version: 66.03
glider: 141
mission: 7
dive: 278
start: 6 3 108 16 5 27
data:
$ID,141
$MISSION,7
$DIVE,278
$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,-11336.725
$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,7
$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
$GPS1,155356,6149.247,-2623.890,37,1.5,37,-18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-50.2
$GPS2,160508,6149.183,-2624.258,10,1.6,15,-18.9
$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,23.8,12914,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,147,0.00,0.00,-122.32,0.000,2,0.000,0.000,569,2036,3716
$GC,150,-1.34,-194.7,3.3,-5.9,16,174,11.02,2.62,-3.20,0.000,4,0.196,0.154,2481,3442,3859
$GC,337,-1.27,-194.7,36.7,-17.0,48,346,0.10,2.72,0.00,0.000,6,0.122,0.150,2499,2017,3860
$GC,480,-1.27,-194.7,57.3,-13.3,73,487,0.00,2.72,0.00,0.000,4,0.000,0.163,2499,615,3860
$GC,528,-1.27,-194.7,63.6,-12.8,81,535,0.00,2.62,0.00,0.000,6,0.000,0.129,2499,2041,3860
$GC,872,-1.27,-194.7,106.6,-11.9,142,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,1216,-1.27,-194.7,146.2,-10.8,203,1223,0.00,2.62,0.00,0.000,4,0.000,0.148,2499,3448,3860
$GC,1308,-1.27,-194.7,156.2,-10.8,219,1315,0.00,2.70,0.00,0.000,6,0.000,0.150,2499,2041,3860
$GC,1654,-1.27,-194.7,192.3,-10.1,280,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2038,3860
$GC,1999,-1.27,-194.7,227.1,-10.3,341,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2039,3860
$GC,2343,-1.27,-194.7,260.6,-10.0,402,2351,0.00,2.62,0.00,0.000,4,0.000,0.140,2499,3446,3860
$GC,2409,-1.27,-194.7,267.2,-10.3,413,2416,0.00,2.67,0.00,0.000,6,0.000,0.151,2499,2046,3860
$GC,2755,-1.27,-194.7,300.7,-9.8,474,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,3099,-1.27,-194.7,335.3,-10.6,535,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,3432,-1.27,-194.7,370.8,-10.5,578,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,3752,-1.27,-194.7,403.4,-9.9,608,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,4070,-1.27,-194.7,434.1,-9.3,638,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,4389,-1.27,-194.7,462.0,-8.3,668,4393,0.00,2.65,0.00,0.000,4,0.000,0.149,2499,3442,3860
$GC,4440,-1.27,-194.7,466.5,-8.7,672,4444,0.00,2.67,0.00,0.000,6,0.000,0.154,2499,2060,3859
$GC,4767,-1.27,-194.7,492.9,-8.2,702,4771,0.00,2.85,0.00,0.000,4,0.000,0.170,2499,609,3859
$GC,4818,-1.27,-194.7,497.4,-8.5,706,4823,0.00,3.17,0.00,0.000,6,0.000,0.215,2499,2053,3859
$GC,5145,-1.27,-194.7,525.4,-9.1,736,5149,0.00,2.70,0.00,0.000,4,0.000,0.160,2499,3453,3859
$GC,5230,-1.27,-194.7,533.5,-9.7,743,5235,0.00,2.67,0.00,0.000,6,0.000,0.149,2499,2056,3859
$GC,5557,-1.27,-194.7,565.2,-10.9,773,5562,0.00,2.85,0.00,0.000,4,0.000,0.171,2500,611,3859
$GC,5619,-1.27,-194.7,572.9,-12.8,778,5624,0.00,2.70,0.00,0.000,6,0.000,0.132,2500,2072,3859
$GC,5942,-1.27,-194.7,611.4,-11.0,803,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2074,3858
$GC,6252,-1.27,-194.7,642.3,-9.5,818,6256,0.00,2.95,0.00,0.000,4,0.000,0.179,2499,613,3859
$GC,6301,-1.27,-194.7,647.1,-9.5,820,6305,0.00,2.67,0.00,0.000,6,0.000,0.137,2499,2056,3858
$GC,6617,-1.27,-194.7,677.5,-11.0,835,6622,0.00,2.75,0.00,0.000,4,0.000,0.173,2499,3446,3858
$GC,6712,-1.27,-194.7,687.6,-10.7,839,6716,0.00,2.67,0.00,0.000,6,0.000,0.153,2499,2054,3858
$GC,7027,-1.27,-194.7,721.1,-13.0,854,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2052,3858
$GC,7337,-1.27,-194.7,757.2,-11.3,869,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2051,3858
$GC,7648,-1.27,-194.7,795.2,-12.3,884,7653,0.00,2.90,0.00,0.000,4,0.000,0.184,2499,617,3858
$GC,7710,-1.27,-194.7,803.0,-12.2,887,7715,0.00,2.70,0.00,0.000,6,0.000,0.136,2499,2067,3857
$GC,8039,-1.27,-194.7,837.9,-9.9,903,8044,0.00,2.72,0.00,0.000,4,0.000,0.173,2498,3441,3857
$GC,8107,-1.27,-194.7,844.7,-8.9,906,8111,0.00,2.62,0.00,0.000,6,0.000,0.149,2499,2064,3856
$GC,8428,-1.39,-194.7,868.6,-1.5,922,8432,0.00,2.65,0.00,0.000,4,0.000,0.153,2499,3445,3856
$STATE,8558,end dive,NO_VERTICAL_VELOCITY
$STATE,8558,begin apogee
$GC,8567,-0.37,0.0,868.6,0.0,928,8737,0.93,0.00,167.05,1.200,6,0.117,0.000,2691,1985,3062
$STATE,8738,end apogee,CONTROL_FINISHED_OK
$STATE,8738,begin climb
$GC,8740,1.34,194.7,868.2,0.0,936,8921,1.75,2.95,165.50,1.170,4,0.087,0.176,3067,573,2267
$GC,8927,1.35,201.8,857.7,9.8,944,8944,0.00,2.65,7.65,0.925,6,0.000,0.130,3067,1986,2238
$GC,9252,1.35,201.8,826.8,10.2,960,9257,0.00,2.80,0.00,0.000,4,0.000,0.163,3067,567,2235
$GC,9439,1.35,201.8,806.5,10.5,968,9444,0.00,2.65,0.00,0.000,6,0.000,0.131,3067,1994,2234
$GC,9756,1.35,201.8,769.1,12.5,983,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1997,2233
$GC,10064,1.35,201.8,730.2,13.1,998,10069,0.00,2.72,0.00,0.000,4,0.000,0.160,3067,3402,2233
$GC,10085,1.35,201.8,726.8,15.1,999,10090,0.00,2.70,0.00,0.000,6,0.000,0.145,3067,1983,2232
$GC,10409,1.35,201.8,689.0,11.0,1015,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1979,2232
$GC,10716,1.35,201.8,651.0,10.3,1030,10721,0.00,2.70,0.00,0.000,4,0.000,0.146,3067,3402,2232
$GC,10766,1.38,226.2,646.3,9.2,1032,10793,0.00,2.67,21.70,1.025,6,0.000,0.147,3067,2000,2139
$GC,11103,1.42,256.4,617.2,9.0,1048,11133,0.00,0.00,28.12,1.019,6,0.000,0.000,3067,1997,2016
$GC,11438,1.42,256.4,583.2,10.2,1071,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1997,2011
$GC,11756,1.42,256.4,548.5,11.4,1101,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1998,2011
$GC,12075,1.42,256.4,511.9,11.5,1131,12079,0.00,2.65,0.00,0.000,4,0.000,0.146,3067,3397,2010
$GC,12091,1.42,256.4,509.8,11.6,1132,12096,0.00,2.65,0.00,0.000,6,0.000,0.145,3067,2001,2010
$GC,12418,1.42,256.4,474.0,11.1,1162,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2000,2010
$GC,12736,1.42,260.7,440.5,9.8,1192,12749,0.10,2.83,4.30,0.639,4,0.069,0.169,3098,569,1999
$GC,12755,1.42,260.7,438.1,10.8,1193,12762,0.00,2.65,0.00,0.000,6,0.000,0.126,3099,2009,1999
$GC,13081,1.42,260.7,401.3,11.3,1224,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2010,1999
$GC,13400,1.42,260.7,366.7,10.6,1254,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2011,1998
$GC,13725,1.44,274.3,335.5,9.5,1297,13745,0.00,0.00,13.73,0.820,6,0.000,0.000,3098,2011,1942
$GC,14082,1.44,274.3,298.7,11.1,1360,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2011,1941
$GC,14427,1.46,294.0,264.1,9.3,1421,14452,0.00,0.00,18.75,0.798,6,0.000,0.000,3098,2011,1862
$GC,14790,1.46,294.0,228.0,10.9,1485,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2011,1860
$GC,15135,1.46,294.0,189.8,11.5,1546,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2011,1859
$GC,15480,1.46,294.0,151.5,10.6,1607,15486,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2011,1859
$GC,15822,1.46,294.0,114.5,11.4,1668,15829,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2011,1859
$GC,16166,1.46,294.0,78.5,10.2,1729,16172,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2011,1859
$GC,16508,1.46,294.0,44.9,10.1,1790,16515,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2012,1859
$GC,16650,1.46,294.0,31.1,11.8,1815,16656,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2011,1859
$GC,16793,1.46,294.0,16.9,10.8,1840,16800,0.00,2.78,0.00,0.000,4,0.000,0.163,3098,572,1859
$GC,16829,1.46,294.0,12.5,11.6,1846,16837,0.00,2.60,0.00,0.000,6,0.000,0.129,3098,1997,1859
$STATE,16909,end climb,SURFACE_DEPTH_REACHED
$STATE,16909,begin surface coast
$FINISH,0.7,1.027010
$STATE,16927,end surface coast,CONTROL_FINISHED_OK
$STATE,16927,begin surface
$SM_CCo,17008,0.00,0.000,0,0,1856,295.83
$SM_GC,0.72,10.57,0.00,0.00,0.038,0.000,0.000,569,2040,1856,-10.07,0.28,295.83
$IRIDIUM_FIX,6126.23,-2625.76,280897,161647
$TT8_MAMPS,0.042185
$HUMID,1681
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,15.40
$XPDR_PINGS,1080
$24V_AH,23.4,55.678
$10V_AH,10.6,58.408
$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,24.475,109.200,426.800,0.000,0.000,50.307,73.177,346.271,270.000,0.000,0.000,17.004,3749.876,9034.844,631.296,3398.926,852.924,0.000,2110.798,0.000,3406.463,0.000,0.465
$DEVICE_MAMPS,195.585,214.760,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.744,1400.306,711.340,1731.949,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135908,1863
$CAP_FILE_SIZE,160072,0
$CFSIZE,260165632,230191104
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,293.8,1
$GPS,030608,205008,6151.998,-2625.596,36,1.2,36,-18.9