version: 66.03
glider: 141
mission: 7
dive: 381
start: 6 24 108 17 24 40
data:
$ID,141
$MISSION,7
$DIVE,381
$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,-13200.503
$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,8
$R_STBD_OVSHOOT,15
$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
$GPS1,171220,6151.671,-2610.668,36,1.7,48,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-51.7
$GPS2,172421,6151.612,-2610.498,12,1.7,12,-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,242.2,15915,-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,-194.7,0.0,0.0,0,147,0.00,0.00,-119.80,0.000,2,0.000,0.000,574,2042,3818
$GC,150,-1.34,-194.7,4.0,-7.8,16,167,11.18,2.00,-0.80,0.000,4,0.199,0.110,2481,963,3857
$GC,333,-1.30,-194.7,34.6,-12.9,47,341,0.00,2.17,0.00,0.000,6,0.000,0.156,2481,2029,3858
$GC,476,-1.26,-194.7,50.9,-10.9,72,483,0.10,1.92,0.00,0.000,4,0.125,0.109,2502,3095,3859
$GC,520,-1.26,-194.7,56.0,-12.0,79,527,0.00,2.35,0.00,0.000,6,0.000,0.201,2501,2052,3859
$GC,863,-1.26,-194.7,92.5,-10.5,140,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2047,3859
$GC,1209,-1.26,-194.7,127.4,-10.2,201,1216,0.00,2.38,0.00,0.000,4,0.000,0.189,2501,963,3860
$GC,1246,-1.26,-194.7,131.1,-10.3,207,1254,0.00,2.33,0.00,0.000,6,0.000,0.179,2502,2045,3860
$GC,1593,-1.26,-194.7,165.4,-10.0,268,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2046,3859
$GC,1938,-1.26,-194.7,200.7,-10.8,329,1945,0.00,2.08,0.00,0.000,4,0.000,0.129,2501,956,3859
$GC,1975,-1.26,-194.7,204.7,-11.0,335,1982,0.00,1.98,0.00,0.000,6,0.000,0.095,2501,2054,3859
$GC,2319,-1.26,-194.7,241.0,-10.4,396,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2057,3859
$GC,2665,-1.26,-194.7,277.6,-10.6,457,2672,0.00,2.00,0.00,0.000,4,0.000,0.102,2501,952,3858
$GC,2702,-1.26,-194.7,281.4,-10.9,463,2709,0.00,1.98,0.00,0.000,6,0.000,0.096,2501,2048,3859
$GC,3048,-1.26,-194.7,317.2,-9.9,524,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2050,3858
$GC,3398,-1.26,-194.7,351.1,-9.4,585,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2050,3858
$GC,3717,-1.26,-194.7,383.0,-10.1,615,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2050,3858
$GC,4034,-1.26,-194.7,415.8,-10.6,645,4038,0.00,2.50,0.00,0.000,4,0.000,0.216,2501,967,3858
$GC,4067,-1.26,-194.7,419.5,-10.6,647,4074,0.00,1.95,0.00,0.000,6,0.000,0.104,2502,2046,3858
$GC,4395,-1.26,-194.7,454.6,-11.3,678,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3858
$GC,4721,-1.26,-194.7,490.8,-10.8,709,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3857
$GC,5040,-1.26,-194.7,525.0,-11.2,739,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3857
$GC,5357,-1.26,-194.7,559.1,-10.6,769,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3857
$GC,5677,-1.26,-194.7,590.4,-9.1,799,5681,0.00,2.03,0.00,0.000,4,0.000,0.146,2502,3084,3856
$GC,5723,-1.26,-194.7,595.0,-9.4,803,5727,0.00,1.92,0.00,0.000,6,0.000,0.101,2501,2027,3856
$GC,6047,-1.26,-194.7,626.8,-10.3,821,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2024,3856
$GC,6356,-1.26,-194.7,658.7,-10.2,836,6360,0.00,2.60,0.00,0.000,4,0.000,0.243,2501,3079,3856
$GC,6427,-1.26,-194.7,666.1,-10.0,839,6431,0.00,2.03,0.00,0.000,6,0.000,0.139,2501,2046,3855
$GC,6752,-1.26,-194.7,697.6,-9.8,855,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2043,3855
$GC,7059,-1.26,-194.7,726.7,-9.8,870,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2042,3855
$GC,7369,-1.26,-194.7,758.2,-9.9,885,7372,0.00,2.05,0.00,0.000,4,0.000,0.144,2501,3086,3855
$GC,7416,-1.26,-194.7,762.9,-10.2,887,7419,0.00,1.90,0.00,0.000,6,0.000,0.106,2501,2050,3854
$GC,7749,-1.26,-194.7,797.9,-10.7,903,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3854
$GC,8058,-1.26,-194.7,829.0,-9.8,918,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3854
$GC,8369,-1.26,-194.7,859.0,-9.5,933,8373,0.00,2.58,0.00,0.000,4,0.000,0.250,2501,3079,3853
$GC,8409,-1.26,-194.7,863.1,-10.2,935,8413,0.00,2.05,0.00,0.000,6,0.000,0.149,2501,2050,3853
$GC,8743,-1.26,-194.7,894.9,-9.9,951,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2048,3853
$GC,9054,-1.62,-194.7,913.6,0.0,966,9056,0.32,0.00,0.00,0.000,6,0.072,0.000,2427,2047,3853
$STATE,9151,end dive,NO_VERTICAL_VELOCITY
$STATE,9151,begin apogee
$GC,9158,-0.37,0.0,913.5,0.0,971,9335,1.17,0.00,169.98,1.220,6,0.054,0.000,2702,1972,3062
$STATE,9335,end apogee,CONTROL_FINISHED_OK
$STATE,9336,begin climb
$GC,9338,1.34,194.7,913.4,0.0,980,9519,1.67,2.15,168.95,1.191,4,0.083,0.135,3064,922,2268
$GC,9566,1.43,262.8,901.5,7.6,990,9633,0.12,2.35,61.45,1.162,6,0.061,0.191,3102,1975,1990
$GC,9940,1.46,289.6,866.0,9.1,1008,9983,0.00,0.00,29.02,0.985,6,0.000,0.000,3102,1975,1881
$GC,10292,1.46,289.6,830.3,10.3,1025,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1975,1877
$GC,10601,1.46,289.6,796.8,11.3,1040,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1977,1877
$GC,10911,1.46,289.6,763.4,10.7,1055,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1976,1876
$GC,11219,1.46,293.1,732.4,9.9,1070,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1978,1876
$GC,11529,1.46,293.1,701.6,10.5,1085,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1978,1875
$GC,11839,1.46,293.1,664.4,12.6,1100,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1979,1875
$GC,12148,1.46,293.1,626.0,12.6,1115,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1980,1875
$GC,12459,1.46,293.1,588.2,11.8,1134,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1979,1875
$GC,12778,1.46,293.1,550.6,11.8,1164,12779,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1979,1875
$GC,13096,1.46,293.1,514.3,11.6,1194,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1979,1875
$GC,13415,1.46,293.1,477.1,11.3,1224,13419,0.00,2.42,0.00,0.000,4,0.000,0.219,3102,920,1875
$GC,13448,1.46,293.1,473.0,11.4,1226,13455,0.00,2.00,0.00,0.000,6,0.000,0.106,3101,2001,1875
$GC,13778,1.46,293.1,437.9,10.0,1257,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2002,1875
$GC,14103,1.46,293.1,404.2,10.4,1288,14107,0.00,2.42,0.00,0.000,4,0.000,0.206,3102,927,1875
$GC,14147,1.46,293.1,399.4,10.1,1291,14155,0.00,2.33,0.00,0.000,6,0.000,0.202,3101,1976,1875
$GC,14474,1.46,293.1,365.0,11.3,1322,14479,0.00,2.58,0.00,0.000,4,0.000,0.237,3102,3043,1874
$GC,14517,1.46,293.1,360.0,12.4,1325,14521,0.00,2.33,0.00,0.000,6,0.000,0.189,3102,1985,1874
$GC,14857,1.46,293.1,321.6,11.2,1377,14864,0.00,1.95,0.00,0.000,4,0.000,0.112,3101,917,1875
$GC,14893,1.46,293.1,317.3,11.4,1383,14900,0.00,2.40,0.00,0.000,6,0.000,0.206,3102,1980,1874
$GC,15240,1.46,293.1,279.8,10.5,1444,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1980,1875
$GC,15585,1.46,293.1,244.1,10.3,1505,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1980,1874
$GC,15929,1.49,315.5,210.2,9.2,1566,15957,0.00,2.78,23.27,0.762,4,0.000,0.243,3102,3047,1774
$GC,15987,1.49,315.5,204.6,10.1,1575,15994,0.00,2.53,0.00,0.000,6,0.000,0.212,3102,1960,1772
$GC,16333,1.50,319.2,171.7,9.9,1636,16342,0.00,2.15,4.35,0.535,4,0.000,0.155,3101,922,1759
$GC,16378,1.50,319.2,167.0,11.1,1643,16385,0.00,2.22,0.00,0.000,6,0.000,0.170,3101,1977,1759
$GC,16724,1.50,319.2,131.0,10.1,1704,16731,0.00,2.62,0.00,0.000,4,0.000,0.246,3102,3043,1758
$GC,16760,1.50,319.2,127.2,10.0,1710,16768,0.00,2.50,0.00,0.000,6,0.000,0.216,3102,1974,1758
$GC,17107,1.54,352.4,94.0,8.8,1771,17147,0.00,2.25,30.90,0.696,4,0.000,0.162,3102,921,1624
$GC,17210,1.54,352.4,83.7,10.6,1788,17218,0.00,1.92,0.00,0.000,6,0.000,0.096,3102,1963,1622
$GC,17558,1.55,361.1,48.5,9.7,1849,17572,0.00,0.00,8.38,0.601,6,0.000,0.000,3102,1966,1589
$GC,17708,1.55,361.1,33.5,12.2,1875,17715,0.00,2.15,0.00,0.000,4,0.000,0.166,3102,915,1588
$GC,17739,1.55,361.1,29.7,10.5,1880,17747,0.00,2.08,0.00,0.000,6,0.000,0.150,3101,1942,1588
$GC,17882,1.55,361.1,14.7,11.5,1905,17890,0.00,2.72,0.00,0.000,4,0.000,0.244,3101,3047,1587
$GC,17928,1.59,361.1,10.1,10.4,1912,17936,0.10,2.40,0.00,0.000,6,0.067,0.202,3134,1970,1587
$STATE,17990,end climb,SURFACE_DEPTH_REACHED
$STATE,17990,begin surface coast
$FINISH,0.1,1.013328
$STATE,18020,end surface coast,CONTROL_FINISHED_OK
$STATE,18022,begin surface
$SM_CCo,18104,0.00,0.000,0,0,1584,362.31
$SM_GC,0.94,10.82,0.00,0.00,0.039,0.000,0.000,569,2055,1584,-10.08,0.71,362.31
$IRIDIUM_FIX,6126.23,-2611.49,180997,171756
$TT8_MAMPS,0.042185
$HUMID,1759
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,15.10
$XPDR_PINGS,1229
$24V_AH,23.1,77.697
$10V_AH,10.5,75.036
$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,25.500,94.350,496.300,0.000,0.000,62.719,156.222,273.490,307.250,0.000,0.000,14.223,3907.394,9861.319,693.961,3397.624,941.926,0.000,2182.131,0.000,3409.619,0.000,0.465
$DEVICE_MAMPS,199.420,250.042,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1334.246,1450.830,747.060,1759.376,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142415,1928
$CAP_FILE_SIZE,163392,0
$CFSIZE,260165632,220909568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,2,0
$CURRENT,0.040,270.7,1
$GPS,240608,222758,6149.558,-2615.139,36,2.6,55,-18.8