version: 66.03
glider: 141
mission: 7
dive: 320
start: 6 12 108 2 49 21
data:
$ID,141
$MISSION,7
$DIVE,320
$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,-12077.974
$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,10
$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
$GPS1,024215,6146.229,-2624.140,36,2.4,55,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-61.7
$GPS2,024902,6146.221,-2624.162,9,1.1,14,-18.8
$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,22.0,18380,-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,23,-1.34,-194.7,0.0,0.0,0,90,0.00,0.00,-64.47,0.000,2,0.000,0.000,569,2033,3603
$GC,93,-1.34,-194.7,3.0,-5.0,9,117,10.98,2.70,-6.15,0.000,4,0.191,0.147,2481,3448,3858
$GC,164,-1.27,-194.7,15.9,-13.6,20,172,0.10,2.72,0.00,0.000,6,0.125,0.152,2498,2028,3858
$GC,307,-1.27,-194.7,33.6,-12.4,45,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2024,3859
$GC,447,-1.27,-194.7,51.7,-13.3,70,455,0.00,2.75,0.00,0.000,4,0.000,0.163,2499,614,3859
$GC,507,-1.27,-194.7,59.1,-11.8,80,514,0.00,3.03,0.00,0.000,6,0.000,0.206,2499,2014,3859
$GC,852,-1.27,-194.7,98.4,-11.5,141,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2015,3860
$GC,1196,-1.27,-194.7,137.7,-10.9,202,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2016,3860
$GC,1542,-1.27,-194.7,174.6,-10.6,263,1549,0.00,2.67,0.00,0.000,4,0.000,0.143,2498,3447,3860
$GC,1617,-1.27,-194.7,183.2,-10.7,276,1625,0.00,2.72,0.00,0.000,6,0.000,0.145,2499,2008,3860
$GC,1963,-1.27,-194.7,220.7,-10.3,337,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2004,3860
$GC,2307,-1.27,-194.7,257.9,-11.1,398,2314,0.00,2.70,0.00,0.000,4,0.000,0.141,2499,3457,3860
$GC,2366,-1.27,-194.7,264.5,-11.0,408,2373,0.00,2.78,0.00,0.000,6,0.000,0.163,2499,2020,3860
$GC,2712,-1.27,-194.7,301.7,-10.5,469,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2018,3861
$GC,3055,-1.27,-194.7,337.3,-10.4,530,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2018,3860
$GC,3393,-1.27,-194.7,373.6,-11.0,572,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2018,3860
$GC,3712,-1.27,-194.7,408.3,-10.5,602,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2018,3860
$GC,4030,-1.27,-194.7,439.5,-9.6,632,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2018,3860
$GC,4349,-1.27,-194.7,467.6,-8.2,662,4353,0.00,2.70,0.00,0.000,4,0.000,0.150,2499,3447,3860
$GC,4393,-1.27,-194.7,471.5,-8.5,665,4400,0.00,2.72,0.00,0.000,6,0.000,0.157,2498,2028,3860
$GC,4720,-1.27,-194.7,496.5,-8.1,696,4724,0.00,2.80,0.00,0.000,4,0.000,0.172,2499,615,3860
$GC,4787,-1.27,-194.7,502.6,-9.0,701,4794,0.00,2.60,0.00,0.000,6,0.000,0.130,2498,2031,3860
$GC,5114,-1.27,-194.7,535.6,-10.8,732,5119,0.00,2.70,0.00,0.000,4,0.000,0.157,2498,3445,3860
$GC,5189,-1.27,-194.7,544.3,-11.7,738,5193,0.00,2.78,0.00,0.000,6,0.000,0.163,2499,2029,3860
$GC,5517,-1.27,-194.7,577.3,-9.8,768,5522,0.00,2.85,0.00,0.000,4,0.000,0.179,2498,612,3860
$GC,5569,-1.27,-194.7,582.8,-9.9,772,5573,0.00,2.65,0.00,0.000,6,0.000,0.133,2498,2038,3860
$GC,5902,-1.27,-194.7,614.2,-9.4,796,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2041,3860
$GC,6210,-1.27,-194.7,645.9,-10.3,811,6214,0.00,2.75,0.00,0.000,4,0.000,0.171,2498,3441,3860
$GC,6259,-1.27,-194.7,651.4,-11.4,813,6264,0.00,2.70,0.00,0.000,6,0.000,0.151,2498,2025,3860
$GC,6575,-1.27,-194.7,685.2,-10.5,828,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2021,3860
$GC,6886,-1.27,-194.7,716.9,-9.9,843,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2019,3859
$GC,7196,-1.27,-194.7,748.3,-11.2,858,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2018,3858
$GC,7504,-1.27,-194.7,780.4,-10.9,873,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2017,3858
$GC,7814,-1.27,-194.7,813.9,-11.5,888,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2017,3858
$GC,8123,-1.27,-194.7,845.3,-9.0,903,8128,0.00,3.03,0.00,0.000,4,0.000,0.211,2498,616,3857
$GC,8195,-1.27,-194.7,852.0,-9.6,906,8200,0.00,2.65,0.00,0.000,6,0.000,0.138,2498,2037,3857
$GC,8511,-1.27,-194.7,886.2,-11.7,921,8516,0.00,2.78,0.00,0.000,4,0.000,0.170,2498,3448,3857
$GC,8544,-1.27,-194.7,890.0,-11.8,922,8551,0.00,2.72,0.00,0.000,6,0.000,0.158,2498,2027,3857
$GC,8860,-1.27,-194.7,923.1,-10.8,938,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2026,3856
$GC,9169,-1.27,-194.7,935.8,0.1,953,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2025,3856
$STATE,9187,end dive,NO_VERTICAL_VELOCITY
$STATE,9187,begin apogee
$GC,9194,-0.37,0.0,935.8,0.0,954,9370,0.93,0.00,169.75,1.246,6,0.092,0.000,2697,1981,3061
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9371,begin climb
$GC,9373,1.34,194.7,935.4,0.0,963,9552,1.67,2.83,167.75,1.218,4,0.074,0.153,3066,3404,2267
$GC,9647,1.34,194.7,920.4,11.3,975,9652,0.00,2.80,0.00,0.000,6,0.000,0.160,3066,1985,2262
$GC,9964,1.38,259.0,895.2,7.8,990,10027,0.00,2.85,58.08,1.176,4,0.000,0.151,3066,3402,2005
$GC,10037,1.38,259.0,888.0,10.3,993,10042,0.00,2.80,0.00,0.000,6,0.000,0.156,3066,1989,2003
$GC,10354,1.38,260.3,859.2,10.0,1008,10359,0.00,2.70,0.00,0.000,4,0.000,0.150,3065,3397,1999
$GC,10364,1.38,260.3,857.9,10.0,1008,10372,0.00,2.78,0.00,0.000,6,0.000,0.173,3065,2008,1999
$GC,10680,1.38,260.3,826.8,10.1,1024,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2005,1998
$GC,10990,1.38,260.3,795.9,10.1,1039,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2005,1998
$GC,11299,1.39,273.5,766.5,9.5,1054,11319,0.00,0.00,13.23,1.048,6,0.000,0.000,3066,2005,1947
$GC,11628,1.44,310.2,737.2,8.7,1070,11694,0.12,2.75,40.88,0.974,4,0.064,0.154,3102,3403,1796
$GC,11701,1.39,310.2,729.7,10.3,1073,11705,0.00,2.67,0.00,0.000,6,0.000,0.138,3102,1998,1795
$GC,12022,1.34,310.2,695.1,10.9,1089,12024,0.15,0.00,0.00,0.000,6,0.106,0.000,3072,1996,1792
$GC,12332,1.38,337.9,666.0,9.0,1104,12359,0.00,0.00,25.80,1.048,6,0.000,0.000,3072,1996,1684
$GC,12660,1.38,337.9,629.9,10.9,1120,12661,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1996,1680
$GC,12969,1.38,337.9,598.1,10.0,1135,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1996,1679
$GC,13290,1.39,351.1,567.3,9.5,1165,13317,0.00,0.00,15.05,0.845,6,0.000,0.000,3072,1996,1630
$GC,13635,1.39,351.1,529.3,11.0,1198,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1996,1627
$GC,13955,1.39,351.1,495.9,10.6,1228,13959,0.00,2.85,0.00,0.000,4,0.000,0.173,3072,569,1628
$GC,13972,1.39,351.1,494.0,10.6,1229,13977,0.00,2.65,0.00,0.000,6,0.000,0.130,3072,2002,1627
$GC,14300,1.41,361.0,461.8,9.7,1259,14318,0.00,0.00,10.23,0.858,6,0.000,0.000,3072,2005,1589
$GC,14638,1.44,389.6,430.4,9.0,1291,14673,0.00,2.92,27.35,0.911,4,0.000,0.166,3072,568,1473
$GC,14687,1.49,428.1,425.9,8.7,1295,14735,0.15,3.17,36.30,0.904,6,0.056,0.212,3115,1992,1314
$GC,15052,1.49,428.1,385.6,12.3,1329,15057,0.00,2.85,0.00,0.000,4,0.000,0.170,3115,570,1308
$GC,15073,1.49,428.1,382.4,13.1,1330,15081,0.00,3.10,0.00,0.000,6,0.000,0.215,3115,1980,1308
$GC,15400,1.49,428.1,343.8,11.8,1365,15407,0.00,2.83,0.00,0.000,4,0.000,0.170,3115,567,1306
$GC,15431,1.49,428.1,340.1,11.9,1370,15438,0.00,2.92,0.00,0.000,6,0.000,0.193,3115,1969,1306
$GC,15779,1.49,428.1,299.4,11.1,1431,15786,0.00,2.80,0.00,0.000,4,0.000,0.170,3115,568,1306
$GC,15798,1.49,428.1,297.0,11.9,1434,15806,0.00,2.58,0.00,0.000,6,0.000,0.133,3115,1971,1306
$GC,16144,1.49,428.1,257.7,11.7,1495,16151,0.00,2.80,0.00,0.000,4,0.000,0.170,3115,570,1305
$GC,16170,1.49,428.1,254.6,11.8,1499,16177,0.00,3.28,0.00,0.000,6,0.000,0.247,3115,1943,1305
$GC,16516,1.49,428.1,214.2,11.9,1560,16522,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1944,1305
$GC,16860,1.50,435.8,176.4,9.7,1621,16874,0.00,2.75,6.28,0.645,4,0.000,0.169,3115,567,1284
$GC,16887,1.50,435.8,173.5,10.2,1625,16894,0.00,3.33,0.00,0.000,6,0.000,0.250,3115,1942,1284
$GC,17232,1.50,435.8,133.9,11.9,1686,17240,0.00,2.72,0.00,0.000,4,0.000,0.170,3115,567,1284
$GC,17247,1.50,435.8,132.2,11.5,1688,17254,0.00,3.38,0.00,0.000,6,0.000,0.260,3115,1934,1283
$GC,17591,1.50,435.8,93.0,12.1,1749,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1936,1283
$GC,17935,1.50,435.8,51.6,12.3,1810,17942,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1937,1283
$GC,18277,1.50,435.8,13.2,10.5,1871,18284,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1937,1283
$STATE,18371,end climb,SURFACE_DEPTH_REACHED
$STATE,18371,begin surface coast
$FINISH,0.3,1.015488
$STATE,18400,end surface coast,CONTROL_FINISHED_OK
$STATE,18400,begin surface
$SM_CCo,18482,0.00,0.000,0,0,1281,436.88
$SM_GC,1.12,10.65,0.00,0.00,0.037,0.000,0.000,568,2033,1281,-10.07,0.11,436.88
$IRIDIUM_FIX,6121.73,-2619.66,050997,232312
$TT8_MAMPS,0.041418
$HUMID,1725
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,15.30
$XPDR_PINGS,1193
$24V_AH,23.2,64.495
$10V_AH,10.6,65.099
$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,24.750,129.925,570.675,0.000,0.000,30.088,30.811,213.664,298.250,0.000,0.000,16.004,3795.946,10274.595,766.958,3365.121,677.229,0.000,2260.164,0.000,3377.182,0.000,0.466
$DEVICE_MAMPS,190.983,260.013,1246.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1314.938,1432.605,697.065,1707.666,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139335,1893
$CAP_FILE_SIZE,162234,0
$CFSIZE,260165632,226455552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.045,334.7,1
$GPS,120608,075858,6149.455,-2624.127,38,99.0,57,-18.9