version: 66.03
glider: 141
mission: 7
dive: 323
start: 6 12 108 19 40 30
data:
$ID,141
$MISSION,7
$DIVE,323
$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,-12142.38
$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,11
$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
$GPS1,191441,6155.465,-2625.046,40,1.2,43,-18.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-48.3
$GPS2,194009,6155.390,-2625.136,14,1.4,14,-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,72.8,2326,-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,-63.0,0.0,0.0,0,160,0.00,0.00,-133.70,0.000,6,0.000,0.000,562,2046,3319
$GC,164,-2.17,-123.1,2.3,-3.6,18,189,10.07,2.85,-7.72,0.000,4,0.194,0.168,2301,615,3565
$GC,373,-2.17,-123.1,36.4,-17.1,54,381,0.00,3.20,0.00,0.000,6,0.000,0.230,2301,2023,3566
$GC,518,-2.17,-123.1,59.0,-15.4,79,525,0.00,3.62,0.00,0.000,4,0.000,0.275,2301,3443,3566
$GC,627,-2.12,-123.1,77.3,-16.5,98,634,0.00,2.67,0.00,0.000,6,0.000,0.161,2301,2064,3566
$GC,974,-2.12,-123.1,133.0,-15.5,159,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2060,3566
$GC,1317,-2.12,-123.1,186.3,-15.9,220,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2060,3566
$GC,1662,-2.12,-123.1,238.9,-16.0,281,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2060,3566
$GC,2006,-2.12,-123.1,292.5,-14.6,342,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2060,3565
$GC,2352,-2.12,-123.1,343.2,-15.1,403,2359,0.00,3.50,0.00,0.000,4,0.000,0.275,2301,3444,3565
$GC,2447,-2.06,-123.1,358.0,-15.9,415,2452,0.15,2.70,0.00,0.000,6,0.146,0.168,2326,2087,3564
$GC,2772,-2.06,-123.1,403.0,-13.7,445,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2085,3564
$GC,3092,-2.06,-123.1,448.6,-15.1,475,3096,0.00,2.58,0.00,0.000,4,0.000,0.148,2326,3451,3563
$GC,3135,-2.06,-123.1,455.8,-15.6,478,3143,0.00,2.65,0.00,0.000,6,0.000,0.162,2326,2093,3563
$GC,3463,-2.06,-123.1,504.2,-14.7,509,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2090,3563
$GC,3789,-2.06,-123.1,551.6,-14.4,540,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2088,3562
$GC,4107,-2.06,-123.1,598.1,-15.3,570,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2088,3561
$GC,4417,-2.06,-123.1,643.3,-14.4,586,4422,0.00,3.22,0.00,0.000,4,0.000,0.219,2327,617,3562
$GC,4480,-2.06,-123.1,652.8,-15.2,589,4484,0.00,2.80,0.00,0.000,6,0.000,0.142,2326,2108,3562
$GC,4807,-2.06,-123.1,701.6,-15.2,605,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2110,3561
$GC,5118,-2.06,-123.1,748.0,-14.7,620,5122,0.00,2.62,0.00,0.000,4,0.000,0.171,2327,3444,3560
$GC,5167,-2.06,-123.1,756.0,-15.9,622,5171,0.00,2.60,0.00,0.000,6,0.000,0.165,2326,2120,3561
$GC,5483,-2.06,-123.1,801.8,-14.1,637,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2118,3560
$GC,5793,-2.06,-123.1,847.8,-14.8,652,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2116,3560
$GC,6102,-2.06,-123.1,893.0,-14.6,667,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2116,3559
$GC,6410,-2.06,-123.1,937.8,-14.5,682,6415,0.00,2.55,0.00,0.000,4,0.000,0.157,2327,3445,3558
$GC,6517,-2.06,-123.1,954.0,-15.5,687,6522,0.00,2.67,0.00,0.000,6,0.000,0.178,2327,2122,3558
$STATE,6779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6780,begin apogee
$GC,6786,-0.37,0.0,991.4,13.8,700,6903,1.85,0.00,107.68,1.272,6,0.130,0.000,2695,1981,3061
$STATE,6903,end apogee,CONTROL_FINISHED_OK
$STATE,6903,begin climb
$GC,6906,2.17,123.1,995.5,0.0,706,7024,2.53,0.00,108.38,1.247,6,0.071,0.000,3252,1981,2559
$GC,7333,2.17,123.1,938.0,15.0,727,7337,0.00,2.72,0.00,0.000,4,0.000,0.150,3252,3405,2555
$GC,7372,2.12,123.1,931.6,16.7,729,7377,0.00,2.80,0.00,0.000,6,0.000,0.161,3252,1983,2555
$GC,7699,2.12,123.1,881.6,15.2,745,7704,0.00,2.72,0.00,0.000,4,0.000,0.149,3252,3409,2554
$GC,7745,2.07,123.1,874.3,16.5,747,7749,0.00,2.83,0.00,0.000,6,0.000,0.170,3252,1992,2554
$GC,8066,2.07,123.1,826.4,14.7,763,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1989,2553
$GC,8375,2.07,123.1,780.4,15.3,778,8379,0.00,2.70,0.00,0.000,4,0.000,0.148,3252,3409,2553
$GC,8438,2.03,123.1,770.3,16.6,781,8443,0.15,2.75,0.00,0.000,6,0.124,0.159,3224,2008,2553
$GC,8766,2.03,123.1,720.1,15.7,797,8770,0.00,2.67,0.00,0.000,4,0.000,0.150,3223,3406,2553
$GC,8822,2.03,123.1,710.8,16.4,799,8828,0.00,2.83,0.00,0.000,6,0.000,0.180,3224,2025,2553
$GC,9138,2.03,123.1,660.6,15.9,815,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2024,2553
$GC,9446,2.03,123.1,614.1,14.9,830,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2023,2553
$GC,9763,2.03,123.1,568.2,14.9,855,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2024,2552
$GC,10081,2.03,123.1,520.9,15.0,885,10085,0.00,2.62,0.00,0.000,4,0.000,0.143,3224,3405,2553
$GC,10109,2.03,123.1,516.5,15.5,887,10114,0.00,2.80,0.00,0.000,6,0.000,0.177,3223,2021,2552
$GC,10437,2.03,123.1,471.4,13.4,917,10442,0.00,2.62,0.00,0.000,4,0.000,0.146,3224,3403,2552
$GC,10504,2.03,123.1,461.3,14.0,922,10512,0.00,2.72,0.00,0.000,6,0.000,0.171,3224,2037,2552
$GC,10832,2.03,123.1,419.0,13.5,953,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2036,2552
$GC,11157,2.03,123.1,375.3,13.3,984,11161,0.00,2.58,0.00,0.000,4,0.000,0.141,3224,3401,2552
$GC,11185,2.03,123.1,371.4,14.0,986,11190,0.00,2.62,0.00,0.000,6,0.000,0.153,3224,2037,2552
$GC,11520,2.03,123.1,326.9,12.7,1031,11527,0.00,2.58,0.00,0.000,4,0.000,0.143,3224,3403,2552
$GC,11562,2.03,123.1,321.0,14.0,1038,11569,0.00,2.85,0.00,0.000,6,0.000,0.197,3224,2037,2552
$GC,11908,2.03,123.1,276.4,12.6,1099,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2036,2553
$GC,12252,2.03,123.1,234.1,11.8,1160,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2036,2553
$GC,12597,2.03,123.1,192.1,12.1,1221,12604,0.00,2.58,0.00,0.000,4,0.000,0.146,3224,3407,2553
$GC,12657,2.03,123.1,184.3,13.8,1231,12664,0.00,2.72,0.00,0.000,6,0.000,0.170,3224,2038,2553
$GC,13004,2.03,123.1,139.6,13.5,1292,13012,0.00,2.55,0.00,0.000,4,0.000,0.143,3224,3405,2553
$GC,13053,2.03,123.1,132.6,13.8,1300,13061,0.00,2.70,0.00,0.000,6,0.000,0.174,3224,2052,2553
$GC,13396,2.03,123.1,86.0,13.8,1361,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2051,2553
$GC,13740,2.03,123.1,42.7,11.3,1422,13748,0.00,2.53,0.00,0.000,4,0.000,0.146,3223,3408,2553
$GC,13767,2.03,123.1,39.6,11.4,1426,13774,0.00,2.62,0.00,0.000,6,0.000,0.157,3224,2053,2553
$GC,13911,2.03,123.1,23.7,11.4,1451,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2053,2552
$GC,14052,2.03,123.1,6.6,11.4,1476,14060,0.00,2.90,0.00,0.000,4,0.000,0.169,3223,570,2553
$STATE,14081,end climb,SURFACE_DEPTH_REACHED
$STATE,14081,begin surface coast
$FINISH,0.3,1.019294
$STATE,14109,end surface coast,CONTROL_FINISHED_OK
$STATE,14109,begin surface
$SM_CCo,14134,61.22,0.657,0,0,2246,200.16
$SM_GC,1.10,0.00,0.00,61.22,0.000,0.000,0.657,573,2032,2246,-10.15,0.06,200.16
$IRIDIUM_FIX,6135.28,-2757.88,060997,191922
$TT8_MAMPS,0.042185
$HUMID,1710
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,16.80
$XPDR_PINGS,948
$24V_AH,23.2,65.182
$10V_AH,10.6,65.592
$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,25.925,106.200,216.050,61.225,0.000,124.989,187.250,799.576,237.000,0.000,0.000,15.612,2996.941,7960.578,555.814,2625.077,1570.966,0.000,1700.252,0.000,2660.269,0.000,0.465
$DEVICE_MAMPS,194.051,274.586,1272.453,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1029.248,1146.608,579.297,1344.195,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110891,1486
$CAP_FILE_SIZE,141857,0
$CFSIZE,260165632,226222080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,304.8,1
$GPS,120608,233825,6156.766,-2622.809,39,1.3,39,-18.9