version: 66.03
glider: 141
mission: 7
dive: 231
start: 5 25 108 8 4 11
data:
$ID,141
$MISSION,7
$DIVE,231
$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,-10596.938
$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,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
$GPS1,075607,6144.617,-2648.571,40,2.0,45,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-54.5
$GPS2,080353,6144.674,-2648.653,13,2.1,32,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6137.733,-2652.584
$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,-194.7,0.0,0.0,0,117,0.00,0.00,-88.03,0.000,2,0.000,0.000,570,2045,3589
$GC,120,-1.34,-194.7,3.0,-5.1,16,145,10.93,2.78,-6.82,0.000,4,0.193,0.163,2482,609,3857
$GC,267,-1.34,-194.7,23.7,-12.9,41,274,0.00,2.60,0.00,0.000,6,0.000,0.127,2482,2039,3858
$GC,411,-1.30,-194.7,42.7,-13.0,66,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3858
$GC,553,-1.30,-194.7,59.5,-11.7,91,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3858
$GC,895,-1.30,-194.7,101.3,-12.4,152,902,0.00,2.60,0.00,0.000,4,0.000,0.140,2482,3449,3858
$GC,942,-1.26,-194.7,107.3,-13.6,160,949,0.12,2.75,0.00,0.000,6,0.115,0.146,2506,1991,3859
$GC,1289,-1.26,-194.7,142.3,-8.9,221,1295,0.00,2.70,0.00,0.000,4,0.000,0.138,2505,3442,3859
$GC,1330,-1.26,-194.7,146.3,-9.6,228,1336,0.00,2.70,0.00,0.000,6,0.000,0.150,2505,2006,3859
$GC,1674,-1.26,-194.7,180.8,-11.1,289,1680,0.00,2.67,0.00,0.000,4,0.000,0.137,2505,3446,3858
$GC,1709,-1.26,-194.7,185.0,-12.4,295,1715,0.00,2.72,0.00,0.000,6,0.000,0.144,2505,2012,3859
$GC,2053,-1.26,-194.7,227.2,-12.2,356,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2010,3859
$GC,2397,-1.26,-194.7,266.5,-10.7,417,2403,0.00,2.67,0.00,0.000,4,0.000,0.138,2505,3442,3859
$GC,2442,-1.26,-194.7,271.5,-10.7,425,2449,0.00,2.70,0.00,0.000,6,0.000,0.144,2505,2017,3858
$GC,2786,-1.26,-194.7,304.2,-9.6,486,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2015,3859
$GC,3130,-1.26,-194.7,334.4,-8.6,547,3136,0.00,2.67,0.00,0.000,4,0.000,0.144,2506,3439,3858
$GC,3199,-1.26,-194.7,340.7,-9.4,559,3205,0.00,2.67,0.00,0.000,6,0.000,0.146,2505,2030,3859
$GC,3530,-1.26,-194.7,370.3,-9.1,599,3535,0.00,2.65,0.00,0.000,4,0.000,0.143,2505,3438,3858
$GC,3559,-1.26,-194.7,373.1,-9.9,601,3564,0.00,2.70,0.00,0.000,6,0.000,0.146,2505,2020,3858
$GC,3885,-1.26,-194.7,404.3,-10.2,631,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3859
$GC,4203,-1.26,-194.7,438.9,-11.8,661,4207,0.00,2.67,0.00,0.000,4,0.000,0.146,2505,3438,3858
$GC,4257,-1.26,-194.7,446.2,-13.3,665,4264,0.00,2.70,0.00,0.000,6,0.000,0.150,2505,2028,3858
$GC,4585,-1.26,-194.7,487.5,-12.7,696,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2028,3857
$GC,4910,-1.26,-194.7,531.0,-13.1,727,4914,0.00,2.70,0.00,0.000,4,0.000,0.150,2505,3441,3858
$GC,4938,-1.26,-194.7,534.7,-13.3,729,4943,0.00,2.67,0.00,0.000,6,0.000,0.150,2505,2045,3857
$GC,5266,-1.26,-194.7,572.9,-10.7,759,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3857
$GC,5589,-1.26,-194.7,607.2,-10.4,787,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3857
$GC,5899,-1.26,-194.7,637.5,-9.1,802,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3857
$GC,6208,-1.26,-194.7,662.4,-6.6,817,6212,0.00,2.75,0.00,0.000,4,0.000,0.165,2505,3441,3857
$GC,6292,-1.26,-194.7,668.4,-7.3,821,6297,0.00,2.75,0.00,0.000,6,0.000,0.160,2505,2034,3857
$GC,6619,-1.26,-194.7,697.3,-10.2,837,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2032,3857
$GC,6928,-1.26,-194.7,730.0,-10.4,852,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2030,3856
$GC,7238,-1.26,-194.7,760.5,-9.2,867,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2029,3856
$GC,7547,-1.26,-194.7,787.6,-9.6,882,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2029,3856
$GC,7856,-1.26,-194.7,818.1,-9.9,897,7861,0.00,2.78,0.00,0.000,4,0.000,0.166,2505,3444,3855
$GC,7883,-1.26,-194.7,820.7,-9.3,898,7888,0.00,2.78,0.00,0.000,6,0.000,0.160,2505,2027,3855
$GC,8200,-1.79,-194.7,834.2,0.0,913,8206,0.50,2.78,0.00,0.000,4,0.088,0.163,2391,3444,3855
$STATE,8216,end dive,NO_VERTICAL_VELOCITY
$STATE,8216,begin apogee
$GC,8223,-0.37,0.0,834.1,0.0,914,8398,1.30,0.00,166.65,1.189,6,0.042,0.000,2707,1985,3061
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8402,1.34,194.7,833.9,0.0,923,8577,1.62,3.03,165.20,1.158,4,0.074,0.189,3066,565,2267
$GC,8701,1.29,194.7,812.9,10.7,937,8705,0.00,2.67,0.00,0.000,6,0.000,0.133,3066,1986,2264
$GC,9022,1.27,216.1,781.8,9.3,953,9046,0.00,2.80,19.20,1.071,4,0.000,0.156,3067,3397,2180
$GC,9120,1.27,218.0,772.7,9.9,957,9125,0.00,2.72,0.00,0.000,6,0.000,0.150,3067,1994,2178
$GC,9436,1.27,218.0,742.0,10.3,972,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1992,2177
$GC,9745,1.28,222.8,709.8,9.8,987,9760,0.00,2.78,7.07,0.910,4,0.000,0.147,3066,3398,2153
$GC,9804,1.28,222.8,703.6,11.1,989,9811,0.00,2.72,0.00,0.000,6,0.000,0.150,3067,1997,2152
$GC,10121,1.31,246.7,673.4,9.2,1005,10146,0.00,0.00,22.98,1.055,6,0.000,0.000,3067,1994,2056
$GC,10450,1.31,246.7,636.1,11.6,1021,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1994,2052
$GC,10758,1.31,246.7,604.4,10.4,1036,10763,0.00,2.70,0.00,0.000,4,0.000,0.147,3066,3405,2052
$GC,10815,1.31,246.7,598.2,11.4,1038,10821,0.00,2.70,0.00,0.000,6,0.000,0.152,3067,2004,2051
$GC,11141,1.31,246.7,562.1,11.2,1069,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2003,2051
$GC,11459,1.31,246.7,527.6,10.5,1099,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2003,2051
$GC,11778,1.33,267.6,495.9,9.3,1129,11802,0.00,2.72,19.30,0.945,4,0.000,0.146,3066,3397,1970
$GC,11833,1.33,267.6,490.0,10.0,1134,11837,0.00,2.67,0.00,0.000,6,0.000,0.148,3067,2018,1969
$GC,12157,1.33,267.6,454.7,11.4,1164,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2017,1967
$GC,12477,1.33,267.6,419.3,10.7,1194,12482,0.00,2.62,0.00,0.000,4,0.000,0.143,3067,3405,1967
$GC,12516,1.33,267.6,414.7,11.5,1197,12521,0.00,2.65,0.00,0.000,6,0.000,0.150,3066,2027,1966
$GC,12841,1.33,267.6,380.9,10.1,1227,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2025,1966
$GC,13162,1.33,267.6,347.2,10.5,1259,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2025,1966
$GC,13504,1.34,274.5,312.2,9.8,1320,13515,0.00,0.00,7.18,0.739,6,0.000,0.000,3066,2026,1942
$GC,13851,1.34,274.5,277.5,10.4,1382,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2026,1941
$GC,14196,1.34,274.5,240.6,10.4,1443,14202,0.00,2.58,0.00,0.000,4,0.000,0.139,3067,3399,1940
$GC,14232,1.34,274.5,236.5,11.3,1449,14238,0.00,2.62,0.00,0.000,6,0.000,0.146,3067,2028,1940
$GC,14575,1.34,274.5,196.8,12.1,1510,14582,0.00,2.85,0.00,0.000,4,0.000,0.164,3066,565,1941
$GC,14616,1.34,274.5,191.9,12.3,1517,14622,0.00,2.70,0.00,0.000,6,0.000,0.126,3066,2037,1941
$GC,14960,1.34,274.5,155.0,10.5,1578,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2040,1941
$GC,15303,1.34,274.5,120.9,10.2,1639,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2040,1941
$GC,15647,1.34,274.5,83.3,11.0,1700,15653,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2040,1940
$GC,15991,1.39,316.4,49.6,8.5,1761,16031,0.00,0.00,37.28,0.693,6,0.000,0.000,3066,2040,1772
$GC,16168,1.46,368.3,36.2,8.2,1792,16219,0.12,0.00,45.12,0.676,6,0.064,0.000,3104,2040,1559
$GC,16355,1.46,368.3,14.5,12.6,1825,16362,0.00,2.88,0.00,0.000,4,0.000,0.164,3104,571,1554
$GC,16398,1.46,368.3,9.4,11.6,1832,16405,0.00,2.67,0.00,0.000,6,0.000,0.132,3104,2023,1553
$STATE,16448,end climb,SURFACE_DEPTH_REACHED
$STATE,16448,begin surface coast
$FINISH,0.2,1.026959
$STATE,16474,end surface coast,CONTROL_FINISHED_OK
$STATE,16474,begin surface
$SM_CCo,16554,0.00,0.000,0,0,1550,370.89
$SM_GC,0.96,10.65,0.00,0.00,0.038,0.000,0.000,572,2030,1550,-10.06,0.00,370.89
$IRIDIUM_FIX,6121.73,-2648.13,190897,030359
$TT8_MAMPS,0.041418
$HUMID,1679
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.70
$XPDR_PINGS,675
$24V_AH,23.4,46.396
$10V_AH,10.6,51.037
$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,25.250,114.150,489.975,0.000,0.000,22.918,43.680,240.826,168.750,0.000,0.000,36.043,2882.043,9524.561,614.672,3325.102,656.541,0.000,2081.209,0.000,3320.243,0.000,0.465
$DEVICE_MAMPS,192.517,189.449,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1302.332,1345.113,734.940,1728.568,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135902,1845
$CAP_FILE_SIZE,156827,0
$CFSIZE,260165632,234323968
$ERRORS,0,34,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250508,124108,6144.136,-2653.541,27,0.8,27,-19.1