version: 66.03
glider: 141
mission: 7
dive: 247
start: 5 28 108 13 0 21
data:
$ID,141
$MISSION,7
$DIVE,247
$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,230
$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,-10831.181
$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,10
$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
$GPS1,125231,6155.070,-2654.554,37,1.0,43,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-53.7
$GPS2,130003,6155.138,-2654.579,12,1.0,12,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6148.197,-2658.488
$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,249.2,20000,-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,-104.32,0.000,2,0.000,0.000,568,2030,3703
$GC,137,-1.34,-194.7,3.4,-7.1,19,162,10.98,2.83,-3.60,0.000,4,0.195,0.166,2481,617,3859
$GC,315,-1.34,-194.7,30.0,-11.3,50,322,0.00,2.97,0.00,0.000,6,0.000,0.193,2481,2030,3860
$GC,459,-1.30,-194.7,46.9,-11.0,75,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2030,3859
$GC,601,-1.24,-194.7,62.9,-12.2,100,607,0.12,0.00,0.00,0.000,6,0.114,0.000,2505,2030,3860
$GC,945,-1.24,-194.7,102.2,-11.5,161,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2030,3860
$GC,1287,-1.24,-194.7,139.3,-10.3,222,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2033,3860
$GC,1630,-1.24,-194.7,175.4,-11.2,283,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2033,3860
$GC,1973,-1.24,-194.7,213.1,-10.8,344,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2032,3860
$GC,2316,-1.24,-194.7,250.8,-11.8,405,2322,0.00,3.20,0.00,0.000,4,0.000,0.227,2505,3454,3860
$GC,2368,-1.24,-194.7,257.0,-12.1,414,2374,0.00,2.70,0.00,0.000,6,0.000,0.149,2505,2040,3860
$GC,2712,-1.24,-194.7,296.1,-11.0,475,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2038,3860
$GC,3054,-1.24,-194.7,333.4,-10.4,536,3061,0.00,2.65,0.00,0.000,4,0.000,0.150,2505,3456,3860
$GC,3089,-1.24,-194.7,337.3,-10.9,542,3095,0.00,2.67,0.00,0.000,6,0.000,0.145,2505,2043,3860
$GC,3427,-1.24,-194.7,371.9,-10.0,584,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3860
$GC,3745,-1.24,-194.7,403.9,-10.3,614,3749,0.00,2.65,0.00,0.000,4,0.000,0.143,2505,3449,3859
$GC,3772,-1.24,-194.7,406.8,-10.9,616,3777,0.00,2.67,0.00,0.000,6,0.000,0.147,2505,2048,3860
$GC,4098,-1.24,-194.7,440.6,-10.4,646,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2045,3860
$GC,4415,-1.24,-194.7,474.7,-10.4,676,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3859
$GC,4734,-1.24,-194.7,507.8,-10.3,706,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3859
$GC,5052,-1.24,-194.7,542.4,-11.6,736,5056,0.00,2.67,0.00,0.000,4,0.000,0.150,2505,3449,3859
$GC,5101,-1.24,-194.7,548.2,-12.0,740,5106,0.00,2.70,0.00,0.000,6,0.000,0.150,2505,2045,3859
$GC,5429,-1.24,-194.7,585.6,-11.5,770,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3859
$GC,5749,-1.24,-194.7,619.2,-10.0,792,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3859
$GC,6059,-1.24,-194.7,649.0,-9.8,807,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3859
$GC,6367,-1.24,-194.7,678.8,-9.5,822,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3858
$GC,6678,-1.24,-194.7,706.7,-9.4,837,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3858
$GC,6986,-1.24,-194.7,736.6,-9.8,852,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3858
$GC,7296,-1.24,-194.7,768.0,-10.6,867,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3857
$GC,7604,-1.24,-194.7,800.3,-10.6,882,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3857
$GC,7915,-1.24,-194.7,829.2,-8.8,897,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3856
$GC,8225,-1.24,-194.7,858.3,-9.7,912,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3856
$GC,8533,-1.24,-194.7,885.5,-9.9,927,8537,0.00,2.75,0.00,0.000,4,0.000,0.170,2505,3443,3856
$GC,8576,-1.24,-194.7,890.5,-11.4,929,8581,0.00,2.75,0.00,0.000,6,0.000,0.162,2505,2041,3855
$GC,8897,-1.48,-194.7,903.4,0.0,945,8899,0.20,0.00,0.00,0.000,6,0.067,0.000,2457,2039,3855
$STATE,8915,end dive,NO_VERTICAL_VELOCITY
$STATE,8915,begin apogee
$GC,8921,-0.37,0.0,903.4,0.0,946,9093,1.08,0.00,168.12,1.229,6,0.068,0.000,2701,1985,3062
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9094,begin climb
$GC,9096,1.34,194.7,903.2,0.0,954,9268,1.65,0.00,167.32,1.199,6,0.075,0.000,3066,1985,2268
$GC,9569,1.32,217.3,864.2,9.2,977,9595,0.00,2.80,20.62,1.108,4,0.000,0.150,3066,3405,2175
$GC,9623,1.32,217.3,858.2,11.0,979,9629,0.00,2.75,0.00,0.000,6,0.000,0.150,3066,1986,2173
$GC,9939,1.28,217.3,824.9,11.5,995,9943,0.00,2.72,0.00,0.000,4,0.000,0.148,3065,3406,2171
$GC,9970,1.28,217.3,821.0,11.5,996,9977,0.00,2.72,0.00,0.000,6,0.000,0.149,3066,1992,2172
$GC,10287,1.28,217.3,788.1,10.8,1012,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1990,2171
$GC,10596,1.28,217.3,757.3,10.0,1027,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1990,2171
$GC,10905,1.28,217.3,723.6,11.3,1042,10909,0.00,2.70,0.00,0.000,4,0.000,0.149,3066,3403,2170
$GC,10993,1.28,217.3,713.3,11.9,1046,10998,0.00,2.70,0.00,0.000,6,0.000,0.151,3066,2002,2169
$GC,11314,1.29,227.4,681.2,9.7,1062,11329,0.00,2.92,9.55,0.970,4,0.000,0.176,3066,573,2135
$GC,11363,1.27,243.8,676.5,9.4,1063,11387,0.00,2.67,16.70,1.026,6,0.000,0.130,3066,2013,2067
$GC,11703,1.27,243.8,642.0,10.3,1080,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2015,2063
$GC,12012,1.27,243.8,609.0,11.0,1095,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2015,2063
$GC,12329,1.27,243.8,573.4,10.8,1121,12333,0.00,2.65,0.00,0.000,4,0.000,0.153,3066,3403,2062
$GC,12361,1.27,243.8,569.9,10.3,1123,12367,0.00,2.70,0.00,0.000,6,0.000,0.150,3066,2000,2062
$GC,12688,1.27,243.8,535.7,10.6,1154,12692,0.00,2.83,0.00,0.000,4,0.000,0.173,3066,574,2063
$GC,12729,1.23,243.8,531.3,11.0,1157,12733,0.00,2.65,0.00,0.000,6,0.000,0.130,3066,2006,2063
$GC,13055,1.24,248.5,497.1,9.8,1187,13067,0.00,2.65,5.40,0.751,4,0.000,0.149,3066,3395,2047
$GC,13106,1.24,248.5,491.6,10.3,1191,13112,0.00,2.70,0.00,0.000,6,0.000,0.155,3066,1999,2046
$GC,13431,1.24,248.5,456.6,10.9,1222,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1997,2046
$GC,13749,1.24,248.5,418.7,11.6,1252,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1998,2046
$GC,14069,1.24,252.8,385.1,9.8,1282,14079,0.00,0.00,5.12,0.688,6,0.000,0.000,3066,1997,2031
$GC,14397,1.24,252.8,351.0,10.5,1313,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1997,2030
$GC,14732,1.26,270.8,318.3,9.4,1372,14754,0.00,0.00,17.30,0.833,6,0.000,0.000,3066,1997,1957
$GC,15092,1.29,293.8,284.8,9.2,1436,15119,0.00,0.00,21.85,0.821,6,0.000,0.000,3066,1997,1863
$GC,15457,1.29,295.8,248.6,9.9,1501,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1997,1860
$GC,15800,1.29,295.8,213.0,10.2,1562,15806,0.00,2.62,0.00,0.000,4,0.000,0.139,3066,3400,1859
$GC,15829,1.29,295.8,209.9,10.8,1567,15835,0.00,2.70,0.00,0.000,6,0.000,0.146,3066,1995,1859
$GC,16173,1.30,299.1,174.7,9.9,1628,16185,0.00,2.83,5.88,0.633,4,0.000,0.163,3066,570,1841
$GC,16214,1.30,299.1,170.1,11.0,1635,16220,0.00,2.65,0.00,0.000,6,0.000,0.125,3066,2010,1840
$GC,16557,1.32,318.7,133.3,9.3,1696,16579,0.00,0.00,18.10,0.725,6,0.000,0.000,3066,2012,1761
$GC,16917,1.34,333.7,95.5,9.5,1760,16934,0.00,0.00,14.05,0.687,6,0.000,0.000,3066,2012,1700
$GC,17272,1.34,333.7,60.7,10.4,1823,17277,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2012,1697
$GC,17615,1.42,394.3,25.2,7.9,1884,17678,0.10,2.92,52.95,0.670,4,0.069,0.160,3099,572,1453
$GC,17697,1.42,394.3,17.2,11.1,1898,17703,0.00,2.62,0.00,0.000,6,0.000,0.130,3099,1999,1452
$STATE,17822,end climb,SURFACE_DEPTH_REACHED
$STATE,17822,begin surface coast
$FINISH,0.2,1.026950
$STATE,17852,end surface coast,CONTROL_FINISHED_OK
$STATE,17852,begin surface
$SM_CCo,17932,0.00,0.000,0,0,1445,396.65
$SM_GC,0.90,10.62,0.00,0.00,0.038,0.000,0.000,572,2043,1445,-10.06,0.37,396.65
$IRIDIUM_FIX,6130.75,-2650.23,220897,080839
$TT8_MAMPS,0.041418
$HUMID,1682
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,853
$24V_AH,23.4,49.511
$10V_AH,10.6,53.565
$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,24.750,87.950,522.975,0.000,0.000,28.102,32.337,248.955,213.250,0.000,0.000,15.181,2980.866,10711.568,654.984,3357.882,661.481,0.000,2118.979,0.000,3368.463,0.000,0.466
$DEVICE_MAMPS,194.818,227.032,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1353.519,1412.622,744.343,1781.332,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142400,1925
$CAP_FILE_SIZE,158187,0
$CFSIZE,260165632,232886272
$ERRORS,0,27,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,180026,6154.131,-2658.347,37,1.2,37,-19.2