version: 66.03
glider: 141
mission: 7
dive: 227
start: 5 24 108 11 42 58
data:
$ID,141
$MISSION,7
$DIVE,227
$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,315
$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,-10494.763
$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,10
$R_STBD_OVSHOOT,14
$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
$GPS1,113538,6145.907,-2633.352,41,1.5,41,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.0
$GPS2,114238,6145.958,-2633.435,11,1.6,11,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6153.595,-2637.032
$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,333.9,20000,-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,26,-1.34,-194.7,0.0,0.0,0,138,0.00,0.00,-109.25,0.000,2,0.000,0.000,569,2032,3671
$GC,141,-1.34,-194.7,3.3,-5.7,20,166,10.98,2.80,-4.60,0.000,4,0.193,0.167,2481,620,3858
$GC,421,-1.34,-194.7,40.9,-11.6,69,427,0.00,2.58,0.00,0.000,6,0.000,0.125,2481,2033,3859
$GC,562,-1.34,-194.7,55.3,-8.7,94,569,0.00,2.62,0.00,0.000,4,0.000,0.141,2481,3442,3859
$GC,654,-1.30,-194.7,63.9,-10.0,110,661,0.00,2.67,0.00,0.000,6,0.000,0.150,2481,2033,3859
$GC,998,-1.30,-194.7,104.1,-13.1,171,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3859
$GC,1340,-1.30,-194.7,143.1,-9.0,232,1347,0.00,2.62,0.00,0.000,4,0.000,0.140,2481,3441,3859
$GC,1421,-1.30,-194.7,150.9,-9.5,246,1427,0.00,2.62,0.00,0.000,6,0.000,0.144,2481,2050,3859
$GC,1766,-1.30,-194.7,185.2,-10.5,307,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2048,3859
$GC,2108,-1.30,-194.7,221.3,-10.4,368,2115,0.00,2.60,0.00,0.000,4,0.000,0.143,2481,3440,3859
$GC,2166,-1.30,-194.7,227.6,-11.1,378,2172,0.00,2.62,0.00,0.000,6,0.000,0.144,2481,2049,3859
$GC,2510,-1.30,-194.7,264.7,-11.0,439,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2047,3859
$GC,2853,-1.30,-194.7,304.7,-11.7,500,2859,0.00,2.62,0.00,0.000,4,0.000,0.147,2480,3443,3859
$GC,2917,-1.30,-194.7,312.7,-12.8,511,2923,0.00,2.62,0.00,0.000,6,0.000,0.143,2480,2061,3859
$GC,3262,-1.30,-194.7,355.1,-11.8,569,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2059,3859
$GC,3581,-1.30,-194.7,388.4,-10.4,599,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2059,3859
$GC,3900,-1.30,-194.7,420.1,-9.5,629,3904,0.00,2.62,0.00,0.000,4,0.000,0.148,2481,3445,3859
$GC,3984,-1.30,-194.7,429.3,-11.5,636,3988,0.00,2.62,0.00,0.000,6,0.000,0.147,2481,2066,3859
$GC,4309,-1.30,-194.7,465.3,-11.2,666,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2065,3859
$GC,4627,-1.30,-194.7,499.0,-10.4,696,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2063,3859
$GC,4945,-1.30,-194.7,529.9,-9.2,726,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2063,3858
$GC,5264,-1.30,-194.7,561.1,-10.7,756,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2063,3859
$GC,5582,-1.30,-194.7,594.1,-10.0,786,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2062,3858
$GC,5893,-1.30,-194.7,626.8,-11.2,804,5898,0.00,2.95,0.00,0.000,4,0.000,0.186,2481,618,3859
$GC,5964,-1.30,-194.7,635.5,-11.8,807,5969,0.00,2.75,0.00,0.000,6,0.000,0.140,2481,2079,3858
$GC,6286,-1.30,-194.7,673.1,-12.2,823,6291,0.00,2.72,0.00,0.000,4,0.000,0.175,2480,3448,3858
$GC,6353,-1.30,-194.7,681.7,-13.1,826,6357,0.00,2.65,0.00,0.000,6,0.000,0.157,2481,2083,3858
$GC,6679,-1.30,-194.7,715.0,-7.8,842,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2080,3858
$GC,6989,-1.30,-194.7,745.9,-9.7,857,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2080,3858
$GC,7298,-1.30,-194.7,775.6,-10.2,872,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2078,3857
$GC,7607,-1.30,-194.7,808.5,-10.1,887,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2077,3857
$GC,7916,-1.30,-194.7,842.3,-11.1,902,7920,0.00,2.67,0.00,0.000,4,0.000,0.164,2481,3446,3856
$GC,7965,-1.30,-194.7,847.5,-10.4,904,7969,0.00,2.62,0.00,0.000,6,0.000,0.156,2481,2092,3856
$GC,8285,-1.30,-194.7,879.1,-10.7,920,8290,0.00,3.00,0.00,0.000,4,0.000,0.186,2481,617,3856
$GC,8369,-1.43,-194.7,887.1,-8.0,924,8374,0.00,2.75,0.00,0.000,6,0.000,0.140,2480,2082,3855
$STATE,8508,end dive,NO_VERTICAL_VELOCITY
$STATE,8508,begin apogee
$GC,8514,-0.37,0.0,887.0,0.0,931,8689,0.95,0.00,167.70,1.223,6,0.061,0.000,2699,1981,3062
$STATE,8690,end apogee,CONTROL_FINISHED_OK
$STATE,8690,begin climb
$GC,8692,1.34,194.7,886.7,0.0,940,8869,1.67,2.85,166.25,1.188,4,0.073,0.164,3069,576,2267
$GC,8902,1.26,194.7,871.2,11.8,950,8907,0.00,2.67,0.00,0.000,6,0.000,0.130,3069,1996,2264
$GC,9223,1.19,194.7,834.6,11.4,966,9228,0.15,2.72,0.00,0.000,4,0.102,0.161,3039,3398,2261
$GC,9250,1.19,194.7,831.2,11.7,967,9255,0.00,2.72,0.00,0.000,6,0.000,0.150,3039,1994,2260
$GC,9566,1.22,217.9,801.6,9.2,982,9592,0.00,2.78,20.73,1.096,4,0.000,0.150,3039,3401,2172
$GC,9613,1.24,237.4,797.0,9.3,984,9638,0.00,2.75,18.55,1.076,6,0.000,0.150,3039,1992,2094
$GC,9956,1.24,237.4,761.0,10.6,1001,9961,0.00,2.72,0.00,0.000,4,0.000,0.151,3039,3400,2091
$GC,9972,1.24,237.4,759.2,10.7,1002,9977,0.00,2.70,0.00,0.000,6,0.000,0.150,3039,2008,2090
$GC,10298,1.26,250.0,726.5,9.6,1018,10312,0.00,0.00,12.60,1.025,6,0.000,0.000,3039,2006,2042
$GC,10608,1.28,265.4,696.3,9.5,1033,10630,0.00,2.75,14.93,1.032,4,0.000,0.150,3039,3402,1979
$GC,10657,1.28,265.4,691.3,10.2,1035,10661,0.00,2.72,0.00,0.000,6,0.000,0.149,3039,2007,1978
$GC,10985,1.31,289.6,661.3,9.2,1051,11021,0.10,2.78,25.40,0.986,4,0.071,0.152,3069,3403,1880
$GC,11032,1.32,305.2,656.3,9.5,1052,11053,0.00,2.70,15.82,0.999,6,0.000,0.149,3069,2021,1817
$GC,11369,1.32,305.2,620.4,10.6,1069,11373,0.00,2.65,0.00,0.000,4,0.000,0.151,3069,3397,1812
$GC,11395,1.32,305.2,617.3,10.8,1070,11399,0.00,2.62,0.00,0.000,6,0.000,0.150,3069,2032,1811
$GC,11720,1.32,305.2,581.7,11.6,1093,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2031,1811
$GC,12041,1.32,305.2,543.5,12.1,1123,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2031,1810
$GC,12357,1.32,305.2,506.9,11.4,1153,12361,0.00,2.62,0.00,0.000,4,0.000,0.148,3069,3400,1810
$GC,12389,1.32,305.2,502.8,12.0,1155,12395,0.00,2.60,0.00,0.000,6,0.000,0.148,3069,2046,1810
$GC,12716,1.34,315.5,469.2,9.6,1186,12727,0.00,0.00,9.38,0.861,6,0.000,0.000,3069,2046,1775
$GC,13043,1.36,332.5,439.6,9.4,1217,13062,0.00,0.00,16.52,0.904,6,0.000,0.000,3069,2046,1706
$GC,13382,1.36,332.5,404.1,11.5,1249,13387,0.00,2.90,0.00,0.000,4,0.000,0.165,3069,566,1702
$GC,13402,1.36,332.5,401.2,12.1,1250,13409,0.00,2.75,0.00,0.000,6,0.000,0.133,3069,2057,1703
$GC,13730,1.36,332.5,361.5,12.4,1281,13734,0.00,2.92,0.00,0.000,4,0.000,0.162,3069,568,1702
$GC,13739,1.36,332.5,359.9,12.1,1281,13746,0.00,3.22,0.00,0.000,6,0.000,0.215,3069,2034,1702
$GC,14079,1.36,332.5,322.5,10.2,1334,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2034,1701
$GC,14423,1.39,359.5,287.1,9.1,1395,14457,0.00,2.97,25.20,0.830,4,0.000,0.165,3069,571,1596
$GC,14475,1.41,372.7,282.0,9.5,1404,14497,0.00,2.78,13.38,0.779,6,0.000,0.140,3069,2047,1541
$GC,14833,1.41,372.7,240.2,12.2,1468,14840,0.00,2.90,0.00,0.000,4,0.000,0.169,3069,570,1537
$GC,14876,1.41,372.7,235.2,12.0,1475,14882,0.00,2.70,0.00,0.000,6,0.000,0.129,3069,2028,1537
$GC,15219,1.41,372.7,193.8,11.4,1536,15226,0.00,2.85,0.00,0.000,4,0.000,0.166,3069,566,1536
$GC,15243,1.41,372.7,190.9,12.8,1540,15250,0.00,2.65,0.00,0.000,6,0.000,0.127,3069,2011,1536
$GC,15588,1.41,372.7,151.0,10.6,1601,15594,0.00,2.83,0.00,0.000,4,0.000,0.160,3069,569,1535
$GC,15619,1.41,372.7,147.6,11.8,1606,15626,0.00,2.62,0.00,0.000,6,0.000,0.133,3069,1996,1535
$GC,15965,1.41,372.7,103.5,12.1,1667,15971,0.00,2.80,0.00,0.000,4,0.000,0.160,3069,566,1536
$GC,15977,1.41,372.7,101.9,11.7,1669,15983,0.00,2.62,0.00,0.000,6,0.000,0.126,3069,1994,1535
$GC,16320,1.41,372.7,61.6,11.4,1730,16327,0.00,2.78,0.00,0.000,4,0.000,0.161,3068,569,1535
$GC,16339,1.41,372.7,59.3,11.7,1733,16346,0.00,2.58,0.00,0.000,6,0.000,0.127,3069,1978,1535
$GC,16683,1.41,372.7,19.0,12.3,1794,16689,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1981,1535
$GC,16824,1.41,372.7,3.2,10.3,1819,16830,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1981,1535
$STATE,16835,end climb,SURFACE_DEPTH_REACHED
$STATE,16835,begin surface coast
$FINISH,0.3,1.026869
$STATE,16869,end surface coast,CONTROL_FINISHED_OK
$STATE,16869,begin surface
$SM_CCo,16950,0.00,0.000,0,0,1534,374.82
$SM_GC,1.05,10.50,0.00,0.00,0.038,0.000,0.000,568,2046,1534,-10.07,0.45,374.82
$IRIDIUM_FIX,6117.23,-2625.78,180897,070701
$TT8_MAMPS,0.042185
$HUMID,1685
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.90
$XPDR_PINGS,652
$24V_AH,23.4,45.598
$10V_AH,10.6,50.393
$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,24.350,142.375,506.450,0.000,0.000,31.226,33.795,224.364,163.000,0.000,0.000,12.944,2872.769,9909.300,649.785,3295.194,631.021,0.000,2138.616,0.000,3305.629,0.000,0.465
$DEVICE_MAMPS,192.517,214.760,1222.598,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1279.871,1342.013,702.637,1714.760,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135899,1827
$CAP_FILE_SIZE,161070,0
$CFSIZE,260165632,234692608
$ERRORS,0,114,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240508,162638,6147.906,-2637.801,34,1.3,34,-19.0