version: 66.03
glider: 141
mission: 7
dive: 243
start: 5 27 108 17 23 50
data:
$ID,141
$MISSION,7
$DIVE,243
$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,260
$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,-10775.405
$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
$GPS1,171438,6153.081,-2637.338,28,1.2,28,-19.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-50.7
$GPS2,172332,6153.083,-2637.335,8,1.2,14,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6151.208,-2642.352
$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,279.0,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.34,-194.7,0.0,0.0,0,135,0.00,0.00,-103.95,0.000,2,0.000,0.000,568,2038,3665
$GC,138,-1.34,-194.7,3.4,-7.4,19,163,11.00,2.83,-4.53,0.000,4,0.194,0.168,2481,618,3859
$GC,371,-1.34,-194.7,36.4,-12.2,60,377,0.00,2.58,0.00,0.000,6,0.000,0.124,2482,2036,3860
$GC,513,-1.34,-194.7,53.4,-11.4,85,519,0.00,2.60,0.00,0.000,4,0.000,0.144,2482,3442,3860
$GC,554,-1.29,-194.7,58.1,-11.4,92,560,0.00,2.67,0.00,0.000,6,0.000,0.143,2482,2030,3860
$GC,898,-1.29,-194.7,97.0,-11.2,153,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2027,3860
$GC,1241,-1.29,-194.7,138.3,-11.7,214,1248,0.00,2.62,0.00,0.000,4,0.000,0.142,2482,3442,3860
$GC,1327,-1.24,-194.7,148.5,-12.1,229,1334,0.12,2.65,0.00,0.000,6,0.118,0.145,2506,2057,3860
$GC,1672,-1.24,-194.7,182.4,-9.7,290,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2053,3861
$GC,2016,-1.24,-194.7,215.7,-9.8,351,2022,0.00,2.60,0.00,0.000,4,0.000,0.137,2506,3450,3860
$GC,2056,-1.24,-194.7,219.9,-10.3,358,2062,0.00,2.65,0.00,0.000,6,0.000,0.147,2506,2061,3860
$GC,2401,-1.24,-194.7,253.7,-9.5,419,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3860
$GC,2743,-1.24,-194.7,287.3,-9.7,480,2749,0.00,2.58,0.00,0.000,4,0.000,0.143,2506,3442,3860
$GC,2795,-1.24,-194.7,292.5,-10.6,489,2801,0.00,2.65,0.00,0.000,6,0.000,0.146,2506,2059,3860
$GC,3139,-1.24,-194.7,325.9,-9.9,550,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,3476,-1.24,-194.7,360.3,-10.3,602,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3861
$GC,3794,-1.24,-194.7,392.4,-10.1,632,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,4114,-1.24,-194.7,423.5,-9.7,662,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,4432,-1.24,-194.7,454.4,-9.6,692,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2058,3860
$GC,4752,-1.24,-194.7,484.7,-9.7,722,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,5068,-1.24,-194.7,517.3,-10.5,752,5073,0.00,2.62,0.00,0.000,4,0.000,0.150,2506,3441,3860
$GC,5141,-1.24,-194.7,525.1,-11.1,758,5146,0.00,2.65,0.00,0.000,6,0.000,0.152,2506,2071,3859
$GC,5467,-1.24,-194.7,559.3,-10.5,788,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2070,3859
$GC,5784,-1.24,-194.7,591.3,-9.3,818,5789,0.00,2.62,0.00,0.000,4,0.000,0.150,2506,3441,3859
$GC,5818,-1.24,-194.7,594.6,-9.9,820,5824,0.00,2.62,0.00,0.000,6,0.000,0.154,2506,2079,3859
$GC,6145,-1.24,-194.7,625.3,-9.9,839,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2077,3859
$GC,6454,-1.24,-194.7,656.0,-9.0,854,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2076,3859
$GC,6764,-1.24,-194.7,684.6,-9.4,869,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2074,3858
$GC,7072,-1.24,-194.7,712.9,-9.2,884,7077,0.00,2.67,0.00,0.000,4,0.000,0.161,2506,3443,3859
$GC,7121,-1.24,-194.7,717.8,-10.2,886,7125,0.00,2.67,0.00,0.000,6,0.000,0.158,2506,2083,3858
$GC,7443,-1.24,-194.7,749.7,-10.4,902,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2081,3858
$GC,7752,-1.24,-194.7,780.9,-9.8,917,7757,0.00,2.65,0.00,0.000,4,0.000,0.159,2506,3444,3858
$GC,7796,-1.24,-194.7,785.5,-10.7,919,7801,0.00,2.62,0.00,0.000,6,0.000,0.160,2506,2091,3858
$GC,8124,-1.24,-194.7,815.0,-9.6,935,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2091,3858
$GC,8433,-1.67,-194.7,831.0,0.0,950,8438,0.38,3.03,0.00,0.000,4,0.076,0.189,2416,616,3857
$STATE,8471,end dive,NO_VERTICAL_VELOCITY
$STATE,8472,begin apogee
$GC,8480,-0.37,0.0,831.0,0.0,952,8654,1.20,0.00,167.10,1.180,6,0.052,0.000,2700,1987,3061
$STATE,8655,end apogee,CONTROL_FINISHED_OK
$STATE,8655,begin climb
$GC,8657,1.34,194.7,830.8,0.0,961,8833,1.65,2.83,165.60,1.151,4,0.072,0.162,3068,3395,2267
$GC,8855,1.40,271.5,820.6,7.3,970,8930,0.00,2.78,67.38,1.122,6,0.000,0.160,3068,1985,1954
$GC,9253,1.40,271.5,785.5,10.4,990,9257,0.00,2.72,0.00,0.000,4,0.000,0.150,3068,3398,1948
$GC,9279,1.40,271.5,782.5,10.7,991,9283,0.00,2.75,0.00,0.000,6,0.000,0.154,3068,1994,1947
$GC,9601,1.40,271.5,746.0,11.2,1007,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1992,1947
$GC,9909,1.40,271.5,713.7,10.5,1022,9914,0.00,2.70,0.00,0.000,4,0.000,0.149,3068,3399,1946
$GC,9936,1.40,271.5,710.5,11.9,1023,9940,0.00,2.72,0.00,0.000,6,0.000,0.153,3068,1998,1946
$GC,10258,1.40,271.5,674.4,11.6,1039,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1997,1946
$GC,10566,1.40,271.5,641.5,10.7,1054,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1996,1946
$GC,10876,1.40,271.5,606.9,11.4,1069,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1996,1946
$GC,11193,1.40,271.5,569.6,11.8,1096,11197,0.00,2.67,0.00,0.000,4,0.000,0.146,3068,3400,1945
$GC,11214,1.40,271.5,566.9,12.1,1097,11220,0.00,2.75,0.00,0.000,6,0.000,0.154,3068,1988,1945
$GC,11540,1.40,271.5,527.9,11.7,1128,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1987,1945
$GC,11857,1.40,271.5,492.2,10.7,1158,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1985,1945
$GC,12176,1.40,271.5,458.5,11.0,1188,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1985,1945
$GC,12494,1.40,271.5,422.8,12.1,1218,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,1945
$GC,12813,1.40,271.5,384.3,12.5,1248,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1985,1945
$GC,13134,1.40,271.5,346.4,11.4,1280,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,1945
$GC,13478,1.40,271.5,308.5,10.4,1341,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,1945
$GC,13820,1.40,271.5,270.9,11.3,1402,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,1945
$GC,14163,1.40,271.5,234.1,11.0,1463,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1986,1945
$GC,14505,1.40,271.5,194.7,11.5,1524,14512,0.00,2.65,0.00,0.000,4,0.000,0.145,3068,3400,1945
$GC,14546,1.40,271.5,189.5,12.8,1531,14552,0.00,2.72,0.00,0.000,6,0.000,0.149,3068,1991,1945
$GC,14890,1.40,271.5,148.5,12.7,1592,14896,0.00,2.80,0.00,0.000,4,0.000,0.169,3068,574,1945
$GC,14914,1.40,271.5,145.6,12.5,1596,14920,0.00,2.62,0.00,0.000,6,0.000,0.127,3068,2009,1946
$GC,15258,1.40,271.5,107.1,10.2,1657,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2010,1945
$GC,15600,1.40,271.5,69.4,11.3,1718,15606,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2011,1946
$GC,15943,1.40,271.5,30.0,10.6,1779,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2011,1945
$GC,16085,1.45,310.5,15.8,8.6,1804,16126,0.10,2.62,33.38,0.668,4,0.068,0.137,3102,3396,1794
$GC,16138,1.45,310.5,9.7,11.9,1813,16144,0.00,2.67,0.00,0.000,6,0.000,0.152,3102,2020,1792
$STATE,16201,end climb,SURFACE_DEPTH_REACHED
$STATE,16201,begin surface coast
$FINISH,0.1,1.013403
$STATE,16229,end surface coast,CONTROL_FINISHED_OK
$STATE,16229,begin surface
$SM_CCo,16309,0.00,0.000,0,0,1789,312.27
$SM_GC,0.91,10.68,0.00,0.00,0.041,0.000,0.000,575,2014,1789,-10.06,-0.45,312.27
$IRIDIUM_FIX,6130.75,-2629.82,210897,121220
$TT8_MAMPS,0.041418
$HUMID,1671
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,845
$24V_AH,23.4,48.700
$10V_AH,10.6,52.917
$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,25.125,91.225,433.450,0.000,0.000,22.988,37.218,331.334,211.250,0.000,0.000,15.918,2835.486,9475.665,576.790,3222.077,714.659,0.000,1974.607,0.000,3224.372,0.000,0.465
$DEVICE_MAMPS,194.051,189.449,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1277.749,1341.665,713.657,1714.408,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132911,1829
$CAP_FILE_SIZE,149930,0
$CFSIZE,260165632,233263104
$ERRORS,0,45,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270508,215655,6153.336,-2641.723,23,1.5,40,-19.1