version: 66.03
glider: 141
mission: 7
dive: 249
start: 5 28 108 23 32 20
data:
$ID,141
$MISSION,7
$DIVE,249
$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,135
$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,-10857.292
$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,11
$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
$GPS1,232038,6153.686,-2702.513,29,0.9,29,-19.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-55.3
$GPS2,233202,6153.800,-2702.579,11,1.1,11,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6146.164,-2658.967
$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,154.2,20000,-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,-194.7,0.0,0.0,0,134,0.00,0.00,-104.50,0.000,2,0.000,0.000,572,2042,3778
$GC,137,-1.34,-194.7,3.8,-7.8,19,156,11.02,0.00,-1.67,0.000,6,0.196,0.000,2483,2042,3856
$GC,295,-1.29,-194.7,29.5,-13.1,46,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2042,3857
$GC,437,-1.24,-194.7,49.9,-13.8,71,443,0.12,0.00,0.00,0.000,6,0.120,0.000,2508,2042,3858
$GC,578,-1.24,-194.7,67.8,-12.6,96,585,0.00,2.62,0.00,0.000,4,0.000,0.139,2508,3449,3858
$GC,609,-1.24,-194.7,71.4,-12.6,101,615,0.00,2.72,0.00,0.000,6,0.000,0.144,2508,2016,3858
$GC,952,-1.24,-194.7,108.6,-10.1,162,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2014,3858
$GC,1296,-1.24,-194.7,146.0,-10.8,223,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2013,3858
$GC,1638,-1.24,-194.7,185.6,-11.1,284,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2013,3857
$GC,1982,-1.24,-194.7,222.9,-10.8,345,1988,0.00,2.67,0.00,0.000,4,0.000,0.138,2508,3444,3858
$GC,2017,-1.24,-194.7,226.9,-11.6,351,2023,0.00,2.70,0.00,0.000,6,0.000,0.148,2508,2034,3857
$GC,2361,-1.24,-194.7,262.0,-10.6,412,2367,0.00,2.62,0.00,0.000,4,0.000,0.146,2508,3441,3858
$GC,2390,-1.24,-194.7,265.3,-11.3,417,2396,0.00,2.70,0.00,0.000,6,0.000,0.150,2508,2032,3858
$GC,2733,-1.24,-194.7,301.9,-11.1,478,2739,0.00,2.65,0.00,0.000,4,0.000,0.143,2508,3444,3858
$GC,2762,-1.24,-194.7,305.3,-11.6,483,2768,0.00,2.67,0.00,0.000,6,0.000,0.148,2508,2045,3858
$GC,3106,-1.24,-194.7,343.0,-10.7,544,3112,0.00,2.62,0.00,0.000,4,0.000,0.147,2508,3442,3858
$GC,3124,-1.24,-194.7,344.9,-10.6,547,3130,0.00,2.67,0.00,0.000,6,0.000,0.148,2508,2050,3858
$GC,3452,-1.24,-194.7,377.7,-9.9,582,3456,0.00,2.62,0.00,0.000,4,0.000,0.143,2508,3442,3858
$GC,3479,-1.24,-194.7,380.5,-10.3,584,3483,0.00,2.67,0.00,0.000,6,0.000,0.152,2508,2051,3857
$GC,3805,-1.24,-194.7,412.1,-9.1,614,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2048,3858
$GC,4122,-1.24,-194.7,442.2,-9.6,644,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2048,3857
$GC,4443,-1.24,-194.7,472.9,-9.9,674,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2048,3857
$GC,4759,-1.24,-194.7,509.1,-11.8,704,4763,0.00,2.67,0.00,0.000,4,0.000,0.153,2508,3442,3857
$GC,4820,-1.24,-194.7,517.3,-13.7,709,4825,0.00,2.70,0.00,0.000,6,0.000,0.155,2508,2049,3857
$GC,5147,-1.24,-194.7,558.5,-13.2,739,5151,0.00,2.67,0.00,0.000,4,0.000,0.153,2508,3440,3857
$GC,5163,-1.24,-194.7,561.2,-14.2,740,5168,0.00,2.70,0.00,0.000,6,0.000,0.154,2508,2046,3857
$GC,5491,-1.24,-194.7,602.4,-11.3,769,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2046,3857
$GC,5796,-1.24,-194.7,642.9,-13.9,784,5800,0.00,2.75,0.00,0.000,4,0.000,0.163,2507,3445,3857
$GC,5822,-1.24,-194.7,646.8,-15.2,785,5827,0.00,2.75,0.00,0.000,6,0.000,0.159,2508,2041,3856
$GC,6138,-1.24,-194.7,688.3,-13.4,800,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2038,3856
$GC,6447,-1.24,-194.7,726.5,-11.6,815,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2037,3856
$GC,6756,-1.24,-194.7,760.3,-10.7,830,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2036,3856
$GC,7067,-1.24,-194.7,794.2,-11.1,845,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3856
$GC,7375,-1.24,-194.7,827.7,-10.7,860,7379,0.00,2.75,0.00,0.000,4,0.000,0.164,2508,3447,3855
$GC,7407,-1.24,-194.7,831.5,-11.5,861,7413,0.00,2.75,0.00,0.000,6,0.000,0.160,2508,2048,3855
$GC,7723,-1.24,-194.7,863.1,-10.0,877,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2047,3855
$GC,8032,-1.24,-194.7,895.6,-10.0,892,8036,0.00,2.72,0.00,0.000,4,0.000,0.161,2508,3442,3854
$GC,8058,-1.24,-194.7,898.7,-11.6,893,8062,0.00,2.70,0.00,0.000,6,0.000,0.160,2508,2059,3854
$GC,8380,-1.49,-194.7,917.8,-0.0,909,8385,0.20,2.70,0.00,0.000,4,0.065,0.159,2453,3448,3854
$STATE,8440,end dive,NO_VERTICAL_VELOCITY
$STATE,8440,begin apogee
$GC,8448,-0.37,0.0,917.8,0.0,912,8623,1.08,0.00,168.30,1.239,6,0.067,0.000,2697,1984,3061
$STATE,8623,end apogee,CONTROL_FINISHED_OK
$STATE,8624,begin climb
$GC,8626,1.34,194.7,917.6,0.0,921,8804,1.67,3.03,166.45,1.206,4,0.077,0.187,3067,573,2267
$GC,8837,1.27,194.7,902.6,11.6,931,8841,0.00,2.65,0.00,0.000,6,0.000,0.133,3067,1985,2265
$GC,9159,1.23,194.7,869.2,10.5,947,9163,0.00,2.75,0.00,0.000,4,0.000,0.162,3067,3399,2261
$GC,9259,1.18,194.7,857.7,11.9,951,9265,0.15,2.72,0.00,0.000,6,0.107,0.154,3038,1991,2261
$GC,9575,1.22,225.0,826.6,8.9,967,9607,0.00,2.80,27.15,1.127,4,0.000,0.153,3038,3393,2144
$GC,9648,1.24,238.0,819.9,9.5,970,9667,0.00,2.70,13.43,1.052,6,0.000,0.153,3038,1998,2090
$GC,9992,1.29,279.3,787.1,8.6,987,10032,0.00,0.00,38.42,1.121,6,0.000,0.000,3038,1995,1922
$GC,10340,1.36,339.4,754.3,7.9,1004,10411,0.15,0.00,59.00,1.055,6,0.058,0.000,3080,1996,1678
$GC,10708,1.36,339.4,711.7,12.4,1022,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1995,1672
$GC,11018,1.36,339.4,673.1,12.8,1037,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1995,1671
$GC,11327,1.39,366.7,638.5,9.1,1052,11368,0.00,0.00,29.20,0.927,6,0.000,0.000,3080,1994,1566
$GC,11677,1.42,390.3,605.0,9.2,1069,11705,0.00,2.90,22.52,1.006,4,0.000,0.170,3080,571,1470
$GC,11738,1.42,390.3,598.6,10.2,1072,11745,0.00,2.72,0.00,0.000,6,0.000,0.132,3080,2010,1469
$GC,12067,1.42,390.3,561.8,11.2,1103,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2013,1466
$GC,12391,1.42,390.3,519.9,13.8,1134,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2013,1465
$GC,12712,1.42,390.3,479.8,12.2,1164,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2013,1464
$GC,13028,1.42,390.3,444.2,10.1,1194,13033,0.00,2.88,0.00,0.000,4,0.000,0.165,3080,562,1464
$GC,13083,1.42,390.3,438.2,10.8,1198,13090,0.00,2.67,0.00,0.000,6,0.000,0.128,3080,2015,1464
$GC,13409,1.42,390.3,401.9,12.2,1229,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2017,1464
$GC,13727,1.42,390.3,363.6,12.1,1259,13731,0.00,2.85,0.00,0.000,4,0.000,0.163,3080,562,1464
$GC,13770,1.42,390.3,358.0,12.5,1262,13777,0.00,2.62,0.00,0.000,6,0.000,0.130,3080,1994,1464
$GC,14109,1.42,390.3,318.8,12.5,1316,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1997,1464
$GC,14454,1.42,390.3,280.5,10.0,1377,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1997,1463
$GC,14797,1.42,390.3,244.8,10.3,1438,14803,0.00,2.83,0.00,0.000,4,0.000,0.163,3080,564,1463
$GC,14832,1.42,390.3,241.0,11.4,1444,14838,0.00,2.62,0.00,0.000,6,0.000,0.127,3080,1999,1463
$GC,15176,1.42,390.3,204.7,10.1,1505,15182,0.00,2.62,0.00,0.000,4,0.000,0.140,3080,3402,1463
$GC,15211,1.42,390.3,200.8,11.5,1511,15217,0.00,2.72,0.00,0.000,6,0.000,0.145,3080,1980,1462
$GC,15554,1.42,390.3,163.5,10.9,1572,15561,0.00,2.78,0.00,0.000,4,0.000,0.170,3080,566,1462
$GC,15600,1.42,390.3,158.1,11.5,1580,15606,0.00,2.60,0.00,0.000,6,0.000,0.130,3080,1987,1462
$GC,15946,1.44,405.1,121.3,9.5,1641,15969,0.00,2.70,13.18,0.706,4,0.000,0.146,3080,3391,1409
$GC,15994,1.44,405.1,116.3,10.9,1649,16000,0.00,2.72,0.00,0.000,6,0.000,0.151,3080,1985,1407
$GC,16337,1.44,405.1,80.1,10.0,1710,16344,0.00,2.78,0.00,0.000,4,0.000,0.171,3080,567,1407
$GC,16379,1.44,405.1,75.5,10.9,1717,16385,0.00,2.62,0.00,0.000,6,0.000,0.126,3080,1996,1407
$GC,16723,1.47,431.5,40.6,9.1,1778,16752,0.00,0.00,23.90,0.678,6,0.000,0.000,3080,1999,1303
$GC,16890,1.53,477.1,27.1,8.4,1807,16935,0.15,0.00,40.75,0.667,6,0.056,0.000,3130,2000,1115
$GC,17071,1.53,477.1,4.5,13.5,1839,17078,0.00,2.83,0.00,0.000,4,0.000,0.166,3130,563,1110
$STATE,17082,end climb,SURFACE_DEPTH_REACHED
$STATE,17082,begin surface coast
$FINISH,0.1,1.026653
$STATE,17105,end surface coast,CONTROL_FINISHED_OK
$STATE,17106,begin surface
$SM_CCo,17188,0.00,0.000,0,0,1107,479.32
$SM_GC,0.78,10.77,0.00,0.00,0.038,0.000,0.000,568,2036,1107,-10.08,0.17,479.32
$IRIDIUM_FIX,6130.75,-2656.37,220897,232347
$TT8_MAMPS,0.041418
$HUMID,1675
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,16.70
$XPDR_PINGS,866
$24V_AH,23.4,49.966
$10V_AH,10.6,53.889
$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,25.325,130.625,602.300,0.000,0.000,56.895,67.765,350.539,216.500,0.000,0.000,12.946,2881.254,10079.287,764.224,3299.288,829.121,0.000,2238.526,0.000,3300.450,0.000,0.466
$DEVICE_MAMPS,195.585,187.148,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1294.489,1341.111,716.211,1690.746,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136027,1845
$CAP_FILE_SIZE,163071,0
$CFSIZE,260165632,232697856
$ERRORS,0,47,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,290508,042002,6152.974,-2658.929,38,1.1,38,-19.2