version: 66.03
glider: 141
mission: 7
dive: 284
start: 6 4 108 20 26 28
data:
$ID,141
$MISSION,7
$DIVE,284
$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,-11445.934
$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,7
$R_STBD_OVSHOOT,16
$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
$GPS1,201337,6148.063,-2612.927,28,1.1,28,-18.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-48.7
$GPS2,202609,6148.058,-2613.171,13,1.3,13,-18.7
$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,132.3,12410,-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,-194.7,0.0,0.0,0,155,0.00,0.00,-130.98,0.000,6,0.000,0.000,571,2043,3857
$GC,158,-1.34,-194.7,4.2,-8.5,17,175,10.90,2.83,0.00,0.000,4,0.193,0.154,2481,612,3859
$GC,238,-1.29,-194.7,23.1,-14.7,30,245,0.00,2.58,0.00,0.000,6,0.000,0.124,2481,2026,3859
$GC,381,-1.22,-194.7,40.4,-10.2,55,389,0.15,2.62,0.00,0.000,4,0.109,0.137,2515,3442,3859
$GC,407,-1.22,-194.7,42.8,-8.7,59,415,0.00,2.65,0.00,0.000,6,0.000,0.146,2515,2047,3860
$GC,553,-1.22,-194.7,55.6,-9.0,84,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2043,3860
$GC,898,-1.22,-194.7,86.4,-9.2,145,905,0.00,2.60,0.00,0.000,4,0.000,0.137,2515,3442,3860
$GC,934,-1.22,-194.7,89.9,-9.0,151,941,0.00,2.62,0.00,0.000,6,0.000,0.145,2515,2068,3860
$GC,1280,-1.22,-194.7,123.8,-9.9,212,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2065,3860
$GC,1625,-1.22,-194.7,158.2,-9.9,273,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2065,3860
$GC,1969,-1.22,-194.7,192.3,-10.1,334,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3860
$GC,2315,-1.22,-194.7,226.2,-9.9,395,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3860
$GC,2658,-1.22,-194.7,261.6,-10.9,456,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2065,3860
$GC,3003,-1.22,-194.7,296.8,-8.9,517,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3859
$GC,3348,-1.22,-194.7,327.1,-8.7,578,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3859
$GC,3689,-1.22,-194.7,356.7,-8.3,632,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2063,3859
$GC,4007,-1.22,-194.7,383.3,-8.6,662,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3859
$GC,4326,-1.22,-194.7,410.3,-8.6,692,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3858
$GC,4644,-1.22,-194.7,436.1,-8.1,722,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2064,3858
$GC,4963,-1.22,-194.7,466.5,-10.1,752,4967,0.00,2.83,0.00,0.000,4,0.000,0.164,2515,621,3858
$GC,4995,-1.22,-194.7,470.0,-10.3,754,5003,0.00,2.67,0.00,0.000,6,0.000,0.136,2515,2056,3858
$GC,5324,-1.22,-194.7,501.6,-9.5,785,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3857
$GC,5650,-1.22,-194.7,534.3,-9.9,816,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3857
$GC,5968,-1.22,-194.7,564.7,-9.0,846,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3857
$GC,6287,-1.22,-194.7,593.0,-8.5,876,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3857
$GC,6598,-1.22,-194.7,619.9,-9.0,895,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3857
$GC,6907,-1.22,-194.7,650.7,-10.6,910,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3856
$GC,7216,-1.22,-194.7,686.6,-12.1,925,7221,0.00,3.00,0.00,0.000,4,0.000,0.194,2514,620,3856
$GC,7243,-1.22,-194.7,690.1,-12.9,926,7247,0.00,2.70,0.00,0.000,6,0.000,0.140,2515,2056,3856
$GC,7559,-1.22,-194.7,726.2,-11.5,941,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3856
$GC,7869,-1.22,-194.7,760.0,-10.8,956,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3856
$GC,8178,-1.22,-194.7,793.6,-10.3,971,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2058,3855
$GC,8487,-1.22,-194.7,826.0,-10.7,986,8491,0.00,2.88,0.00,0.000,4,0.000,0.173,2515,620,3855
$GC,8531,-1.22,-194.7,831.1,-12.1,988,8535,0.00,2.65,0.00,0.000,6,0.000,0.139,2514,2039,3855
$GC,8851,-1.22,-194.7,867.4,-11.4,1004,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2042,3855
$GC,9161,-1.22,-194.7,901.2,-10.2,1019,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2042,3854
$GC,9470,-1.22,-194.7,930.9,-10.2,1034,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2042,3855
$GC,9779,-1.22,-194.7,961.0,-9.8,1049,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2042,3854
$STATE,10065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10065,begin apogee
$GC,10072,-0.37,0.0,991.0,10.3,1063,10249,0.85,0.00,169.30,1.292,6,0.097,0.000,2695,1981,3061
$STATE,10249,end apogee,CONTROL_FINISHED_OK
$STATE,10249,begin climb
$GC,10252,1.34,194.7,993.5,0.0,1072,10429,1.73,2.88,168.32,1.257,4,0.076,0.167,3070,569,2266
$GC,10505,1.34,233.6,977.0,8.6,1084,10549,0.00,2.67,35.00,1.200,6,0.000,0.132,3070,1995,2109
$GC,10858,1.34,233.6,942.6,10.1,1101,10862,0.00,2.75,0.00,0.000,4,0.000,0.163,3070,3397,2105
$GC,10924,1.34,233.6,935.0,11.3,1104,10928,0.00,2.75,0.00,0.000,6,0.000,0.154,3070,1984,2104
$GC,11245,1.34,233.6,899.9,10.3,1120,11250,0.00,2.72,0.00,0.000,4,0.000,0.151,3070,3400,2104
$GC,11285,1.34,233.6,895.7,11.3,1122,11290,0.00,2.72,0.00,0.000,6,0.000,0.155,3070,2001,2103
$GC,11612,1.34,233.6,862.1,10.3,1138,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1998,2103
$GC,11922,1.38,271.0,833.8,8.7,1153,11961,0.00,0.00,34.42,1.165,6,0.000,0.000,3070,1998,1956
$GC,12270,1.39,273.5,801.3,9.9,1170,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1999,1952
$GC,12580,1.40,283.3,770.5,9.7,1185,12603,0.00,2.78,12.27,1.051,4,0.000,0.149,3070,3399,1905
$GC,12630,1.40,283.3,765.1,10.0,1187,12634,0.00,2.72,0.00,0.000,6,0.000,0.156,3070,2005,1903
$GC,12954,1.43,309.1,734.6,9.1,1203,12995,0.00,0.00,28.62,0.977,6,0.000,0.000,3070,2003,1802
$GC,13301,1.43,309.1,699.9,10.6,1220,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2003,1798
$GC,13611,1.43,309.1,667.6,10.1,1235,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2004,1797
$GC,13920,1.45,327.5,638.5,9.4,1250,13942,0.10,0.00,17.45,1.021,6,0.070,0.000,3101,2003,1726
$GC,14249,1.45,327.5,598.2,12.4,1266,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2003,1723
$GC,14567,1.45,327.5,560.0,12.7,1296,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2003,1722
$GC,14886,1.45,327.5,522.4,11.5,1326,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2003,1722
$GC,15205,1.45,327.5,483.2,12.4,1356,15209,0.00,2.65,0.00,0.000,4,0.000,0.145,3101,3401,1722
$GC,15245,1.45,327.5,478.2,12.6,1359,15249,0.00,2.70,0.00,0.000,6,0.000,0.150,3101,2003,1721
$GC,15570,1.45,327.5,440.0,11.9,1389,15574,0.00,2.80,0.00,0.000,4,0.000,0.169,3101,569,1721
$GC,15610,1.41,327.5,434.9,12.1,1392,15614,0.00,2.67,0.00,0.000,6,0.000,0.127,3101,2022,1721
$GC,15934,1.41,327.5,392.6,13.6,1422,15936,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2024,1721
$GC,16255,1.41,327.5,350.3,12.8,1452,16256,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2024,1721
$GC,16588,1.41,327.5,311.0,10.9,1511,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2025,1721
$GC,16932,1.41,327.5,271.3,12.1,1572,16940,0.00,2.58,0.00,0.000,4,0.000,0.146,3101,3398,1721
$GC,16975,1.41,327.5,266.0,12.8,1579,16982,0.00,2.67,0.00,0.000,6,0.000,0.149,3101,2007,1721
$GC,17320,1.41,327.5,224.6,12.1,1640,17327,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2005,1721
$GC,17666,1.41,327.5,181.3,12.3,1701,17673,0.00,2.62,0.00,0.000,4,0.000,0.141,3101,3405,1721
$GC,17714,1.41,327.5,175.1,12.9,1709,17721,0.00,2.67,0.00,0.000,6,0.000,0.150,3101,2015,1721
$GC,18060,1.41,327.5,133.9,12.7,1770,18067,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2013,1721
$GC,18404,1.41,327.5,95.4,12.1,1831,18411,0.00,2.60,0.00,0.000,4,0.000,0.140,3101,3402,1722
$GC,18441,1.41,327.5,91.2,12.9,1837,18448,0.00,2.67,0.00,0.000,6,0.000,0.150,3101,2016,1722
$GC,18786,1.45,363.8,57.0,8.7,1898,18825,0.00,0.00,32.90,0.695,6,0.000,0.000,3101,2014,1577
$GC,19160,1.45,363.8,21.1,10.2,1964,19167,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2014,1573
$GC,19303,1.50,407.7,7.1,8.5,1989,19345,0.00,0.00,37.97,0.657,6,0.000,0.000,3101,2013,1399
$STATE,19350,end climb,SURFACE_DEPTH_REACHED
$STATE,19350,begin surface coast
$FINISH,-0.1,1.025933
$STATE,19373,end surface coast,CONTROL_FINISHED_OK
$STATE,19373,begin surface
$SM_CCo,19453,0.00,0.000,0,0,1393,409.16
$SM_GC,0.70,10.68,0.00,0.00,0.037,0.000,0.000,570,2012,1393,-10.08,-0.51,409.16
$IRIDIUM_FIX,6121.73,-2613.56,290897,202047
$TT8_MAMPS,0.041418
$HUMID,1688
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,1214
$24V_AH,23.3,56.935
$10V_AH,10.6,59.364
$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,24.400,81.425,536.275,0.000,0.000,61.177,77.142,393.338,303.500,0.000,0.000,15.215,4013.739,11016.484,747.844,3491.031,915.266,0.000,2259.992,0.000,3497.552,0.000,0.466
$DEVICE_MAMPS,193.284,194.051,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1388.691,1504.406,762.778,1776.081,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145582,2000
$CAP_FILE_SIZE,168142,0
$CFSIZE,260165632,229638144
$ERRORS,0,11,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,195.9,1
$GPS,050608,015216,6145.917,-2607.890,38,2.3,57,-18.7