version: 66.03
glider: 141
mission: 7
dive: 307
start: 6 9 108 12 5 46
data:
$ID,141
$MISSION,7
$DIVE,307
$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,-11862.045
$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,11
$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
$GPS1,115307,6146.242,-2607.756,28,1.2,28,-18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-55.6
$GPS2,120526,6146.262,-2607.899,14,1.0,31,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-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,122.5,6947,-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,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,131,0.00,0.00,-106.78,0.000,2,0.000,0.000,569,2036,3769
$GC,135,-1.34,-194.7,3.5,-6.2,14,158,11.05,2.67,-1.90,0.000,4,0.193,0.150,2482,3446,3857
$GC,344,-1.27,-194.7,36.5,-12.4,50,351,0.00,2.58,0.00,0.000,6,0.000,0.125,2483,2022,3858
$GC,487,-1.22,-194.7,53.5,-11.5,75,494,0.15,0.00,0.00,0.000,6,0.111,0.000,2516,2017,3859
$GC,830,-1.22,-194.7,86.9,-9.6,136,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2017,3859
$GC,1174,-1.22,-194.7,120.4,-9.3,197,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2017,3859
$GC,1520,-1.22,-194.7,152.5,-9.1,258,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2017,3859
$GC,1865,-1.22,-194.7,184.9,-9.5,319,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2018,3859
$GC,2209,-1.22,-194.7,217.8,-9.8,380,2216,0.00,2.65,0.00,0.000,4,0.000,0.150,2516,3441,3859
$GC,2241,-1.22,-194.7,220.9,-10.0,385,2248,0.00,2.67,0.00,0.000,6,0.000,0.179,2516,2038,3859
$GC,2587,-1.22,-194.7,253.1,-9.2,446,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2034,3859
$GC,2931,-1.22,-194.7,286.2,-9.4,507,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2035,3859
$GC,3276,-1.22,-194.7,318.6,-8.9,568,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3859
$GC,3621,-1.22,-194.7,349.0,-8.7,629,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3859
$GC,3955,-1.22,-194.7,377.5,-8.6,661,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3858
$GC,4283,-1.22,-194.7,405.4,-8.7,692,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3858
$GC,4599,-1.22,-194.7,435.1,-10.0,722,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3859
$GC,4917,-1.22,-194.7,468.1,-10.6,752,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3858
$GC,5236,-1.22,-194.7,500.9,-10.5,782,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2035,3858
$GC,5554,-1.22,-194.7,534.3,-10.1,812,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3858
$GC,5874,-1.22,-194.7,565.6,-9.6,842,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3858
$GC,6191,-1.22,-194.7,597.5,-10.0,872,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3857
$GC,6512,-1.22,-194.7,629.6,-9.9,889,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3857
$GC,6822,-1.22,-194.7,656.8,-8.4,904,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3857
$GC,7131,-1.22,-194.7,682.7,-8.4,919,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3857
$GC,7440,-1.22,-194.7,711.1,-9.9,934,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3856
$GC,7750,-1.22,-194.7,742.1,-9.6,949,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3856
$GC,8058,-1.22,-194.7,768.5,-7.9,964,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3856
$GC,8368,-1.22,-194.7,791.8,-7.9,979,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3856
$GC,8678,-1.22,-194.7,819.2,-9.0,994,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2036,3856
$GC,8987,-1.22,-194.7,846.6,-8.8,1009,8991,0.00,2.75,0.00,0.000,4,0.000,0.169,2516,3440,3855
$GC,9019,-1.22,-194.7,849.7,-9.5,1010,9027,0.00,2.72,0.00,0.000,6,0.000,0.177,2516,2040,3855
$GC,9336,-1.22,-194.7,875.9,-7.8,1026,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2038,3855
$GC,9645,-1.22,-194.7,899.9,-8.1,1041,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2038,3855
$GC,9954,-1.22,-194.7,925.5,-8.2,1056,9958,0.00,2.72,0.00,0.000,4,0.000,0.165,2516,3438,3854
$GC,10018,-1.22,-194.7,930.8,-8.7,1059,10023,0.00,2.72,0.00,0.000,6,0.000,0.170,2516,2043,3854
$GC,10345,-1.22,-194.7,957.7,-8.3,1075,10350,0.00,2.70,0.00,0.000,4,0.000,0.165,2516,3436,3853
$GC,10409,-1.22,-194.7,963.4,-9.4,1078,10414,0.00,2.70,0.00,0.000,6,0.000,0.173,2516,2052,3853
$STATE,10712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10718,-0.37,0.0,991.1,9.1,1093,10896,0.85,0.00,169.82,1.291,6,0.094,0.000,2697,1986,3061
$STATE,10896,end apogee,CONTROL_FINISHED_OK
$STATE,10896,begin climb
$GC,10899,1.34,194.7,998.5,0.0,1102,11080,1.67,3.08,168.57,1.259,4,0.073,0.196,3067,568,2268
$GC,11181,1.28,194.7,976.3,10.9,1114,11188,0.00,2.67,0.00,0.000,6,0.000,0.145,3066,1990,2264
$GC,11498,1.23,194.7,942.0,11.0,1130,11502,0.00,2.75,0.00,0.000,4,0.000,0.164,3067,3402,2261
$GC,11553,1.19,194.7,935.3,12.0,1132,11561,0.15,2.75,0.00,0.000,6,0.105,0.160,3038,1979,2261
$GC,11869,1.21,212.5,904.0,9.4,1148,11889,0.00,0.00,16.48,1.137,6,0.000,0.000,3039,1977,2195
$GC,12199,1.22,221.1,872.5,9.7,1164,12210,0.00,0.00,9.20,1.039,6,0.000,0.000,3038,1977,2160
$GC,12508,1.27,263.0,843.7,8.5,1179,12549,0.00,0.00,39.72,1.170,6,0.000,0.000,3038,1977,1989
$GC,12857,1.31,295.2,811.4,8.9,1196,12911,0.12,0.00,36.15,0.986,6,0.064,0.000,3075,1977,1858
$GC,13207,1.31,295.2,773.1,11.3,1213,13211,0.00,2.75,0.00,0.000,4,0.000,0.153,3075,3406,1854
$GC,13250,1.31,295.2,767.8,11.5,1215,13255,0.00,2.78,0.00,0.000,6,0.000,0.174,3075,1987,1853
$GC,13578,1.31,295.2,730.2,12.3,1231,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1985,1853
$GC,13887,1.31,295.2,692.8,12.1,1246,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1985,1852
$GC,14196,1.31,295.2,656.4,11.6,1261,14201,0.00,2.70,0.00,0.000,4,0.000,0.154,3075,3398,1852
$GC,14229,1.31,295.2,652.1,12.1,1262,14237,0.00,2.72,0.00,0.000,6,0.000,0.170,3075,1996,1852
$GC,14545,1.31,295.2,616.3,11.2,1278,14549,0.00,2.85,0.00,0.000,4,0.000,0.179,3075,562,1851
$GC,14577,1.31,295.2,612.4,11.8,1279,14585,0.00,3.17,0.00,0.000,6,0.000,0.232,3075,1990,1851
$GC,14899,1.31,295.2,576.7,11.2,1304,14903,0.00,2.72,0.00,0.000,4,0.000,0.162,3075,3406,1851
$GC,14931,1.31,295.2,572.4,12.4,1306,14939,0.00,2.75,0.00,0.000,6,0.000,0.162,3075,1986,1850
$GC,15259,1.31,295.2,534.6,11.5,1337,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1984,1850
$GC,15584,1.31,295.2,498.9,10.8,1368,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1984,1851
$GC,15905,1.35,328.3,468.0,8.8,1398,15952,0.00,2.80,31.60,0.897,4,0.000,0.150,3075,3403,1721
$GC,15976,1.37,346.2,461.4,9.4,1404,16001,0.00,2.75,17.77,0.895,6,0.000,0.160,3075,1997,1650
$GC,16318,1.42,383.0,431.2,8.7,1436,16358,0.00,2.88,33.97,0.913,4,0.000,0.169,3075,565,1500
$GC,16388,1.42,383.0,424.5,10.2,1442,16392,0.00,2.70,0.00,0.000,6,0.000,0.137,3075,2007,1498
$GC,16713,1.42,385.1,393.0,9.9,1472,16714,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2010,1495
$GC,17033,1.46,411.6,362.8,9.1,1502,17069,0.00,2.92,26.05,0.861,4,0.000,0.173,3075,572,1383
$GC,17097,1.46,411.6,356.0,11.2,1507,17104,0.00,2.65,0.00,0.000,6,0.000,0.138,3075,2003,1381
$GC,17437,1.47,420.3,322.4,9.7,1562,17451,0.10,0.00,8.48,0.748,6,0.066,0.000,3108,2006,1348
$GC,17792,1.47,420.3,280.3,12.2,1624,17800,0.00,2.72,0.00,0.000,4,0.000,0.153,3109,570,1346
$GC,17847,1.47,420.3,272.9,12.0,1633,17853,0.00,2.60,0.00,0.000,6,0.000,0.132,3109,1984,1345
$GC,18192,1.47,420.3,230.9,12.1,1694,18198,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1987,1345
$GC,18536,1.47,420.3,187.3,13.4,1755,18543,0.00,2.70,0.00,0.000,4,0.000,0.151,3108,564,1345
$GC,18584,1.47,420.3,180.9,14.3,1763,18591,0.00,2.60,0.00,0.000,6,0.000,0.131,3108,1981,1345
$GC,18931,1.47,420.3,136.5,12.4,1824,18938,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1984,1344
$GC,19272,1.47,420.3,93.9,11.8,1885,19280,0.00,2.67,0.00,0.000,4,0.000,0.149,3109,568,1344
$GC,19305,1.47,420.3,89.9,12.5,1890,19313,0.00,2.58,0.00,0.000,6,0.000,0.132,3109,1974,1344
$GC,19651,1.47,420.3,50.7,10.2,1951,19657,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1976,1344
$GC,19992,1.47,420.3,10.6,10.7,2012,20000,0.00,2.75,0.00,0.000,4,0.000,0.173,3108,568,1344
$GC,20035,1.47,420.3,5.6,11.1,2019,20042,0.00,2.55,0.00,0.000,6,0.000,0.137,3109,1967,1344
$STATE,20058,end climb,SURFACE_DEPTH_REACHED
$STATE,20058,begin surface coast
$FINISH,0.2,1.026896
$STATE,20087,end surface coast,CONTROL_FINISHED_OK
$STATE,20087,begin surface
$SM_CCo,20168,0.00,0.000,0,0,1342,421.67
$SM_GC,0.91,10.62,0.00,0.00,0.036,0.000,0.000,568,2033,1342,-10.08,0.08,421.67
$IRIDIUM_FIX,6126.23,-2609.48,030997,121218
$TT8_MAMPS,0.042185
$HUMID,1702
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.90
$XPDR_PINGS,1253
$24V_AH,23.2,61.790
$10V_AH,10.6,63.059
$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,24.725,98.750,557.825,0.000,0.000,49.946,65.759,383.247,313.250,0.000,0.000,34.745,4080.655,11504.400,775.982,3580.015,945.569,0.000,2342.507,0.000,3592.187,0.000,0.465
$DEVICE_MAMPS,193.284,231.634,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1405.568,1547.872,734.319,1778.333,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148679,2028
$CAP_FILE_SIZE,175467,0
$CFSIZE,260165632,227581952
$ERRORS,0,18,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.042,236.6,1
$GPS,090608,174308,6145.021,-2602.497,37,1.8,37,-18.6