version: 66.03
glider: 141
mission: 7
dive: 280
start: 6 4 108 2 7 26
data:
$ID,141
$MISSION,7
$DIVE,280
$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,-11370.782
$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,13
$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
$GPS1,015757,6154.096,-2623.167,32,2.1,51,-18.9
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-49.9
$GPS2,020702,6154.054,-2623.218,9,1.4,14,-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,22.0,3851,-19.0,-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,-1.56,-125.6,0.0,0.0,0,139,0.00,0.00,-114.93,0.000,6,0.000,0.000,569,2036,3576
$GC,143,-1.65,-194.7,2.6,-4.5,15,167,10.68,2.67,-6.88,0.000,4,0.196,0.146,2414,3444,3858
$GC,380,-1.58,-194.7,47.3,-18.1,56,388,0.10,2.70,0.00,0.000,6,0.127,0.149,2432,2021,3859
$GC,526,-1.58,-194.7,71.3,-17.0,81,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2018,3859
$GC,870,-1.58,-194.7,123.2,-14.8,142,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2017,3860
$GC,1214,-1.58,-194.7,174.7,-15.1,203,1220,0.00,2.65,0.00,0.000,4,0.000,0.138,2432,3444,3860
$GC,1278,-1.54,-194.7,184.6,-15.2,214,1286,0.00,2.70,0.00,0.000,6,0.000,0.147,2432,2019,3860
$GC,1624,-1.54,-194.7,234.8,-14.4,275,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2017,3860
$GC,1968,-1.54,-194.7,282.7,-13.7,336,1975,0.00,2.65,0.00,0.000,4,0.000,0.144,2432,3441,3860
$GC,2060,-1.54,-194.7,295.7,-13.8,352,2067,0.00,2.67,0.00,0.000,6,0.000,0.150,2432,2031,3860
$GC,2406,-1.54,-194.7,343.0,-13.7,413,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2029,3860
$GC,2735,-1.54,-194.7,389.4,-14.2,448,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2029,3859
$GC,3051,-1.54,-194.7,433.7,-14.4,478,3056,0.00,2.67,0.00,0.000,4,0.000,0.146,2432,3446,3859
$GC,3125,-1.54,-194.7,444.6,-15.0,484,3130,0.00,2.72,0.00,0.000,6,0.000,0.152,2432,2032,3859
$GC,3451,-1.54,-194.7,490.7,-14.6,514,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2030,3859
$GC,3769,-1.54,-194.7,537.6,-14.3,544,3773,0.00,2.67,0.00,0.000,4,0.000,0.150,2432,3438,3859
$GC,3831,-1.54,-194.7,546.7,-15.0,549,3836,0.00,2.70,0.00,0.000,6,0.000,0.155,2432,2043,3859
$GC,4159,-1.54,-194.7,593.5,-14.7,579,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2043,3859
$GC,4477,-1.54,-194.7,640.4,-14.9,597,4482,0.00,2.72,0.00,0.000,4,0.000,0.163,2432,3439,3858
$GC,4539,-1.54,-194.7,649.7,-14.7,600,4544,0.00,2.72,0.00,0.000,6,0.000,0.161,2432,2047,3858
$GC,4866,-1.54,-194.7,691.4,-12.1,616,4870,0.00,2.70,0.00,0.000,4,0.000,0.157,2432,3442,3858
$GC,4921,-1.54,-194.7,697.7,-11.9,618,4928,0.00,2.67,0.00,0.000,6,0.000,0.159,2432,2066,3858
$GC,5237,-1.54,-194.7,729.7,-8.8,634,5241,0.00,2.65,0.00,0.000,4,0.000,0.156,2432,3436,3858
$GC,5286,-1.54,-194.7,734.6,-9.7,636,5291,0.00,2.65,0.00,0.000,6,0.000,0.161,2432,2067,3858
$GC,5602,-1.54,-194.7,778.9,-15.2,651,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2065,3858
$GC,5911,-1.54,-194.7,823.6,-13.5,666,5916,0.00,2.67,0.00,0.000,4,0.000,0.160,2432,3442,3857
$GC,5961,-1.54,-194.7,830.9,-14.5,668,5966,0.00,2.67,0.00,0.000,6,0.000,0.160,2432,2074,3857
$GC,6279,-1.74,-194.7,868.7,-3.1,683,6284,0.15,2.97,0.00,0.000,4,0.066,0.189,2392,614,3857
$STATE,6406,end dive,NO_VERTICAL_VELOCITY
$STATE,6409,begin apogee
$GC,6417,-0.37,0.0,868.7,0.0,689,6590,1.33,0.00,167.18,1.199,6,0.063,0.000,2698,1987,3062
$STATE,6590,end apogee,CONTROL_FINISHED_OK
$STATE,6590,begin climb
$GC,6593,1.65,194.7,868.6,0.0,698,6772,1.98,2.85,165.10,1.170,4,0.072,0.163,3134,3402,2267
$GC,6963,1.65,194.7,830.9,13.7,714,6967,0.00,2.78,0.00,0.000,6,0.000,0.154,3134,1978,2263
$GC,7279,1.65,194.7,792.4,12.0,729,7284,0.00,2.72,0.00,0.000,4,0.000,0.148,3134,3398,2261
$GC,7319,1.65,194.7,787.5,12.3,731,7324,0.00,2.75,0.00,0.000,6,0.000,0.155,3134,1988,2261
$GC,7646,1.65,194.7,749.1,12.0,747,7651,0.00,2.72,0.00,0.000,4,0.000,0.150,3134,3406,2261
$GC,7667,1.65,194.7,746.1,12.9,748,7672,0.00,2.72,0.00,0.000,6,0.000,0.155,3134,2000,2261
$GC,7989,1.65,194.7,705.1,12.7,764,7993,0.00,2.67,0.00,0.000,4,0.000,0.149,3134,3398,2260
$GC,8028,1.65,194.7,699.9,13.3,766,8032,0.00,2.72,0.00,0.000,6,0.000,0.155,3134,1995,2260
$GC,8354,1.65,194.7,661.9,10.8,782,8358,0.00,2.70,0.00,0.000,4,0.000,0.149,3134,3404,2260
$GC,8443,1.65,194.7,651.8,11.4,786,8447,0.00,2.67,0.00,0.000,6,0.000,0.150,3134,2020,2259
$GC,8765,1.65,194.7,617.0,11.1,802,8769,0.00,2.65,0.00,0.000,4,0.000,0.148,3134,3406,2259
$GC,8804,1.65,194.7,612.2,11.7,804,8809,0.00,2.67,0.00,0.000,6,0.000,0.154,3134,2028,2259
$GC,9128,1.65,194.7,574.9,12.1,829,9132,0.00,2.62,0.00,0.000,4,0.000,0.148,3134,3399,2259
$GC,9148,1.65,194.7,571.9,13.1,830,9156,0.00,2.62,0.00,0.000,6,0.000,0.159,3134,2038,2259
$GC,9476,1.65,194.7,532.9,11.7,861,9481,0.00,2.60,0.00,0.000,4,0.000,0.146,3134,3399,2260
$GC,9561,1.65,194.7,521.9,13.0,868,9565,0.00,2.60,0.00,0.000,6,0.000,0.153,3134,2057,2259
$GC,9887,1.65,194.7,482.2,12.5,898,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2054,2259
$GC,10205,1.65,194.7,440.7,12.9,928,10209,0.00,2.55,0.00,0.000,4,0.000,0.145,3134,3398,2259
$GC,10277,1.65,194.7,430.6,14.8,934,10282,0.00,2.55,0.00,0.000,6,0.000,0.150,3135,2075,2259
$GC,10604,1.65,194.7,389.9,12.8,964,10608,0.00,2.53,0.00,0.000,4,0.000,0.142,3135,3406,2259
$GC,10633,1.65,194.7,385.9,13.5,966,10637,0.00,2.55,0.00,0.000,6,0.000,0.151,3135,2088,2259
$GC,10960,1.65,194.7,344.6,13.0,999,10967,0.00,2.47,0.00,0.000,4,0.000,0.140,3135,3399,2259
$GC,11002,1.65,194.7,338.9,13.4,1006,11009,0.00,2.50,0.00,0.000,6,0.000,0.153,3135,2100,2259
$GC,11347,1.65,194.7,294.6,13.0,1067,11354,0.00,2.45,0.00,0.000,4,0.000,0.142,3134,3399,2259
$GC,11377,1.65,194.7,290.3,13.7,1072,11384,0.00,2.50,0.00,0.000,6,0.000,0.158,3134,2099,2259
$GC,11723,1.65,194.7,244.4,12.7,1133,11730,0.00,2.45,0.00,0.000,4,0.000,0.141,3134,3399,2259
$GC,11748,1.65,194.7,241.1,12.8,1137,11755,0.00,2.50,0.00,0.000,6,0.000,0.152,3135,2101,2259
$GC,12092,1.65,194.7,198.0,11.8,1198,12099,0.00,2.45,0.00,0.000,4,0.000,0.145,3135,3403,2259
$GC,12128,1.65,194.7,193.4,12.2,1204,12135,0.00,2.45,0.00,0.000,6,0.000,0.156,3135,2120,2259
$GC,12474,1.65,194.7,153.1,11.7,1265,12481,0.00,2.42,0.00,0.000,4,0.000,0.140,3135,3407,2259
$GC,12506,1.65,194.7,149.3,12.8,1270,12513,0.00,2.45,0.00,0.000,6,0.000,0.153,3135,2127,2259
$GC,12851,1.65,194.7,106.8,12.9,1331,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2122,2259
$GC,13193,1.65,194.7,61.2,12.9,1392,13200,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2122,2259
$GC,13537,1.65,194.7,19.7,11.0,1453,13544,0.00,2.38,0.00,0.000,4,0.000,0.140,3134,3399,2259
$GC,13557,1.65,194.7,17.5,11.0,1456,13564,0.00,2.45,0.00,0.000,6,0.000,0.147,3135,2124,2259
$STATE,13699,end climb,SURFACE_DEPTH_REACHED
$STATE,13699,begin surface coast
$FINISH,-0.0,1.013421
$STATE,13728,end surface coast,CONTROL_FINISHED_OK
$STATE,13729,begin surface
$SM_CCo,13749,3.88,0.464,0,0,2246,200.16
$SM_GC,1.77,0.00,0.00,3.88,0.000,0.000,0.464,570,2021,2246,-10.17,-0.25,200.16
$IRIDIUM_FIX,6126.23,-2625.76,280897,212113
$TT8_MAMPS,0.042185
$HUMID,1713
$INTERNAL_PRESSURE,10.0785
$TCM_TEMP,16.80
$XPDR_PINGS,872
$24V_AH,23.4,56.062
$10V_AH,10.6,58.711
$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,24.925,136.825,332.275,3.875,0.000,22.845,39.454,331.523,218.000,0.000,0.000,16.315,3027.250,7194.389,554.669,2790.612,719.326,0.000,1793.933,0.000,2786.488,0.000,0.465
$DEVICE_MAMPS,195.585,188.682,1198.821,464.035,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1034.226,1121.811,578.774,1399.495,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110916,1486
$CAP_FILE_SIZE,138032,0
$CFSIZE,260165632,230051840
$ERRORS,0,20,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,248.0,1
$GPS,040608,055756,6155.928,-2624.212,38,1.6,38,-18.9