version: 66.03
glider: 141
mission: 7
dive: 244
start: 5 27 108 22 5 39
data:
$ID,141
$MISSION,7
$DIVE,244
$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,-10788.137
$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,11
$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
$GPS1,215655,6153.336,-2641.723,23,1.5,40,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.1
$GPS2,220521,6153.401,-2641.800,10,1.8,10,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6151.526,-2646.816
$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,279.1,20000,-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,29,-1.34,-194.7,0.0,0.0,0,125,0.00,0.00,-93.55,0.000,2,0.000,0.000,575,2012,3653
$GC,128,-1.34,-194.7,3.3,-6.8,17,153,10.93,2.80,-4.85,0.000,4,0.193,0.170,2482,613,3860
$GC,340,-1.34,-194.7,35.5,-13.9,54,346,0.00,2.58,0.00,0.000,6,0.000,0.123,2482,2031,3861
$GC,482,-1.30,-194.7,55.4,-13.8,79,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2033,3861
$GC,824,-1.30,-194.7,96.2,-11.4,140,831,0.00,2.62,0.00,0.000,4,0.000,0.143,2481,3447,3861
$GC,859,-1.25,-194.7,100.5,-12.3,146,867,0.12,2.75,0.00,0.000,6,0.115,0.154,2506,2016,3861
$GC,1205,-1.25,-194.7,140.5,-11.7,207,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2012,3861
$GC,1547,-1.25,-194.7,180.0,-11.0,268,1553,0.00,2.65,0.00,0.000,4,0.000,0.138,2506,3443,3861
$GC,1588,-1.25,-194.7,184.7,-11.3,275,1594,0.00,2.75,0.00,0.000,6,0.000,0.147,2506,2010,3861
$GC,1932,-1.25,-194.7,219.3,-9.4,336,1938,0.00,2.67,0.00,0.000,4,0.000,0.143,2506,3448,3861
$GC,1984,-1.25,-194.7,224.6,-10.0,345,1990,0.00,2.72,0.00,0.000,6,0.000,0.146,2506,2022,3861
$GC,2326,-1.25,-194.7,260.9,-11.0,406,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2020,3861
$GC,2670,-1.25,-194.7,297.0,-10.1,467,2676,0.00,2.65,0.00,0.000,4,0.000,0.140,2506,3442,3861
$GC,2744,-1.25,-194.7,304.8,-10.7,480,2751,0.00,2.70,0.00,0.000,6,0.000,0.148,2506,2032,3861
$GC,3089,-1.25,-194.7,338.0,-9.4,541,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2030,3861
$GC,3421,-1.25,-194.7,369.6,-9.8,583,3425,0.00,2.65,0.00,0.000,4,0.000,0.143,2506,3450,3861
$GC,3459,-1.25,-194.7,373.7,-10.9,586,3464,0.00,2.70,0.00,0.000,6,0.000,0.150,2505,2047,3861
$GC,3785,-1.25,-194.7,406.9,-10.4,616,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3861
$GC,4102,-1.25,-194.7,440.0,-10.4,646,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3861
$GC,4421,-1.25,-194.7,472.3,-10.0,676,4425,0.00,2.65,0.00,0.000,4,0.000,0.146,2506,3441,3861
$GC,4483,-1.25,-194.7,478.8,-10.2,681,4487,0.00,2.70,0.00,0.000,6,0.000,0.153,2505,2050,3861
$GC,4809,-1.25,-194.7,511.1,-9.9,711,4814,0.00,2.65,0.00,0.000,4,0.000,0.149,2506,3443,3861
$GC,4849,-1.25,-194.7,515.5,-10.8,714,4853,0.00,2.67,0.00,0.000,6,0.000,0.153,2506,2061,3861
$GC,5175,-1.25,-194.7,545.8,-8.9,744,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3860
$GC,5492,-1.25,-194.7,574.7,-8.8,774,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3860
$GC,5809,-1.25,-194.7,604.4,-10.4,802,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3860
$GC,6119,-1.25,-194.7,637.4,-10.5,817,6123,0.00,2.70,0.00,0.000,4,0.000,0.160,2506,3444,3860
$GC,6167,-1.25,-194.7,643.0,-11.5,819,6172,0.00,2.70,0.00,0.000,6,0.000,0.160,2505,2069,3859
$GC,6484,-1.25,-194.7,674.6,-10.3,834,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2068,3859
$GC,6793,-1.25,-194.7,707.1,-10.6,849,6797,0.00,2.70,0.00,0.000,4,0.000,0.161,2506,3445,3859
$GC,6849,-1.25,-194.7,713.3,-11.4,851,6855,0.00,2.67,0.00,0.000,6,0.000,0.160,2506,2081,3859
$GC,7165,-1.25,-194.7,744.7,-9.7,867,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2080,3859
$GC,7473,-1.25,-194.7,772.5,-9.1,882,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2080,3859
$GC,7783,-1.25,-194.7,800.6,-9.4,897,7788,0.00,3.03,0.00,0.000,4,0.000,0.192,2505,612,3858
$GC,7832,-1.25,-194.7,805.6,-9.5,899,7837,0.00,2.75,0.00,0.000,6,0.000,0.142,2505,2086,3859
$GC,8148,-1.25,-194.7,835.9,-9.7,914,8153,0.00,2.95,0.00,0.000,4,0.000,0.176,2505,617,3858
$GC,8187,-1.25,-194.7,839.7,-9.9,916,8192,0.00,2.75,0.00,0.000,6,0.000,0.140,2505,2083,3858
$GC,8513,-1.25,-194.7,870.8,-9.5,932,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2084,3858
$GC,8823,-1.25,-194.7,896.6,-7.8,947,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2084,3857
$GC,9132,-1.62,-194.7,918.4,-2.8,962,9137,0.30,2.65,0.00,0.000,4,0.047,0.170,2421,3442,3856
$STATE,9331,end dive,NO_VERTICAL_VELOCITY
$STATE,9332,begin apogee
$GC,9339,-0.37,0.0,921.3,0.0,971,9516,1.12,0.00,168.82,1.243,6,0.038,0.000,2705,1982,3061
$STATE,9517,end apogee,CONTROL_FINISHED_OK
$STATE,9517,begin climb
$GC,9519,1.34,194.7,925.4,0.0,980,9697,1.62,2.97,166.98,1.212,4,0.074,0.179,3066,574,2267
$GC,9878,1.36,248.0,901.7,8.1,996,9933,0.00,2.62,47.92,1.165,6,0.000,0.131,3066,1984,2050
$GC,10259,1.36,248.0,854.3,15.1,1015,10264,0.00,2.75,0.00,0.000,4,0.000,0.160,3066,3394,2044
$GC,10321,1.36,248.0,845.3,14.2,1018,10325,0.00,2.78,0.00,0.000,6,0.000,0.154,3066,1982,2043
$GC,10647,1.36,248.0,805.8,12.5,1034,10651,0.00,2.72,0.00,0.000,4,0.000,0.149,3066,3396,2043
$GC,10673,1.36,248.0,802.2,12.4,1035,10677,0.00,2.75,0.00,0.000,6,0.000,0.156,3066,1992,2043
$GC,10995,1.37,256.8,770.0,9.7,1051,11009,0.00,2.92,8.38,0.974,4,0.000,0.176,3066,574,2014
$GC,11026,1.38,266.7,766.4,9.7,1052,11042,0.00,2.65,10.52,1.005,6,0.000,0.130,3066,1995,1974
$GC,11363,1.38,266.7,731.4,10.4,1069,11368,0.00,2.72,0.00,0.000,4,0.000,0.159,3066,3402,1971
$GC,11425,1.38,266.7,724.4,11.7,1072,11429,0.00,2.75,0.00,0.000,6,0.000,0.158,3066,1994,1970
$GC,11751,1.38,266.7,690.5,10.2,1088,11755,0.00,2.70,0.00,0.000,4,0.000,0.151,3066,3401,1970
$GC,11777,1.38,266.7,687.5,10.6,1089,11782,0.00,2.72,0.00,0.000,6,0.000,0.155,3066,2002,1970
$GC,12100,1.39,271.3,656.4,9.8,1105,12107,0.00,0.00,5.25,0.804,6,0.000,0.000,3066,2000,1955
$GC,12408,1.43,303.1,629.0,8.9,1120,12462,0.10,0.00,36.62,0.910,6,0.071,0.000,3096,2000,1826
$GC,12761,1.39,303.1,587.6,12.0,1141,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2000,1823
$GC,13080,1.34,303.1,549.4,12.1,1171,13085,0.12,2.67,0.00,0.000,4,0.104,0.146,3070,3403,1822
$GC,13112,1.34,303.1,545.3,11.4,1173,13119,0.00,2.70,0.00,0.000,6,0.000,0.155,3070,2020,1822
$GC,13439,1.34,303.1,509.0,11.7,1204,13440,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2019,1821
$GC,13756,1.34,303.1,471.1,11.6,1234,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2018,1821
$GC,14075,1.34,303.1,434.8,11.0,1264,14079,0.00,2.88,0.00,0.000,4,0.000,0.166,3070,565,1821
$GC,14102,1.34,303.1,431.8,10.0,1266,14107,0.00,2.70,0.00,0.000,6,0.000,0.127,3070,2029,1821
$GC,14426,1.34,303.1,397.3,11.0,1296,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2032,1821
$GC,14745,1.34,303.1,360.2,11.9,1326,14750,0.00,2.90,0.00,0.000,4,0.000,0.165,3070,565,1821
$GC,14772,1.34,303.1,356.7,12.9,1328,14777,0.00,2.67,0.00,0.000,6,0.000,0.127,3070,2019,1821
$GC,15112,1.34,303.1,316.5,11.8,1383,15117,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2022,1821
$GC,15454,1.34,303.1,277.2,11.4,1444,15461,0.00,2.85,0.00,0.000,4,0.000,0.165,3070,572,1821
$GC,15478,1.34,303.1,274.4,11.6,1448,15484,0.00,2.65,0.00,0.000,6,0.000,0.130,3070,2019,1821
$GC,15821,1.34,303.1,236.2,11.4,1509,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2022,1821
$GC,16163,1.35,307.3,200.3,9.9,1570,16170,0.00,0.00,4.53,0.580,6,0.000,0.000,3070,2022,1809
$GC,16507,1.39,336.8,167.6,9.0,1631,16541,0.00,2.90,26.92,0.759,4,0.000,0.165,3070,570,1688
$GC,16570,1.43,371.2,162.0,8.8,1642,16609,0.00,2.65,31.77,0.748,6,0.000,0.124,3070,2012,1547
$GC,16948,1.54,460.4,133.1,6.9,1709,17034,0.15,2.95,76.38,0.736,4,0.057,0.164,3119,571,1183
$GC,17046,1.54,460.4,122.4,12.3,1727,17052,0.00,2.65,0.00,0.000,6,0.000,0.123,3119,2000,1182
$GC,17389,1.54,460.4,80.4,13.1,1788,17395,0.00,2.85,0.00,0.000,4,0.000,0.164,3119,569,1174
$GC,17412,1.54,460.4,77.2,15.3,1792,17419,0.00,2.62,0.00,0.000,6,0.000,0.126,3119,1997,1174
$GC,17757,1.54,460.4,31.0,12.3,1853,17763,0.00,2.83,0.00,0.000,4,0.000,0.166,3119,568,1172
$GC,17798,1.54,460.4,25.4,13.9,1860,17804,0.00,2.55,0.00,0.000,6,0.000,0.124,3119,1963,1172
$GC,17941,1.54,460.4,7.3,14.2,1885,17946,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1966,1172
$STATE,17980,end climb,SURFACE_DEPTH_REACHED
$STATE,17980,begin surface coast
$FINISH,0.2,1.011864
$STATE,18008,end surface coast,CONTROL_FINISHED_OK
$STATE,18008,begin surface
$SM_CCo,18088,0.00,0.000,0,0,1170,464.11
$SM_GC,0.81,10.60,0.00,0.00,0.034,0.000,0.000,574,2036,1170,-10.06,0.20,464.11
$IRIDIUM_FIX,6130.75,-2640.03,210897,171732
$TT8_MAMPS,0.041418
$HUMID,1684
$INTERNAL_PRESSURE,9.99062
$TCM_TEMP,16.90
$XPDR_PINGS,833
$24V_AH,22.7,48.927
$10V_AH,10.6,53.080
$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,25.075,147.925,584.100,0.000,0.000,31.739,47.290,290.777,208.250,0.000,0.000,12.104,2983.883,10671.172,708.319,3487.423,726.541,0.000,2278.413,0.000,3486.012,0.000,0.465
$DEVICE_MAMPS,192.517,191.750,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1327.343,1382.233,695.964,1714.426,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139390,1897
$CAP_FILE_SIZE,171712,0
$CFSIZE,260165632,233148416
$ERRORS,0,30,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,280508,030825,6154.741,-2646.986,24,0.9,42,-19.1