version: 66.03
glider: 141
mission: 7
dive: 301
start: 6 8 108 7 43 55
data:
$ID,141
$MISSION,7
$DIVE,301
$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,-11733.873
$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,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
$GPS1,073608,6154.513,-2623.458,27,1.5,27,-18.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-60.8
$GPS2,074333,6154.553,-2623.633,14,1.6,14,-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,29.9,2976,-21.2,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.69,-102.6,0.0,0.0,0,91,0.00,0.00,-63.30,0.000,6,0.000,0.000,568,2043,3481
$GC,94,-1.80,-185.8,2.7,-4.5,9,125,10.45,2.83,-9.02,0.000,4,0.194,0.169,2383,615,3822
$GC,187,-1.75,-185.8,19.6,-17.3,24,195,0.00,2.60,0.00,0.000,6,0.000,0.128,2383,2030,3822
$GC,331,-1.70,-185.8,45.4,-17.7,49,339,0.12,2.65,0.00,0.000,4,0.136,0.149,2405,3447,3823
$GC,518,-1.70,-185.8,76.2,-16.1,81,525,0.00,2.67,0.00,0.000,6,0.000,0.148,2405,2051,3823
$GC,861,-1.70,-185.8,128.4,-15.5,142,869,0.00,2.65,0.00,0.000,4,0.000,0.147,2405,3447,3823
$GC,926,-1.70,-185.8,138.2,-15.1,153,933,0.00,2.65,0.00,0.000,6,0.000,0.152,2405,2068,3824
$GC,1271,-1.70,-185.8,191.3,-15.1,214,1278,0.00,2.60,0.00,0.000,4,0.000,0.151,2405,3441,3823
$GC,1325,-1.70,-185.8,199.8,-16.0,223,1332,0.00,2.60,0.00,0.000,6,0.000,0.150,2405,2086,3823
$GC,1669,-1.70,-185.8,253.8,-15.4,284,1677,0.00,2.55,0.00,0.000,4,0.000,0.140,2405,3450,3823
$GC,1724,-1.70,-185.8,262.3,-15.5,293,1730,0.00,2.62,0.00,0.000,6,0.000,0.151,2405,2083,3823
$GC,2067,-1.70,-185.8,314.8,-14.6,354,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2081,3823
$GC,2405,-1.70,-185.8,364.7,-14.5,406,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2080,3823
$GC,2725,-1.70,-185.8,411.4,-14.9,436,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2080,3823
$GC,3042,-1.70,-185.8,458.9,-14.5,466,3047,0.00,2.58,0.00,0.000,4,0.000,0.146,2405,3441,3823
$GC,3128,-1.70,-185.8,471.3,-14.6,473,3133,0.00,2.60,0.00,0.000,6,0.000,0.156,2405,2100,3823
$GC,3455,-1.70,-185.8,517.8,-14.7,503,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2097,3823
$GC,3772,-1.70,-185.8,563.2,-14.6,533,3777,0.00,2.92,0.00,0.000,4,0.000,0.173,2405,623,3823
$GC,3823,-1.70,-185.8,570.7,-14.2,537,3827,0.00,2.75,0.00,0.000,6,0.000,0.137,2405,2096,3823
$GC,4147,-1.70,-185.8,618.3,-14.3,561,4151,0.00,2.62,0.00,0.000,4,0.000,0.163,2405,3448,3823
$GC,4202,-1.70,-185.8,627.0,-14.7,563,4209,0.00,2.67,0.00,0.000,6,0.000,0.160,2404,2084,3823
$GC,4518,-1.70,-185.8,669.2,-13.1,579,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2083,3823
$GC,4827,-1.70,-185.8,711.2,-14.4,594,4831,0.00,2.65,0.00,0.000,4,0.000,0.163,2405,3439,3823
$GC,4905,-1.70,-185.8,723.0,-14.7,597,4911,0.00,2.65,0.00,0.000,6,0.000,0.168,2406,2092,3822
$GC,5221,-1.70,-185.8,768.9,-14.4,613,5226,0.00,3.03,0.00,0.000,4,0.000,0.193,2405,623,3822
$GC,5306,-1.70,-185.8,781.7,-15.9,617,5310,0.00,2.75,0.00,0.000,6,0.000,0.140,2405,2084,3822
$GC,5633,-1.70,-185.8,831.7,-15.9,633,5638,0.00,2.67,0.00,0.000,4,0.000,0.173,2405,3438,3822
$GC,5696,-1.70,-185.8,841.3,-14.9,636,5700,0.00,2.67,0.00,0.000,6,0.000,0.160,2405,2074,3821
$GC,6022,-1.70,-185.8,889.4,-14.3,652,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2072,3821
$GC,6332,-1.70,-185.8,936.0,-15.4,667,6337,0.00,2.95,0.00,0.000,4,0.000,0.184,2405,615,3821
$GC,6387,-1.70,-185.8,944.7,-15.3,669,6394,0.00,2.75,0.00,0.000,6,0.000,0.146,2405,2079,3821
$GC,6703,-1.70,-185.8,989.9,-14.2,685,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2081,3821
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6727,-0.37,0.0,992.8,14.2,686,6894,1.42,0.00,162.73,1.283,6,0.117,0.000,2697,1982,3063
$STATE,6895,end apogee,CONTROL_FINISHED_OK
$STATE,6895,begin climb
$GC,6898,1.80,185.8,998.9,0.0,694,7066,2.12,0.00,161.75,1.252,6,0.074,0.000,3171,1982,2304
$GC,7376,1.75,185.8,939.7,14.2,718,7380,0.00,2.78,0.00,0.000,4,0.000,0.160,3171,3399,2299
$GC,7443,1.70,185.8,929.1,15.4,721,7447,0.00,2.72,0.00,0.000,6,0.000,0.156,3171,2000,2298
$GC,7764,1.66,185.8,881.9,15.2,737,7769,0.15,2.67,0.00,0.000,4,0.117,0.150,3143,3399,2298
$GC,7808,1.66,185.8,874.9,14.8,739,7813,0.00,2.70,0.00,0.000,6,0.000,0.155,3143,2014,2297
$GC,8131,1.66,185.8,831.5,13.4,755,8136,0.00,2.65,0.00,0.000,4,0.000,0.149,3143,3398,2297
$GC,8154,1.66,185.8,828.2,13.5,756,8159,0.00,2.67,0.00,0.000,6,0.000,0.156,3143,2023,2297
$GC,8476,1.66,185.8,785.8,12.7,772,8480,0.00,2.65,0.00,0.000,4,0.000,0.152,3143,3401,2297
$GC,8515,1.66,185.8,780.3,14.1,774,8520,0.00,2.67,0.00,0.000,6,0.000,0.154,3143,2029,2297
$GC,8842,1.66,185.8,738.9,12.7,790,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2027,2296
$GC,9152,1.66,185.8,699.4,12.9,805,9156,0.00,2.67,0.00,0.000,4,0.000,0.157,3143,3403,2296
$GC,9196,1.66,185.8,693.2,13.6,807,9200,0.00,2.65,0.00,0.000,6,0.000,0.155,3143,2038,2296
$GC,9519,1.66,185.8,652.9,12.7,823,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2037,2296
$GC,9826,1.66,185.8,615.0,12.3,838,9830,0.00,2.62,0.00,0.000,4,0.000,0.150,3143,3402,2296
$GC,9870,1.66,185.8,609.1,13.2,840,9874,0.00,2.62,0.00,0.000,6,0.000,0.153,3143,2045,2296
$GC,10199,1.66,185.8,566.7,13.5,867,10203,0.00,2.62,0.00,0.000,4,0.000,0.154,3143,3399,2296
$GC,10242,1.66,185.8,560.2,14.7,870,10250,0.00,2.62,0.00,0.000,6,0.000,0.156,3143,2046,2296
$GC,10570,1.66,185.8,517.8,12.8,901,10574,0.00,2.60,0.00,0.000,4,0.000,0.150,3143,3399,2295
$GC,10599,1.66,185.8,513.7,13.8,903,10603,0.00,2.62,0.00,0.000,6,0.000,0.153,3143,2047,2295
$GC,10926,1.66,185.8,472.3,12.5,933,10930,0.00,2.58,0.00,0.000,4,0.000,0.145,3143,3399,2295
$GC,10943,1.66,185.8,469.7,12.9,934,10947,0.00,2.60,0.00,0.000,6,0.000,0.152,3143,2058,2295
$GC,11270,1.66,185.8,428.3,12.7,964,11274,0.00,2.55,0.00,0.000,4,0.000,0.144,3143,3398,2295
$GC,11287,1.66,185.8,425.8,13.3,965,11292,0.00,2.60,0.00,0.000,6,0.000,0.154,3143,2058,2295
$GC,11614,1.66,185.8,384.8,12.6,995,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2055,2295
$GC,11934,1.66,185.8,344.9,12.1,1028,11942,0.00,2.55,0.00,0.000,4,0.000,0.149,3143,3403,2295
$GC,11982,1.66,185.8,338.3,13.5,1036,11989,0.00,2.58,0.00,0.000,6,0.000,0.151,3143,2065,2295
$GC,12327,1.66,185.8,292.7,14.0,1097,12334,0.00,2.53,0.00,0.000,4,0.000,0.143,3143,3399,2296
$GC,12358,1.66,185.8,288.2,14.5,1102,12365,0.00,2.55,0.00,0.000,6,0.000,0.160,3143,2073,2296
$GC,12703,1.66,185.8,239.0,13.2,1163,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2071,2296
$GC,13047,1.66,185.8,192.9,12.9,1224,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2069,2296
$GC,13392,1.66,185.8,149.2,12.2,1285,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2069,2296
$GC,13735,1.66,185.8,107.3,12.0,1346,13743,0.00,2.53,0.00,0.000,4,0.000,0.153,3143,3403,2296
$GC,13796,1.66,185.8,99.6,13.1,1356,13803,0.00,2.58,0.00,0.000,6,0.000,0.160,3143,2064,2296
$GC,14141,1.66,185.8,58.3,11.4,1417,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2061,2296
$GC,14486,1.66,185.8,20.6,10.8,1478,14493,0.00,2.92,0.00,0.000,4,0.000,0.170,3143,566,2297
$GC,14517,1.66,185.8,17.0,11.9,1483,14524,0.00,3.38,0.00,0.000,6,0.000,0.227,3143,2060,2296
$STATE,14645,end climb,SURFACE_DEPTH_REACHED
$STATE,14645,begin surface coast
$FINISH,0.0,1.013643
$STATE,14676,end surface coast,CONTROL_FINISHED_OK
$STATE,14677,begin surface
$SM_CCo,14697,11.07,0.627,0,0,2246,200.16
$SM_GC,1.88,0.00,0.00,11.07,0.000,0.000,0.627,569,2016,2246,-10.17,-0.40,200.16
$IRIDIUM_FIX,6126.23,-2637.98,020997,040447
$TT8_MAMPS,0.042185
$HUMID,1698
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,15.00
$XPDR_PINGS,938
$24V_AH,23.3,60.487
$10V_AH,10.6,62.077
$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,25.100,139.525,324.475,11.075,0.000,30.847,36.659,246.453,234.500,0.000,0.000,15.883,3080.206,8115.675,558.275,2741.444,655.237,0.000,1752.411,0.000,2747.274,0.000,0.466
$DEVICE_MAMPS,194.051,227.032,1283.191,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1046.598,1134.940,578.610,1352.814,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110850,1511
$CAP_FILE_SIZE,136970,0
$CFSIZE,260165632,228163584
$ERRORS,0,94,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,279.0,1
$GPS,080608,115028,6156.945,-2624.404,24,4.5,43,-18.9