version: 66.03
glider: 141
mission: 7
dive: 246
start: 5 28 108 8 19 38
data:
$ID,141
$MISSION,7
$DIVE,246
$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,-10815.37
$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,12
$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
$GPS1,081138,6155.582,-2650.442,30,0.9,30,-19.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.4
$GPS2,081920,6155.617,-2650.423,10,1.2,10,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6148.676,-2654.330
$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,249.2,20000,-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,-194.7,0.0,0.0,0,123,0.00,0.00,-93.30,0.000,2,0.000,0.000,571,2042,3608
$GC,126,-1.34,-194.7,3.0,-6.1,17,151,11.02,2.80,-6.10,0.000,4,0.197,0.170,2482,613,3858
$GC,338,-1.34,-194.7,33.6,-12.9,54,344,0.00,2.60,0.00,0.000,6,0.000,0.124,2482,2039,3860
$GC,480,-1.30,-194.7,51.6,-11.5,79,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3860
$GC,822,-1.30,-194.7,89.0,-11.3,140,829,0.00,2.60,0.00,0.000,4,0.000,0.143,2482,3449,3860
$GC,854,-1.25,-194.7,92.6,-12.5,145,860,0.12,2.72,0.00,0.000,6,0.116,0.149,2505,2021,3860
$GC,1198,-1.25,-194.7,131.9,-11.5,206,1204,0.00,2.65,0.00,0.000,4,0.000,0.137,2506,3443,3860
$GC,1228,-1.25,-194.7,135.5,-12.2,211,1234,0.00,2.70,0.00,0.000,6,0.000,0.153,2506,2032,3860
$GC,1571,-1.25,-194.7,173.2,-10.8,272,1578,0.00,2.62,0.00,0.000,4,0.000,0.143,2506,3444,3861
$GC,1624,-1.25,-194.7,178.9,-10.9,281,1630,0.00,2.67,0.00,0.000,6,0.000,0.146,2506,2044,3860
$GC,1967,-1.25,-194.7,213.9,-10.3,342,1973,0.00,2.60,0.00,0.000,4,0.000,0.139,2506,3445,3860
$GC,2031,-1.25,-194.7,220.5,-10.2,353,2037,0.00,2.65,0.00,0.000,6,0.000,0.152,2506,2063,3860
$GC,2374,-1.25,-194.7,254.6,-9.8,414,2381,0.00,2.58,0.00,0.000,4,0.000,0.139,2506,3444,3860
$GC,2404,-1.25,-194.7,257.7,-10.8,419,2410,0.00,2.62,0.00,0.000,6,0.000,0.149,2505,2070,3860
$GC,2747,-1.25,-194.7,292.3,-9.8,480,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2067,3860
$GC,3090,-1.25,-194.7,328.2,-10.7,541,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2067,3860
$GC,3425,-1.25,-194.7,363.2,-10.3,590,3429,0.00,2.58,0.00,0.000,4,0.000,0.143,2506,3441,3860
$GC,3480,-1.25,-194.7,369.4,-11.6,594,3487,0.00,2.60,0.00,0.000,6,0.000,0.147,2506,2079,3860
$GC,3806,-1.25,-194.7,403.0,-10.4,625,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2076,3860
$GC,4124,-1.25,-194.7,437.0,-11.0,655,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2076,3860
$GC,4442,-1.25,-194.7,471.0,-10.0,685,4446,0.00,2.60,0.00,0.000,4,0.000,0.149,2506,3446,3860
$GC,4481,-1.25,-194.7,475.0,-10.7,688,4485,0.00,2.62,0.00,0.000,6,0.000,0.150,2506,2086,3860
$GC,4807,-1.25,-194.7,506.3,-9.6,718,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2083,3859
$GC,5123,-1.25,-194.7,537.4,-10.1,748,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2082,3859
$GC,5442,-1.25,-194.7,567.2,-8.9,778,5447,0.00,2.92,0.00,0.000,4,0.000,0.175,2505,617,3859
$GC,5474,-1.25,-194.7,570.4,-10.1,780,5481,0.00,2.75,0.00,0.000,6,0.000,0.135,2506,2081,3859
$GC,5813,-1.25,-194.7,603.1,-10.1,811,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3859
$GC,6118,-1.25,-194.7,633.7,-9.6,826,6123,0.00,2.65,0.00,0.000,4,0.000,0.163,2506,3444,3859
$GC,6150,-1.25,-194.7,637.0,-10.1,827,6157,0.00,2.65,0.00,0.000,6,0.000,0.157,2505,2085,3859
$GC,6467,-1.25,-194.7,667.7,-10.1,843,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3859
$GC,6775,-1.25,-194.7,700.8,-10.4,858,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3858
$GC,7085,-1.25,-194.7,732.7,-10.4,873,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2081,3858
$GC,7395,-1.25,-194.7,762.1,-9.4,888,7399,0.00,2.67,0.00,0.000,4,0.000,0.166,2505,3447,3858
$GC,7421,-1.25,-194.7,764.9,-10.6,889,7425,0.00,2.62,0.00,0.000,6,0.000,0.163,2505,2106,3857
$GC,7743,-1.25,-194.7,795.7,-9.7,905,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2105,3857
$GC,8053,-1.49,-194.7,816.2,0.0,920,8058,0.17,3.05,0.00,0.000,4,0.069,0.192,2456,618,3857
$STATE,8151,end dive,NO_VERTICAL_VELOCITY
$STATE,8151,begin apogee
$GC,8159,-0.37,0.0,816.2,0.0,924,8329,1.05,0.00,166.82,1.171,6,0.071,0.000,2696,1987,3062
$STATE,8330,end apogee,CONTROL_FINISHED_OK
$STATE,8330,begin climb
$GC,8333,1.34,194.7,816.1,0.0,933,8508,1.67,2.83,165.00,1.140,4,0.077,0.160,3065,3396,2267
$GC,8569,1.34,194.7,798.0,11.0,944,8574,0.00,2.78,0.00,0.000,6,0.000,0.153,3065,1989,2263
$GC,8886,1.36,209.3,767.4,9.5,959,8908,0.00,2.80,13.48,1.015,4,0.000,0.147,3065,3398,2207
$GC,8941,1.36,211.2,762.0,9.9,961,8945,0.00,2.75,0.00,0.000,6,0.000,0.152,3065,1995,2206
$GC,9256,1.37,219.2,732.0,9.7,976,9268,0.00,0.00,9.85,0.969,6,0.000,0.000,3065,1993,2168
$GC,9566,1.38,224.5,701.6,9.8,991,9580,0.00,2.72,6.45,0.868,4,0.000,0.148,3065,3405,2145
$GC,9619,1.38,224.5,696.0,10.3,993,9624,0.00,2.72,0.00,0.000,6,0.000,0.153,3065,2002,2144
$GC,9941,1.41,249.7,665.6,9.1,1009,9966,0.00,0.00,23.92,1.041,6,0.000,0.000,3065,2001,2044
$GC,10271,1.46,286.8,636.4,8.7,1025,10310,0.12,0.00,34.75,1.040,6,0.064,0.000,3103,2001,1891
$GC,10620,1.40,286.8,597.4,11.7,1043,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2000,1887
$GC,10941,1.35,286.8,559.3,12.3,1073,10942,0.15,0.00,0.00,0.000,6,0.103,0.000,3072,2000,1886
$GC,11258,1.35,286.8,524.8,10.2,1103,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2000,1885
$GC,11576,1.35,286.8,490.7,10.9,1133,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2001,1885
$GC,11894,1.35,286.8,455.7,10.6,1163,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2001,1885
$GC,12213,1.35,286.8,419.5,11.6,1193,12217,0.00,2.83,0.00,0.000,4,0.000,0.166,3072,567,1885
$GC,12245,1.35,286.8,415.4,11.8,1195,12251,0.00,2.65,0.00,0.000,6,0.000,0.131,3072,2004,1885
$GC,12571,1.35,286.8,377.7,12.1,1226,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2007,1885
$GC,12892,1.35,286.8,341.3,11.1,1263,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2007,1884
$GC,13236,1.36,298.1,304.8,9.6,1324,13248,0.00,0.00,10.32,0.782,6,0.000,0.000,3072,2006,1846
$GC,13585,1.37,302.1,268.2,9.9,1386,13597,0.00,2.88,5.05,0.631,4,0.000,0.161,3072,570,1830
$GC,13632,1.37,302.1,263.2,11.3,1394,13638,0.00,2.60,0.00,0.000,6,0.000,0.127,3072,1987,1830
$GC,13976,1.37,306.0,228.0,9.9,1455,13987,0.00,0.00,5.32,0.629,6,0.000,0.000,3072,1990,1813
$GC,14325,1.37,306.0,192.7,10.7,1517,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1989,1812
$GC,14667,1.37,306.0,156.1,10.1,1578,14673,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1990,1812
$GC,15013,1.38,313.2,122.0,9.8,1639,15024,0.00,0.00,7.55,0.650,6,0.000,0.000,3072,1990,1785
$GC,15362,1.38,313.2,84.7,10.3,1701,15367,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1990,1782
$GC,15704,1.39,318.8,49.3,9.8,1762,15717,0.00,2.80,6.38,0.590,4,0.000,0.161,3072,572,1761
$GC,15757,1.39,318.8,43.8,10.4,1771,15764,0.00,2.58,0.00,0.000,6,0.000,0.126,3072,1982,1761
$GC,15902,1.41,336.0,30.1,9.4,1796,15925,0.00,2.67,16.20,0.658,4,0.000,0.138,3072,3402,1692
$GC,15954,1.41,336.0,24.7,10.5,1805,15961,0.00,2.75,0.00,0.000,6,0.000,0.151,3072,1981,1690
$GC,16096,1.41,336.0,10.2,11.2,1830,16103,0.00,2.78,0.00,0.000,4,0.000,0.163,3072,565,1689
$GC,16138,1.43,352.1,5.9,9.4,1837,16162,0.00,2.60,15.77,0.634,6,0.000,0.125,3072,1989,1624
$STATE,16172,end climb,SURFACE_DEPTH_REACHED
$STATE,16172,begin surface coast
$FINISH,0.1,1.025052
$STATE,16214,end surface coast,CONTROL_FINISHED_OK
$STATE,16214,begin surface
$SM_CCo,16294,0.00,0.000,0,0,1620,353.72
$SM_GC,0.88,10.52,0.00,0.00,0.038,0.000,0.000,569,2032,1620,-10.08,0.06,353.72
$IRIDIUM_FIX,6126.23,-2547.01,220897,030323
$TT8_MAMPS,0.041418
$HUMID,1672
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.80
$XPDR_PINGS,850
$24V_AH,23.4,49.309
$10V_AH,10.6,53.403
$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,24.850,107.950,486.875,0.000,0.000,28.013,36.837,253.137,212.500,0.000,0.000,11.965,2886.479,9307.071,618.660,3284.171,640.239,0.000,2060.184,0.000,3284.625,0.000,0.465
$DEVICE_MAMPS,197.119,191.750,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.538,1347.282,741.079,1736.778,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136102,1850
$CAP_FILE_SIZE,155724,0
$CFSIZE,260165632,232976384
$ERRORS,0,39,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,125231,6155.070,-2654.554,37,1.0,43,-19.2