version: 66.03
glider: 141
mission: 7
dive: 273
start: 6 2 108 20 33 46
data:
$ID,141
$MISSION,7
$DIVE,273
$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,-11238.445
$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
$GPS1,202537,6149.436,-2614.641,35,1.1,35,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-45.0
$GPS2,203327,6149.344,-2614.671,10,1.8,10,-18.8
$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,243.5,10353,-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,-194.7,0.0,0.0,0,154,0.00,0.00,-130.45,0.000,2,0.000,0.000,571,2046,3781
$GC,157,-1.34,-194.7,3.8,-7.3,17,180,11.12,2.65,-1.60,0.000,4,0.200,0.155,2483,3441,3858
$GC,433,-1.27,-194.7,47.8,-12.4,65,441,0.00,2.70,0.00,0.000,6,0.000,0.152,2484,2027,3858
$GC,576,-1.22,-194.7,64.3,-12.0,90,584,0.15,2.62,0.00,0.000,4,0.118,0.141,2516,3437,3859
$GC,602,-1.22,-194.7,67.4,-12.0,94,610,0.00,2.72,0.00,0.000,6,0.000,0.154,2516,2017,3859
$GC,947,-1.22,-194.7,104.8,-11.0,155,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2014,3859
$GC,1289,-1.22,-194.7,145.6,-12.6,216,1297,0.00,2.65,0.00,0.000,4,0.000,0.146,2516,3436,3859
$GC,1323,-1.22,-194.7,149.4,-13.0,221,1330,0.00,2.70,0.00,0.000,6,0.000,0.156,2516,2028,3859
$GC,1667,-1.22,-194.7,187.6,-9.8,282,1675,0.00,2.65,0.00,0.000,4,0.000,0.144,2516,3442,3859
$GC,1693,-1.22,-194.7,190.1,-10.0,286,1701,0.00,2.67,0.00,0.000,6,0.000,0.157,2517,2042,3859
$GC,2039,-1.22,-194.7,223.4,-9.9,347,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2040,3859
$GC,2382,-1.22,-194.7,259.0,-10.5,408,2389,0.00,2.60,0.00,0.000,4,0.000,0.148,2516,3441,3859
$GC,2436,-1.22,-194.7,264.7,-10.8,417,2443,0.00,2.67,0.00,0.000,6,0.000,0.153,2516,2045,3859
$GC,2781,-1.22,-194.7,299.4,-10.3,478,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2043,3859
$GC,3126,-1.22,-194.7,338.6,-12.0,539,3133,0.00,2.60,0.00,0.000,4,0.000,0.143,2517,3436,3859
$GC,3151,-1.22,-194.7,341.8,-12.4,543,3159,0.00,2.65,0.00,0.000,6,0.000,0.156,2516,2059,3859
$GC,3487,-1.22,-194.7,385.4,-13.1,580,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2055,3858
$GC,3806,-1.22,-194.7,421.8,-10.1,610,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2053,3858
$GC,4124,-1.22,-194.7,450.5,-8.5,640,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2053,3858
$GC,4443,-1.22,-194.7,478.7,-9.4,670,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2053,3858
$GC,4761,-1.22,-194.7,513.4,-12.3,700,4765,0.00,2.65,0.00,0.000,4,0.000,0.154,2516,3444,3857
$GC,4801,-1.22,-194.7,518.3,-12.4,703,4805,0.00,2.65,0.00,0.000,6,0.000,0.156,2516,2071,3858
$GC,5129,-1.22,-194.7,555.4,-10.7,733,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2070,3857
$GC,5454,-1.22,-194.7,594.5,-12.5,764,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2069,3857
$GC,5776,-1.22,-194.7,632.8,-11.7,782,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2069,3857
$GC,6085,-1.22,-194.7,668.1,-11.4,797,6089,0.00,2.70,0.00,0.000,4,0.000,0.168,2516,3436,3856
$GC,6117,-1.22,-194.7,672.4,-13.4,798,6124,0.00,2.70,0.00,0.000,6,0.000,0.165,2516,2062,3856
$GC,6433,-1.22,-194.7,710.5,-12.1,814,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2061,3856
$GC,6742,-1.22,-194.7,744.7,-10.1,829,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2059,3856
$GC,7051,-1.22,-194.7,776.9,-11.0,844,7056,0.00,2.67,0.00,0.000,4,0.000,0.164,2516,3434,3856
$GC,7124,-1.22,-194.7,784.6,-10.3,847,7128,0.00,2.70,0.00,0.000,6,0.000,0.165,2516,2057,3856
$GC,7439,-1.22,-194.7,818.2,-10.3,862,7444,0.00,2.70,0.00,0.000,4,0.000,0.163,2516,3439,3856
$STATE,7626,end dive,NO_VERTICAL_VELOCITY
$STATE,7626,begin apogee
$GC,7634,-0.37,0.0,822.0,0.0,870,7807,0.77,0.00,166.18,1.174,6,0.061,0.000,2699,1981,3061
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7808,begin climb
$GC,7810,1.34,194.7,821.6,0.0,879,7984,1.62,2.85,164.75,1.146,4,0.065,0.152,3067,3392,2267
$GC,8055,1.40,243.0,804.1,8.3,890,8103,0.00,2.78,42.70,1.102,6,0.000,0.157,3067,1985,2071
$GC,8426,1.40,243.0,765.8,11.5,908,8430,0.00,2.72,0.00,0.000,4,0.000,0.153,3067,3398,2066
$GC,8481,1.40,243.0,758.9,12.1,910,8488,0.00,2.72,0.00,0.000,6,0.000,0.156,3067,2000,2065
$GC,8796,1.40,243.0,724.4,11.1,926,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1997,2065
$GC,9106,1.41,247.8,691.9,9.8,941,9116,0.00,2.70,5.12,0.791,4,0.000,0.151,3067,3393,2050
$GC,9168,1.41,247.8,685.5,10.4,944,9173,0.00,2.72,0.00,0.000,6,0.000,0.160,3067,2000,2049
$GC,9495,1.45,285.7,654.9,8.7,960,9536,0.12,0.00,35.20,1.051,6,0.064,0.000,3104,1997,1897
$GC,9846,1.41,285.7,616.9,11.9,977,9850,0.00,2.65,0.00,0.000,4,0.000,0.153,3104,3389,1893
$GC,9885,1.41,285.7,611.8,13.1,979,9890,0.00,2.70,0.00,0.000,6,0.000,0.159,3104,2008,1892
$GC,10210,1.36,285.7,569.5,13.5,1005,10212,0.12,0.00,0.00,0.000,6,0.106,0.000,3079,2005,1891
$GC,10530,1.56,443.8,540.5,4.5,1035,10680,0.17,0.00,141.85,0.986,6,0.056,0.000,3126,2005,1252
$GC,10996,1.56,443.8,496.9,11.9,1080,11001,0.00,2.88,0.00,0.000,4,0.000,0.175,3126,572,1242
$GC,11040,1.56,443.8,491.0,13.5,1083,11047,0.00,2.72,0.00,0.000,6,0.000,0.134,3127,2029,1242
$GC,11367,1.56,443.8,439.5,16.5,1114,11372,0.00,2.90,0.00,0.000,4,0.000,0.166,3126,569,1240
$GC,11410,1.56,443.8,431.5,17.3,1117,11418,0.00,2.67,0.00,0.000,6,0.000,0.131,3126,2012,1240
$GC,11737,1.56,443.8,384.3,13.5,1148,11742,0.00,2.88,0.00,0.000,4,0.000,0.170,3126,568,1239
$GC,11770,1.56,443.8,379.4,14.0,1150,11777,0.00,2.62,0.00,0.000,6,0.000,0.132,3126,1995,1239
$GC,12099,1.56,443.8,336.0,14.4,1190,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1997,1239
$GC,12444,1.56,443.8,286.6,14.0,1251,12451,0.00,2.83,0.00,0.000,4,0.000,0.169,3127,571,1238
$GC,12492,1.56,443.8,279.8,13.4,1259,12499,0.00,2.60,0.00,0.000,6,0.000,0.130,3126,1982,1238
$GC,12837,1.56,443.8,232.0,14.6,1320,12844,0.00,2.80,0.00,0.000,4,0.000,0.172,3126,565,1238
$GC,12868,1.56,443.8,227.1,15.3,1325,12875,0.00,2.60,0.00,0.000,6,0.000,0.130,3126,1973,1238
$GC,13214,1.56,443.8,167.5,18.0,1386,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1976,1238
$GC,13557,1.56,443.8,122.8,11.6,1447,13564,0.00,2.78,0.00,0.000,4,0.000,0.166,3127,568,1238
$GC,13612,1.56,443.8,116.2,12.7,1456,13620,0.00,2.55,0.00,0.000,6,0.000,0.133,3126,1955,1238
$GC,13957,1.56,443.8,64.1,16.5,1517,13963,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1960,1238
$GC,14300,1.56,443.8,20.4,12.1,1578,14307,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1961,1238
$GC,14443,1.56,443.8,3.0,12.7,1603,14450,0.00,2.75,0.00,0.000,4,0.000,0.168,3126,566,1238
$STATE,14455,end climb,SURFACE_DEPTH_REACHED
$STATE,14455,begin surface coast
$FINISH,0.1,1.013993
$STATE,14473,end surface coast,CONTROL_FINISHED_OK
$STATE,14473,begin surface
$SM_CCo,14556,0.00,0.000,0,0,1234,448.41
$SM_GC,0.72,10.75,0.00,0.00,0.040,0.000,0.000,574,2036,1234,-10.07,0.17,448.41
$IRIDIUM_FIX,6126.23,-2611.49,270897,151552
$TT8_MAMPS,0.041418
$HUMID,1684
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,16.40
$XPDR_PINGS,925
$24V_AH,23.4,54.701
$10V_AH,10.6,57.687
$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,24.850,113.750,555.800,0.000,0.000,27.817,32.544,259.735,231.250,0.000,0.000,11.722,3249.740,7425.518,764.958,2906.054,660.058,0.000,2060.223,0.000,2918.505,0.000,0.465
$DEVICE_MAMPS,200.187,174.876,1174.277,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1117.991,1210.508,634.153,1507.553,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117145,1608
$CAP_FILE_SIZE,138959,0
$CFSIZE,260165632,230629376
$ERRORS,0,31,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.169,182.7,1
$GPS,030608,003737,6146.419,-2618.646,34,1.3,39,-18.8