version: 66.03
glider: 141
mission: 7
dive: 340
start: 6 16 108 10 24 46
data:
$ID,141
$MISSION,7
$DIVE,340
$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,-12426.967
$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,30
$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,13
$ROLL_AD_RATE,325
$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
$GPS1,101607,6150.097,-2613.326,27,1.9,27,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-40.9
$GPS2,102427,6150.037,-2613.243,13,1.9,13,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-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,243.4,12145,-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,-194.7,0.0,0.0,0,153,0.00,0.00,-128.90,0.000,6,0.000,0.000,572,2034,3856
$GC,157,-1.34,-194.7,4.2,-8.3,17,173,11.12,1.98,0.00,0.000,4,0.196,0.130,2481,3088,3859
$GC,382,-1.27,-194.7,41.2,-11.6,56,390,0.05,1.95,0.00,0.000,6,0.117,0.121,2495,2025,3860
$GC,525,-1.27,-194.7,56.4,-10.6,81,531,0.00,1.92,0.00,0.000,4,0.000,0.133,2495,973,3860
$GC,555,-1.27,-194.7,59.4,-10.0,86,562,0.00,1.92,0.00,0.000,6,0.000,0.122,2495,2015,3861
$GC,899,-1.27,-194.7,96.3,-11.1,147,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3861
$GC,1242,-1.27,-194.7,135.3,-11.2,208,1249,0.00,2.70,0.00,0.000,4,0.000,0.281,2495,3079,3861
$GC,1290,-1.27,-194.7,140.6,-11.1,216,1297,0.00,2.05,0.00,0.000,6,0.000,0.149,2494,2018,3861
$GC,1635,-1.27,-194.7,178.2,-10.8,277,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2016,3861
$GC,1980,-1.27,-194.7,216.4,-11.3,338,1987,0.00,2.00,0.00,0.000,4,0.000,0.137,2495,3108,3861
$GC,2011,-1.27,-194.7,220.0,-11.5,343,2019,0.00,2.22,0.00,0.000,6,0.000,0.185,2494,2028,3861
$GC,2357,-1.27,-194.7,257.2,-10.6,404,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2024,3861
$GC,2702,-1.27,-194.7,295.1,-11.1,465,2709,0.00,1.95,0.00,0.000,4,0.000,0.135,2494,3086,3860
$GC,2750,-1.27,-194.7,300.5,-11.2,473,2757,0.00,2.12,0.00,0.000,6,0.000,0.171,2495,2017,3860
$GC,3096,-1.27,-194.7,338.5,-10.7,534,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2015,3860
$GC,3430,-1.27,-194.7,375.5,-11.2,574,3433,0.00,1.98,0.00,0.000,4,0.000,0.137,2495,3086,3860
$GC,3479,-1.27,-194.7,381.5,-11.1,578,3487,0.00,2.17,0.00,0.000,6,0.000,0.189,2495,2021,3860
$GC,3807,-1.27,-194.7,418.0,-11.3,609,3811,0.00,1.98,0.00,0.000,4,0.000,0.140,2495,3085,3860
$GC,3835,-1.27,-194.7,421.6,-11.9,611,3842,0.00,1.95,0.00,0.000,6,0.000,0.137,2495,2041,3859
$GC,4162,-1.27,-194.7,457.7,-11.3,642,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2041,3859
$GC,4479,-1.27,-194.7,491.2,-10.0,672,4484,0.00,2.70,0.00,0.000,4,0.000,0.286,2495,3078,3859
$GC,4521,-1.27,-194.7,495.3,-10.1,675,4525,0.00,2.10,0.00,0.000,6,0.000,0.179,2495,2048,3859
$GC,4850,-1.27,-194.7,528.5,-10.4,705,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2046,3859
$GC,5175,-1.27,-194.7,562.0,-10.2,736,5179,0.00,1.95,0.00,0.000,4,0.000,0.143,2494,3084,3859
$GC,5214,-1.27,-194.7,566.0,-9.5,739,5221,0.00,2.05,0.00,0.000,6,0.000,0.170,2494,2051,3859
$GC,5542,-1.27,-194.7,599.0,-10.4,770,5545,0.00,1.95,0.00,0.000,4,0.000,0.146,2495,3085,3859
$GC,5569,-1.27,-194.7,602.4,-11.3,772,5573,0.00,2.00,0.00,0.000,6,0.000,0.155,2495,2053,3858
$GC,5897,-1.27,-194.7,637.2,-10.6,788,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2053,3858
$GC,6206,-1.27,-194.7,669.5,-10.5,803,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2051,3858
$GC,6515,-1.27,-194.7,702.8,-10.8,818,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2048,3858
$GC,6825,-1.27,-194.7,735.7,-11.6,833,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2048,3857
$GC,7135,-1.27,-194.7,767.1,-10.4,848,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2048,3857
$GC,7444,-1.27,-194.7,798.8,-9.7,863,7447,0.00,1.98,0.00,0.000,4,0.000,0.153,2495,3084,3857
$GC,7505,-1.27,-194.7,805.1,-10.0,865,7512,0.00,2.05,0.00,0.000,6,0.000,0.179,2495,2064,3857
$GC,7822,-1.27,-194.7,836.1,-9.4,881,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2062,3856
$GC,8130,-1.27,-194.7,863.8,-8.8,896,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2061,3856
$GC,8441,-1.57,-194.7,879.6,-0.0,911,8445,0.22,1.95,0.00,0.000,4,0.065,0.147,2432,3087,3856
$STATE,8494,end dive,NO_VERTICAL_VELOCITY
$STATE,8494,begin apogee
$GC,8502,-0.37,0.0,879.6,0.0,913,8675,1.15,0.00,169.27,1.201,6,0.067,0.000,2697,1980,3061
$STATE,8676,end apogee,CONTROL_FINISHED_OK
$STATE,8676,begin climb
$GC,8678,1.34,194.7,879.4,0.0,922,8858,1.70,2.40,167.38,1.171,4,0.075,0.219,3069,927,2267
$GC,9021,1.30,194.7,851.4,10.6,937,9025,0.00,1.98,0.00,0.000,6,0.000,0.130,3069,1989,2263
$GC,9350,1.31,204.1,818.2,9.7,953,9364,0.00,2.08,8.90,0.967,4,0.000,0.149,3069,3045,2230
$GC,9398,1.31,204.1,813.1,10.2,955,9402,0.00,2.00,0.00,0.000,6,0.000,0.131,3069,1972,2229
$GC,9726,1.34,227.3,782.0,9.2,971,9751,0.00,0.00,22.30,1.077,6,0.000,0.000,3069,1969,2135
$GC,10056,1.37,249.4,752.0,9.2,987,10079,0.00,0.00,21.30,1.059,6,0.000,0.000,3069,1969,2045
$GC,10385,1.39,267.4,721.0,9.4,1003,10408,0.00,2.97,17.40,1.031,4,0.000,0.289,3069,3038,1969
$GC,10464,1.39,267.4,712.9,10.2,1006,10468,0.00,2.10,0.00,0.000,6,0.000,0.166,3069,1983,1968
$GC,10781,1.39,267.5,682.6,10.0,1021,10784,0.00,2.12,0.00,0.000,4,0.000,0.175,3068,922,1967
$GC,10848,1.39,267.5,675.4,10.6,1024,10853,0.00,2.70,0.00,0.000,6,0.000,0.272,3069,1979,1967
$GC,11176,1.39,267.5,639.5,11.6,1040,11179,0.00,2.03,0.00,0.000,4,0.000,0.149,3069,3055,1966
$GC,11214,1.39,267.5,634.6,12.2,1041,11221,0.00,2.00,0.00,0.000,6,0.000,0.141,3069,1982,1966
$GC,11531,1.39,267.5,598.4,11.1,1057,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,1966
$GC,11850,1.39,267.5,563.4,10.4,1087,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,1965
$GC,12168,1.39,267.5,530.3,10.5,1117,12172,0.00,2.00,0.00,0.000,4,0.000,0.142,3069,3050,1965
$GC,12207,1.39,267.5,526.1,10.6,1120,12214,0.00,2.35,0.00,0.000,6,0.000,0.224,3069,1978,1965
$GC,12532,1.41,287.0,495.3,9.3,1151,12568,0.00,2.17,20.30,0.855,4,0.000,0.167,3069,921,1892
$GC,12596,1.42,295.5,489.1,9.7,1156,12616,0.00,2.03,9.57,0.838,6,0.000,0.127,3069,1998,1856
$GC,12933,1.45,316.3,457.4,9.3,1188,12956,0.12,0.00,19.70,0.898,6,0.062,0.000,3106,1998,1771
$GC,13271,1.45,316.3,420.7,10.7,1220,13275,0.00,2.22,0.00,0.000,4,0.000,0.185,3106,917,1768
$GC,13305,1.40,316.3,416.9,10.8,1222,13313,0.08,1.98,0.00,0.000,6,0.097,0.133,3087,1972,1767
$GC,13631,1.41,325.0,385.8,9.7,1253,13641,0.00,0.00,8.77,0.782,6,0.000,0.000,3087,1974,1736
$GC,13960,1.41,325.0,351.4,10.8,1284,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1974,1734
$GC,14294,1.41,325.0,314.7,11.0,1342,14301,0.00,2.20,0.00,0.000,4,0.000,0.193,3087,919,1733
$GC,14336,1.41,325.0,309.8,12.4,1349,14344,0.00,2.67,0.00,0.000,6,0.000,0.271,3087,1970,1733
$GC,14681,1.41,325.0,271.0,10.5,1410,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1969,1733
$GC,15026,1.41,325.0,233.2,10.1,1471,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1969,1733
$GC,15370,1.41,325.0,195.8,10.6,1532,15377,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1969,1733
$GC,15715,1.43,334.1,159.3,9.7,1593,15729,0.00,0.00,9.23,0.679,6,0.000,0.000,3087,1969,1699
$GC,16065,1.45,352.0,126.0,9.4,1655,16085,0.00,0.00,17.48,0.702,6,0.000,0.000,3087,1969,1627
$GC,16422,1.46,364.2,92.9,9.6,1718,16444,0.00,2.03,11.95,0.660,4,0.000,0.138,3087,922,1577
$GC,16479,1.48,376.5,87.5,9.6,1727,16500,0.00,2.67,12.27,0.653,6,0.000,0.273,3087,1972,1526
$GC,16835,1.57,451.7,59.5,7.4,1790,16910,0.15,2.25,66.10,0.680,4,0.057,0.195,3136,921,1219
$GC,16940,1.57,451.7,49.4,10.8,1806,16948,0.00,2.35,0.00,0.000,6,0.000,0.225,3136,1951,1216
$GC,17083,1.57,451.7,35.1,11.5,1831,17089,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1951,1212
$GC,17225,1.57,451.7,16.7,13.5,1856,17233,0.00,2.12,0.00,0.000,4,0.000,0.186,3136,917,1211
$GC,17261,1.57,451.7,11.5,14.3,1862,17269,0.00,2.40,0.00,0.000,6,0.000,0.262,3136,1878,1211
$STATE,17340,end climb,SURFACE_DEPTH_REACHED
$STATE,17340,begin surface coast
$FINISH,0.1,1.026910
$STATE,17362,end surface coast,CONTROL_FINISHED_OK
$STATE,17362,begin surface
$SM_CCo,17443,0.00,0.000,0,0,1207,455.03
$SM_GC,0.68,10.70,0.00,0.00,0.032,0.000,0.000,573,2030,1207,-10.07,0.00,455.03
$IRIDIUM_FIX,6130.75,-2609.41,100997,050553
$TT8_MAMPS,0.042185
$HUMID,1718
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.90
$XPDR_PINGS,1217
$24V_AH,23.2,69.032
$10V_AH,10.6,68.407
$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,25.300,104.125,581.925,0.000,0.000,28.692,32.094,274.453,304.250,0.000,0.000,14.587,3804.355,9177.902,774.414,3390.253,776.636,0.000,2283.800,0.000,3408.039,0.000,0.465
$DEVICE_MAMPS,195.585,289.159,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1299.588,1422.319,737.600,1743.856,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139083,1880
$CAP_FILE_SIZE,164016,0
$CFSIZE,260165632,224608256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$CURRENT,0.029,268.9,1
$GPS,160608,151638,6148.395,-2617.875,31,1.7,31,-18.8