GC,18810,1.43,355.2,60.4,9.9,1858,18824,0.00,2.88,5.22,0.560,4,0.000,0.163,3095,563,1614
$GC,18831,1.43,355.2,58.2,10.5,1861,18838,0.00,2.65,0.00,0.000,6,0.000,0.123,3095,2009,1614
$GC,19175,1.51,422.8,28.5,7.7,1922,19244,0.00,2.92,59.47,0.674,4,0.000,0.159,3095,568,1337
$GC,19263,1.51,422.8,20.6,10.3,1935,19270,0.00,2.65,0.00,0.000,6,0.000,0.122,3095,2014,1335
$GC,19407,1.63,519.7,7.5,6.6,1960,19460,0.15,0.00,49.20,0.649,2,0.055,0.000,3145,2020,1103
$STATE,19460,end climb,SURFACE_DEPTH_REACHED
$STATE,19460,begin surface coast
$FINISH,0.0,1.022994
$STATE,19488,end surface coast,CONTROL_FINISHED_OK
$STATE,19488,begin surface
$SM_CCo,19568,0.00,0.000,0,0,1097,482.01
$SM_GC,0.62,10.88,0.00,0.00,0.037,0.000,0.000,568,2021,1097,-10.07,-0.25,482.01
$IRIDIUM_FIX,6121.73,-2607.48,300897,131321
$TT8_MAMPS,0.041418
$HUMID,1678
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,16.90
$XPDR_PINGS,1190
$24V_AH,23.3,57.892
$10V_AH,10.6,60.059
$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,24.975,163.500,604.400,0.000,0.000,25.199,34.672,253.911,297.500,0.000,0.000,16.446,3940.999,10982.294,842.141,3496.478,754.878,0.000,2430.944,0.000,3513.804,0.000,0.465
$DEVICE_MAMPS,190.983,193.284,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1388.899,1485.011,750.771,1744.876,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145558,1972
$CAP_FILE_SIZE,176327,0
$CFSIZE,260165632,229236736
$ERRORS,0,21,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,286.7,1
$GPS,060608,000738,6151.084,-2603.422,30,1.8,30,-18.7