version: 66.03
glider: 141
mission: 7
dive: 310
start: 6 10 108 3 31 52
data:
$ID,141
$MISSION,7
$DIVE,310
$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,-11919.545
$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,8
$R_STBD_OVSHOOT,18
$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
$GPS1,032308,6148.435,-2603.164,34,1.2,34,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-48.7
$GPS2,033133,6148.481,-2603.202,9,1.9,9,-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,29.2,14405,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,155,0.00,0.00,-131.60,0.000,2,0.000,0.000,569,2034,3779
$GC,158,-1.34,-194.7,3.7,-6.6,17,181,11.02,2.83,-1.70,0.000,4,0.194,0.173,2481,613,3858
$GC,239,-1.34,-194.7,20.1,-13.1,30,246,0.00,2.60,0.00,0.000,6,0.000,0.140,2481,2030,3859
$GC,383,-1.29,-194.7,37.5,-12.8,55,390,0.00,2.62,0.00,0.000,4,0.000,0.144,2481,3444,3859
$GC,461,-1.23,-194.7,47.4,-12.4,68,469,0.15,2.67,0.00,0.000,6,0.110,0.156,2510,2043,3859
$GC,605,-1.23,-194.7,64.1,-11.4,93,612,0.00,2.78,0.00,0.000,4,0.000,0.160,2510,612,3859
$GC,659,-1.23,-194.7,70.3,-11.5,102,667,0.00,2.67,0.00,0.000,6,0.000,0.136,2510,2062,3860
$GC,1007,-1.23,-194.7,107.2,-10.0,163,1014,0.00,2.58,0.00,0.000,4,0.000,0.147,2510,3438,3859
$GC,1111,-1.23,-194.7,118.2,-10.4,181,1118,0.00,2.62,0.00,0.000,6,0.000,0.150,2510,2068,3860
$GC,1454,-1.23,-194.7,153.4,-9.9,242,1462,0.00,2.80,0.00,0.000,4,0.000,0.163,2510,620,3859
$GC,1509,-1.23,-194.7,158.8,-10.1,251,1516,0.00,3.12,0.00,0.000,6,0.000,0.209,2510,2066,3860
$GC,1851,-1.23,-194.7,192.2,-10.1,312,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2067,3860
$GC,2196,-1.23,-194.7,226.1,-9.6,373,2203,0.00,2.62,0.00,0.000,4,0.000,0.156,2510,3456,3860
$GC,2249,-1.23,-194.7,231.5,-10.1,382,2257,0.00,2.65,0.00,0.000,6,0.000,0.152,2510,2069,3860
$GC,2595,-1.23,-194.7,266.3,-10.5,443,2602,0.00,2.83,0.00,0.000,4,0.000,0.168,2510,620,3859
$GC,2660,-1.23,-194.7,273.3,-10.8,454,2667,0.00,3.38,0.00,0.000,6,0.000,0.239,2510,2075,3859
$GC,3005,-1.23,-194.7,309.5,-10.5,515,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2075,3859
$GC,3349,-1.23,-194.7,346.4,-10.8,576,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2076,3859
$GC,3682,-1.23,-194.7,384.2,-11.1,610,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3859
$GC,4000,-1.23,-194.7,417.5,-9.8,640,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3859
$GC,4319,-1.23,-194.7,450.3,-10.5,670,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3859
$GC,4637,-1.23,-194.7,483.8,-10.8,700,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2077,3859
$GC,4956,-1.23,-194.7,519.6,-11.7,730,4961,0.00,2.88,0.00,0.000,4,0.000,0.171,2510,621,3859
$GC,5022,-1.23,-194.7,527.6,-11.5,735,5030,0.00,3.17,0.00,0.000,6,0.000,0.217,2510,2074,3858
$GC,5349,-1.23,-194.7,563.8,-11.2,766,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2074,3858
$GC,5666,-1.23,-194.7,599.0,-10.8,796,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2074,3858
$GC,5985,-1.23,-194.7,632.0,-10.2,812,5990,0.00,3.00,0.00,0.000,4,0.000,0.190,2510,618,3858
$GC,6041,-1.23,-194.7,637.7,-10.5,814,6048,0.00,2.72,0.00,0.000,6,0.000,0.144,2510,2068,3858
$GC,6357,-1.23,-194.7,666.7,-8.9,830,6361,0.00,2.78,0.00,0.000,4,0.000,0.183,2510,3445,3858
$GC,6446,-1.23,-194.7,674.9,-8.9,834,6450,0.00,2.67,0.00,0.000,6,0.000,0.163,2510,2071,3858
$GC,6767,-1.23,-194.7,703.0,-8.9,850,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2069,3858
$GC,7076,-1.23,-194.7,732.7,-9.7,865,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2068,3857
$GC,7385,-1.23,-194.7,761.1,-8.8,880,7390,0.00,2.97,0.00,0.000,4,0.000,0.189,2510,612,3857
$GC,7475,-1.23,-194.7,769.4,-9.6,884,7479,0.00,2.72,0.00,0.000,6,0.000,0.143,2510,2063,3857
$GC,7796,-1.23,-194.7,799.4,-9.1,900,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2065,3857
$GC,8106,-1.23,-194.7,828.1,-9.7,915,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2066,3856
$GC,8414,-1.23,-194.7,859.8,-9.8,930,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2065,3857
$GC,8724,-1.23,-194.7,886.9,-8.8,945,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2066,3856
$GC,9033,-1.23,-194.7,914.8,-9.3,960,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2065,3855
$GC,9342,-1.23,-194.7,944.2,-9.5,975,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2066,3855
$GC,9653,-1.23,-194.7,972.8,-9.4,990,9657,0.00,2.88,0.00,0.000,4,0.000,0.174,2510,617,3855
$GC,9720,-1.23,-194.7,979.6,-9.6,993,9724,0.00,2.67,0.00,0.000,6,0.000,0.143,2510,2052,3854
$STATE,9852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9852,begin apogee
$GC,9859,-0.37,0.0,991.4,8.9,1000,10036,0.88,0.00,170.02,1.290,6,0.094,0.000,2696,1978,3063
$STATE,10036,end apogee,CONTROL_FINISHED_OK
$STATE,10037,begin climb
$GC,10039,1.34,194.7,997.3,0.0,1009,10213,1.70,0.00,169.18,1.261,6,0.075,0.000,3069,1978,2268
$GC,10519,1.30,198.9,954.8,9.9,1032,10525,0.00,0.00,4.38,0.789,6,0.000,0.000,3069,1978,2252
$GC,10827,1.25,198.9,922.1,10.9,1047,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1978,2250
$GC,11137,1.21,198.9,889.3,10.5,1062,11139,0.12,0.00,0.00,0.000,6,0.107,0.000,3045,1978,2250
$GC,11446,1.21,204.4,860.3,9.8,1077,11460,0.00,2.90,6.60,0.959,4,0.000,0.168,3045,3399,2227
$GC,11467,1.21,204.4,858.1,10.3,1078,11472,0.00,2.75,0.00,0.000,6,0.000,0.155,3045,1996,2227
$GC,11794,1.21,204.4,824.2,10.4,1094,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,2226
$GC,12104,1.23,217.9,794.2,9.5,1109,12126,0.00,2.92,13.57,1.083,4,0.000,0.179,3045,573,2173
$GC,12132,1.24,224.3,791.3,9.8,1110,12151,0.00,3.15,7.50,0.953,6,0.000,0.214,3045,1990,2146
$GC,12459,1.27,246.9,761.0,9.2,1126,12483,0.00,0.00,21.88,1.104,6,0.000,0.000,3044,1991,2055
$GC,12788,1.30,274.8,731.2,9.0,1142,12819,0.00,2.90,26.23,1.094,4,0.000,0.170,3045,569,1941
$GC,12836,1.32,287.5,726.4,9.6,1144,12863,0.10,2.70,15.05,0.910,6,0.069,0.144,3076,1985,1889
$GC,13183,1.32,293.1,690.9,9.8,1161,13194,0.00,2.80,5.90,0.848,4,0.000,0.167,3076,3397,1867
$GC,13202,1.33,298.5,688.7,9.8,1162,13216,0.00,2.78,7.05,0.888,6,0.000,0.159,3076,1983,1845
$GC,13535,1.34,309.7,656.1,9.6,1178,13554,0.00,0.00,11.57,0.977,6,0.000,0.000,3076,1979,1798
$GC,13862,1.34,309.7,623.4,10.2,1194,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1980,1795
$GC,14175,1.34,309.7,590.8,10.0,1213,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1980,1795
$GC,14493,1.34,309.7,559.2,10.1,1243,14498,0.00,2.83,0.00,0.000,4,0.000,0.176,3076,563,1795
$GC,14515,1.34,309.7,556.7,10.2,1244,14523,0.00,3.10,0.00,0.000,6,0.000,0.216,3076,1983,1795
$GC,14843,1.34,309.7,523.1,10.6,1275,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1983,1795
$GC,15168,1.34,309.7,488.7,10.5,1306,15169,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1984,1795
$GC,15489,1.34,310.4,456.5,10.0,1336,15490,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1984,1794
$GC,15807,1.34,310.4,423.4,10.7,1366,15811,0.00,2.80,0.00,0.000,4,0.000,0.169,3076,567,1795
$GC,15824,1.34,310.4,421.3,11.0,1367,15829,0.00,2.65,0.00,0.000,6,0.000,0.138,3076,1987,1795
$GC,16149,1.34,310.4,385.4,11.2,1397,16150,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1989,1795
$GC,16468,1.34,310.4,349.3,11.6,1427,16474,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1990,1795
$GC,16812,1.34,310.4,311.3,10.7,1488,16820,0.00,2.80,0.00,0.000,4,0.000,0.168,3076,565,1795
$GC,16832,1.34,310.4,309.1,11.6,1491,16839,0.00,3.08,0.00,0.000,6,0.000,0.209,3076,1974,1794
$GC,17177,1.34,310.4,273.9,10.4,1552,17184,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1973,1795
$GC,17523,1.34,310.4,238.3,10.3,1613,17529,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1973,1795
$GC,17866,1.34,310.4,200.2,11.1,1674,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1973,1795
$GC,18211,1.37,330.5,165.0,9.3,1735,18237,0.00,0.00,19.02,0.745,6,0.000,0.000,3076,1973,1713
$GC,18577,1.42,371.5,132.7,8.6,1799,18617,0.00,0.00,36.88,0.737,6,0.000,0.000,3076,1973,1547
$GC,18955,1.42,371.5,93.2,11.1,1865,18962,0.00,2.78,0.00,0.000,4,0.000,0.166,3076,566,1542
$GC,18980,1.42,371.5,90.1,11.7,1869,18987,0.00,3.12,0.00,0.000,6,0.000,0.219,3076,1971,1542
$GC,19324,1.42,371.5,51.3,10.3,1930,19332,0.00,2.75,0.00,0.000,4,0.000,0.163,3076,563,1541
$GC,19367,1.42,371.5,46.7,10.6,1937,19375,0.00,2.97,0.00,0.000,6,0.000,0.207,3076,1943,1541
$GC,19510,1.43,378.6,32.5,9.8,1962,19523,0.00,0.00,6.78,0.581,6,0.000,0.000,3076,1943,1517
$GC,19659,1.44,386.7,18.1,9.7,1988,19675,0.00,2.80,8.62,0.604,4,0.000,0.165,3076,564,1484
$GC,19698,1.44,388.4,14.1,9.9,1994,19706,0.00,3.08,0.00,0.000,6,0.000,0.222,3076,1932,1484
$STATE,19817,end climb,SURFACE_DEPTH_REACHED
$STATE,19817,begin surface coast
$FINISH,0.1,1.026694
$STATE,19853,end surface coast,CONTROL_FINISHED_OK
$STATE,19853,begin surface
$SM_CCo,19934,0.00,0.000,0,0,1480,388.06
$SM_GC,0.97,10.45,0.00,0.00,0.034,0.000,0.000,567,2037,1480,-10.07,0.23,388.06
$IRIDIUM_FIX,6121.73,-2611.55,030997,222259
$TT8_MAMPS,0.041418
$HUMID,1700
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.90
$XPDR_PINGS,1246
$24V_AH,23.2,62.426
$10V_AH,10.6,63.535
$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,24.425,125.325,530.225,0.000,0.000,30.806,32.602,282.703,311.500,0.000,0.000,11.366,4035.814,11291.729,771.423,3529.666,788.721,0.000,2334.547,0.000,3557.383,0.000,0.465
$DEVICE_MAMPS,194.051,239.304,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1403.185,1535.585,750.224,1788.703,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148530,2021
$CAP_FILE_SIZE,172871,0
$CFSIZE,260165632,227315712
$ERRORS,0,8,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078,240.3,1
$GPS,100608,090528,6151.057,-2603.090,25,4.0,44,-18.7