version: 66.03
glider: 141
mission: 7
dive: 230
start: 5 25 108 3 3 56
data:
$ID,141
$MISSION,7
$DIVE,230
$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,230
$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,-10560.269
$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,8
$R_STBD_OVSHOOT,13
$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
$GPS1,025602,6145.270,-2643.635,39,1.5,39,-19.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-51.7
$GPS2,030338,6145.328,-2643.637,9,1.9,14,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6138.387,-2647.567
$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,249.0,20000,-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,-194.7,0.0,0.0,0,134,0.00,0.00,-104.47,0.000,2,0.000,0.000,570,2030,3693
$GC,137,-1.34,-194.7,3.5,-6.8,19,162,11.02,2.78,-3.83,0.000,4,0.194,0.162,2481,616,3859
$GC,332,-1.34,-194.7,32.4,-12.3,53,338,0.00,2.58,0.00,0.000,6,0.000,0.128,2481,2032,3860
$GC,473,-1.34,-194.7,51.8,-14.5,78,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3860
$GC,816,-1.34,-194.7,99.2,-12.7,139,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3860
$GC,1157,-1.34,-194.7,138.8,-11.4,200,1164,0.00,2.62,0.00,0.000,4,0.000,0.143,2481,3452,3860
$GC,1203,-1.34,-194.7,144.3,-11.8,208,1210,0.00,2.67,0.00,0.000,6,0.000,0.146,2481,2022,3861
$GC,1548,-1.34,-194.7,182.3,-11.9,269,1554,0.00,2.65,0.00,0.000,4,0.000,0.137,2481,3444,3860
$GC,1608,-1.30,-194.7,189.8,-13.5,279,1614,0.00,2.65,0.00,0.000,6,0.000,0.143,2481,2046,3861
$GC,1951,-1.30,-194.7,234.2,-13.5,340,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2044,3860
$GC,2294,-1.30,-194.7,277.1,-11.6,401,2300,0.00,2.62,0.00,0.000,4,0.000,0.137,2481,3449,3860
$GC,2333,-1.30,-194.7,282.0,-12.4,408,2340,0.00,2.65,0.00,0.000,6,0.000,0.145,2481,2048,3860
$GC,2677,-1.30,-194.7,320.5,-11.4,469,2683,0.00,2.62,0.00,0.000,4,0.000,0.141,2481,3443,3860
$GC,2712,-1.30,-194.7,324.6,-12.2,475,2719,0.00,2.60,0.00,0.000,6,0.000,0.146,2481,2067,3860
$GC,3050,-1.30,-194.7,362.3,-11.7,526,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2064,3860
$GC,3369,-1.30,-194.7,400.0,-12.1,556,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2063,3861
$GC,3687,-1.30,-194.7,436.6,-11.4,586,3691,0.00,2.62,0.00,0.000,4,0.000,0.148,2481,3448,3861
$GC,3730,-1.26,-194.7,441.9,-12.2,589,3737,0.12,2.65,0.00,0.000,6,0.115,0.150,2505,2059,3860
$GC,4055,-1.26,-194.7,475.4,-10.1,620,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2057,3860
$GC,4374,-1.26,-194.7,507.5,-9.5,650,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2057,3860
$GC,4693,-1.26,-194.7,537.7,-9.7,680,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2055,3860
$GC,5011,-1.26,-194.7,567.8,-9.4,710,5015,0.00,2.67,0.00,0.000,4,0.000,0.154,2505,3449,3860
$GC,5043,-1.26,-194.7,571.1,-10.4,712,5049,0.00,2.67,0.00,0.000,6,0.000,0.153,2505,2052,3860
$GC,5369,-1.26,-194.7,600.2,-8.9,743,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2052,3860
$GC,5677,-1.26,-194.7,629.4,-10.0,758,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2051,3860
$GC,5986,-1.26,-194.7,659.4,-9.8,773,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2050,3859
$GC,6295,-1.26,-194.7,689.8,-9.6,788,6300,0.00,2.75,0.00,0.000,4,0.000,0.171,2504,3439,3859
$GC,6328,-1.26,-194.7,693.3,-10.7,789,6334,0.00,2.67,0.00,0.000,6,0.000,0.162,2504,2071,3858
$GC,6644,-1.26,-194.7,724.9,-9.6,805,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3858
$GC,6953,-1.26,-194.7,751.0,-8.4,820,6957,0.00,2.67,0.00,0.000,4,0.000,0.160,2505,3446,3858
$GC,6979,-1.26,-194.7,753.7,-10.4,821,6983,0.00,2.67,0.00,0.000,6,0.000,0.156,2505,2071,3858
$GC,7301,-1.26,-194.7,780.3,-8.6,837,7306,0.00,3.00,0.00,0.000,4,0.000,0.192,2505,616,3858
$GC,7333,-1.26,-194.7,783.7,-10.5,838,7340,0.00,2.75,0.00,0.000,6,0.000,0.143,2505,2087,3858
$GC,7650,-1.26,-194.7,811.6,-9.2,854,7654,0.00,2.95,0.00,0.000,4,0.000,0.175,2504,612,3857
$GC,7676,-1.26,-194.7,814.4,-10.8,855,7680,0.00,2.72,0.00,0.000,6,0.000,0.139,2504,2061,3857
$GC,7998,-1.26,-194.7,843.9,-8.0,871,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2063,3857
$GC,8307,-1.26,-194.7,869.6,-8.5,886,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2064,3856
$GC,8616,-1.26,-194.7,884.4,-0.0,901,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2066,3855
$STATE,8676,end dive,NO_VERTICAL_VELOCITY
$STATE,8676,begin apogee
$GC,8681,-0.37,0.0,884.4,0.0,904,8853,0.90,0.00,167.82,1.220,6,0.097,0.000,2696,1976,3062
$STATE,8853,end apogee,CONTROL_FINISHED_OK
$STATE,8853,begin climb
$GC,8856,1.34,194.7,884.1,0.0,912,9027,1.67,0.00,166.93,1.189,6,0.074,0.000,3067,1976,2268
$GC,9334,1.31,206.9,848.0,9.6,936,9355,0.00,2.92,11.45,1.036,4,0.000,0.160,3067,3403,2217
$GC,9401,1.27,206.9,840.7,11.0,939,9406,0.00,2.75,0.00,0.000,6,0.000,0.150,3067,1986,2215
$GC,9728,1.23,206.9,804.2,11.6,955,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1985,2214
$GC,10036,1.19,206.9,770.9,10.4,970,10041,0.12,2.72,0.00,0.000,4,0.107,0.150,3042,3400,2214
$GC,10076,1.19,206.9,766.9,10.5,972,10080,0.00,2.72,0.00,0.000,6,0.000,0.148,3042,1989,2214
$GC,10401,1.19,209.0,734.7,9.9,988,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1987,2213
$GC,10711,1.20,214.2,705.2,9.8,1003,10721,0.00,0.00,7.47,0.931,6,0.000,0.000,3042,1987,2188
$GC,11020,1.20,214.2,674.5,10.2,1018,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1987,2187
$GC,11330,1.21,226.8,645.0,9.6,1033,11351,0.00,2.80,12.60,0.997,4,0.000,0.146,3042,3400,2136
$GC,11407,1.21,226.8,637.0,10.6,1036,11411,0.00,2.72,0.00,0.000,6,0.000,0.150,3042,1994,2135
$GC,11723,1.27,271.6,609.8,8.4,1051,11770,0.00,2.90,41.28,1.046,4,0.000,0.167,3042,563,1953
$GC,11809,1.27,271.6,601.4,10.0,1055,11814,0.00,2.67,0.00,0.000,6,0.000,0.131,3042,1995,1951
$GC,12135,1.27,271.6,569.2,10.2,1085,12139,0.00,2.70,0.00,0.000,4,0.000,0.157,3042,3400,1947
$GC,12218,1.27,271.6,560.8,10.1,1092,12223,0.00,2.67,0.00,0.000,6,0.000,0.146,3041,2006,1947
$GC,12543,1.31,303.5,530.2,8.9,1122,12575,0.10,0.00,29.20,0.984,6,0.071,0.000,3073,2004,1824
$GC,12891,1.31,303.5,494.0,10.4,1155,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2004,1819
$GC,13210,1.31,303.5,458.7,11.4,1185,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2004,1819
$GC,13529,1.31,303.5,422.1,10.9,1215,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2004,1818
$GC,13848,1.31,303.5,386.5,11.3,1245,13852,0.00,2.80,0.00,0.000,4,0.000,0.163,3073,570,1818
$GC,13876,1.31,303.5,383.3,10.8,1247,13880,0.00,2.67,0.00,0.000,6,0.000,0.128,3073,2018,1818
$GC,14200,1.31,303.5,347.1,10.5,1279,14206,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2020,1818
$GC,14543,1.31,303.5,307.6,11.1,1340,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2021,1818
$GC,14887,1.31,303.5,268.9,11.1,1401,14893,0.00,2.83,0.00,0.000,4,0.000,0.158,3073,572,1818
$GC,14921,1.31,303.5,265.0,10.6,1407,14927,0.00,2.65,0.00,0.000,6,0.000,0.126,3073,2016,1818
$GC,15264,1.31,303.5,228.8,10.6,1468,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2018,1817
$GC,15607,1.31,303.5,192.3,10.7,1529,15612,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2018,1817
$GC,15949,1.31,303.5,153.9,11.1,1590,15956,0.00,2.80,0.00,0.000,4,0.000,0.158,3073,573,1818
$GC,15996,1.31,303.5,148.4,11.7,1598,16002,0.00,2.62,0.00,0.000,6,0.000,0.130,3073,2009,1818
$GC,16340,1.31,303.5,111.1,10.2,1659,16346,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2011,1818
$GC,16682,1.31,303.5,77.3,11.0,1720,16689,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2012,1818
$GC,17026,1.31,303.5,37.6,11.9,1781,17032,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2011,1818
$GC,17168,1.31,303.5,21.6,10.2,1806,17174,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2011,1817
$GC,17310,1.31,306.4,6.1,9.9,1831,17317,0.00,2.78,0.00,0.000,4,0.000,0.156,3073,573,1818
$STATE,17340,end climb,SURFACE_DEPTH_REACHED
$STATE,17340,begin surface coast
$FINISH,0.3,1.027068
$STATE,17367,end surface coast,CONTROL_FINISHED_OK
$STATE,17368,begin surface
$SM_CCo,17450,0.00,0.000,0,0,1816,305.64
$SM_GC,0.99,10.45,0.00,0.00,0.035,0.000,0.000,570,2045,1816,-10.07,0.42,305.64
$IRIDIUM_FIX,6121.73,-2642.03,180897,212141
$TT8_MAMPS,0.042185
$HUMID,1680
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,657
$24V_AH,23.4,46.208
$10V_AH,10.6,50.879
$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,24.400,108.950,436.750,0.000,0.000,27.431,32.630,253.010,164.250,0.000,0.000,16.469,2887.883,10483.260,617.346,3245.276,653.748,0.000,2030.411,0.000,3259.399,0.000,0.466
$DEVICE_MAMPS,194.051,191.750,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1298.932,1352.215,692.905,1720.192,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136190,1841
$CAP_FILE_SIZE,156825,0
$CFSIZE,260165632,234414080
$ERRORS,0,23,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250508,075607,6144.617,-2648.571,40,2.0,45,-19.0