version: 66.03
glider: 141
mission: 7
dive: 290
start: 6 6 108 5 55 44
data:
$ID,141
$MISSION,7
$DIVE,290
$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,-11558.646
$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,15
$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
$GPS1,054625,6153.486,-2601.868,25,0.9,42,-18.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-47.7
$GPS2,055521,6153.502,-2601.808,13,2.0,13,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$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,34.8,5064,-15.2,-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,-1.35,-189.0,0.0,0.0,0,151,0.00,0.00,-126.68,0.000,6,0.000,0.000,574,2017,3834
$GC,155,-1.36,-194.7,4.0,-7.6,17,172,10.90,2.80,-0.50,0.000,4,0.192,0.166,2475,612,3858
$GC,423,-1.36,-194.7,43.1,-12.8,64,430,0.00,2.58,0.00,0.000,6,0.000,0.124,2475,2030,3860
$GC,566,-1.31,-194.7,63.9,-14.3,89,573,0.00,2.62,0.00,0.000,4,0.000,0.140,2475,3449,3860
$GC,614,-1.24,-194.7,71.9,-16.2,97,622,0.15,2.72,0.00,0.000,6,0.110,0.146,2505,2021,3860
$GC,958,-1.24,-194.7,114.3,-12.9,158,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,1304,-1.24,-194.7,159.2,-12.7,219,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,1647,-1.24,-194.7,203.7,-12.8,280,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,1992,-1.24,-194.7,248.8,-12.5,341,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,2336,-1.24,-194.7,290.6,-11.2,402,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,2680,-1.24,-194.7,329.0,-10.4,463,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,3017,-1.24,-194.7,363.0,-10.1,512,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,3335,-1.24,-194.7,395.5,-10.3,542,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,3654,-1.24,-194.7,428.4,-10.3,572,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3860
$GC,3972,-1.24,-194.7,463.8,-11.5,602,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3859
$GC,4290,-1.24,-194.7,498.5,-10.5,632,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2019,3859
$GC,4610,-1.24,-194.7,531.1,-9.4,662,4614,0.00,2.75,0.00,0.000,4,0.000,0.167,2505,624,3859
$GC,4661,-1.24,-194.7,535.9,-9.6,666,4665,0.00,2.62,0.00,0.000,6,0.000,0.131,2505,2045,3859
$GC,4988,-1.24,-194.7,566.4,-9.6,696,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2048,3858
$GC,5303,-1.24,-194.7,598.9,-10.6,726,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2048,3858
$GC,5624,-1.24,-194.7,634.2,-10.8,742,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2048,3858
$GC,5933,-1.24,-194.7,667.3,-10.8,757,5937,0.00,2.75,0.00,0.000,4,0.000,0.170,2505,3446,3858
$GC,5999,-1.24,-194.7,674.8,-11.1,760,6003,0.00,2.75,0.00,0.000,6,0.000,0.163,2505,2049,3858
$GC,6322,-1.24,-194.7,710.0,-11.0,776,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2047,3857
$GC,6630,-1.24,-194.7,745.3,-12.0,791,6634,0.00,2.95,0.00,0.000,4,0.000,0.193,2505,619,3857
$GC,6670,-1.24,-194.7,750.3,-13.0,793,6674,0.00,2.67,0.00,0.000,6,0.000,0.138,2505,2047,3857
$GC,6997,-1.24,-194.7,790.6,-11.8,809,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2049,3857
$GC,7307,-1.24,-194.7,823.4,-9.8,824,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2050,3857
$GC,7616,-1.24,-194.7,853.0,-9.9,839,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2049,3857
$GC,7926,-1.24,-194.7,882.7,-9.4,854,7931,0.00,2.75,0.00,0.000,4,0.000,0.170,2505,3445,3856
$GC,7980,-1.24,-194.7,888.6,-10.3,856,7989,0.00,2.75,0.00,0.000,6,0.000,0.160,2505,2046,3856
$GC,8298,-1.35,-194.7,915.5,-5.9,872,8302,0.00,2.88,0.00,0.000,4,0.000,0.182,2504,616,3856
$STATE,8434,end dive,NO_VERTICAL_VELOCITY
$STATE,8435,begin apogee
$GC,8443,-0.37,0.0,915.6,0.0,878,8616,0.85,0.00,168.82,1.234,6,0.074,0.000,2697,1987,3062
$STATE,8617,end apogee,CONTROL_FINISHED_OK
$STATE,8617,begin climb
$GC,8619,1.36,194.7,915.4,0.0,887,8798,1.70,2.88,166.73,1.203,4,0.077,0.160,3070,3395,2268
$GC,8844,1.36,194.7,898.9,11.0,897,8848,0.00,2.78,0.00,0.000,6,0.000,0.153,3070,1977,2265
$GC,9171,1.36,194.7,865.2,10.7,913,9175,0.00,2.72,0.00,0.000,4,0.000,0.148,3070,3397,2262
$GC,9233,1.36,194.7,858.5,10.6,916,9238,0.00,2.70,0.00,0.000,6,0.000,0.153,3070,2001,2262
$GC,9560,1.38,208.2,828.7,9.5,932,9583,0.00,2.75,12.62,1.058,4,0.000,0.151,3070,3389,2212
$GC,9616,1.38,208.2,821.3,12.6,934,9620,0.00,2.70,0.00,0.000,6,0.000,0.152,3070,2009,2211
$GC,9933,1.40,225.4,791.2,9.4,949,9953,0.00,0.00,16.67,1.080,6,0.000,0.000,3070,2007,2142
$GC,10262,1.40,225.4,755.4,11.5,965,10266,0.00,2.67,0.00,0.000,4,0.000,0.150,3070,3404,2139
$GC,10288,1.40,225.4,751.8,12.7,966,10293,0.00,2.70,0.00,0.000,6,0.000,0.154,3070,2020,2139
$GC,10605,1.40,225.4,713.3,12.0,981,10610,0.00,2.62,0.00,0.000,4,0.000,0.149,3070,3402,2139
$GC,10627,1.40,225.4,710.4,12.0,982,10631,0.00,2.67,0.00,0.000,6,0.000,0.156,3070,2026,2139
$GC,10950,1.40,225.4,671.7,12.2,998,10954,0.00,2.62,0.00,0.000,4,0.000,0.147,3070,3401,2138
$GC,10968,1.40,225.4,669.5,12.2,999,10972,0.00,2.67,0.00,0.000,6,0.000,0.156,3070,2030,2138
$GC,11294,1.40,225.4,633.2,10.8,1015,11296,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2029,2138
$GC,11604,1.40,225.4,601.4,10.4,1030,11608,0.00,2.60,0.00,0.000,4,0.000,0.146,3070,3397,2138
$GC,11625,1.40,225.4,599.0,10.5,1031,11632,0.00,2.65,0.00,0.000,6,0.000,0.157,3070,2036,2137
$GC,11951,1.42,245.8,566.7,9.3,1062,11972,0.00,0.00,18.95,0.980,6,0.000,0.000,3070,2036,2059
$GC,12288,1.43,249.7,533.3,9.9,1094,12299,0.00,0.00,4.65,0.703,6,0.000,0.000,3070,2035,2044
$GC,12619,1.43,250.2,500.3,10.0,1125,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2035,2044
$GC,12938,1.45,262.5,469.1,9.6,1155,12962,0.10,2.70,13.07,0.888,4,0.068,0.143,3101,3407,1990
$GC,12975,1.40,262.5,464.8,11.0,1158,12980,0.00,2.65,0.00,0.000,6,0.000,0.154,3101,2048,1990
$GC,13302,1.36,262.5,430.1,10.5,1188,13304,0.12,0.00,0.00,0.000,6,0.106,0.000,3077,2047,1989
$GC,13620,1.40,292.5,401.3,8.9,1218,13650,0.00,0.00,28.12,0.895,6,0.000,0.000,3078,2046,1869
$GC,13968,1.40,298.7,368.0,9.8,1251,13978,0.00,0.00,6.57,0.727,6,0.000,0.000,3077,2045,1843
$GC,14304,1.40,298.7,334.7,10.1,1295,14311,0.00,2.92,0.00,0.000,4,0.000,0.166,3076,567,1843
$GC,14329,1.40,298.7,331.9,10.2,1299,14336,0.00,2.72,0.00,0.000,6,0.000,0.128,3077,2043,1843
$GC,14674,1.41,305.3,296.9,9.8,1360,14688,0.00,0.00,7.10,0.716,6,0.000,0.000,3077,2047,1817
$GC,15025,1.41,305.3,260.6,11.1,1422,15032,0.00,2.90,0.00,0.000,4,0.000,0.166,3077,571,1816
$GC,15056,1.41,305.3,257.1,11.4,1427,15063,0.00,2.70,0.00,0.000,6,0.000,0.126,3077,2040,1815
$GC,15400,1.41,305.3,218.5,11.3,1488,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2043,1816
$GC,15745,1.41,305.3,180.3,11.7,1549,15752,0.00,2.88,0.00,0.000,4,0.000,0.162,3077,566,1816
$GC,15764,1.41,305.3,178.0,11.3,1552,15772,0.00,2.67,0.00,0.000,6,0.000,0.133,3076,2032,1816
$GC,16111,1.41,305.3,141.7,10.3,1613,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2034,1816
$GC,16455,1.44,330.3,106.4,9.1,1674,16489,0.00,2.97,22.75,0.712,4,0.000,0.159,3076,569,1714
$GC,16502,1.44,330.3,101.8,10.1,1681,16509,0.00,2.70,0.00,0.000,6,0.000,0.123,3077,2035,1713
$GC,16848,1.48,358.1,70.5,9.0,1742,16883,0.10,2.97,25.48,0.684,4,0.069,0.163,3108,569,1601
$GC,16890,1.48,358.1,66.0,10.5,1748,16897,0.00,2.67,0.00,0.000,6,0.000,0.125,3108,2015,1601
$GC,17236,1.48,358.1,23.3,10.3,1809,17243,0.00,2.85,0.00,0.000,4,0.000,0.162,3108,566,1597
$GC,17273,1.48,358.1,18.6,12.6,1815,17280,0.00,2.60,0.00,0.000,6,0.000,0.127,3108,1982,1597
$STATE,17412,end climb,SURFACE_DEPTH_REACHED
$STATE,17412,begin surface coast
$FINISH,0.1,1.012880
$STATE,17448,end surface coast,CONTROL_FINISHED_OK
$STATE,17448,begin surface
$SM_CCo,17529,0.00,0.000,0,0,1594,360.10
$SM_GC,0.86,10.57,0.00,0.00,0.034,0.000,0.000,571,2033,1594,-10.07,0.08,360.10
$IRIDIUM_FIX,6126.23,-2605.39,310897,000047
$TT8_MAMPS,0.041418
$HUMID,1696
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.80
$XPDR_PINGS,1122
$24V_AH,23.3,58.339
$10V_AH,10.6,60.402
$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,24.500,114.975,491.550,0.000,0.000,28.141,32.625,316.986,280.500,0.000,0.000,14.824,3690.108,9607.330,693.119,3296.972,759.332,0.000,2146.285,0.000,3304.746,0.000,0.465
$DEVICE_MAMPS,191.750,192.517,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1286.334,1388.709,691.359,1686.384,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136167,1846
$CAP_FILE_SIZE,158344,0
$CFSIZE,260165632,229068800
$ERRORS,0,26,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,299.3,1
$GPS,060608,104907,6156.465,-2601.701,38,1.1,38,-18.7