version: 66.03
glider: 141
mission: 7
dive: 321
start: 6 12 108 8 12 4
data:
$ID,141
$MISSION,7
$DIVE,321
$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,-12093.208
$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,6
$R_STBD_OVSHOOT,8
$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
$GPS1,075858,6149.455,-2624.127,38,99.0,57,-18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-53.0
$GPS2,081145,6149.424,-2624.166,13,0.9,13,-18.9
$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,23.7,12462,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,145,0.00,0.00,-118.62,0.000,2,0.000,0.000,568,2032,3787
$GC,148,-1.34,-194.7,3.8,-6.7,16,172,10.93,3.67,-1.48,0.000,4,0.189,0.285,2481,3435,3857
$GC,207,-1.27,-194.7,17.3,-13.2,25,215,0.10,2.78,0.00,0.000,6,0.120,0.166,2500,2021,3858
$GC,351,-1.27,-194.7,32.3,-10.1,50,358,0.00,2.80,0.00,0.000,4,0.000,0.173,2500,613,3858
$GC,421,-1.27,-194.7,39.9,-11.4,62,429,0.00,2.90,0.00,0.000,6,0.000,0.193,2500,2011,3858
$GC,565,-1.27,-194.7,55.9,-10.7,87,572,0.00,2.67,0.00,0.000,4,0.000,0.139,2500,3446,3858
$GC,658,-1.27,-194.7,65.9,-10.8,103,665,0.00,2.75,0.00,0.000,6,0.000,0.151,2500,2019,3858
$GC,1003,-1.27,-194.7,101.6,-9.4,164,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2017,3858
$GC,1348,-1.27,-194.7,137.1,-10.5,225,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2017,3858
$GC,1692,-1.27,-194.7,174.1,-11.4,286,1699,0.00,2.65,0.00,0.000,4,0.000,0.142,2500,3445,3858
$GC,1746,-1.27,-194.7,180.4,-12.2,295,1754,0.00,2.75,0.00,0.000,6,0.000,0.153,2500,2019,3858
$GC,2091,-1.27,-194.7,221.0,-11.2,356,2098,0.00,2.72,0.00,0.000,4,0.000,0.166,2500,622,3859
$GC,2156,-1.27,-194.7,228.1,-11.0,367,2163,0.00,2.58,0.00,0.000,6,0.000,0.124,2500,2034,3858
$GC,2501,-1.27,-194.7,264.9,-10.3,428,2509,0.00,2.62,0.00,0.000,4,0.000,0.141,2500,3448,3858
$GC,2560,-1.27,-194.7,271.3,-10.9,438,2567,0.00,2.80,0.00,0.000,6,0.000,0.164,2500,2022,3858
$GC,2906,-1.27,-194.7,306.4,-10.6,499,2913,0.00,2.67,0.00,0.000,4,0.000,0.153,2500,614,3858
$GC,2959,-1.27,-194.7,312.1,-10.7,508,2966,0.00,2.58,0.00,0.000,6,0.000,0.130,2500,2028,3858
$GC,3310,-1.27,-194.7,351.7,-11.9,569,3314,0.00,2.65,0.00,0.000,4,0.000,0.145,2500,3448,3858
$GC,3361,-1.27,-194.7,358.2,-12.7,573,3365,0.00,2.75,0.00,0.000,6,0.000,0.154,2500,2028,3858
$GC,3688,-1.27,-194.7,398.4,-12.4,603,3693,0.00,2.78,0.00,0.000,4,0.000,0.167,2500,614,3858
$GC,3750,-1.27,-194.7,406.5,-12.8,608,3755,0.00,3.15,0.00,0.000,6,0.000,0.222,2500,2023,3858
$GC,4077,-1.27,-194.7,447.3,-12.2,638,4081,0.00,2.70,0.00,0.000,4,0.000,0.153,2500,3446,3858
$GC,4150,-1.27,-194.7,456.8,-12.4,644,4155,0.00,2.72,0.00,0.000,6,0.000,0.153,2500,2031,3857
$GC,4479,-1.27,-194.7,497.5,-12.5,674,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3858
$GC,4805,-1.27,-194.7,539.1,-12.3,705,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3857
$GC,5123,-1.27,-194.7,578.4,-12.1,735,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3857
$GC,5448,-1.27,-194.7,618.5,-12.4,759,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3857
$GC,5757,-1.27,-194.7,655.0,-11.9,774,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3856
$GC,6066,-1.27,-194.7,691.7,-11.9,789,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2027,3856
$GC,6376,-1.27,-194.7,730.3,-12.0,804,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3855
$GC,6685,-1.27,-194.7,756.9,-6.7,819,6690,0.00,2.80,0.00,0.000,4,0.000,0.168,2500,3453,3855
$GC,6757,-1.27,-194.7,762.3,-9.1,822,6762,0.00,2.80,0.00,0.000,6,0.000,0.168,2500,2035,3855
$GC,7074,-1.27,-194.7,787.5,-8.1,837,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2033,3855
$GC,7382,-1.27,-194.7,814.7,-9.1,852,7387,0.00,2.97,0.00,0.000,4,0.000,0.203,2500,620,3854
$GC,7422,-1.27,-194.7,817.7,-7.7,854,7427,0.00,2.65,0.00,0.000,6,0.000,0.140,2500,2037,3854
$GC,7750,-1.27,-194.7,848.7,-10.4,870,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3854
$GC,8060,-1.27,-194.7,875.1,-8.5,885,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3853
$GC,8371,-1.27,-194.7,901.3,-8.3,900,8375,0.00,2.78,0.00,0.000,4,0.000,0.176,2500,3441,3853
$GC,8426,-1.27,-194.7,908.0,-12.0,902,8433,0.00,2.83,0.00,0.000,6,0.000,0.174,2500,2033,3853
$GC,8742,-1.27,-194.7,934.8,-8.1,918,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2032,3852
$GC,9051,-1.27,-194.7,964.4,-9.3,933,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2031,3852
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9344,-0.37,0.0,990.2,6.0,947,9521,0.93,0.00,169.60,1.279,6,0.098,0.000,2696,1976,3061
$STATE,9521,end apogee,CONTROL_FINISHED_OK
$STATE,9521,begin climb
$GC,9524,1.34,194.7,988.7,0.0,956,9703,1.70,2.95,168.07,1.245,4,0.075,0.180,3069,567,2267
$GC,9748,1.29,194.7,966.1,11.0,966,9752,0.00,2.65,0.00,0.000,6,0.000,0.132,3069,1986,2265
$GC,10069,1.24,194.7,932.7,13.7,982,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1987,2262
$GC,10379,1.22,205.9,904.5,9.6,997,10396,0.12,2.80,10.75,1.064,4,0.106,0.161,3045,3396,2221
$GC,10420,1.22,213.0,900.4,9.8,998,10434,0.00,2.75,8.05,0.993,6,0.000,0.156,3045,2000,2193
$GC,10751,1.25,232.7,865.6,9.3,1014,10772,0.00,0.00,19.15,1.126,6,0.000,0.000,3045,1998,2113
$GC,11081,1.31,281.1,838.1,8.3,1030,11141,0.00,0.00,47.50,1.119,6,0.000,0.000,3045,1998,1914
$GC,11450,1.34,306.4,805.8,9.1,1048,11491,0.12,0.00,27.77,0.980,6,0.063,0.000,3082,1998,1812
$GC,11800,1.37,334.0,770.9,9.0,1065,11831,0.00,2.97,25.88,1.095,4,0.000,0.180,3082,565,1699
$GC,11854,1.39,347.6,765.5,9.5,1067,11884,0.00,2.67,15.95,0.926,6,0.000,0.137,3082,1994,1645
$GC,12192,1.39,347.6,734.0,10.0,1084,12197,0.00,2.88,0.00,0.000,4,0.000,0.175,3082,570,1640
$GC,12209,1.39,347.6,732.1,10.4,1085,12215,0.00,3.40,0.00,0.000,6,0.000,0.249,3082,1976,1641
$GC,12537,1.39,347.6,697.6,10.7,1101,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1979,1639
$GC,12848,1.39,347.6,664.0,11.1,1116,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1979,1639
$GC,13156,1.39,349.3,631.7,9.9,1131,13160,0.00,2.83,0.00,0.000,4,0.000,0.173,3082,567,1639
$GC,13182,1.39,349.3,628.7,10.1,1132,13187,0.00,2.62,0.00,0.000,6,0.000,0.132,3082,1982,1639
$GC,13499,1.39,350.5,598.5,10.0,1147,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1984,1639
$GC,13820,1.41,361.4,565.9,9.6,1177,13843,0.00,2.90,13.27,0.950,4,0.000,0.173,3082,575,1588
$GC,13856,1.41,361.4,562.0,10.0,1180,13860,0.00,2.60,0.00,0.000,6,0.000,0.131,3082,1967,1587
$GC,14183,1.41,361.4,529.0,10.1,1210,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1970,1585
$GC,14500,1.41,361.4,495.7,10.8,1240,14505,0.00,2.78,0.00,0.000,4,0.000,0.173,3082,572,1585
$GC,14529,1.41,361.4,492.3,11.1,1242,14534,0.00,3.35,0.00,0.000,6,0.000,0.252,3082,1958,1585
$GC,14854,1.41,361.4,456.3,11.0,1272,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1958,1585
$GC,15173,1.41,361.4,420.8,11.4,1302,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1958,1585
$GC,15493,1.41,361.4,384.7,11.2,1332,15497,0.00,2.78,0.00,0.000,4,0.000,0.170,3082,564,1585
$GC,15514,1.41,361.4,381.8,11.6,1333,15521,0.00,3.40,0.00,0.000,6,0.000,0.257,3082,1953,1585
$GC,15842,1.41,361.4,345.8,10.8,1367,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1954,1585
$GC,16187,1.41,361.4,308.7,10.6,1428,16194,0.00,2.75,0.00,0.000,4,0.000,0.174,3082,567,1585
$GC,16212,1.41,361.4,305.8,11.1,1432,16220,0.00,3.42,0.00,0.000,6,0.000,0.262,3082,1950,1585
$GC,16559,1.41,361.4,270.6,10.4,1493,16565,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1951,1585
$GC,16903,1.41,361.4,236.1,10.4,1554,16910,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1951,1585
$GC,17248,1.41,361.4,199.2,10.7,1615,17254,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1951,1585
$GC,17592,1.41,361.4,161.1,10.3,1676,17599,0.00,2.75,0.00,0.000,4,0.000,0.176,3082,564,1584
$GC,17606,1.41,361.4,159.5,10.4,1678,17614,0.00,3.03,0.00,0.000,6,0.000,0.216,3082,1940,1585
$GC,17952,1.41,361.4,124.0,10.6,1739,17958,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1940,1585
$GC,18294,1.41,361.4,87.7,10.2,1800,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1941,1585
$GC,18639,1.41,361.4,51.9,10.8,1861,18646,0.00,2.72,0.00,0.000,4,0.000,0.170,3082,569,1585
$GC,18657,1.41,361.4,49.8,11.4,1864,18665,0.00,2.95,0.00,0.000,6,0.000,0.202,3082,1950,1585
$GC,18801,1.41,361.4,35.5,10.1,1889,18808,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1950,1585
$GC,18944,1.41,362.8,21.9,10.0,1914,18952,0.00,2.72,0.00,0.000,4,0.000,0.174,3082,572,1585
$GC,18982,1.43,378.7,18.0,9.4,1920,19011,0.00,3.03,17.88,0.602,6,0.000,0.225,3082,1921,1517
$STATE,19140,end climb,SURFACE_DEPTH_REACHED
$STATE,19140,begin surface coast
$FINISH,0.4,1.026734
$STATE,19175,end surface coast,CONTROL_FINISHED_OK
$STATE,19175,begin surface
$SM_CCo,19256,0.00,0.000,0,0,1513,379.97
$SM_GC,1.14,10.48,0.00,0.00,0.033,0.000,0.000,568,2035,1513,-10.07,0.14,379.97
$IRIDIUM_FIX,6126.23,-2621.68,060997,080807
$TT8_MAMPS,0.041418
$HUMID,1719
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.80
$XPDR_PINGS,1232
$24V_AH,23.2,64.739
$10V_AH,10.6,65.273
$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,24.375,142.650,523.875,0.000,0.000,55.783,65.130,419.556,308.000,0.000,0.000,14.603,3918.847,10871.124,772.959,3456.311,985.253,0.000,2314.397,0.000,3468.069,0.000,0.465
$DEVICE_MAMPS,188.682,285.324,1278.589,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1361.941,1476.980,750.517,1740.056,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142283,1953
$CAP_FILE_SIZE,172419,0
$CFSIZE,260165632,226344960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.079,278.9,1
$GPS,120608,133408,6152.538,-2624.961,30,2.0,30,-18.9