version: 66.03
glider: 141
mission: 7
dive: 240
start: 5 27 108 3 0 44
data:
$ID,141
$MISSION,7
$DIVE,240
$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,100
$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,-10731.143
$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,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
$GPS1,025202,6153.097,-2637.042,40,1.0,40,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.7
$GPS2,030026,6153.104,-2636.885,9,1.5,14,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6151.229,-2631.868
$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,119.0,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.34,-194.7,0.0,0.0,0,124,0.00,0.00,-92.70,0.000,2,0.000,0.000,572,2030,3627
$GC,127,-1.34,-194.7,3.0,-5.6,17,151,11.10,2.62,-5.70,0.000,4,0.199,0.146,2481,3441,3858
$GC,215,-1.29,-194.7,17.6,-13.0,32,222,0.00,2.72,0.00,0.000,6,0.000,0.149,2481,2021,3860
$GC,358,-1.24,-194.7,36.0,-13.8,57,364,0.12,0.00,0.00,0.000,6,0.114,0.000,2506,2019,3860
$GC,501,-1.24,-194.7,52.6,-11.4,82,508,0.00,2.65,0.00,0.000,4,0.000,0.136,2506,3450,3860
$GC,565,-1.24,-194.7,60.4,-11.7,93,571,0.00,2.67,0.00,0.000,6,0.000,0.151,2506,2052,3860
$GC,908,-1.24,-194.7,98.8,-11.2,154,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2050,3859
$GC,1250,-1.24,-194.7,136.6,-11.2,215,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2050,3860
$GC,1592,-1.24,-194.7,173.4,-10.7,276,1599,0.00,2.60,0.00,0.000,4,0.000,0.142,2506,3450,3860
$GC,1622,-1.24,-194.7,176.7,-12.0,281,1628,0.00,2.67,0.00,0.000,6,0.000,0.149,2506,2051,3860
$GC,1966,-1.24,-194.7,215.4,-11.4,342,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2049,3860
$GC,2309,-1.24,-194.7,254.3,-11.3,403,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2049,3860
$GC,2651,-1.24,-194.7,292.5,-10.2,464,2657,0.00,2.60,0.00,0.000,4,0.000,0.142,2506,3442,3860
$GC,2692,-1.24,-194.7,296.8,-10.9,471,2698,0.00,2.65,0.00,0.000,6,0.000,0.147,2506,2060,3860
$GC,3035,-1.24,-194.7,329.3,-9.6,532,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,3378,-1.24,-194.7,361.1,-9.5,583,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,3697,-1.24,-194.7,390.3,-9.0,613,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,4015,-1.24,-194.7,418.2,-8.7,643,4019,0.00,2.58,0.00,0.000,4,0.000,0.142,2506,3441,3860
$GC,4047,-1.24,-194.7,421.4,-9.7,645,4053,0.00,2.67,0.00,0.000,6,0.000,0.154,2506,2054,3860
$GC,4374,-1.24,-194.7,449.8,-8.4,676,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2052,3860
$GC,4692,-1.24,-194.7,475.7,-8.6,706,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2051,3859
$GC,5009,-1.24,-194.7,506.9,-10.1,736,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2051,3860
$GC,5327,-1.24,-194.7,536.7,-9.1,766,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2051,3859
$GC,5647,-1.24,-194.7,565.5,-9.2,796,5651,0.00,2.65,0.00,0.000,4,0.000,0.149,2506,3440,3859
$GC,5678,-1.24,-194.7,568.8,-10.4,798,5685,0.00,2.65,0.00,0.000,6,0.000,0.160,2506,2068,3859
$GC,6006,-1.24,-194.7,599.2,-10.0,829,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3859
$GC,6323,-1.24,-194.7,634.3,-11.3,845,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2065,3859
$GC,6632,-1.24,-194.7,663.4,-8.3,860,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2064,3859
$GC,6942,-1.24,-194.7,694.0,-10.5,875,6947,0.00,2.72,0.00,0.000,4,0.000,0.167,2506,3446,3858
$GC,6974,-1.24,-194.7,697.5,-10.8,876,6981,0.00,2.70,0.00,0.000,6,0.000,0.164,2506,2070,3858
$GC,7290,-1.24,-194.7,725.5,-8.7,892,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2069,3858
$GC,7600,-1.24,-194.7,754.0,-9.3,907,7605,0.00,2.67,0.00,0.000,4,0.000,0.159,2506,3444,3858
$GC,7644,-1.24,-194.7,758.7,-10.2,909,7648,0.00,2.67,0.00,0.000,6,0.000,0.163,2506,2077,3858
$GC,7972,-1.24,-194.7,790.4,-9.7,925,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2076,3858
$GC,8281,-1.24,-194.7,821.3,-9.9,940,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2074,3858
$GC,8590,-1.24,-194.7,851.2,-9.7,955,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2074,3857
$GC,8899,-1.24,-194.7,880.4,-9.4,970,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2072,3857
$STATE,9144,end dive,NO_VERTICAL_VELOCITY
$STATE,9144,begin apogee
$GC,9150,-0.37,0.0,883.4,0.0,982,9321,0.85,0.00,167.88,1.219,6,0.075,0.000,2696,1985,3062
$STATE,9322,end apogee,CONTROL_FINISHED_OK
$STATE,9322,begin climb
$GC,9324,1.34,194.7,883.2,0.0,990,9502,1.67,2.85,166.82,1.187,4,0.076,0.149,3066,3395,2267
$GC,9548,1.30,194.7,867.0,11.5,1001,9552,0.00,2.78,0.00,0.000,6,0.000,0.156,3066,1985,2264
$GC,9863,1.25,194.7,834.4,10.3,1016,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1983,2262
$GC,10173,1.20,194.7,802.6,10.1,1031,10178,0.12,2.70,0.00,0.000,4,0.104,0.146,3042,3394,2261
$GC,10251,1.22,209.6,795.0,9.5,1034,10270,0.00,2.72,13.48,1.054,6,0.000,0.156,3042,1992,2207
$GC,10588,1.26,238.2,765.0,9.0,1051,10617,0.00,0.00,27.35,1.102,6,0.000,0.000,3042,1990,2090
$GC,10917,1.28,254.2,734.1,9.4,1067,10939,0.00,2.75,15.45,1.045,4,0.000,0.146,3042,3396,2024
$GC,10985,1.28,256.5,727.5,9.9,1070,10989,0.00,2.72,0.00,0.000,6,0.000,0.153,3041,2001,2022
$GC,11311,1.32,285.9,698.2,9.0,1086,11345,0.10,0.00,29.67,1.075,6,0.073,0.000,3072,2000,1896
$GC,11662,1.32,285.9,659.3,11.3,1103,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1891
$GC,11972,1.32,285.9,624.8,11.1,1118,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1891
$GC,12284,1.32,285.9,589.2,11.4,1137,12285,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1890
$GC,12602,1.32,285.9,554.5,10.6,1167,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1890
$GC,12921,1.32,285.9,518.0,12.0,1197,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1999,1890
$GC,13239,1.32,285.9,480.3,11.7,1227,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1999,1889
$GC,13558,1.32,285.9,445.4,10.9,1257,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1999,1889
$GC,13876,1.32,285.9,408.7,11.9,1287,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2000,1889
$GC,14195,1.32,285.9,371.2,11.7,1317,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2000,1889
$GC,14520,1.32,285.9,333.4,10.6,1360,14526,0.00,2.83,0.00,0.000,4,0.000,0.171,3072,566,1889
$GC,14555,1.32,285.9,329.3,11.8,1366,14562,0.00,2.65,0.00,0.000,6,0.000,0.127,3072,2013,1890
$GC,14899,1.32,285.9,290.3,11.6,1427,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2015,1890
$GC,15241,1.32,285.9,250.8,11.4,1488,15247,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2015,1889
$GC,15585,1.32,285.9,212.0,11.2,1549,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2015,1889
$GC,15927,1.32,285.9,172.1,11.9,1610,15934,0.00,2.83,0.00,0.000,4,0.000,0.164,3072,573,1889
$GC,15962,1.32,285.9,168.0,12.0,1616,15969,0.00,2.62,0.00,0.000,6,0.000,0.130,3072,2006,1890
$GC,16306,1.32,285.9,129.1,11.3,1677,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2008,1890
$GC,16648,1.32,285.9,91.5,10.6,1738,16654,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2008,1890
$GC,16991,1.32,285.9,55.1,11.4,1799,16997,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2008,1890
$GC,17335,1.32,289.0,17.3,9.9,1860,17340,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2008,1890
$STATE,17468,end climb,SURFACE_DEPTH_REACHED
$STATE,17468,begin surface coast
$FINISH,0.2,1.027065
$STATE,17499,end surface coast,CONTROL_FINISHED_OK
$STATE,17499,begin surface
$SM_CCo,17579,0.00,0.000,0,0,1888,287.98
$SM_GC,0.86,10.48,0.00,0.00,0.039,0.000,0.000,572,2012,1888,-10.06,-0.54,287.98
$IRIDIUM_FIX,6126.23,-2644.10,200897,222246
$TT8_MAMPS,0.041418
$HUMID,1667
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,15.20
$XPDR_PINGS,781
$24V_AH,23.4,48.123
$10V_AH,10.6,52.450
$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,24.450,70.175,420.650,0.000,0.000,27.716,31.097,301.948,195.250,0.000,0.000,16.453,2939.130,10559.788,560.565,3303.418,702.212,0.000,1976.377,0.000,3322.327,0.000,0.465
$DEVICE_MAMPS,199.420,171.041,1218.763,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1330.495,1388.540,722.302,1766.373,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139342,1889
$CAP_FILE_SIZE,152392,0
$CFSIZE,260165632,233521152
$ERRORS,0,21,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270508,075507,6152.677,-2628.991,37,1.3,48,-18.9