version: 66.03
glider: 141
mission: 7
dive: 376
start: 6 23 108 15 23 29
data:
$ID,141
$MISSION,7
$DIVE,376
$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,-13090.562
$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,5
$R_STBD_OVSHOOT,5
$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
$GPS1,151337,6149.184,-2559.241,29,1.4,29,-18.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-55.7
$GPS2,152308,6149.166,-2559.102,9,1.3,9,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,14.4,12932,-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,-194.7,0.0,0.0,0,138,0.00,0.00,-112.85,0.000,2,0.000,0.000,571,2016,3833
$GC,142,-1.34,-194.7,4.1,-7.5,15,159,11.20,2.33,-0.47,0.000,4,0.197,0.201,2483,963,3858
$GC,412,-1.34,-194.7,46.2,-12.1,62,419,0.00,1.98,0.00,0.000,6,0.000,0.094,2483,2041,3860
$GC,557,-1.30,-194.7,62.9,-11.4,87,564,0.00,2.25,0.00,0.000,4,0.000,0.198,2483,3086,3860
$GC,616,-1.25,-194.7,69.8,-11.7,97,624,0.12,2.38,0.00,0.000,6,0.117,0.213,2506,2040,3860
$GC,962,-1.25,-194.7,105.3,-10.1,158,969,0.00,1.95,0.00,0.000,4,0.000,0.098,2506,971,3860
$GC,1065,-1.25,-194.7,115.5,-10.1,176,1073,0.00,2.40,0.00,0.000,6,0.000,0.214,2506,2044,3861
$GC,1414,-1.25,-194.7,149.9,-10.1,237,1421,0.00,2.53,0.00,0.000,4,0.000,0.286,2506,3088,3861
$GC,1490,-1.25,-194.7,158.0,-10.5,250,1497,0.00,1.98,0.00,0.000,6,0.000,0.144,2506,2062,3860
$GC,1836,-1.25,-194.7,190.5,-9.2,311,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3861
$GC,2181,-1.25,-194.7,223.1,-9.7,372,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2059,3861
$GC,2527,-1.25,-194.7,258.0,-10.4,433,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3860
$GC,2872,-1.25,-194.7,294.3,-10.6,494,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3860
$GC,3217,-1.25,-194.7,331.2,-10.4,555,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2059,3859
$GC,3557,-1.25,-194.7,367.4,-10.8,602,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3859
$GC,3876,-1.25,-194.7,401.3,-10.7,632,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3858
$GC,4194,-1.25,-194.7,434.5,-10.6,662,4198,0.00,2.47,0.00,0.000,4,0.000,0.267,2506,3088,3858
$GC,4283,-1.25,-194.7,444.4,-10.7,669,4290,0.00,1.88,0.00,0.000,6,0.000,0.116,2506,2064,3858
$GC,4611,-1.25,-194.7,478.6,-10.5,700,4615,0.00,2.00,0.00,0.000,4,0.000,0.113,2506,969,3858
$GC,4683,-1.25,-194.7,486.5,-10.3,706,4691,0.00,2.47,0.00,0.000,6,0.000,0.248,2506,2066,3858
$GC,5012,-1.25,-194.7,519.8,-10.3,737,5016,0.00,2.55,0.00,0.000,4,0.000,0.303,2506,3087,3857
$GC,5085,-1.25,-194.7,527.7,-10.2,743,5090,0.00,2.35,0.00,0.000,6,0.000,0.222,2506,2060,3857
$GC,5414,-1.25,-194.7,559.1,-9.4,773,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3858
$GC,5739,-1.25,-194.7,588.8,-8.8,804,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3857
$GC,6064,-1.25,-194.7,616.6,-8.8,826,6067,0.00,2.05,0.00,0.000,4,0.000,0.163,2506,3091,3857
$GC,6114,-1.25,-194.7,621.2,-9.0,828,6117,0.00,1.85,0.00,0.000,6,0.000,0.103,2506,2075,3857
$GC,6441,-1.25,-194.7,652.2,-10.0,844,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2074,3857
$GC,6752,-1.25,-194.7,682.3,-9.6,859,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2072,3856
$GC,7061,-1.25,-194.7,711.7,-9.6,874,7065,0.00,2.15,0.00,0.000,4,0.000,0.142,2506,969,3856
$GC,7125,-1.25,-194.7,717.8,-9.4,877,7129,0.00,2.45,0.00,0.000,6,0.000,0.232,2506,2065,3856
$GC,7452,-1.25,-194.7,747.9,-9.1,893,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2067,3856
$GC,7761,-1.25,-194.7,776.5,-9.4,908,7764,0.00,1.98,0.00,0.000,4,0.000,0.135,2506,3099,3855
$GC,7839,-1.25,-194.7,784.3,-9.7,911,7843,0.00,1.88,0.00,0.000,6,0.000,0.103,2506,2069,3855
$GC,8164,-1.25,-194.7,814.9,-9.9,927,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2068,3855
$GC,8472,-1.25,-194.7,845.3,-9.8,942,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2067,3854
$GC,8780,-1.25,-194.7,873.3,-8.8,957,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3855
$GC,9091,-1.25,-194.7,900.5,-8.9,972,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2065,3854
$GC,9398,-1.25,-194.7,928.9,-9.6,987,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2065,3853
$GC,9707,-1.25,-194.7,959.4,-9.6,1002,9711,0.00,2.35,0.00,0.000,4,0.000,0.250,2506,3093,3853
$GC,9771,-1.25,-194.7,965.6,-9.9,1005,9775,0.00,1.88,0.00,0.000,6,0.000,0.104,2506,2083,3852
$STATE,10039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10039,begin apogee
$GC,10046,-0.37,0.0,991.2,9.4,1018,10223,0.90,0.00,172.00,1.275,6,0.102,0.000,2694,1992,3062
$STATE,10224,end apogee,CONTROL_FINISHED_OK
$STATE,10224,begin climb
$GC,10227,1.34,194.7,997.0,0.0,1027,10404,1.73,0.00,171.88,1.248,6,0.080,0.000,3068,1992,2268
$GC,10701,1.32,217.0,959.5,9.2,1050,10727,0.00,2.15,20.67,1.152,4,0.000,0.177,3068,3058,2177
$GC,10735,1.29,235.7,956.3,9.4,1051,10761,0.00,2.00,18.73,1.133,6,0.000,0.099,3068,1974,2101
$GC,11078,1.30,241.3,923.9,9.8,1068,11086,0.00,0.00,6.30,0.929,6,0.000,0.000,3068,1974,2078
$GC,11387,1.30,241.3,892.1,10.5,1083,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2076
$GC,11696,1.30,241.3,858.9,10.8,1098,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2075
$GC,12005,1.30,241.3,824.9,11.0,1113,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2075
$GC,12314,1.30,241.3,788.7,12.5,1128,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2075
$GC,12625,1.30,241.3,749.1,12.7,1143,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2074
$GC,12933,1.30,241.3,710.9,12.0,1158,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2074
$GC,13242,1.30,241.3,676.1,10.9,1173,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2074
$GC,13552,1.30,241.3,644.4,10.0,1188,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1973,2074
$GC,13861,1.33,265.2,614.0,9.2,1203,13886,0.00,0.00,22.58,1.011,6,0.000,0.000,3068,1973,1980
$GC,14198,1.43,293.1,583.4,9.0,1227,14236,0.10,2.03,27.00,0.992,4,0.069,0.117,3100,929,1867
$GC,14321,1.43,299.1,570.9,9.8,1237,14333,0.00,2.60,6.90,0.819,6,0.000,0.277,3100,2000,1842
$GC,14654,1.49,309.8,539.3,9.6,1268,14670,0.00,2.50,10.93,0.893,4,0.000,0.216,3100,929,1798
$GC,14808,1.49,309.8,523.1,10.9,1281,14815,0.00,1.83,0.00,0.000,6,0.000,0.106,3100,1933,1796
$GC,15138,1.49,309.8,489.4,10.4,1312,15142,0.00,2.45,0.00,0.000,4,0.000,0.219,3100,3047,1794
$GC,15170,1.49,309.8,485.3,10.6,1314,15178,0.00,2.03,0.00,0.000,6,0.000,0.104,3100,1945,1794
$GC,15499,1.49,309.8,451.1,11.0,1345,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1941,1794
$GC,15824,1.49,309.8,415.1,11.2,1376,15828,0.00,2.78,0.00,0.000,4,0.000,0.290,3100,3047,1794
$GC,15845,1.49,309.8,412.4,11.0,1377,15852,0.00,2.20,0.00,0.000,6,0.000,0.156,3100,1943,1794
$GC,16173,1.49,309.8,376.2,11.4,1408,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1940,1794
$GC,16505,1.49,309.8,339.5,11.2,1447,16512,0.00,2.05,0.00,0.000,4,0.000,0.117,3100,3058,1794
$GC,16531,1.49,309.8,336.6,12.5,1451,16538,0.00,2.00,0.00,0.000,6,0.000,0.101,3100,1938,1793
$GC,16877,1.49,309.8,298.6,11.0,1512,16883,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1934,1793
$GC,17221,1.49,309.8,260.0,11.1,1573,17228,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1935,1794
$GC,17567,1.49,309.8,218.3,12.2,1634,17574,0.00,2.67,0.00,0.000,4,0.000,0.262,3100,3044,1793
$GC,17588,1.49,309.8,215.9,12.1,1637,17595,0.00,2.53,0.00,0.000,6,0.000,0.225,3099,1948,1793
$GC,17933,1.49,309.8,174.6,10.6,1698,17940,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1944,1794
$GC,18279,1.49,309.8,135.6,11.0,1759,18285,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1944,1794
$GC,18623,1.49,309.8,97.4,10.3,1820,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1944,1794
$GC,18971,1.50,313.4,61.2,9.9,1881,18985,0.00,2.55,4.07,0.486,4,0.000,0.225,3099,3039,1784
$GC,18998,1.50,313.4,58.1,10.4,1885,19005,0.00,2.12,0.00,0.000,6,0.000,0.150,3100,1959,1783
$GC,19343,1.50,313.4,20.2,11.3,1946,19350,0.00,2.60,0.00,0.000,4,0.000,0.245,3100,3048,1783
$GC,19380,1.50,313.4,16.1,11.5,1952,19387,0.00,2.03,0.00,0.000,6,0.000,0.123,3100,1960,1783
$STATE,19509,end climb,SURFACE_DEPTH_REACHED
$STATE,19509,begin surface coast
$FINISH,0.1,1.012962
$STATE,19545,end surface coast,CONTROL_FINISHED_OK
$STATE,19545,begin surface
$SM_CCo,19626,0.00,0.000,0,0,1781,313.98
$SM_GC,0.97,10.68,0.00,0.00,0.041,0.000,0.000,575,2040,1781,-10.06,0.28,313.98
$IRIDIUM_FIX,6126.23,-2603.39,170997,090939
$TT8_MAMPS,0.041418
$HUMID,1730
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,16.80
$XPDR_PINGS,1272
$24V_AH,23.0,76.601
$10V_AH,10.5,74.215
$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,24.725,89.575,461.050,0.000,0.000,31.044,36.384,339.680,318.000,0.000,0.000,10.947,3976.674,11163.325,687.162,3472.536,877.442,0.000,2195.953,0.000,3494.614,0.000,0.465
$DEVICE_MAMPS,197.119,302.965,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1371.844,1520.286,732.890,1742.755,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145505,1981
$CAP_FILE_SIZE,166802,0
$CFSIZE,260165632,221364224
$ERRORS,0,8,0,0,0,0,0,0,0,0,0,0,22,0,0
$CURRENT,0.081,174.7,1
$GPS,230608,205155,6151.168,-2559.586,25,1.2,42,-18.7