version: 66.03
glider: 141
mission: 7
dive: 276
start: 6 3 108 8 8 46
data:
$ID,141
$MISSION,7
$DIVE,276
$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,-11284.299
$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,12
$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
$GPS1,080038,6146.818,-2623.472,27,1.1,27,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-48.3
$GPS2,080827,6146.808,-2623.458,13,1.1,13,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,20.2,17270,-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,-194.7,0.0,0.0,0,153,0.00,0.00,-129.45,0.000,2,0.000,0.000,571,2020,3834
$GC,156,-1.34,-194.7,4.1,-8.2,17,173,11.10,2.72,-0.47,0.000,4,0.199,0.149,2481,3449,3858
$GC,270,-1.27,-194.7,27.6,-13.8,36,278,0.10,2.72,0.00,0.000,6,0.123,0.150,2500,2021,3859
$GC,412,-1.27,-194.7,45.6,-12.5,61,420,0.00,2.72,0.00,0.000,4,0.000,0.165,2499,615,3859
$GC,529,-1.27,-194.7,59.6,-11.4,81,537,0.00,2.58,0.00,0.000,6,0.000,0.134,2499,2015,3860
$GC,873,-1.27,-194.7,96.4,-10.2,142,881,0.00,2.65,0.00,0.000,4,0.000,0.139,2500,3448,3860
$GC,927,-1.27,-194.7,101.8,-9.9,151,934,0.00,2.78,0.00,0.000,6,0.000,0.156,2500,2004,3860
$GC,1271,-1.27,-194.7,135.7,-10.1,212,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2000,3860
$GC,1616,-1.27,-194.7,169.8,-10.0,273,1623,0.00,2.67,0.00,0.000,4,0.000,0.139,2499,3442,3860
$GC,1691,-1.27,-194.7,177.4,-10.3,286,1699,0.00,2.72,0.00,0.000,6,0.000,0.153,2499,2016,3860
$GC,2038,-1.27,-194.7,211.4,-9.8,347,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2012,3860
$GC,2382,-1.27,-194.7,245.8,-10.0,408,2389,0.00,2.65,0.00,0.000,4,0.000,0.145,2499,3441,3860
$GC,2447,-1.27,-194.7,252.6,-10.7,419,2454,0.00,2.70,0.00,0.000,6,0.000,0.154,2500,2034,3860
$GC,2791,-1.27,-194.7,291.2,-11.4,480,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2033,3860
$GC,3137,-1.27,-194.7,330.0,-11.1,541,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2033,3860
$GC,3478,-1.27,-194.7,366.8,-10.9,589,3483,0.00,2.62,0.00,0.000,4,0.000,0.142,2499,3439,3859
$GC,3541,-1.27,-194.7,373.8,-10.5,594,3545,0.00,2.67,0.00,0.000,6,0.000,0.154,2499,2049,3859
$GC,3868,-1.27,-194.7,407.6,-9.9,624,3872,0.00,2.80,0.00,0.000,4,0.000,0.166,2499,616,3859
$GC,3918,-1.27,-194.7,412.9,-10.1,628,3923,0.00,2.65,0.00,0.000,6,0.000,0.131,2499,2050,3859
$GC,4245,-1.27,-194.7,444.6,-10.0,658,4249,0.00,2.62,0.00,0.000,4,0.000,0.150,2499,3442,3858
$GC,4307,-1.27,-194.7,451.3,-10.7,663,4312,0.00,2.70,0.00,0.000,6,0.000,0.155,2499,2048,3858
$GC,4634,-1.27,-194.7,485.8,-10.8,693,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2045,3859
$GC,4951,-1.27,-194.7,522.6,-12.0,723,4956,0.00,2.67,0.00,0.000,4,0.000,0.152,2499,3449,3859
$GC,5048,-1.27,-194.7,535.9,-14.1,731,5052,0.00,2.72,0.00,0.000,6,0.000,0.159,2499,2050,3858
$GC,5375,-1.27,-194.7,576.9,-12.7,761,5379,0.00,2.88,0.00,0.000,4,0.000,0.179,2499,613,3858
$GC,5437,-1.27,-194.7,584.7,-9.8,766,5442,0.00,2.70,0.00,0.000,6,0.000,0.136,2499,2063,3858
$GC,5757,-1.27,-194.7,619.1,-11.0,788,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2065,3858
$GC,6067,-1.27,-194.7,650.8,-9.3,803,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2065,3858
$GC,6375,-1.27,-194.7,683.6,-10.9,818,6380,0.00,2.70,0.00,0.000,4,0.000,0.169,2499,3445,3858
$GC,6425,-1.27,-194.7,689.3,-10.8,820,6429,0.00,2.72,0.00,0.000,6,0.000,0.162,2499,2050,3857
$GC,6747,-1.27,-194.7,721.7,-9.3,836,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2048,3858
$GC,7057,-1.73,-194.7,744.5,0.0,851,7059,0.45,0.00,0.00,0.000,6,0.079,0.000,2399,2048,3857
$STATE,7136,end dive,NO_VERTICAL_VELOCITY
$STATE,7136,begin apogee
$GC,7143,-0.37,0.0,744.5,0.0,855,7312,1.27,0.00,165.18,1.119,6,0.044,0.000,2707,1984,3062
$STATE,7313,end apogee,CONTROL_FINISHED_OK
$STATE,7313,begin climb
$GC,7315,1.34,194.7,744.3,0.0,863,7488,1.60,2.83,163.30,1.090,4,0.061,0.151,3071,3392,2267
$GC,7541,1.39,236.0,731.6,8.6,874,7586,0.00,2.78,36.35,1.048,6,0.000,0.157,3072,1986,2100
$GC,7895,1.48,306.1,703.4,7.6,891,7965,0.12,2.80,62.33,1.055,4,0.063,0.146,3108,3396,1813
$GC,7999,1.48,306.1,692.0,13.7,895,8006,0.00,2.75,0.00,0.000,6,0.000,0.156,3108,1990,1810
$GC,8316,1.46,331.2,654.4,9.1,911,8340,0.00,0.00,22.40,0.999,6,0.000,0.000,3108,1987,1711
$GC,8644,1.54,396.7,626.5,7.7,927,8724,0.00,2.92,63.65,0.973,4,0.000,0.176,3108,571,1444
$GC,8735,1.54,396.7,617.6,10.9,930,8739,0.00,2.65,0.00,0.000,6,0.000,0.133,3109,1979,1443
$GC,9054,1.60,446.5,591.1,8.3,950,9105,0.00,0.00,45.28,0.997,6,0.000,0.000,3109,1982,1239
$GC,9423,1.67,497.0,560.4,8.2,985,9474,0.15,2.85,45.12,0.978,4,0.056,0.166,3158,570,1035
$GC,9504,1.61,497.0,551.0,12.5,992,9509,0.15,2.65,0.00,0.000,6,0.104,0.133,3129,1980,1034
$GC,9828,1.61,497.0,516.5,10.5,1022,9833,0.00,2.83,0.00,0.000,4,0.000,0.170,3128,569,1028
$GC,9856,1.61,497.0,513.6,10.5,1024,9861,0.00,2.60,0.00,0.000,6,0.000,0.132,3128,1963,1029
$GC,10183,1.61,497.0,476.8,11.6,1054,10188,0.00,2.78,0.00,0.000,4,0.000,0.170,3128,574,1027
$GC,10211,1.61,497.0,473.1,12.4,1056,10216,0.00,2.55,0.00,0.000,6,0.000,0.133,3128,1942,1027
$GC,10538,1.61,497.0,434.6,11.9,1086,10542,0.00,2.75,0.00,0.000,4,0.000,0.170,3128,565,1027
$GC,10555,1.61,497.0,432.4,12.0,1087,10560,0.00,2.55,0.00,0.000,6,0.000,0.131,3128,1940,1027
$GC,10882,1.61,497.0,394.4,12.3,1117,10887,0.00,2.72,0.00,0.000,4,0.000,0.170,3128,572,1026
$GC,10899,1.61,497.0,392.1,12.8,1118,10903,0.00,2.50,0.00,0.000,6,0.000,0.131,3128,1923,1026
$GC,11226,1.61,497.0,351.8,12.3,1148,11230,0.00,2.70,0.00,0.000,4,0.000,0.169,3128,566,1025
$GC,11243,1.61,497.0,349.3,12.8,1149,11250,0.00,2.50,0.00,0.000,6,0.000,0.130,3128,1919,1026
$GC,11588,1.61,497.0,305.5,13.2,1210,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1925,1025
$GC,11932,1.61,497.0,256.4,14.7,1271,11939,0.00,2.67,0.00,0.000,4,0.000,0.167,3128,568,1025
$GC,11962,1.61,497.0,251.7,15.6,1276,11969,0.00,2.47,0.00,0.000,6,0.000,0.137,3128,1915,1025
$GC,12307,1.61,497.0,201.3,13.8,1337,12314,0.00,2.65,0.00,0.000,4,0.000,0.165,3128,572,1025
$GC,12321,1.61,497.0,199.3,13.5,1339,12328,0.00,2.45,0.00,0.000,6,0.000,0.129,3128,1906,1025
$GC,12666,1.61,497.0,152.7,12.4,1400,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1911,1025
$GC,13012,1.61,497.0,109.8,11.8,1461,13018,0.00,2.62,0.00,0.000,4,0.000,0.163,3128,570,1025
$GC,13037,1.61,497.0,106.7,12.2,1465,13043,0.00,2.45,0.00,0.000,6,0.000,0.130,3128,1903,1025
$GC,13381,1.61,497.0,63.7,12.6,1526,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1908,1025
$GC,13725,1.61,497.0,22.1,12.5,1587,13732,0.00,2.62,0.00,0.000,4,0.000,0.166,3128,570,1025
$GC,13739,1.61,497.0,20.3,11.8,1589,13746,0.00,2.42,0.00,0.000,6,0.000,0.130,3128,1895,1025
$STATE,13874,end climb,SURFACE_DEPTH_REACHED
$STATE,13874,begin surface coast
$FINISH,0.1,1.026997
$STATE,13905,end surface coast,CONTROL_FINISHED_OK
$STATE,13905,begin surface
$SM_CCo,13985,0.00,0.000,0,0,1023,500.17
$SM_GC,0.57,10.68,0.00,0.00,0.036,0.000,0.000,568,2032,1023,-10.07,0.06,500.17
$IRIDIUM_FIX,6121.73,-2625.78,280897,030309
$TT8_MAMPS,0.041418
$HUMID,1700
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,16.80
$XPDR_PINGS,967
$24V_AH,23.5,55.276
$10V_AH,10.6,58.095
$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,25.625,128.900,603.600,0.000,0.000,31.039,32.002,254.509,241.750,0.000,0.000,14.616,3229.475,6826.542,773.726,2923.991,683.542,0.000,2105.222,0.000,2943.165,0.000,0.466
$DEVICE_MAMPS,199.420,181.779,1119.053,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1125.453,1223.264,672.718,1512.936,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120244,1618
$CAP_FILE_SIZE,141328,0
$CFSIZE,260165632,230387712
$ERRORS,0,20,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.109,161.4,1
$GPS,030608,120307,6148.206,-2622.502,35,1.3,40,-18.8