version: 66.03
glider: 141
mission: 7
dive: 308
start: 6 9 108 17 52 4
data:
$ID,141
$MISSION,7
$DIVE,308
$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,-11874.464
$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
$GPS1,174308,6145.021,-2602.497,37,1.8,37,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-53.9
$GPS2,175145,6144.983,-2602.431,10,1.5,10,-18.6
$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,88.5,2083,-27.2,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-2.10,-63.0,0.0,0.0,0,132,0.00,0.00,-102.97,0.000,6,0.000,0.000,568,2032,3319
$GC,135,-2.16,-119.2,2.4,-4.0,14,159,9.95,2.83,-7.18,0.000,4,0.193,0.174,2303,616,3550
$GC,266,-2.16,-119.2,23.0,-18.2,36,273,0.00,2.58,0.00,0.000,6,0.000,0.130,2303,2029,3550
$GC,409,-2.16,-119.2,47.7,-17.8,61,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2031,3550
$GC,551,-2.16,-119.2,72.7,-17.7,86,559,0.00,2.75,0.00,0.000,4,0.000,0.163,2303,614,3550
$GC,621,-2.16,-119.2,85.1,-17.1,98,628,0.00,2.58,0.00,0.000,6,0.000,0.132,2303,2023,3550
$GC,967,-2.16,-119.2,143.4,-17.4,159,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2026,3551
$GC,1312,-2.16,-119.2,206.0,-17.9,220,1319,0.00,2.62,0.00,0.000,4,0.000,0.149,2304,3445,3551
$GC,1390,-2.12,-119.2,220.3,-18.8,233,1397,0.00,2.72,0.00,0.000,6,0.000,0.157,2303,2023,3551
$GC,1735,-2.12,-119.2,278.4,-16.7,294,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2020,3551
$GC,2078,-2.12,-119.2,333.7,-15.6,355,2085,0.00,2.65,0.00,0.000,4,0.000,0.146,2303,3441,3551
$GC,2132,-2.08,-119.2,342.2,-15.7,364,2140,0.12,2.70,0.00,0.000,6,0.146,0.157,2324,2026,3551
$GC,2462,-2.08,-119.2,390.5,-13.9,399,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2023,3551
$GC,2780,-2.08,-119.2,434.9,-14.1,429,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2022,3551
$GC,3099,-2.08,-119.2,479.5,-14.3,459,3103,0.00,2.67,0.00,0.000,4,0.000,0.150,2324,3439,3550
$GC,3143,-2.08,-119.2,486.2,-14.5,462,3151,0.00,2.70,0.00,0.000,6,0.000,0.165,2324,2032,3550
$GC,3471,-2.08,-119.2,532.1,-14.4,493,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2031,3550
$GC,3796,-2.08,-119.2,581.1,-14.9,524,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2031,3550
$GC,4109,-2.08,-119.2,629.7,-15.8,545,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2031,3550
$GC,4418,-2.08,-119.2,676.5,-14.4,560,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2029,3550
$GC,4728,-2.08,-119.2,720.1,-13.9,575,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2027,3550
$GC,5038,-2.08,-119.2,763.6,-14.4,590,5043,0.00,2.90,0.00,0.000,4,0.000,0.196,2324,620,3549
$GC,5093,-2.08,-119.2,772.6,-15.8,592,5100,0.00,2.65,0.00,0.000,6,0.000,0.152,2324,2034,3549
$GC,5409,-2.08,-119.2,819.3,-15.1,608,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2035,3549
$GC,5718,-2.08,-119.2,868.0,-15.9,623,5723,0.00,2.83,0.00,0.000,4,0.000,0.185,2324,620,3549
$GC,5751,-2.08,-119.2,872.8,-14.6,624,5758,0.00,2.62,0.00,0.000,6,0.000,0.142,2324,2028,3549
$GC,6067,-2.08,-119.2,913.6,-13.8,640,6071,0.00,2.80,0.00,0.000,4,0.000,0.176,2324,3446,3548
$GC,6189,-2.08,-119.2,931.4,-15.3,645,6196,0.00,2.72,0.00,0.000,6,0.000,0.167,2324,2051,3548
$GC,6505,-2.08,-119.2,981.7,-16.8,661,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2050,3547
$STATE,6564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6564,begin apogee
$GC,6571,-0.37,0.0,991.6,16.3,664,6680,1.85,0.00,105.35,1.284,6,0.132,0.000,2693,1982,3062
$STATE,6681,end apogee,CONTROL_FINISHED_OK
$STATE,6681,begin climb
$GC,6684,2.16,119.2,999.1,0.0,669,6798,2.50,2.83,104.12,1.256,4,0.072,0.152,3254,3393,2575
$GC,6839,2.11,119.2,992.0,10.8,676,6843,0.00,2.78,0.00,0.000,6,0.000,0.160,3254,1985,2573
$GC,7166,2.11,119.2,956.3,11.6,692,7170,0.00,2.72,0.00,0.000,4,0.000,0.153,3254,3397,2571
$GC,7198,2.06,119.2,952.0,12.4,693,7206,0.12,2.83,0.00,0.000,6,0.131,0.179,3232,1985,2571
$GC,7515,2.06,119.2,909.4,15.8,709,7519,0.00,2.78,0.00,0.000,4,0.000,0.161,3232,3404,2570
$GC,7563,2.06,119.2,900.1,19.0,711,7568,0.00,2.75,0.00,0.000,6,0.000,0.155,3232,1988,2570
$GC,7880,2.06,119.2,849.7,16.7,726,7884,0.00,2.72,0.00,0.000,4,0.000,0.157,3232,3398,2570
$GC,7974,2.06,119.2,834.1,16.5,730,7978,0.00,2.72,0.00,0.000,6,0.000,0.156,3232,1986,2570
$GC,8290,2.06,119.2,785.0,14.2,745,8294,0.00,2.72,0.00,0.000,4,0.000,0.156,3232,3399,2569
$GC,8345,2.06,119.2,775.3,17.4,747,8352,0.00,2.70,0.00,0.000,6,0.000,0.156,3232,2004,2569
$GC,8661,2.06,119.2,734.2,12.5,763,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2001,2569
$GC,8970,2.06,119.2,693.7,13.5,778,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2001,2569
$GC,9279,2.06,119.2,651.7,13.2,793,9284,0.00,2.67,0.00,0.000,4,0.000,0.155,3231,3398,2568
$GC,9357,2.06,119.2,640.3,15.1,796,9365,0.00,2.65,0.00,0.000,6,0.000,0.156,3232,2018,2568
$GC,9673,2.06,119.2,597.8,13.4,812,9677,0.00,2.65,0.00,0.000,4,0.000,0.154,3232,3400,2568
$GC,9728,2.06,119.2,589.3,15.7,816,9735,0.00,2.65,0.00,0.000,6,0.000,0.164,3232,2027,2568
$GC,10056,2.06,119.2,544.2,13.8,847,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2025,2568
$GC,10381,2.06,119.2,500.7,13.7,878,10385,0.00,2.62,0.00,0.000,4,0.000,0.153,3232,3399,2568
$GC,10447,2.06,119.2,490.9,14.8,883,10454,0.00,2.62,0.00,0.000,6,0.000,0.160,3232,2040,2568
$GC,10774,2.06,119.2,445.6,13.7,914,10778,0.00,2.60,0.00,0.000,4,0.000,0.149,3232,3405,2568
$GC,10818,2.06,119.2,439.0,14.3,917,10824,0.00,2.62,0.00,0.000,6,0.000,0.156,3232,2042,2568
$GC,11145,2.06,119.2,396.0,13.6,948,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2040,2568
$GC,11462,2.06,119.2,353.4,13.2,978,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2038,2568
$GC,11796,2.06,119.2,307.7,13.6,1035,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2037,2569
$GC,12140,2.06,119.2,260.7,12.7,1096,12148,0.00,2.58,0.00,0.000,4,0.000,0.147,3232,3406,2569
$GC,12204,2.06,119.2,251.8,13.8,1107,12211,0.00,2.62,0.00,0.000,6,0.000,0.157,3232,2045,2569
$GC,12550,2.06,119.2,205.9,13.6,1168,12557,0.00,2.55,0.00,0.000,4,0.000,0.146,3232,3401,2569
$GC,12620,2.06,119.2,196.0,14.2,1180,12628,0.00,2.58,0.00,0.000,6,0.000,0.156,3232,2054,2569
$GC,12964,2.06,119.2,150.2,12.6,1241,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2052,2569
$GC,13308,2.06,119.2,106.4,12.4,1302,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2051,2569
$GC,13652,2.06,119.2,61.2,13.2,1363,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2050,2570
$GC,13996,2.06,119.2,16.1,12.3,1424,14004,0.00,2.88,0.00,0.000,4,0.000,0.166,3232,572,2570
$STATE,14098,end climb,SURFACE_DEPTH_REACHED
$STATE,14098,begin surface coast
$FINISH,0.2,1.015876
$STATE,14127,end surface coast,CONTROL_FINISHED_OK
$STATE,14128,begin surface
$SM_CCo,14152,64.22,0.657,0,0,2245,200.16
$SM_GC,1.00,0.00,0.00,64.22,0.000,0.000,0.657,569,2037,2245,-10.17,0.20,200.16
$IRIDIUM_FIX,6121.73,-2607.48,030997,121245
$TT8_MAMPS,0.042185
$HUMID,1688
$INTERNAL_PRESSURE,10.0785
$TCM_TEMP,16.80
$XPDR_PINGS,925
$24V_AH,23.3,61.929
$10V_AH,10.6,63.189
$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,25.725,108.050,209.475,64.225,0.000,25.754,50.241,285.465,231.250,0.000,0.000,11.789,2943.539,7928.239,515.529,2611.969,714.168,0.000,1667.430,0.000,2636.769,0.000,0.466
$DEVICE_MAMPS,192.517,195.585,1283.958,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1001.852,1103.599,551.701,1294.469,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107824,1447
$CAP_FILE_SIZE,128605,0
$CFSIZE,260165632,227569664
$ERRORS,0,6,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,255.9,1
$GPS,090608,215008,6145.506,-2600.561,28,1.8,28,-18.6