version: 66.03
glider: 141
mission: 7
dive: 226
start: 5 24 108 7 29 56
data:
$ID,141
$MISSION,7
$DIVE,226
$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,340
$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,-10481.189
$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,7
$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
$GPS1,071826,6142.972,-2629.406,36,1.5,36,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-56.3
$GPS2,072938,6142.996,-2629.590,9,1.9,9,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6153.144,-2631.330
$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,358.8,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-99.10,0.000,2,0.000,0.000,571,2041,3680
$GC,132,-1.34,-194.7,3.2,-5.7,18,156,11.07,2.65,-4.28,0.000,4,0.198,0.146,2484,3434,3859
$GC,412,-1.30,-194.7,44.6,-13.9,67,418,0.00,2.67,0.00,0.000,6,0.000,0.143,2484,2017,3859
$GC,553,-1.30,-194.7,62.3,-12.0,92,560,0.00,2.65,0.00,0.000,4,0.000,0.142,2484,3436,3860
$GC,621,-1.30,-194.7,69.9,-10.7,104,628,0.00,2.67,0.00,0.000,6,0.000,0.144,2484,2021,3860
$GC,966,-1.30,-194.7,95.2,-8.9,165,972,0.00,2.65,0.00,0.000,4,0.000,0.139,2483,3435,3860
$GC,1034,-1.30,-194.7,101.2,-8.1,177,1041,0.00,2.62,0.00,0.000,6,0.000,0.142,2484,2046,3860
$GC,1378,-1.30,-194.7,130.6,-9.7,238,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2044,3860
$GC,1721,-1.30,-194.7,168.3,-11.4,299,1727,0.00,3.17,0.00,0.000,4,0.000,0.232,2484,3436,3860
$GC,1806,-1.30,-194.7,178.3,-11.5,314,1812,0.00,2.62,0.00,0.000,6,0.000,0.146,2484,2052,3860
$GC,2150,-1.30,-194.7,218.3,-11.4,375,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2050,3860
$GC,2492,-1.30,-194.7,257.9,-12.1,436,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3860
$GC,2836,-1.30,-194.7,298.1,-11.1,497,2842,0.00,2.62,0.00,0.000,4,0.000,0.146,2484,3435,3860
$GC,2910,-1.30,-194.7,306.7,-11.2,510,2917,0.00,2.60,0.00,0.000,6,0.000,0.145,2484,2061,3860
$GC,3254,-1.30,-194.7,343.3,-10.7,571,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2059,3860
$GC,3583,-1.30,-194.7,379.8,-11.2,607,3588,0.00,2.62,0.00,0.000,4,0.000,0.148,2484,3439,3860
$GC,3638,-1.30,-194.7,386.8,-12.3,611,3645,0.00,2.60,0.00,0.000,6,0.000,0.145,2484,2071,3860
$GC,3964,-1.30,-194.7,426.7,-12.5,642,3969,0.00,2.83,0.00,0.000,4,0.000,0.161,2483,616,3860
$GC,4019,-1.30,-194.7,434.3,-13.2,646,4026,0.00,2.67,0.00,0.000,6,0.000,0.130,2484,2075,3860
$GC,4345,-1.30,-194.7,476.6,-13.1,677,4350,0.00,2.60,0.00,0.000,4,0.000,0.153,2484,3439,3860
$GC,4425,-1.30,-194.7,487.2,-13.1,683,4431,0.00,2.60,0.00,0.000,6,0.000,0.149,2484,2080,3860
$GC,4750,-1.30,-194.7,527.0,-11.7,714,4755,0.00,2.88,0.00,0.000,4,0.000,0.168,2483,612,3860
$GC,4827,-1.30,-194.7,536.5,-11.8,720,4834,0.00,2.70,0.00,0.000,6,0.000,0.133,2483,2076,3859
$GC,5155,-1.30,-194.7,570.8,-9.8,751,5160,0.00,2.65,0.00,0.000,4,0.000,0.160,2484,3449,3859
$GC,5222,-1.30,-194.7,578.1,-10.2,756,5228,0.00,2.67,0.00,0.000,6,0.000,0.155,2483,2073,3859
$GC,5545,-1.30,-194.7,608.0,-9.2,783,5550,0.00,2.90,0.00,0.000,4,0.000,0.176,2483,620,3859
$GC,5607,-1.30,-194.7,613.8,-9.4,786,5611,0.00,2.72,0.00,0.000,6,0.000,0.135,2484,2082,3859
$GC,5933,-1.30,-194.7,639.6,-7.6,802,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2084,3859
$GC,6242,-1.30,-194.7,668.9,-10.4,817,6246,0.00,2.92,0.00,0.000,4,0.000,0.173,2484,619,3859
$GC,6307,-1.30,-194.7,676.1,-10.8,820,6311,0.00,2.72,0.00,0.000,6,0.000,0.140,2484,2068,3858
$GC,6634,-1.30,-194.7,712.6,-12.4,836,6639,0.00,2.78,0.00,0.000,4,0.000,0.183,2483,3445,3858
$GC,6745,-1.30,-194.7,727.0,-12.9,841,6750,0.00,2.62,0.00,0.000,6,0.000,0.156,2483,2084,3858
$GC,7072,-1.30,-194.7,766.6,-12.2,857,7077,0.00,3.00,0.00,0.000,4,0.000,0.187,2483,613,3858
$GC,7160,-1.30,-194.7,777.8,-12.9,861,7165,0.00,2.75,0.00,0.000,6,0.000,0.137,2483,2084,3858
$GC,7481,-1.30,-194.7,814.0,-11.0,877,7486,0.00,2.67,0.00,0.000,4,0.000,0.173,2484,3442,3858
$GC,7530,-1.30,-194.7,820.4,-12.4,879,7534,0.00,2.62,0.00,0.000,6,0.000,0.154,2483,2085,3857
$GC,7853,-1.65,-194.7,837.1,-0.0,895,7858,0.25,2.65,0.00,0.000,4,0.076,0.159,2423,3444,3857
$STATE,7868,end dive,NO_VERTICAL_VELOCITY
$STATE,7868,begin apogee
$GC,7875,-0.37,0.0,837.1,0.0,896,8051,1.17,0.00,167.05,1.187,6,0.054,0.000,2700,1982,3062
$STATE,8052,end apogee,CONTROL_FINISHED_OK
$STATE,8052,begin climb
$GC,8054,1.34,194.7,837.0,0.0,905,8230,1.62,2.92,165.30,1.156,4,0.058,0.177,3073,571,2267
$GC,8319,1.33,247.2,819.4,8.2,917,8371,0.00,2.67,46.58,1.114,6,0.000,0.137,3072,1992,2054
$GC,8694,1.28,247.2,772.5,15.1,936,8699,0.00,2.75,0.00,0.000,4,0.000,0.161,3072,3399,2049
$GC,8733,1.23,247.2,765.9,16.6,938,8739,0.12,2.72,0.00,0.000,6,0.107,0.150,3048,1997,2048
$GC,9060,1.23,247.2,721.1,12.7,954,9064,0.00,2.70,0.00,0.000,4,0.000,0.151,3048,3396,2047
$GC,9069,1.23,247.2,719.6,12.7,954,9076,0.00,2.72,0.00,0.000,6,0.000,0.150,3048,1982,2047
$GC,9385,1.23,247.2,686.8,10.2,970,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1982,2046
$GC,9695,1.33,325.9,664.8,7.3,985,9776,0.00,2.85,70.35,1.073,4,0.000,0.150,3048,3396,1731
$GC,9786,1.33,325.9,655.5,11.1,989,9791,0.00,2.75,0.00,0.000,6,0.000,0.149,3049,1993,1730
$GC,10102,1.33,325.9,611.3,14.5,1004,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1993,1726
$GC,10418,1.33,325.9,569.0,12.6,1030,10423,0.00,2.70,0.00,0.000,4,0.000,0.149,3049,3396,1724
$GC,10446,1.33,325.9,565.3,13.2,1032,10451,0.00,2.70,0.00,0.000,6,0.000,0.150,3049,2001,1724
$GC,10770,1.40,387.6,534.3,7.9,1062,10831,0.15,0.00,55.53,0.992,6,0.059,0.000,3091,2000,1482
$GC,11149,1.40,387.6,487.6,14.1,1098,11153,0.00,2.83,0.00,0.000,4,0.000,0.167,3091,574,1475
$GC,11170,1.40,387.6,484.5,14.6,1099,11176,0.00,2.67,0.00,0.000,6,0.000,0.133,3091,2006,1475
$GC,11496,1.40,387.6,438.8,14.6,1130,11500,0.00,2.85,0.00,0.000,4,0.000,0.163,3091,569,1473
$GC,11527,1.40,387.6,433.8,14.5,1132,11535,0.00,2.65,0.00,0.000,6,0.000,0.130,3091,1982,1473
$GC,11856,1.40,387.6,387.6,14.4,1163,11861,0.00,2.80,0.00,0.000,4,0.000,0.163,3091,566,1473
$GC,11873,1.40,387.6,384.5,14.3,1164,11878,0.00,2.60,0.00,0.000,6,0.000,0.127,3091,1983,1473
$GC,12202,1.40,387.6,336.4,14.9,1201,12208,0.00,2.80,0.00,0.000,4,0.000,0.163,3091,567,1472
$GC,12219,1.40,387.6,333.5,16.4,1204,12225,0.00,2.58,0.00,0.000,6,0.000,0.127,3091,1971,1472
$GC,12563,1.40,387.6,278.8,15.7,1265,12569,0.00,2.75,0.00,0.000,4,0.000,0.163,3091,574,1472
$GC,12580,1.40,387.6,275.9,15.9,1268,12587,0.00,2.55,0.00,0.000,6,0.000,0.128,3091,1963,1472
$GC,12924,1.40,387.6,226.3,14.0,1329,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1966,1472
$GC,13267,1.40,387.6,177.5,14.0,1390,13273,0.00,2.72,0.00,0.000,4,0.000,0.161,3091,569,1472
$GC,13285,1.40,387.6,174.8,13.7,1393,13291,0.00,2.58,0.00,0.000,6,0.000,0.127,3091,1968,1472
$GC,13628,1.40,387.6,133.1,11.1,1454,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1970,1472
$GC,13972,1.40,387.6,84.6,17.3,1515,13978,0.00,2.75,0.00,0.000,4,0.000,0.160,3091,573,1472
$GC,13989,1.40,387.6,81.3,17.3,1518,13995,0.00,2.53,0.00,0.000,6,0.000,0.130,3091,1956,1472
$GC,14333,1.40,387.6,34.6,13.7,1579,14339,0.00,2.70,0.00,0.000,4,0.000,0.140,3091,3401,1472
$GC,14351,1.40,387.6,31.8,14.5,1582,14358,0.00,2.78,0.00,0.000,6,0.000,0.149,3091,1952,1471
$GC,14496,1.40,387.6,11.7,14.0,1607,14501,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1949,1471
$STATE,14561,end climb,SURFACE_DEPTH_REACHED
$STATE,14561,begin surface coast
$FINISH,0.3,1.014187
$STATE,14585,end surface coast,CONTROL_FINISHED_OK
$STATE,14585,begin surface
$SM_CCo,14665,0.00,0.000,0,0,1470,390.52
$SM_GC,1.03,10.55,0.00,0.00,0.036,0.000,0.000,568,2034,1470,-10.08,0.11,390.52
$IRIDIUM_FIX,6117.23,-2627.82,180897,070724
$TT8_MAMPS,0.041418
$HUMID,1682
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.60
$XPDR_PINGS,605
$24V_AH,23.5,45.398
$10V_AH,10.6,50.235
$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,24.950,157.825,504.800,0.000,0.000,58.704,63.077,347.108,151.250,0.000,0.000,10.942,2569.951,8284.998,664.455,2998.018,801.254,0.000,2038.950,0.000,3010.562,0.000,0.465
$DEVICE_MAMPS,197.886,231.634,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1148.702,1184.448,674.041,1518.117,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120358,1623
$CAP_FILE_SIZE,150495,0
$CFSIZE,260165632,234807296
$ERRORS,0,74,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240508,113538,6145.907,-2633.352,41,1.5,41,-18.9