version: 66.03
glider: 141
mission: 7
dive: 248
start: 5 28 108 18 15 3
data:
$ID,141
$MISSION,7
$DIVE,248
$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,-10843.716
$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,9
$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
$GPS1,180026,6154.131,-2658.347,37,1.2,37,-19.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-53.6
$GPS2,181445,6154.183,-2658.218,10,1.3,10,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6147.241,-2702.129
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.34,-194.7,0.0,0.0,0,141,0.00,0.00,-109.45,0.000,2,0.000,0.000,572,2043,3634
$GC,144,-1.34,-194.7,3.1,-5.7,20,169,10.98,2.80,-5.43,0.000,4,0.194,0.166,2482,614,3858
$GC,294,-1.34,-194.7,24.9,-12.4,46,300,0.00,2.58,0.00,0.000,6,0.000,0.124,2482,2033,3860
$GC,439,-1.29,-194.7,43.1,-12.8,71,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3859
$GC,580,-1.25,-194.7,59.7,-11.1,96,587,0.12,2.60,0.00,0.000,4,0.117,0.138,2506,3439,3860
$GC,621,-1.25,-194.7,64.2,-11.0,103,627,0.00,2.67,0.00,0.000,6,0.000,0.146,2506,2037,3859
$GC,964,-1.25,-194.7,98.8,-10.3,164,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2033,3860
$GC,1307,-1.25,-194.7,138.1,-12.2,225,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2034,3859
$GC,1650,-1.25,-194.7,177.8,-11.2,286,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2034,3860
$GC,1992,-1.25,-194.7,215.6,-10.5,347,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2035,3860
$GC,2335,-1.25,-194.7,250.7,-9.8,408,2342,0.00,2.62,0.00,0.000,4,0.000,0.144,2506,3447,3859
$GC,2377,-1.25,-194.7,255.0,-10.8,415,2383,0.00,2.67,0.00,0.000,6,0.000,0.143,2506,2046,3859
$GC,2719,-1.25,-194.7,288.3,-10.1,476,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3859
$GC,3062,-1.25,-194.7,322.4,-9.5,537,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3859
$GC,3407,-1.25,-194.7,355.4,-9.2,594,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3859
$GC,3727,-1.25,-194.7,384.5,-8.6,624,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3859
$GC,4044,-1.25,-194.7,415.0,-10.3,654,4049,0.00,2.62,0.00,0.000,4,0.000,0.143,2506,3440,3859
$GC,4065,-1.25,-194.7,417.4,-11.1,655,4072,0.00,2.67,0.00,0.000,6,0.000,0.152,2506,2050,3858
$GC,4393,-1.25,-194.7,447.1,-8.7,686,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2047,3858
$GC,4709,-1.25,-194.7,475.0,-8.6,716,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2045,3858
$GC,5028,-1.25,-194.7,502.1,-8.6,746,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2045,3858
$GC,5346,-1.25,-194.7,530.8,-10.0,776,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3857
$GC,5665,-1.25,-194.7,560.7,-8.7,806,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3857
$GC,5983,-1.25,-194.7,589.4,-9.1,836,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3857
$GC,6307,-1.25,-194.7,619.5,-9.5,857,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3857
$GC,6615,-1.25,-194.7,647.0,-8.7,872,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3857
$GC,6925,-1.25,-194.7,677.0,-10.1,887,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3856
$GC,7234,-1.25,-194.7,709.1,-10.5,902,7238,0.00,2.78,0.00,0.000,4,0.000,0.171,2506,3445,3856
$GC,7273,-1.25,-194.7,713.5,-11.9,904,7277,0.00,2.75,0.00,0.000,6,0.000,0.162,2506,2048,3856
$GC,7598,-1.25,-194.7,747.4,-10.5,920,7603,0.00,2.72,0.00,0.000,4,0.000,0.162,2506,3442,3855
$GC,7625,-1.25,-194.7,750.7,-12.9,921,7630,0.00,2.72,0.00,0.000,6,0.000,0.160,2506,2052,3855
$GC,7940,-1.25,-194.7,782.9,-10.2,936,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2051,3855
$GC,8250,-1.25,-194.7,815.4,-10.6,951,8254,0.00,2.70,0.00,0.000,4,0.000,0.161,2506,3439,3854
$GC,8293,-1.25,-194.7,820.6,-12.1,953,8298,0.00,2.70,0.00,0.000,6,0.000,0.163,2506,2056,3854
$GC,8614,-1.25,-194.7,855.6,-11.1,969,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2055,3854
$GC,8923,-1.25,-194.7,885.0,-10.3,984,8927,0.00,2.70,0.00,0.000,4,0.000,0.162,2506,3444,3854
$GC,8950,-1.25,-194.7,887.4,-9.2,985,8954,0.00,2.67,0.00,0.000,6,0.000,0.160,2506,2069,3853
$GC,9265,-1.25,-194.7,918.2,-9.8,1000,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2068,3853
$GC,9575,-1.48,-194.7,938.0,0.0,1015,9577,0.22,0.00,0.00,0.000,6,0.066,0.000,2451,2068,3853
$STATE,9675,end dive,NO_VERTICAL_VELOCITY
$STATE,9675,begin apogee
$GC,9681,-0.37,0.0,938.0,0.0,1020,9858,1.10,0.00,168.48,1.253,6,0.071,0.000,2699,1977,3062
$STATE,9858,end apogee,CONTROL_FINISHED_OK
$STATE,9858,begin climb
$GC,9861,1.34,194.7,937.7,0.0,1029,10033,1.67,0.00,167.82,1.222,6,0.076,0.000,3068,1974,2268
$GC,10333,1.30,194.7,894.4,11.0,1052,10338,0.00,2.75,0.00,0.000,4,0.000,0.151,3069,3394,2262
$GC,10418,1.25,194.7,885.4,10.0,1056,10422,0.00,2.75,0.00,0.000,6,0.000,0.153,3068,1985,2261
$GC,10744,1.20,194.7,854.2,10.9,1072,10746,0.12,0.00,0.00,0.000,6,0.104,0.000,3044,1983,2261
$GC,11054,1.20,194.7,821.6,11.7,1087,11058,0.00,2.72,0.00,0.000,4,0.000,0.150,3044,3399,2260
$GC,11108,1.20,194.7,815.3,11.5,1089,11115,0.00,2.72,0.00,0.000,6,0.000,0.151,3044,1992,2260
$GC,11425,1.26,240.4,786.3,8.4,1105,11468,0.00,0.00,41.12,1.137,6,0.000,0.000,3044,1989,2081
$GC,11773,1.26,240.4,748.9,11.6,1122,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1989,2076
$GC,12083,1.26,240.4,712.4,12.0,1137,12087,0.00,2.70,0.00,0.000,4,0.000,0.150,3044,3398,2076
$GC,12126,1.26,240.4,706.8,12.6,1139,12131,0.00,2.70,0.00,0.000,6,0.000,0.153,3044,1998,2075
$GC,12448,1.26,240.4,667.7,12.2,1155,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1995,2075
$GC,12757,1.26,240.4,628.4,12.8,1170,12758,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1995,2075
$GC,13068,1.26,240.4,591.9,11.7,1188,13072,0.00,2.67,0.00,0.000,4,0.000,0.149,3044,3398,2074
$GC,13111,1.26,240.4,586.3,12.4,1191,13118,0.00,2.72,0.00,0.000,6,0.000,0.154,3043,1990,2074
$GC,13437,1.26,240.4,547.4,11.2,1222,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1988,2074
$GC,13756,1.27,251.7,514.8,9.6,1252,13768,0.00,0.00,10.20,0.900,6,0.000,0.000,3044,1988,2036
$GC,14083,1.31,281.2,484.3,9.0,1283,14113,0.00,0.00,27.83,0.952,6,0.000,0.000,3044,1988,1915
$GC,14431,1.37,325.5,453.1,8.5,1316,14482,0.15,0.00,42.10,0.901,6,0.057,0.000,3086,1988,1734
$GC,14800,1.37,325.5,413.2,10.9,1351,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1988,1728
$GC,15119,1.37,325.5,376.0,12.4,1381,15123,0.00,2.65,0.00,0.000,4,0.000,0.143,3086,3395,1728
$GC,15158,1.37,325.5,370.8,13.8,1384,15162,0.00,2.70,0.00,0.000,6,0.000,0.150,3086,1999,1727
$GC,15490,1.37,325.5,329.8,11.8,1428,15496,0.00,2.80,0.00,0.000,4,0.000,0.170,3086,571,1727
$GC,15525,1.37,325.5,325.4,13.0,1434,15532,0.00,2.62,0.00,0.000,6,0.000,0.126,3086,2003,1727
$GC,15869,1.37,325.5,286.3,11.3,1495,15875,0.00,2.62,0.00,0.000,4,0.000,0.143,3086,3401,1726
$GC,15898,1.37,325.5,282.8,12.3,1500,15905,0.00,2.70,0.00,0.000,6,0.000,0.149,3086,1997,1725
$GC,16243,1.37,325.5,241.6,12.0,1561,16249,0.00,2.83,0.00,0.000,4,0.000,0.165,3086,568,1726
$GC,16278,1.37,325.5,237.1,12.8,1567,16284,0.00,2.65,0.00,0.000,6,0.000,0.127,3087,2007,1726
$GC,16622,1.37,325.5,194.0,14.0,1628,16628,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2010,1726
$GC,16965,1.37,325.5,148.4,11.7,1689,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2010,1726
$GC,17307,1.37,325.5,102.8,14.0,1750,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2010,1726
$GC,17651,1.37,325.5,61.6,10.3,1811,17656,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2011,1726
$GC,17994,1.37,325.5,22.8,11.0,1872,18000,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2011,1726
$GC,18136,1.39,342.2,7.3,9.4,1897,18160,0.00,2.90,14.70,0.653,4,0.000,0.160,3086,572,1666
$STATE,18177,end climb,SURFACE_DEPTH_REACHED
$STATE,18178,begin surface coast
$FINISH,1.4,1.026992
$STATE,18188,end surface coast,CONTROL_FINISHED_OK
$STATE,18188,begin surface
$SM_CCo,18270,0.00,0.000,0,0,1662,343.42
$SM_GC,0.95,10.57,0.00,0.00,0.038,0.000,0.000,571,2042,1662,-10.06,0.34,343.42
$IRIDIUM_FIX,6130.75,-2656.37,220897,181833
$TT8_MAMPS,0.042185
$HUMID,1689
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,867
$24V_AH,23.4,49.724
$10V_AH,10.6,53.729
$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,24.950,92.175,472.250,0.000,0.000,79.617,96.274,408.069,216.750,0.000,0.000,11.906,2967.256,11233.788,659.287,3330.833,919.621,0.000,2087.297,0.000,3323.700,0.000,0.465
$DEVICE_MAMPS,194.051,177.177,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1333.079,1394.080,704.917,1725.846,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139028,1906
$CAP_FILE_SIZE,163004,0
$CFSIZE,260165632,232792064
$ERRORS,0,25,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280508,232038,6153.686,-2702.513,29,0.9,29,-19.2