version: 66.03
glider: 141
mission: 7
dive: 245
start: 5 28 108 3 17 32
data:
$ID,141
$MISSION,7
$DIVE,245
$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,-10802.776
$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,16
$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
$GPS1,030825,6154.741,-2646.986,24,0.9,42,-19.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-47.9
$GPS2,031714,6154.822,-2646.941,12,1.1,12,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6152.947,-2651.954
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.34,-194.7,0.0,0.0,0,157,0.00,0.00,-126.15,0.000,2,0.000,0.000,574,2034,3686
$GC,161,-1.34,-194.7,3.2,-5.6,23,186,11.02,2.83,-4.03,0.000,4,0.196,0.166,2483,621,3859
$GC,424,-1.34,-194.7,40.9,-12.2,69,430,0.00,2.58,0.00,0.000,6,0.000,0.128,2483,2035,3860
$GC,568,-1.29,-194.7,57.0,-10.7,94,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3860
$GC,912,-1.25,-194.7,91.8,-10.5,155,918,0.12,2.60,0.00,0.000,4,0.117,0.136,2507,3442,3860
$GC,958,-1.25,-194.7,96.7,-10.0,163,965,0.00,2.72,0.00,0.000,6,0.000,0.145,2507,2013,3859
$GC,1302,-1.25,-194.7,129.9,-9.7,224,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2010,3859
$GC,1646,-1.25,-194.7,162.5,-9.8,285,1652,0.00,2.65,0.00,0.000,4,0.000,0.136,2507,3442,3859
$GC,1687,-1.25,-194.7,166.8,-10.4,292,1693,0.00,2.72,0.00,0.000,6,0.000,0.156,2507,2019,3860
$GC,2031,-1.25,-194.7,200.5,-9.9,353,2037,0.00,2.67,0.00,0.000,4,0.000,0.136,2506,3451,3860
$GC,2071,-1.25,-194.7,204.9,-10.7,360,2077,0.00,2.72,0.00,0.000,6,0.000,0.147,2507,2025,3860
$GC,2416,-1.25,-194.7,240.9,-10.9,421,2422,0.00,2.65,0.00,0.000,4,0.000,0.137,2506,3446,3860
$GC,2451,-1.25,-194.7,245.0,-11.6,427,2457,0.00,2.70,0.00,0.000,6,0.000,0.146,2507,2042,3859
$GC,2793,-1.25,-194.7,283.2,-10.9,488,2800,0.00,2.60,0.00,0.000,4,0.000,0.144,2507,3441,3860
$GC,2834,-1.25,-194.7,287.9,-11.6,495,2840,0.00,2.67,0.00,0.000,6,0.000,0.146,2507,2046,3860
$GC,3177,-1.25,-194.7,324.8,-10.4,556,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3860
$GC,3516,-1.25,-194.7,358.8,-9.8,609,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3860
$GC,3834,-1.25,-194.7,390.2,-9.9,639,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3859
$GC,4153,-1.25,-194.7,421.4,-10.0,669,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3859
$GC,4470,-1.25,-194.7,454.5,-10.2,699,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3859
$GC,4789,-1.25,-194.7,486.4,-10.1,729,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3859
$GC,5108,-1.25,-194.7,519.1,-10.3,759,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2043,3859
$GC,5427,-1.25,-194.7,550.8,-9.9,789,5432,0.00,2.67,0.00,0.000,4,0.000,0.153,2507,3439,3858
$GC,5470,-1.25,-194.7,555.5,-10.5,792,5477,0.00,2.67,0.00,0.000,6,0.000,0.161,2507,2057,3858
$GC,5798,-1.25,-194.7,587.3,-9.7,823,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2055,3858
$GC,6119,-1.25,-194.7,619.0,-9.8,845,6124,0.00,2.92,0.00,0.000,4,0.000,0.185,2506,620,3858
$GC,6158,-1.25,-194.7,623.1,-10.4,847,6163,0.00,2.67,0.00,0.000,6,0.000,0.137,2507,2049,3858
$GC,6487,-1.25,-194.7,655.3,-9.7,863,6491,0.00,2.72,0.00,0.000,4,0.000,0.166,2507,3444,3858
$GC,6548,-1.25,-194.7,662.0,-10.5,866,6553,0.00,2.72,0.00,0.000,6,0.000,0.160,2507,2052,3857
$GC,6874,-1.25,-194.7,695.0,-10.5,882,6879,0.00,2.95,0.00,0.000,4,0.000,0.186,2507,610,3857
$GC,6906,-1.25,-194.7,698.6,-10.9,883,6912,0.00,2.70,0.00,0.000,6,0.000,0.137,2507,2056,3858
$GC,7222,-1.25,-194.7,730.3,-10.1,899,7226,0.00,2.75,0.00,0.000,4,0.000,0.172,2507,3446,3857
$GC,7261,-1.25,-194.7,734.4,-11.1,901,7266,0.00,2.75,0.00,0.000,6,0.000,0.159,2507,2048,3857
$GC,7588,-1.25,-194.7,768.2,-10.4,917,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2047,3857
$GC,7896,-1.25,-194.7,796.3,-8.6,932,7901,0.00,2.70,0.00,0.000,4,0.000,0.160,2507,3442,3856
$GC,7946,-1.25,-194.7,800.9,-9.0,934,7951,0.00,2.72,0.00,0.000,6,0.000,0.162,2507,2057,3856
$GC,8263,-1.25,-194.7,827.6,-8.7,949,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2057,3856
$GC,8571,-1.25,-194.7,854.2,-8.7,964,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2055,3856
$GC,8881,-1.45,-194.7,868.4,-0.0,979,8883,0.20,0.00,0.00,0.000,6,0.061,0.000,2454,2055,3855
$STATE,8940,end dive,NO_VERTICAL_VELOCITY
$STATE,8940,begin apogee
$GC,8946,-0.37,0.0,868.4,0.0,982,9117,1.08,0.00,167.23,1.206,6,0.074,0.000,2696,1978,3062
$STATE,9117,end apogee,CONTROL_FINISHED_OK
$STATE,9118,begin climb
$GC,9120,1.34,194.7,868.2,0.0,990,9296,1.67,2.92,165.93,1.171,4,0.077,0.177,3065,573,2267
$GC,9348,1.29,194.7,849.5,11.5,1001,9353,0.00,2.67,0.00,0.000,6,0.000,0.131,3065,1995,2264
$GC,9675,1.29,194.7,815.7,10.0,1017,9680,0.00,2.72,0.00,0.000,4,0.000,0.159,3065,3395,2261
$GC,9730,1.29,194.7,809.6,11.5,1019,9736,0.00,2.75,0.00,0.000,6,0.000,0.153,3065,1992,2260
$GC,10046,1.30,203.5,778.6,9.7,1035,10056,0.00,0.00,8.18,0.955,6,0.000,0.000,3065,1990,2232
$GC,10372,1.33,224.9,747.9,9.3,1051,10397,0.00,2.78,20.48,1.075,4,0.000,0.149,3065,3399,2144
$GC,10455,1.34,235.5,739.9,9.6,1055,10471,0.00,2.75,10.75,0.992,6,0.000,0.154,3065,1995,2102
$GC,10780,1.34,235.5,707.0,10.6,1070,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1991,2099
$GC,11090,1.34,235.5,673.0,11.3,1085,11095,0.00,2.70,0.00,0.000,4,0.000,0.150,3065,3399,2098
$GC,11112,1.34,235.5,670.3,11.6,1086,11116,0.00,2.72,0.00,0.000,6,0.000,0.153,3065,2004,2098
$GC,11438,1.34,235.5,634.7,10.9,1102,11443,0.00,2.67,0.00,0.000,4,0.000,0.150,3065,3401,2097
$GC,11471,1.34,235.5,630.9,11.3,1103,11477,0.00,2.67,0.00,0.000,6,0.000,0.154,3065,2025,2097
$GC,11787,1.34,235.5,597.8,10.5,1119,11791,0.00,2.90,0.00,0.000,4,0.000,0.173,3065,569,2097
$GC,11815,1.34,235.5,594.8,10.5,1121,11819,0.00,2.67,0.00,0.000,6,0.000,0.130,3065,2018,2097
$GC,12139,1.34,235.5,560.6,10.5,1151,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2021,2097
$GC,12461,1.34,235.5,528.0,10.1,1181,12465,0.00,2.65,0.00,0.000,4,0.000,0.155,3064,3403,2096
$GC,12493,1.34,235.5,524.1,10.5,1183,12500,0.00,2.67,0.00,0.000,6,0.000,0.153,3065,2023,2096
$GC,12819,1.34,235.5,490.3,10.6,1214,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2021,2097
$GC,13137,1.34,235.5,456.8,10.3,1244,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2022,2096
$GC,13456,1.34,235.5,422.7,11.0,1274,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2022,2097
$GC,13774,1.34,235.5,388.5,10.3,1304,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2022,2097
$GC,14092,1.34,235.5,355.9,10.4,1334,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2022,2097
$GC,14425,1.34,235.5,321.8,10.2,1388,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2021,2097
$GC,14769,1.37,262.1,287.4,9.1,1449,14796,0.00,0.00,23.80,0.829,6,0.000,0.000,3065,2020,1992
$GC,15134,1.39,271.3,252.2,9.7,1514,15146,0.00,0.00,8.98,0.732,6,0.000,0.000,3065,2020,1956
$GC,15482,1.39,275.2,217.2,9.9,1576,15489,0.00,0.00,5.03,0.606,6,0.000,0.000,3065,2021,1939
$GC,15827,1.39,275.2,182.1,10.1,1637,15833,0.00,2.88,0.00,0.000,4,0.000,0.164,3065,562,1939
$GC,15850,1.39,275.2,179.5,10.0,1641,15856,0.00,2.72,0.00,0.000,6,0.000,0.127,3065,2040,1939
$GC,16195,1.39,277.9,143.8,9.9,1702,16202,0.00,0.00,4.28,0.537,6,0.000,0.000,3065,2042,1928
$GC,16540,1.39,277.9,107.8,10.8,1763,16546,0.00,2.90,0.00,0.000,4,0.000,0.163,3065,569,1927
$GC,16564,1.39,277.9,105.0,12.0,1767,16570,0.00,2.67,0.00,0.000,6,0.000,0.126,3065,2025,1927
$GC,16908,1.39,277.9,65.0,12.2,1828,16914,0.00,2.55,0.00,0.000,4,0.000,0.140,3065,3399,1927
$GC,16954,1.39,277.9,59.1,11.4,1836,16961,0.00,2.62,0.00,0.000,6,0.000,0.155,3065,2029,1927
$GC,17299,1.44,315.3,23.2,8.7,1897,17339,0.12,2.90,33.28,0.674,4,0.061,0.161,3103,572,1775
$GC,17380,1.39,315.3,13.9,12.2,1911,17386,0.00,2.70,0.00,0.000,6,0.000,0.128,3103,2035,1774
$STATE,17475,end climb,SURFACE_DEPTH_REACHED
$STATE,17475,begin surface coast
$FINISH,0.3,1.027022
$STATE,17499,end surface coast,CONTROL_FINISHED_OK
$STATE,17501,begin surface
$SM_CCo,17580,0.00,0.000,0,0,1769,316.93
$SM_GC,0.90,10.62,0.00,0.00,0.038,0.000,0.000,571,2042,1769,-10.06,0.34,316.93
$IRIDIUM_FIX,6126.23,-2644.10,210897,222202
$TT8_MAMPS,0.041418
$HUMID,1683
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,864
$24V_AH,23.4,49.117
$10V_AH,10.6,53.245
$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,24.850,125.500,447.900,0.000,0.000,24.208,31.913,328.752,216.000,0.000,0.000,14.010,3021.067,10272.806,591.779,3459.375,744.403,0.000,2114.544,0.000,3466.321,0.000,0.466
$DEVICE_MAMPS,196.352,186.381,1206.491,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1348.694,1414.477,751.973,1805.876,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142266,1932
$CAP_FILE_SIZE,166622,0
$CFSIZE,260165632,233058304
$ERRORS,0,40,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,081138,6155.582,-2650.442,30,0.9,30,-19.2