version: 66.03
glider: 141
mission: 7
dive: 390
start: 6 26 108 10 4 33
data:
$ID,141
$MISSION,7
$DIVE,390
$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,-13353.284
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,095238,6152.084,-2616.334,37,0.9,37,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-53.5
$GPS2,100414,6152.008,-2616.461,8,0.9,13,-18.8
$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,149.6,18821,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,136,0.00,0.00,-108.57,0.000,2,0.000,0.000,572,2045,3739
$GC,140,-1.34,-194.7,3.2,-5.6,14,163,11.12,2.15,-2.60,0.000,4,0.196,0.111,2481,973,3858
$GC,335,-1.29,-194.7,33.4,-12.0,47,342,0.00,2.45,0.00,0.000,6,0.000,0.137,2481,2033,3858
$GC,478,-1.23,-194.7,51.4,-12.2,72,485,0.15,0.00,0.00,0.000,6,0.112,0.000,2513,2035,3859
$GC,823,-1.23,-194.7,90.1,-11.0,133,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2035,3859
$GC,1166,-1.23,-194.7,126.5,-10.9,194,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2035,3859
$GC,1512,-1.23,-194.7,162.6,-9.8,255,1519,0.00,2.55,0.00,0.000,4,0.000,0.147,2514,3094,3859
$GC,1555,-1.23,-194.7,167.0,-10.1,262,1562,0.00,2.10,0.00,0.000,6,0.000,0.097,2514,2019,3859
$GC,1903,-1.23,-194.7,202.6,-10.8,323,1910,0.00,2.53,0.00,0.000,4,0.000,0.140,2514,3091,3859
$GC,1962,-1.23,-194.7,209.1,-10.9,333,1969,0.00,2.00,0.00,0.000,6,0.000,0.088,2514,2033,3859
$GC,2307,-1.23,-194.7,243.9,-10.2,394,2314,0.00,2.72,0.00,0.000,4,0.000,0.163,2513,3087,3859
$GC,2328,-1.23,-194.7,245.8,-8.9,397,2335,0.00,2.00,0.00,0.000,6,0.000,0.087,2514,2028,3859
$GC,2674,-1.23,-194.7,278.9,-9.5,458,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2024,3859
$GC,3019,-1.23,-194.7,311.5,-9.9,519,3027,0.00,3.35,0.00,0.000,4,0.000,0.194,2513,3087,3859
$GC,3068,-1.23,-194.7,316.3,-9.8,527,3076,0.00,1.98,0.00,0.000,6,0.000,0.088,2514,2041,3858
$GC,3415,-1.23,-194.7,350.5,-9.7,588,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2035,3858
$GC,3733,-1.23,-194.7,380.9,-9.4,618,3737,0.00,2.47,0.00,0.000,4,0.000,0.142,2514,3087,3858
$GC,3766,-1.23,-194.7,384.3,-10.2,620,3773,0.00,2.00,0.00,0.000,6,0.000,0.096,2514,2048,3858
$GC,4094,-1.23,-194.7,415.7,-9.6,651,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2043,3858
$GC,4422,-1.23,-194.7,448.0,-9.5,682,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2043,3857
$GC,4748,-1.23,-194.7,477.9,-9.2,713,4752,0.00,2.55,0.00,0.000,4,0.000,0.149,2514,3088,3857
$GC,4777,-1.23,-194.7,480.6,-9.6,715,4781,0.00,2.00,0.00,0.000,6,0.000,0.092,2514,2048,3857
$GC,5111,-1.23,-194.7,512.4,-10.1,746,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2046,3857
$GC,5438,-1.23,-194.7,544.5,-9.8,777,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2046,3856
$GC,5757,-1.23,-194.7,575.8,-9.8,807,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2046,3856
$GC,6091,-1.23,-194.7,609.4,-10.1,835,6096,0.00,2.75,0.00,0.000,4,0.000,0.164,2513,3084,3856
$GC,6113,-1.23,-194.7,611.6,-10.3,836,6117,0.00,2.03,0.00,0.000,6,0.000,0.099,2513,2058,3856
$GC,6441,-1.23,-194.7,643.8,-9.8,852,6445,0.00,2.53,0.00,0.000,4,0.000,0.149,2513,3084,3855
$GC,6468,-1.23,-194.7,646.7,-10.8,853,6471,0.00,2.05,0.00,0.000,6,0.000,0.100,2514,2060,3855
$GC,6793,-1.23,-194.7,678.7,-9.6,869,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2058,3855
$GC,7100,-1.23,-194.7,707.6,-9.7,884,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2057,3854
$GC,7409,-1.23,-194.7,737.7,-9.5,899,7414,0.00,2.92,0.00,0.000,4,0.000,0.178,2514,3081,3854
$GC,7437,-1.23,-194.7,740.5,-9.5,900,7440,0.00,2.05,0.00,0.000,6,0.000,0.104,2514,2063,3854
$GC,7759,-1.23,-194.7,770.0,-9.5,916,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2061,3854
$GC,8069,-1.23,-194.7,797.5,-8.4,931,8073,0.00,2.45,0.00,0.000,4,0.000,0.144,2514,3075,3853
$GC,8116,-1.23,-194.7,801.4,-8.5,933,8120,0.00,2.03,0.00,0.000,6,0.000,0.102,2513,2069,3853
$GC,8451,-1.23,-194.7,831.3,-9.1,949,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2068,3853
$GC,8760,-1.23,-194.7,859.8,-8.9,964,8765,0.00,2.42,0.00,0.000,4,0.000,0.143,2514,3082,3853
$GC,8795,-1.23,-194.7,862.8,-8.2,965,8802,0.00,2.00,0.00,0.000,6,0.000,0.100,2513,2079,3852
$GC,9112,-1.51,-194.7,882.8,0.0,981,9118,0.25,3.28,0.00,0.000,4,0.069,0.185,2450,973,3852
$STATE,9210,end dive,NO_VERTICAL_VELOCITY
$STATE,9210,begin apogee
$GC,9220,-0.37,0.0,882.8,0.0,985,9393,1.08,0.00,169.57,1.200,6,0.070,0.000,2696,1983,3062
$STATE,9394,end apogee,CONTROL_FINISHED_OK
$STATE,9394,begin climb
$GC,9397,1.34,194.7,882.5,0.0,994,9577,1.70,2.83,168.38,1.170,4,0.075,0.153,3069,3042,2267
$GC,9701,1.34,194.7,858.9,10.1,1007,9704,0.00,2.10,0.00,0.000,6,0.000,0.104,3068,1980,2263
$GC,10025,1.35,200.7,827.5,9.8,1023,10033,0.00,0.00,6.12,0.865,6,0.000,0.000,3068,1977,2242
$GC,10332,1.35,200.7,796.8,10.5,1038,10337,0.00,2.40,0.00,0.000,4,0.000,0.130,3068,3040,2241
$GC,10382,1.35,200.7,791.3,10.7,1040,10386,0.00,2.05,0.00,0.000,6,0.000,0.096,3069,1987,2241
$GC,10704,1.35,200.7,757.7,10.4,1056,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1984,2242
$GC,11014,1.35,200.7,725.3,10.3,1071,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1984,2241
$GC,11322,1.35,200.7,693.8,10.4,1086,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1984,2241
$GC,11633,1.38,228.3,663.2,9.0,1101,11660,0.00,0.00,25.58,1.036,6,0.000,0.000,3069,1984,2132
$GC,11962,1.44,277.1,634.5,8.3,1117,12010,0.10,0.00,45.50,1.032,6,0.071,0.000,3099,1984,1932
$GC,12311,1.40,277.1,598.0,11.4,1134,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1984,1926
$GC,12632,1.36,277.1,559.9,12.1,1164,12636,0.12,2.20,0.00,0.000,4,0.108,0.111,3074,927,1925
$GC,12676,1.36,277.1,554.2,11.4,1167,12683,0.00,2.42,0.00,0.000,6,0.000,0.128,3075,1995,1925
$GC,13004,1.38,290.7,520.8,9.5,1198,13021,0.00,0.00,12.88,0.901,6,0.000,0.000,3074,1998,1876
$GC,13342,1.43,335.6,490.5,8.4,1230,13392,0.00,2.28,41.28,0.944,4,0.000,0.107,3074,932,1692
$GC,13421,1.46,362.6,483.2,9.1,1237,13454,0.10,2.47,25.98,0.910,6,0.067,0.135,3104,1989,1583
$GC,13770,1.46,362.6,445.7,11.2,1270,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1990,1577
$GC,14089,1.46,362.6,411.1,11.3,1300,14093,0.00,2.15,0.00,0.000,4,0.000,0.104,3104,925,1576
$GC,14139,1.46,362.6,405.0,12.1,1304,14147,0.00,2.17,0.00,0.000,6,0.000,0.110,3105,1981,1575
$GC,14468,1.46,362.6,367.8,12.0,1335,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1983,1575
$GC,14803,1.46,362.6,327.3,12.3,1383,14810,0.00,2.15,0.00,0.000,4,0.000,0.107,3104,926,1574
$GC,14857,1.46,362.6,320.6,12.2,1392,14865,0.00,2.12,0.00,0.000,6,0.000,0.107,3105,1965,1575
$GC,15203,1.46,362.6,280.3,11.0,1453,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1966,1574
$GC,15547,1.46,362.6,239.9,11.7,1514,15554,0.00,2.12,0.00,0.000,4,0.000,0.107,3104,920,1574
$GC,15590,1.46,362.6,234.7,13.0,1521,15598,0.00,2.03,0.00,0.000,6,0.000,0.093,3105,1960,1574
$GC,15936,1.46,362.6,192.6,11.9,1582,15943,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1961,1574
$GC,16281,1.46,362.6,151.5,11.3,1643,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1963,1574
$GC,16625,1.46,362.6,114.8,10.2,1704,16632,0.00,2.10,0.00,0.000,4,0.000,0.110,3104,920,1574
$GC,16668,1.46,362.6,110.3,11.5,1711,16675,0.00,2.20,0.00,0.000,6,0.000,0.118,3105,1946,1574
$GC,17013,1.46,362.6,75.7,10.4,1772,17020,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1948,1574
$GC,17358,1.49,385.2,38.6,9.2,1833,17380,0.00,0.00,19.33,0.656,6,0.000,0.000,3104,1949,1491
$GC,17515,1.49,385.2,23.0,11.1,1860,17522,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1949,1489
$GC,17657,1.55,434.8,9.4,8.3,1885,17706,0.00,0.00,43.88,0.646,6,0.000,0.000,3104,1949,1288
$STATE,17724,end climb,SURFACE_DEPTH_REACHED
$STATE,17724,begin surface coast
$FINISH,0.2,1.026549
$STATE,17752,end surface coast,CONTROL_FINISHED_OK
$STATE,17752,begin surface
$SM_CCo,17834,0.00,0.000,0,0,1283,436.39
$SM_GC,0.88,10.70,0.00,0.00,0.036,0.000,0.000,568,2035,1283,-10.08,0.14,436.39
$IRIDIUM_FIX,6126.23,-2617.59,200997,101046
$TT8_MAMPS,0.042185
$HUMID,1753
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.90
$XPDR_PINGS,1230
$24V_AH,23.1,79.673
$10V_AH,10.5,76.484
$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,25.325,97.675,558.475,0.000,0.000,55.842,68.750,353.099,307.500,0.000,0.000,14.835,3841.410,9595.075,748.873,3398.482,929.593,0.000,2241.086,0.000,3406.840,0.000,0.465
$DEVICE_MAMPS,196.352,194.051,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1319.175,1425.180,725.440,1772.099,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139235,1900
$CAP_FILE_SIZE,165902,0
$CFSIZE,260165632,220114944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$CURRENT,0.030,233.0,1
$GPS,260608,150302,6149.999,-2612.917,37,1.6,37,-18.8