version: 66.03
glider: 141
mission: 7
dive: 283
start: 6 4 108 15 3 20
data:
$ID,141
$MISSION,7
$DIVE,283
$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,-11430.09
$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,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$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
$GPS1,145531,6150.718,-2615.380,39,1.2,39,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-45.5
$GPS2,150303,6150.618,-2615.391,13,1.6,13,-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,144.9,16484,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,140,0.00,0.00,-116.18,0.000,2,0.000,0.000,571,2031,3750
$GC,143,-1.34,-194.7,3.4,-6.3,15,167,10.98,2.78,-2.42,0.000,4,0.196,0.166,2481,624,3858
$GC,258,-1.29,-194.7,21.8,-9.4,34,266,0.00,2.55,0.00,0.000,6,0.000,0.127,2481,2032,3859
$GC,401,-1.22,-194.7,36.1,-11.6,59,409,0.15,2.75,0.00,0.000,4,0.114,0.157,2514,613,3859
$GC,427,-1.22,-194.7,39.3,-12.1,63,435,0.00,2.55,0.00,0.000,6,0.000,0.124,2513,2012,3859
$GC,570,-1.22,-194.7,55.1,-9.3,88,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2014,3859
$GC,915,-1.22,-194.7,81.8,-8.6,149,922,0.00,2.65,0.00,0.000,4,0.000,0.140,2514,3438,3859
$GC,957,-1.22,-194.7,85.8,-9.4,156,964,0.00,2.67,0.00,0.000,6,0.000,0.150,2514,2030,3859
$GC,1301,-1.22,-194.7,120.0,-10.1,217,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2027,3859
$GC,1646,-1.22,-194.7,151.5,-8.5,278,1653,0.00,2.62,0.00,0.000,4,0.000,0.138,2514,3439,3859
$GC,1671,-1.22,-194.7,153.8,-9.0,282,1678,0.00,2.67,0.00,0.000,6,0.000,0.153,2514,2034,3859
$GC,2016,-1.22,-194.7,184.0,-9.1,343,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2033,3859
$GC,2361,-1.22,-194.7,215.4,-9.1,404,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,2705,-1.22,-194.7,246.6,-9.4,465,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2033,3859
$GC,3049,-1.22,-194.7,279.5,-10.2,526,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2033,3859
$GC,3394,-1.22,-194.7,314.8,-10.1,587,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2032,3859
$GC,3739,-1.22,-194.7,350.5,-10.2,648,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,4057,-1.22,-194.7,382.6,-9.7,678,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,4376,-1.22,-194.7,413.3,-9.8,708,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,4694,-1.22,-194.7,443.7,-9.3,738,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,5013,-1.22,-194.7,474.5,-10.1,768,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,5331,-1.22,-194.7,510.2,-11.7,798,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,5650,-1.22,-194.7,546.3,-11.1,828,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2032,3858
$GC,5968,-1.22,-194.7,582.2,-11.5,858,5972,0.00,2.83,0.00,0.000,4,0.000,0.176,2513,618,3858
$GC,5988,-1.22,-194.7,584.7,-11.5,859,5996,0.00,2.62,0.00,0.000,6,0.000,0.143,2513,2026,3858
$GC,6319,-1.22,-194.7,622.2,-11.3,882,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2028,3858
$GC,6628,-1.22,-194.7,657.6,-11.5,897,6633,0.00,2.88,0.00,0.000,4,0.000,0.184,2513,619,3857
$GC,6668,-1.22,-194.7,661.9,-11.0,899,6673,0.00,2.65,0.00,0.000,6,0.000,0.138,2514,2032,3857
$GC,6996,-1.22,-194.7,696.3,-10.2,915,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2035,3857
$GC,7305,-1.22,-194.7,725.6,-9.4,930,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2035,3857
$GC,7614,-1.22,-194.7,752.4,-8.4,945,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2035,3857
$GC,7924,-1.22,-194.7,779.7,-8.8,960,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2035,3856
$GC,8232,-1.22,-194.7,809.7,-9.8,975,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2035,3856
$GC,8543,-1.22,-194.7,840.5,-9.8,990,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2035,3856
$GC,8851,-1.22,-194.7,872.7,-10.2,1005,8855,0.00,2.78,0.00,0.000,4,0.000,0.170,2513,3442,3855
$GC,8869,-1.22,-194.7,874.6,-10.1,1006,8874,0.00,2.75,0.00,0.000,6,0.000,0.158,2513,2035,3855
$GC,9196,-1.22,-194.7,907.9,-11.2,1022,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2034,3855
$GC,9505,-1.22,-194.7,935.2,-9.1,1037,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2033,3855
$GC,9814,-1.50,-194.7,948.3,-0.0,1052,9816,0.28,0.00,0.00,0.000,6,0.064,0.000,2446,2033,3854
$STATE,9853,end dive,NO_VERTICAL_VELOCITY
$STATE,9853,begin apogee
$GC,9859,-0.37,0.0,948.2,0.0,1054,10036,1.10,0.00,168.60,1.258,6,0.067,0.000,2696,1977,3061
$STATE,10037,end apogee,CONTROL_FINISHED_OK
$STATE,10037,begin climb
$GC,10039,1.34,194.7,948.1,0.0,1063,10215,1.67,0.00,167.12,1.225,6,0.076,0.000,3067,1977,2268
$GC,10524,1.42,256.1,917.3,7.9,1086,10581,0.00,0.00,55.12,1.189,6,0.000,0.000,3067,1977,2018
$GC,10878,1.50,321.9,887.6,7.7,1103,10946,0.15,2.80,59.90,1.181,4,0.061,0.146,3113,3403,1748
$GC,11004,1.45,321.9,874.4,11.2,1108,11008,0.00,2.78,0.00,0.000,6,0.000,0.154,3113,1986,1743
$GC,11320,1.40,321.9,836.4,12.7,1123,11325,0.15,2.88,0.00,0.000,4,0.107,0.177,3079,566,1741
$GC,11369,1.40,321.9,830.5,10.9,1125,11374,0.00,2.65,0.00,0.000,6,0.000,0.133,3079,1988,1741
$GC,11692,1.40,324.8,799.2,9.9,1141,11696,0.00,2.72,0.00,0.000,4,0.000,0.158,3079,3395,1739
$GC,11735,1.40,324.8,793.5,12.0,1143,11740,0.00,2.75,0.00,0.000,6,0.000,0.153,3079,1978,1739
$GC,12063,1.40,324.8,743.7,15.5,1159,12068,0.00,2.83,0.00,0.000,4,0.000,0.176,3079,566,1739
$GC,12112,1.40,324.8,735.8,15.4,1161,12117,0.00,2.62,0.00,0.000,6,0.000,0.132,3079,1983,1739
$GC,12434,1.40,324.8,692.7,14.7,1177,12439,0.00,2.72,0.00,0.000,4,0.000,0.158,3079,3397,1738
$GC,12479,1.40,324.8,686.0,14.7,1179,12483,0.00,2.72,0.00,0.000,6,0.000,0.153,3079,1980,1738
$GC,12800,1.40,324.8,640.6,13.0,1195,12801,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1977,1738
$GC,13108,1.40,324.8,602.2,12.1,1210,13113,0.00,2.80,0.00,0.000,4,0.000,0.174,3079,571,1738
$GC,13149,1.40,324.8,597.2,12.8,1212,13153,0.00,2.62,0.00,0.000,6,0.000,0.129,3079,1991,1738
$GC,13473,1.40,324.8,559.8,11.0,1242,13478,0.00,2.70,0.00,0.000,4,0.000,0.155,3079,3399,1738
$GC,13517,1.40,324.8,554.6,11.4,1245,13524,0.00,2.75,0.00,0.000,6,0.000,0.155,3079,1983,1737
$GC,13844,1.40,324.8,517.9,11.8,1276,13849,0.00,2.80,0.00,0.000,4,0.000,0.171,3079,567,1737
$GC,13876,1.40,324.8,513.5,12.1,1278,13885,0.00,2.65,0.00,0.000,6,0.000,0.130,3079,1987,1737
$GC,14204,1.40,324.8,479.3,10.3,1309,14209,0.00,2.67,0.00,0.000,4,0.000,0.152,3079,3396,1737
$GC,14248,1.40,324.8,474.1,10.4,1312,14256,0.00,2.75,0.00,0.000,6,0.000,0.156,3079,1995,1737
$GC,14576,1.45,364.3,444.3,8.6,1343,14616,0.00,0.00,37.80,0.940,6,0.000,0.000,3079,1992,1576
$GC,14933,1.46,371.1,411.7,9.8,1377,14946,0.00,2.90,6.75,0.761,4,0.000,0.166,3079,565,1548
$GC,14983,1.46,371.1,406.8,10.4,1381,14988,0.00,2.65,0.00,0.000,6,0.000,0.129,3079,1992,1549
$GC,15309,1.46,371.1,373.9,10.3,1411,15310,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1995,1548
$GC,15631,1.47,384.6,343.1,9.5,1447,15651,0.00,0.00,13.52,0.826,6,0.000,0.000,3079,1995,1493
$GC,15989,1.47,384.6,306.0,10.4,1510,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1995,1491
$GC,16334,1.47,384.6,269.8,11.6,1571,16341,0.00,2.80,0.00,0.000,4,0.000,0.163,3079,567,1490
$GC,16370,1.47,384.6,265.7,11.3,1577,16377,0.00,2.60,0.00,0.000,6,0.000,0.124,3079,1989,1490
$GC,16715,1.54,437.3,231.7,8.2,1638,16769,0.15,0.00,47.53,0.803,6,0.058,0.000,3127,1991,1278
$GC,17110,1.54,437.3,178.1,13.6,1706,17117,0.00,2.78,0.00,0.000,4,0.000,0.166,3127,570,1272
$GC,17152,1.54,437.3,171.2,14.2,1713,17159,0.00,2.60,0.00,0.000,6,0.000,0.125,3127,1985,1272
$GC,17497,1.54,437.3,122.8,12.3,1774,17503,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1987,1272
$GC,17840,1.54,437.3,76.1,13.5,1835,17847,0.00,2.80,0.00,0.000,4,0.000,0.163,3127,567,1271
$GC,17912,1.54,437.3,66.7,12.2,1847,17919,0.00,2.58,0.00,0.000,6,0.000,0.127,3127,1968,1270
$GC,18254,1.54,437.3,25.3,10.1,1908,18261,0.00,2.65,0.00,0.000,4,0.000,0.140,3127,3395,1270
$GC,18286,1.54,437.3,21.8,11.4,1913,18294,0.00,2.72,0.00,0.000,6,0.000,0.149,3127,1968,1269
$GC,18429,1.54,437.3,3.5,12.9,1938,18437,0.00,2.72,0.00,0.000,4,0.000,0.170,3127,571,1270
$STATE,18442,end climb,SURFACE_DEPTH_REACHED
$STATE,18442,begin surface coast
$FINISH,-0.1,1.026940
$STATE,18470,end surface coast,CONTROL_FINISHED_OK
$STATE,18470,begin surface
$SM_CCo,18553,0.00,0.000,0,0,1267,440.07
$SM_GC,0.51,10.75,0.00,0.00,0.040,0.000,0.000,571,2044,1267,-10.06,0.40,440.07
$IRIDIUM_FIX,6130.75,-2623.70,290897,111103
$TT8_MAMPS,0.042185
$HUMID,1692
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,15.40
$XPDR_PINGS,1143
$24V_AH,23.3,56.694
$10V_AH,10.6,59.189
$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,25.375,119.625,556.350,0.000,0.000,22.385,32.517,253.013,285.750,0.000,0.000,16.572,3942.249,10135.001,749.740,3477.391,683.857,0.000,2278.608,0.000,3469.370,0.000,0.465
$DEVICE_MAMPS,195.585,184.080,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1354.608,1438.557,734.061,1741.882,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142360,1945
$CAP_FILE_SIZE,166972,0
$CFSIZE,260165632,229740544
$ERRORS,0,28,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,233.9,1
$GPS,040608,201337,6148.063,-2612.927,28,1.1,28,-18.7