version: 66.03
glider: 141
mission: 7
dive: 396
start: 6 27 108 10 23 19
data:
$ID,141
$MISSION,7
$DIVE,396
$D_SURF,3
$D_FLARE,3
$D_TGT,650
$D_ABORT,900
$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,210
$T_MISSION,250
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,500
$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,-13584.135
$T_RSLEEP,6
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,101702,6139.400,-2555.226,6,1.7,6,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-47.6
$GPS2,102259,6139.373,-2555.288,13,2.8,32,-18.5
$SPEED_LIMITS,0.179,0.298
$TGT_NAME,HEADING
$TGT_LATLONG,6131.736,-2551.648
$TGT_RADIUS,1852.000
$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,153.5,20000,-15.4,-10.317
$D_GRID,650
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.38,-194.7,0.0,0.0,0,156,0.00,0.00,-124.80,0.000,2,0.000,0.000,570,2037,3694
$GC,160,-1.38,-194.7,3.3,-6.1,23,179,11.05,2.05,-3.60,0.000,4,0.194,0.054,2474,968,3857
$GC,272,-1.32,-194.7,22.7,-12.4,42,278,0.00,1.95,0.00,0.000,6,0.000,0.034,2474,2029,3858
$GC,416,-1.27,-194.7,38.7,-11.4,67,423,0.15,0.00,0.00,0.000,6,0.114,0.000,2507,2031,3858
$GC,559,-1.27,-194.7,53.5,-10.8,92,565,0.00,2.00,0.00,0.000,4,0.000,0.040,2507,973,3859
$GC,600,-1.27,-194.7,58.4,-12.0,99,606,0.00,2.05,0.00,0.000,6,0.000,0.056,2507,2021,3859
$GC,944,-1.27,-194.7,99.6,-11.6,160,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2024,3859
$GC,1288,-1.27,-194.7,137.3,-10.3,221,1294,0.00,1.98,0.00,0.000,4,0.000,0.053,2507,3077,3859
$GC,1330,-1.27,-194.7,141.7,-10.6,228,1336,0.00,1.92,0.00,0.000,6,0.000,0.031,2507,2014,3858
$GC,1677,-1.27,-194.7,177.3,-10.6,289,1683,0.00,2.40,0.00,0.000,4,0.000,0.089,2507,3086,3858
$GC,1742,-1.27,-194.7,184.4,-10.8,300,1749,0.00,1.90,0.00,0.000,6,0.000,0.033,2507,2037,3858
$GC,2088,-1.27,-194.7,219.5,-9.7,361,2094,0.00,2.38,0.00,0.000,4,0.000,0.092,2508,3077,3858
$GC,2124,-1.27,-194.7,223.2,-10.0,367,2130,0.00,1.88,0.00,0.000,6,0.000,0.031,2507,2027,3858
$GC,2469,-1.27,-194.7,257.8,-10.4,428,2476,0.00,2.12,0.00,0.000,4,0.000,0.066,2507,3079,3857
$GC,2493,-1.27,-194.7,260.4,-10.3,432,2500,0.00,1.90,0.00,0.000,6,0.000,0.041,2507,2032,3857
$GC,2841,-1.27,-194.7,295.9,-10.4,493,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2026,3856
$GC,3184,-1.27,-194.7,332.9,-10.8,554,3190,0.00,2.03,0.00,0.000,4,0.000,0.047,2507,3097,3855
$GC,3225,-1.27,-194.7,337.3,-10.9,561,3231,0.00,2.08,0.00,0.000,6,0.000,0.057,2507,2039,3855
$GC,3563,-1.27,-194.7,372.7,-10.4,603,3566,0.00,1.98,0.00,0.000,4,0.000,0.047,2507,3076,3855
$GC,3590,-1.27,-194.7,375.7,-10.7,605,3596,0.00,1.85,0.00,0.000,6,0.000,0.035,2507,2044,3854
$GC,3917,-1.27,-194.7,410.1,-11.1,636,3921,0.00,2.28,0.00,0.000,4,0.000,0.082,2507,3074,3854
$GC,3958,-1.27,-194.7,415.0,-11.5,639,3962,0.00,1.85,0.00,0.000,6,0.000,0.033,2507,2050,3854
$GC,4291,-1.27,-194.7,454.5,-11.7,670,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2045,3853
$GC,4610,-1.27,-194.7,489.0,-9.7,700,4613,0.00,1.98,0.00,0.000,4,0.000,0.050,2507,3075,3853
$GC,4660,-1.27,-194.7,494.3,-9.8,704,4667,0.00,1.88,0.00,0.000,6,0.000,0.043,2507,2062,3852
$GC,4990,-1.27,-194.7,522.8,-8.7,735,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2059,3852
$GC,5316,-1.27,-194.7,551.8,-9.0,766,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2059,3852
$GC,5634,-1.27,-194.7,582.4,-10.6,796,5638,0.00,2.00,0.00,0.000,4,0.000,0.056,2507,3072,3851
$GC,5662,-1.27,-194.7,585.6,-11.3,798,5668,0.00,1.90,0.00,0.000,6,0.000,0.039,2507,2067,3851
$GC,5981,-1.27,-194.7,621.3,-11.0,820,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3851
$STATE,6247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6247,begin apogee
$GC,6255,-0.37,0.0,650.4,10.4,833,6423,0.90,0.00,164.30,1.042,6,0.098,0.000,2697,1996,3062
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6426,1.38,194.7,655.8,0.0,841,6602,1.70,2.47,163.48,1.014,4,0.074,0.081,3074,924,2268
$GC,6638,1.36,212.4,640.6,9.7,851,6660,0.00,2.00,16.42,0.921,6,0.000,0.042,3074,1975,2195
$GC,6969,1.40,243.0,609.3,9.2,867,7003,0.00,2.25,27.58,0.956,4,0.000,0.061,3074,3042,2070
$GC,7039,1.43,269.2,602.8,9.4,870,7068,0.00,2.03,24.27,0.943,6,0.000,0.040,3074,1964,1963
$GC,7395,1.43,269.2,572.3,10.3,902,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1961,1959
$GC,7714,1.43,269.2,536.7,11.8,932,7717,0.00,2.05,0.00,0.000,4,0.000,0.057,3074,931,1958
$GC,7759,1.43,269.2,531.2,12.2,936,7763,0.00,1.98,0.00,0.000,6,0.000,0.038,3074,1992,1958
$GC,8093,1.45,286.7,496.3,9.7,967,8112,0.10,0.00,16.17,0.896,6,0.068,0.000,3104,1994,1893
$GC,8429,1.45,288.4,461.0,10.3,999,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1995,1890
$GC,8748,1.46,298.4,428.1,10.0,1029,8770,0.00,2.08,11.12,0.818,4,0.000,0.048,3105,928,1848
$GC,8809,1.42,298.4,421.5,10.6,1034,8816,0.00,2.00,0.00,0.000,6,0.000,0.036,3105,1991,1847
$GC,9138,1.42,298.4,388.1,10.4,1065,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1994,1847
$GC,9463,1.42,298.4,353.1,10.9,1096,9467,0.00,2.20,0.00,0.000,4,0.000,0.064,3105,920,1846
$GC,9509,1.38,298.4,347.9,11.7,1101,9516,0.12,2.05,0.00,0.000,6,0.104,0.050,3080,1981,1846
$GC,9854,1.38,298.4,312.5,10.7,1162,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1983,1846
$GC,10199,1.38,298.4,274.8,11.6,1223,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1984,1845
$GC,10543,1.38,298.4,237.2,10.7,1284,10549,0.00,2.35,0.00,0.000,4,0.000,0.091,3080,928,1845
$GC,10608,1.38,298.4,230.1,11.2,1295,10614,0.00,2.05,0.00,0.000,6,0.000,0.052,3080,1976,1845
$GC,10953,1.39,305.7,194.9,10.1,1356,10966,0.00,0.00,8.30,0.676,6,0.000,0.000,3080,1978,1815
$GC,11304,1.43,341.3,162.5,9.0,1418,11342,0.00,0.00,32.47,0.735,6,0.000,0.000,3080,1978,1669
$GC,11681,1.46,365.6,127.5,9.4,1485,11709,0.00,2.60,22.27,0.701,4,0.000,0.097,3080,926,1570
$GC,11751,1.50,391.4,121.1,9.4,1497,11784,0.12,2.08,23.55,0.689,6,0.062,0.055,3118,1971,1465
$GC,12125,1.50,391.4,78.0,10.8,1563,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1972,1461
$GC,12470,1.56,445.5,38.5,8.4,1624,12522,0.00,2.12,47.25,0.660,4,0.000,0.048,3118,924,1244
$GC,12602,1.56,445.5,23.0,12.6,1647,12609,0.00,2.08,0.00,0.000,6,0.000,0.055,3118,1953,1240
$GC,12748,1.66,480.2,6.9,9.1,1672,12784,0.10,2.53,29.70,0.625,4,0.067,0.086,3151,3041,1103
$STATE,12788,end climb,SURFACE_DEPTH_REACHED
$STATE,12788,begin surface coast
$FINISH,0.1,1.017593
$STATE,12811,end surface coast,CONTROL_FINISHED_OK
$STATE,12811,begin surface
$SM_CCo,12836,17.08,0.600,0,0,1022,500.17
$SM_GC,0.78,0.00,0.00,17.08,0.000,0.000,0.600,572,2018,1022,-10.16,-0.37,500.17
$IRIDIUM_FIX,6117.23,-2557.42,210997,101057
$TT8_MAMPS,0.042952
$HUMID,1750
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.90
$XPDR_PINGS,1062
$24V_AH,23.3,80.844
$10V_AH,10.5,77.273
$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,25.175,83.300,586.900,17.075,0.000,0.000,0.000,0.000,265.500,0.000,0.000,34.705,2568.858,6354.667,689.826,3003.380,330.423,0.000,2044.058,0.000,2987.632,0.000,0.465
$DEVICE_MAMPS,194.051,96.642,1041.586,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1164.332,1239.260,732.075,1594.547,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123134,1683
$CAP_FILE_SIZE,151284,0
$CFSIZE,260165632,219676672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,270608,135858,6136.858,-2552.740,25,2.6,44,-18.5