version: 66.03
glider: 141
mission: 7
dive: 329
start: 6 14 108 1 13 45
data:
$ID,141
$MISSION,7
$DIVE,329
$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,-12257.163
$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,9
$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
$GPS1,010501,6148.397,-2605.899,39,1.5,44,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.2
$GPS2,011326,6148.380,-2605.966,12,1.5,12,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-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,156.5,7524,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,127,0.00,0.00,-102.43,0.000,2,0.000,0.000,572,2030,3662
$GC,130,-1.34,-194.7,3.2,-5.3,14,154,11.18,3.83,-4.53,0.000,4,0.199,0.302,2481,3442,3858
$GC,345,-1.28,-194.7,36.1,-12.7,51,352,0.00,3.12,0.00,0.000,6,0.000,0.217,2480,2022,3859
$GC,488,-1.24,-194.7,54.6,-13.0,76,496,0.15,0.00,0.00,0.000,6,0.108,0.000,2514,2019,3859
$GC,836,-1.24,-194.7,93.3,-10.7,137,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2019,3860
$GC,1179,-1.24,-194.7,131.5,-11.0,198,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2019,3860
$GC,1523,-1.24,-194.7,170.0,-10.6,259,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2019,3860
$GC,1868,-1.24,-194.7,205.1,-9.9,320,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2019,3860
$GC,2213,-1.24,-194.7,237.9,-9.0,381,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2019,3860
$GC,2558,-1.24,-194.7,270.8,-10.0,442,2565,0.00,3.67,0.00,0.000,4,0.000,0.283,2514,3441,3860
$GC,2578,-1.24,-194.7,272.9,-9.9,445,2586,0.00,2.92,0.00,0.000,6,0.000,0.190,2514,2031,3860
$GC,2924,-1.24,-194.7,308.2,-10.2,506,2931,0.00,2.65,0.00,0.000,4,0.000,0.146,2514,3449,3860
$GC,2939,-1.24,-194.7,309.6,-10.5,508,2946,0.00,2.90,0.00,0.000,6,0.000,0.189,2514,2041,3860
$GC,3284,-1.24,-194.7,345.8,-10.2,569,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3859
$GC,3615,-1.24,-194.7,378.9,-10.2,603,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3859
$GC,3941,-1.24,-194.7,411.4,-9.8,634,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3859
$GC,4260,-1.24,-194.7,443.2,-9.8,664,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3859
$GC,4578,-1.24,-194.7,474.9,-10.3,694,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3859
$GC,4896,-1.24,-194.7,507.7,-10.4,724,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3859
$GC,5214,-1.24,-194.7,541.7,-11.0,754,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3858
$GC,5533,-1.24,-194.7,576.6,-11.0,784,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3858
$GC,5848,-1.24,-194.7,612.2,-11.6,809,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3858
$GC,6158,-1.24,-194.7,646.5,-10.8,824,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3858
$GC,6467,-1.24,-194.7,677.1,-9.1,839,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3858
$GC,6776,-1.24,-194.7,704.1,-8.7,854,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3857
$GC,7087,-1.24,-194.7,730.7,-8.8,869,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3858
$GC,7395,-1.24,-194.7,757.6,-8.6,884,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2038,3857
$GC,7704,-1.24,-194.7,784.5,-8.5,899,7709,0.00,2.78,0.00,0.000,4,0.000,0.173,2514,3443,3857
$GC,7755,-1.24,-194.7,789.2,-9.3,901,7760,0.00,3.30,0.00,0.000,6,0.000,0.244,2514,2042,3857
$GC,8071,-1.24,-194.7,816.1,-8.4,916,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2041,3856
$GC,8380,-1.24,-194.7,840.3,-7.6,931,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2040,3856
$GC,8690,-1.24,-194.7,864.1,-8.0,946,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2040,3856
$GC,8999,-1.24,-194.7,890.0,-8.6,961,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2039,3855
$GC,9308,-1.24,-194.7,916.3,-8.7,976,9312,0.00,2.75,0.00,0.000,4,0.000,0.164,2514,3449,3854
$GC,9335,-1.24,-194.7,918.9,-9.6,977,9340,0.00,2.80,0.00,0.000,6,0.000,0.166,2514,2032,3854
$GC,9651,-1.24,-194.7,946.8,-8.8,992,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2032,3854
$GC,9961,-1.24,-194.7,973.5,-8.7,1007,9965,0.00,2.75,0.00,0.000,4,0.000,0.162,2514,3446,3854
$GC,9988,-1.24,-194.7,976.3,-10.1,1008,9993,0.00,2.95,0.00,0.000,6,0.000,0.195,2514,2038,3853
$STATE,10157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10157,begin apogee
$GC,10163,-0.37,0.0,991.2,8.8,1016,10340,0.85,0.00,170.48,1.289,6,0.095,0.000,2695,1983,3061
$STATE,10341,end apogee,CONTROL_FINISHED_OK
$STATE,10341,begin climb
$GC,10344,1.34,194.7,995.8,0.0,1025,10518,1.70,0.00,169.93,1.256,6,0.076,0.000,3067,1983,2268
$GC,10817,1.30,194.7,952.8,10.2,1048,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1983,2262
$GC,11127,1.25,194.7,921.7,10.2,1063,11131,0.00,2.72,0.00,0.000,4,0.000,0.152,3068,3401,2261
$GC,11171,1.20,194.7,916.9,10.6,1065,11177,0.12,2.83,0.00,0.000,6,0.106,0.168,3044,1990,2261
$GC,11494,1.25,236.8,888.5,8.5,1081,11535,0.00,0.00,38.38,1.187,6,0.000,0.000,3044,1987,2096
$GC,11843,1.31,280.2,858.5,8.5,1098,11892,0.00,0.00,42.60,1.126,6,0.000,0.000,3044,1988,1919
$GC,12192,1.35,314.2,828.0,8.8,1115,12240,0.12,0.00,35.78,1.040,6,0.064,0.000,3080,1986,1781
$GC,12541,1.35,314.2,789.7,11.4,1132,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1986,1775
$GC,12851,1.35,314.2,752.0,12.4,1147,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1986,1774
$GC,13159,1.35,314.2,715.8,11.7,1162,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1986,1774
$GC,13469,1.35,314.2,681.5,10.8,1177,13473,0.00,2.90,0.00,0.000,4,0.000,0.186,3080,574,1774
$GC,13509,1.35,314.2,677.1,11.2,1179,13515,0.00,3.30,0.00,0.000,6,0.000,0.235,3080,1999,1774
$GC,13838,1.35,314.2,642.0,11.3,1195,13842,0.00,2.75,0.00,0.000,4,0.000,0.166,3080,3402,1773
$GC,13881,1.35,314.2,636.5,12.4,1197,13886,0.00,3.10,0.00,0.000,6,0.000,0.216,3080,1992,1772
$GC,14205,1.35,314.2,599.4,11.8,1213,14210,0.00,2.78,0.00,0.000,4,0.000,0.166,3080,574,1772
$GC,14259,1.35,314.2,592.7,11.8,1217,14264,0.00,2.65,0.00,0.000,6,0.000,0.130,3080,2004,1773
$GC,14586,1.35,314.2,554.2,11.5,1247,14590,0.00,2.67,0.00,0.000,4,0.000,0.153,3080,3403,1772
$GC,14618,1.35,314.2,550.0,12.2,1249,14625,0.00,2.88,0.00,0.000,6,0.000,0.183,3080,1998,1771
$GC,14945,1.35,314.2,511.6,12.0,1280,14950,0.00,2.85,0.00,0.000,4,0.000,0.175,3080,573,1772
$GC,14996,1.35,314.2,505.0,12.3,1284,15002,0.00,3.28,0.00,0.000,6,0.000,0.233,3080,1988,1772
$GC,15321,1.35,314.2,467.3,11.2,1314,15333,0.00,3.88,0.00,0.000,4,0.000,0.301,3080,3399,1771
$GC,15358,1.35,314.2,463.2,11.7,1317,15363,0.00,3.10,0.00,0.000,6,0.000,0.210,3080,1983,1771
$GC,15683,1.35,314.2,429.1,10.1,1347,15687,0.00,2.83,0.00,0.000,4,0.000,0.173,3080,568,1772
$GC,15726,1.35,314.2,424.3,10.5,1350,15734,0.00,2.62,0.00,0.000,6,0.000,0.133,3080,2001,1772
$GC,16055,1.36,326.2,392.7,9.6,1381,16073,0.00,0.00,10.90,0.826,6,0.000,0.000,3080,2003,1730
$GC,16393,1.40,353.7,361.2,9.0,1413,16422,0.00,0.00,26.60,0.861,6,0.000,0.000,3080,2003,1620
$GC,16752,1.40,353.7,326.7,10.6,1467,16759,0.00,2.80,0.00,0.000,4,0.000,0.166,3080,567,1616
$GC,16795,1.40,360.6,322.4,9.8,1474,16810,0.00,3.65,7.45,0.726,6,0.000,0.274,3080,1986,1590
$GC,17148,1.44,385.4,288.0,9.1,1536,17176,0.00,0.00,23.27,0.810,6,0.000,0.000,3080,1987,1490
$GC,17515,1.44,385.4,249.7,11.5,1600,17522,0.00,3.00,0.00,0.000,4,0.000,0.201,3080,571,1486
$GC,17551,1.44,385.4,245.6,11.1,1606,17559,0.00,3.55,0.00,0.000,6,0.000,0.268,3080,1982,1486
$GC,17896,1.44,385.4,208.2,10.0,1667,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1982,1486
$GC,18241,1.47,410.2,172.3,9.1,1728,18269,0.00,3.22,22.62,0.744,4,0.000,0.215,3080,571,1388
$GC,18299,1.48,421.1,166.3,9.6,1737,18320,0.00,3.45,10.95,0.683,6,0.000,0.254,3080,1976,1345
$GC,18661,1.55,447.7,130.9,9.1,1800,18689,0.15,0.00,24.52,0.719,6,0.054,0.000,3130,1976,1235
$GC,19027,1.55,447.7,84.5,12.0,1864,19035,0.00,2.88,0.00,0.000,4,0.000,0.187,3131,572,1230
$GC,19070,1.55,447.7,79.0,12.0,1871,19077,0.00,2.58,0.00,0.000,6,0.000,0.125,3130,1977,1230
$GC,19416,1.55,447.7,39.8,10.8,1932,19422,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1981,1229
$GC,19557,1.55,447.7,24.1,11.3,1957,19564,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1981,1229
$GC,19700,1.55,447.7,7.7,10.4,1982,19708,0.00,3.08,0.00,0.000,4,0.000,0.219,3130,573,1229
$STATE,19740,end climb,SURFACE_DEPTH_REACHED
$STATE,19740,begin surface coast
$FINISH,0.2,1.013259
$STATE,19763,end surface coast,CONTROL_FINISHED_OK
$STATE,19763,begin surface
$SM_CCo,19848,0.00,0.000,0,0,1227,449.88
$SM_GC,0.96,10.75,0.00,0.00,0.037,0.000,0.000,570,2026,1227,-10.07,-0.11,449.88
$IRIDIUM_FIX,6126.23,-2609.48,070997,191917
$TT8_MAMPS,0.041418
$HUMID,1718
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,1307
$24V_AH,23.2,66.505
$10V_AH,10.5,66.609
$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,25.025,115.000,583.475,0.000,0.000,30.168,43.161,265.454,326.750,0.000,0.000,13.931,4022.099,11273.200,812.669,3424.128,797.464,0.000,2312.198,0.000,3459.843,0.000,0.466
$DEVICE_MAMPS,199.420,302.198,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1378.823,1532.109,717.382,1750.762,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145527,1993
$CAP_FILE_SIZE,168605,0
$CFSIZE,260165632,225607680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,3,0
$CURRENT,0.098,270.1,1
$GPS,140608,064538,6146.016,-2603.986,27,1.3,27,-18.6