version: 66.03
glider: 141
mission: 7
dive: 271
start: 6 2 108 10 23 58
data:
$ID,141
$MISSION,7
$DIVE,271
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-11207.582
$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,13
$R_STBD_OVSHOOT,9
$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
$GPS1,101356,6155.513,-2600.955,37,1.6,37,-18.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.3
$GPS2,102339,6155.455,-2600.961,10,1.2,10,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$TGT_RADIUS,2000.000
$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,244.6,26856,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,96,0.00,0.00,-73.45,0.000,2,0.000,0.000,571,2013,3777
$GC,99,-1.34,-194.7,3.8,-6.8,10,123,11.07,2.78,-1.70,0.000,4,0.198,0.178,2480,619,3858
$GC,255,-1.30,-194.7,32.3,-14.5,36,262,0.00,2.60,0.00,0.000,6,0.000,0.136,2480,2039,3859
$GC,397,-1.24,-194.7,51.2,-12.4,61,404,0.12,0.00,0.00,0.000,6,0.116,0.000,2504,2042,3859
$GC,739,-1.24,-194.7,86.0,-10.9,122,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3860
$GC,1082,-1.24,-194.7,122.1,-10.9,183,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3860
$GC,1426,-1.24,-194.7,159.8,-11.2,244,1433,0.00,2.60,0.00,0.000,4,0.000,0.153,2504,3444,3860
$GC,1468,-1.24,-194.7,164.8,-11.9,251,1475,0.00,2.72,0.00,0.000,6,0.000,0.157,2504,2016,3860
$GC,1813,-1.24,-194.7,203.4,-10.8,312,1820,0.00,2.67,0.00,0.000,4,0.000,0.146,2504,3452,3860
$GC,1838,-1.24,-194.7,206.3,-11.3,316,1845,0.00,2.72,0.00,0.000,6,0.000,0.156,2504,2021,3861
$GC,2183,-1.24,-194.7,243.0,-10.9,377,2190,0.00,2.67,0.00,0.000,4,0.000,0.144,2504,3452,3860
$GC,2213,-1.24,-194.7,246.5,-11.5,382,2220,0.00,2.72,0.00,0.000,6,0.000,0.160,2504,2029,3860
$GC,2558,-1.24,-194.7,283.8,-10.8,443,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2028,3860
$GC,2902,-1.24,-194.7,322.4,-11.0,504,2910,0.00,2.65,0.00,0.000,4,0.000,0.150,2504,3449,3860
$GC,2927,-1.24,-194.7,325.4,-11.5,508,2935,0.00,2.70,0.00,0.000,6,0.000,0.157,2505,2032,3860
$GC,3266,-1.24,-194.7,365.7,-12.4,557,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2031,3860
$GC,3584,-1.24,-194.7,404.3,-12.2,587,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2030,3860
$GC,3903,-1.24,-194.7,443.0,-11.6,617,3908,0.00,2.67,0.00,0.000,4,0.000,0.153,2504,3444,3860
$GC,3943,-1.24,-194.7,447.9,-12.3,620,3948,0.00,2.70,0.00,0.000,6,0.000,0.159,2504,2045,3860
$GC,4269,-1.24,-194.7,482.9,-10.3,650,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3860
$GC,4587,-1.24,-194.7,514.6,-10.5,680,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3860
$GC,4905,-1.24,-194.7,549.5,-11.7,710,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3860
$GC,5224,-1.24,-194.7,588.0,-12.1,740,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3860
$GC,5536,-1.24,-194.7,624.5,-11.5,760,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2042,3860
$GC,5846,-1.24,-194.7,655.0,-9.1,775,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2041,3859
$GC,6155,-1.24,-194.7,683.3,-9.5,790,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2041,3860
$GC,6464,-1.24,-194.7,712.7,-10.1,805,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2040,3859
$GC,6776,-1.24,-194.7,746.1,-11.4,820,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2041,3859
$GC,7083,-1.24,-194.7,776.5,-8.2,835,7088,0.00,2.78,0.00,0.000,4,0.000,0.175,2504,3444,3859
$GC,7155,-1.24,-194.7,783.2,-8.9,838,7160,0.00,2.75,0.00,0.000,6,0.000,0.166,2504,2045,3859
$GC,7472,-1.24,-194.7,812.4,-10.1,853,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3858
$GC,7780,-1.24,-194.7,845.0,-10.5,868,7784,0.00,2.72,0.00,0.000,4,0.000,0.168,2504,3441,3858
$GC,7812,-1.24,-194.7,848.9,-11.9,869,7819,0.00,2.72,0.00,0.000,6,0.000,0.166,2504,2051,3858
$GC,8129,-1.24,-194.7,883.1,-11.3,885,8134,0.00,2.70,0.00,0.000,4,0.000,0.166,2504,3447,3858
$GC,8185,-1.24,-194.7,888.5,-9.9,887,8192,0.00,2.70,0.00,0.000,6,0.000,0.164,2504,2068,3857
$STATE,8457,end dive,NO_VERTICAL_VELOCITY
$STATE,8457,begin apogee
$GC,8463,-0.37,0.0,895.2,0.0,901,8639,0.85,0.00,168.07,1.230,6,0.067,0.000,2697,1985,3062
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8643,1.34,194.7,894.9,0.0,910,8822,1.67,2.97,166.15,1.200,4,0.078,0.193,3066,570,2269
$GC,8982,1.28,194.7,866.6,11.6,925,8986,0.00,2.65,0.00,0.000,6,0.000,0.138,3066,1985,2265
$GC,9309,1.33,232.4,836.4,8.7,941,9353,0.00,2.83,34.15,1.138,4,0.000,0.160,3066,3393,2113
$GC,9421,1.33,232.4,826.3,10.2,946,9425,0.00,2.75,0.00,0.000,6,0.000,0.158,3066,1993,2110
$GC,9748,1.36,260.1,797.7,9.0,962,9786,0.00,2.78,27.88,1.051,4,0.000,0.154,3066,3406,2000
$GC,9819,1.36,260.1,790.3,11.6,964,9824,0.00,2.75,0.00,0.000,6,0.000,0.160,3066,2005,1997
$GC,10136,1.36,260.1,753.2,12.4,979,10141,0.00,2.67,0.00,0.000,4,0.000,0.156,3066,3398,1996
$GC,10176,1.36,260.1,748.1,13.2,981,10181,0.00,2.70,0.00,0.000,6,0.000,0.159,3066,2018,1995
$GC,10504,1.36,260.1,711.4,10.7,997,10505,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2016,1995
$GC,10814,1.36,260.1,678.7,10.7,1012,10819,0.00,2.67,0.00,0.000,4,0.000,0.158,3066,3404,1994
$GC,10847,1.36,260.1,674.3,11.6,1013,10855,0.00,2.70,0.00,0.000,6,0.000,0.164,3066,2026,1994
$GC,11163,1.36,260.1,641.2,10.5,1029,11168,0.00,2.90,0.00,0.000,4,0.000,0.179,3066,569,1994
$GC,11196,1.36,260.1,637.4,10.9,1030,11204,0.00,2.72,0.00,0.000,6,0.000,0.143,3066,2032,1994
$GC,11512,1.36,260.1,604.3,10.3,1046,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2035,1994
$GC,11829,1.38,272.6,572.6,9.6,1073,11846,0.00,2.67,11.50,0.946,4,0.000,0.161,3066,3403,1949
$GC,11883,1.38,272.6,567.2,10.1,1077,11888,0.00,2.72,0.00,0.000,6,0.000,0.157,3066,2012,1948
$GC,12209,1.42,305.1,537.6,8.9,1107,12243,0.10,0.00,31.08,0.989,6,0.072,0.000,3096,2009,1818
$GC,12557,1.42,305.1,501.0,11.3,1140,12562,0.00,2.65,0.00,0.000,4,0.000,0.152,3096,3396,1812
$GC,12586,1.42,305.1,497.5,12.1,1142,12591,0.00,2.67,0.00,0.000,6,0.000,0.158,3096,2023,1812
$GC,12911,1.42,305.1,458.3,12.7,1172,12915,0.00,2.88,0.00,0.000,4,0.000,0.173,3096,567,1812
$GC,12943,1.38,305.1,453.9,12.4,1174,12951,0.00,2.72,0.00,0.000,6,0.000,0.139,3096,2039,1811
$GC,13271,1.38,305.1,417.4,10.1,1205,13275,0.00,2.58,0.00,0.000,4,0.000,0.153,3096,3398,1811
$GC,13310,1.38,305.1,413.0,10.6,1208,13315,0.00,2.65,0.00,0.000,6,0.000,0.156,3096,2031,1810
$GC,13636,1.39,313.2,382.2,9.7,1238,13650,0.00,2.95,7.38,0.775,4,0.000,0.170,3096,574,1785
$GC,13677,1.34,313.2,377.7,10.1,1241,13685,0.12,2.70,0.00,0.000,6,0.106,0.137,3071,2034,1785
$GC,14006,1.36,325.9,347.7,9.6,1274,14028,0.00,2.62,12.77,0.830,4,0.000,0.150,3072,3402,1732
$GC,14052,1.36,325.9,342.9,10.3,1281,14059,0.00,2.67,0.00,0.000,6,0.000,0.153,3072,2029,1731
$GC,14398,1.36,325.9,308.4,10.2,1342,14405,0.00,2.85,0.00,0.000,4,0.000,0.177,3071,573,1730
$GC,14440,1.36,325.9,304.1,10.3,1349,14447,0.00,2.70,0.00,0.000,6,0.000,0.133,3072,2036,1730
$GC,14785,1.37,335.0,270.0,9.7,1410,14800,0.00,2.65,9.32,0.754,4,0.000,0.146,3071,3399,1695
$GC,14823,1.37,335.6,266.2,10.0,1416,14831,0.00,2.65,0.00,0.000,6,0.000,0.161,3071,2031,1694
$GC,15169,1.43,381.1,236.8,8.4,1477,15235,0.00,2.95,45.97,0.761,4,0.000,0.166,3071,573,1507
$GC,15271,1.46,404.3,227.7,9.2,1493,15300,0.10,2.70,21.73,0.770,6,0.068,0.133,3103,2029,1412
$GC,15642,1.46,404.3,188.3,11.4,1557,15648,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2030,1405
$GC,15984,1.46,404.3,148.0,11.5,1618,15992,0.00,2.88,0.00,0.000,4,0.000,0.168,3103,570,1404
$GC,16040,1.46,404.3,141.5,12.0,1627,16047,0.00,2.65,0.00,0.000,6,0.000,0.138,3103,2005,1404
$GC,16382,1.46,404.3,100.2,12.2,1688,16388,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2008,1404
$GC,16724,1.46,404.3,61.4,13.0,1749,16731,0.00,2.83,0.00,0.000,4,0.000,0.167,3103,573,1403
$GC,16761,1.46,404.3,56.7,12.3,1755,16768,0.00,2.62,0.00,0.000,6,0.000,0.131,3103,1999,1403
$GC,17104,1.46,404.3,13.0,11.7,1816,17112,0.00,2.83,0.00,0.000,4,0.000,0.174,3103,567,1402
$GC,17136,1.46,404.3,9.2,11.6,1821,17143,0.00,2.58,0.00,0.000,6,0.000,0.130,3103,1976,1402
$STATE,17192,end climb,SURFACE_DEPTH_REACHED
$STATE,17192,begin surface coast
$FINISH,0.2,1.026946
$STATE,17215,end surface coast,CONTROL_FINISHED_OK
$STATE,17215,begin surface
$SM_CCo,17296,0.00,0.000,0,0,1400,407.69
$SM_GC,0.88,10.62,0.00,0.00,0.039,0.000,0.000,575,2042,1400,-10.07,0.34,407.69
$IRIDIUM_FIX,6130.75,-2605.31,270897,101037
$TT8_MAMPS,0.041418
$HUMID,1680
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.80
$XPDR_PINGS,1016
$24V_AH,23.4,54.235
$10V_AH,10.6,57.372
$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,24.675,147.375,536.000,0.000,0.000,53.856,74.944,263.322,254.000,0.000,0.000,12.384,3748.143,9303.767,720.197,3321.123,780.853,0.000,2204.208,0.000,3340.778,0.000,0.465
$DEVICE_MAMPS,197.886,193.284,1229.501,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1278.587,1379.090,682.552,1693.906,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136117,1835
$CAP_FILE_SIZE,164258,0
$CFSIZE,260165632,230768640
$ERRORS,0,8,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.190,213.0,1
$GPS,020608,151352,6152.320,-2607.291,41,5.3,60,-18.7