version: 66.03
glider: 141
mission: 7
dive: 311
start: 6 10 108 9 14 57
data:
$ID,141
$MISSION,7
$DIVE,311
$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,-11935.661
$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,6
$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
$GPS1,090528,6151.057,-2603.090,25,4.0,44,-18.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-55.4
$GPS2,091438,6150.987,-2603.005,8,1.5,13,-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,33.1,9833,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.34,-194.7,0.0,0.0,0,139,0.00,0.00,-114.20,0.000,2,0.000,0.000,568,2038,3833
$GC,143,-1.34,-194.7,4.0,-7.3,15,160,11.15,2.85,-0.47,0.000,4,0.198,0.170,2483,609,3857
$GC,240,-1.34,-194.7,23.6,-12.8,31,247,0.00,3.20,0.00,0.000,6,0.000,0.224,2483,2032,3859
$GC,384,-1.29,-194.7,40.5,-11.5,56,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3858
$GC,530,-1.25,-194.7,57.4,-12.1,81,536,0.12,0.00,0.00,0.000,6,0.118,0.000,2507,2033,3859
$GC,872,-1.25,-194.7,95.4,-12.1,142,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2034,3859
$GC,1217,-1.25,-194.7,135.7,-11.5,203,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2034,3859
$GC,1560,-1.25,-194.7,175.0,-11.6,264,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2034,3859
$GC,1906,-1.25,-194.7,217.1,-12.1,325,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,2249,-1.25,-194.7,259.1,-12.3,386,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,2593,-1.25,-194.7,299.0,-10.6,447,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,2937,-1.25,-194.7,336.0,-10.1,508,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,3274,-1.25,-194.7,372.9,-11.2,551,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,3593,-1.25,-194.7,408.9,-11.6,581,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,3913,-1.25,-194.7,444.6,-11.2,611,3917,0.00,2.75,0.00,0.000,4,0.000,0.164,2507,3448,3858
$GC,3964,-1.25,-194.7,450.8,-12.2,615,3968,0.00,2.75,0.00,0.000,6,0.000,0.156,2507,2024,3858
$GC,4292,-1.25,-194.7,487.1,-10.9,645,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2020,3858
$GC,4617,-1.25,-194.7,522.3,-10.8,676,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2020,3858
$GC,4936,-1.25,-194.7,555.8,-10.5,706,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2020,3857
$GC,5254,-1.25,-194.7,586.6,-9.4,736,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2020,3857
$GC,5568,-1.25,-194.7,615.1,-8.9,758,5572,0.00,2.83,0.00,0.000,4,0.000,0.171,2507,3451,3857
$GC,5623,-1.25,-194.7,620.5,-9.5,760,5631,0.00,2.78,0.00,0.000,6,0.000,0.164,2507,2031,3857
$GC,5939,-1.25,-194.7,649.8,-9.2,776,5944,0.00,2.95,0.00,0.000,4,0.000,0.200,2507,618,3857
$GC,6002,-1.25,-194.7,655.6,-9.7,779,6007,0.00,2.72,0.00,0.000,6,0.000,0.153,2507,2037,3857
$GC,6330,-1.25,-194.7,684.0,-8.5,795,6335,0.00,2.85,0.00,0.000,4,0.000,0.183,2507,3452,3857
$GC,6393,-1.25,-194.7,689.6,-8.7,798,6398,0.00,2.75,0.00,0.000,6,0.000,0.158,2507,2031,3857
$GC,6721,-1.25,-194.7,716.8,-9.6,814,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2030,3857
$GC,7030,-1.25,-194.7,748.4,-10.5,829,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2028,3856
$GC,7339,-1.25,-194.7,778.9,-9.6,844,7344,0.00,2.78,0.00,0.000,4,0.000,0.167,2508,3444,3856
$GC,7402,-1.25,-194.7,785.6,-11.4,847,7406,0.00,2.72,0.00,0.000,6,0.000,0.156,2507,2039,3856
$GC,7730,-1.25,-194.7,818.7,-10.7,863,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2037,3856
$GC,8039,-1.25,-194.7,852.5,-10.9,878,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2037,3855
$GC,8349,-1.25,-194.7,883.9,-9.9,893,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2036,3856
$GC,8656,-1.25,-194.7,914.2,-10.3,908,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2036,3855
$GC,8966,-1.25,-194.7,944.7,-9.8,923,8970,0.00,2.80,0.00,0.000,4,0.000,0.173,2507,3450,3854
$GC,9021,-1.25,-194.7,950.3,-9.8,925,9028,0.00,2.72,0.00,0.000,6,0.000,0.161,2507,2051,3854
$GC,9337,-1.25,-194.7,977.8,-8.8,941,9342,0.00,2.92,0.00,0.000,4,0.000,0.191,2507,618,3854
$STATE,9491,end dive,NO_VERTICAL_VELOCITY
$STATE,9491,begin apogee
$GC,9502,-0.37,0.0,979.0,0.0,948,9679,0.82,0.00,169.77,1.281,6,0.071,0.000,2696,1985,3062
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9680,begin climb
$GC,9683,1.34,194.7,978.6,0.0,957,9863,1.67,2.92,168.32,1.250,4,0.076,0.172,3066,3398,2267
$GC,9885,1.30,194.7,964.2,10.3,966,9890,0.00,2.80,0.00,0.000,6,0.000,0.158,3066,1978,2265
$GC,10207,1.25,194.7,933.8,10.2,982,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1976,2262
$GC,10516,1.21,194.7,899.9,11.4,997,10518,0.12,0.00,0.00,0.000,6,0.104,0.000,3041,1976,2261
$GC,10825,1.21,194.7,866.8,10.4,1012,10830,0.00,2.83,0.00,0.000,4,0.000,0.166,3041,3403,2260
$GC,10843,1.22,202.0,865.1,9.7,1013,10857,0.00,2.75,6.88,0.965,6,0.000,0.155,3041,1986,2238
$GC,11176,1.26,235.3,834.6,8.8,1029,11213,0.00,2.85,31.70,1.161,4,0.000,0.162,3041,3403,2100
$GC,11230,1.28,252.2,829.1,9.4,1030,11261,0.00,2.75,18.52,1.000,6,0.000,0.158,3041,2002,2033
$GC,11569,1.29,264.7,797.4,9.6,1047,11589,0.00,0.00,12.27,1.056,6,0.000,0.000,3041,2001,1982
$GC,11899,1.32,288.3,767.2,9.2,1063,11939,0.12,0.00,26.90,0.975,6,0.066,0.000,3077,2001,1886
$GC,12247,1.32,288.3,727.2,11.4,1080,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1882
$GC,12556,1.32,288.3,690.0,12.7,1095,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1882
$GC,12866,1.32,288.3,649.0,13.4,1110,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1881
$GC,13175,1.32,288.3,609.4,12.4,1125,13179,0.00,2.88,0.00,0.000,4,0.000,0.178,3077,566,1881
$GC,13192,1.32,288.3,607.2,12.6,1126,13197,0.00,3.45,0.00,0.000,6,0.000,0.251,3077,1998,1881
$GC,13519,1.32,288.3,568.8,11.5,1153,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1998,1881
$GC,13844,1.32,288.3,529.0,12.6,1184,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1999,1881
$GC,14163,1.32,288.3,491.1,11.0,1214,14168,0.00,2.85,0.00,0.000,4,0.000,0.172,3077,566,1880
$GC,14181,1.32,288.3,488.9,11.3,1215,14187,0.00,3.28,0.00,0.000,6,0.000,0.232,3077,1996,1881
$GC,14506,1.32,288.3,453.4,11.0,1245,14508,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1996,1881
$GC,14825,1.32,288.3,419.0,10.3,1275,14826,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1996,1881
$GC,15146,1.32,288.3,383.7,11.3,1305,15150,0.00,2.83,0.00,0.000,4,0.000,0.169,3077,567,1881
$GC,15163,1.32,288.3,381.4,11.4,1306,15168,0.00,3.30,0.00,0.000,6,0.000,0.235,3077,1999,1881
$GC,15490,1.32,288.3,344.5,10.9,1340,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1998,1880
$GC,15834,1.32,288.3,305.2,11.4,1401,15840,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1998,1881
$GC,16179,1.32,288.3,265.0,11.2,1462,16186,0.00,2.80,0.00,0.000,4,0.000,0.167,3077,570,1881
$GC,16199,1.32,288.3,262.6,11.2,1465,16206,0.00,3.08,0.00,0.000,6,0.000,0.208,3077,1992,1881
$GC,16545,1.32,288.3,223.7,10.7,1526,16552,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1992,1881
$GC,16890,1.32,288.3,185.4,12.6,1587,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1992,1882
$GC,17235,1.33,294.1,147.3,9.8,1648,17249,0.00,2.83,6.00,0.619,4,0.000,0.168,3077,570,1863
$GC,17261,1.33,294.1,144.2,11.0,1652,17269,0.00,3.15,0.00,0.000,6,0.000,0.218,3077,1983,1863
$GC,17606,1.33,294.1,106.4,10.5,1713,17612,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1983,1863
$GC,17950,1.33,294.1,68.8,10.7,1774,17958,0.00,3.38,0.00,0.000,4,0.000,0.255,3077,3396,1862
$GC,17964,1.33,294.1,67.3,11.7,1776,17972,0.00,2.75,0.00,0.000,6,0.000,0.155,3077,1975,1862
$GC,18310,1.33,294.1,28.3,12.5,1837,18317,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1973,1862
$GC,18453,1.34,300.3,13.3,9.8,1862,18468,0.00,3.33,7.32,0.588,4,0.000,0.243,3077,3396,1836
$GC,18481,1.34,300.3,10.4,11.2,1866,18489,0.00,2.72,0.00,0.000,6,0.000,0.158,3077,1983,1835
$STATE,18555,end climb,SURFACE_DEPTH_REACHED
$STATE,18555,begin surface coast
$FINISH,0.5,1.026935
$STATE,18584,end surface coast,CONTROL_FINISHED_OK
$STATE,18584,begin surface
$SM_CCo,18665,0.00,0.000,0,0,1833,301.72
$SM_GC,0.89,10.55,0.00,0.00,0.039,0.000,0.000,567,2040,1833,-10.06,0.28,301.72
$IRIDIUM_FIX,6121.73,-2603.39,040997,030329
$TT8_MAMPS,0.042185
$HUMID,1686
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,16.70
$XPDR_PINGS,1188
$24V_AH,23.2,62.639
$10V_AH,10.6,63.699
$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,24.575,105.200,447.700,0.000,0.000,23.472,37.218,328.136,297.000,0.000,0.000,15.488,3773.853,10610.006,666.516,3369.265,774.244,0.000,2142.752,0.000,3368.715,0.000,0.465
$DEVICE_MAMPS,197.886,255.411,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1307.038,1419.860,699.467,1671.491,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139205,1884
$CAP_FILE_SIZE,159583,0
$CFSIZE,260165632,227246080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.097,284.0,1
$GPS,100608,142708,6154.121,-2603.340,29,0.8,29,-18.7