version: 66.03
glider: 141
mission: 7
dive: 289
start: 6 6 108 0 16 53
data:
$ID,141
$MISSION,7
$DIVE,289
$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,-11543.193
$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,12
$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
$GPS1,000738,6151.084,-2603.422,30,1.8,30,-18.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-45.5
$GPS2,001633,6151.083,-2603.273,13,1.9,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,34.7,9723,-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,-194.7,0.0,0.0,0,156,0.00,0.00,-131.75,0.000,2,0.000,0.000,568,2019,3697
$GC,159,-1.34,-194.7,3.2,-5.6,17,183,10.98,2.65,-3.75,0.000,4,0.192,0.146,2481,3445,3858
$GC,196,-0.91,-194.7,12.3,-21.3,22,205,0.47,2.72,0.00,0.000,6,0.103,0.153,2578,2019,3859
$GC,343,-0.98,-194.7,25.3,-7.4,47,350,0.00,2.72,0.00,0.000,4,0.000,0.160,2578,621,3859
$GC,570,-1.07,-194.7,43.4,-4.5,87,579,0.15,2.60,0.00,0.000,6,0.053,0.127,2532,2047,3859
$GC,714,-1.07,-194.7,53.2,-8.0,112,721,0.00,2.58,0.00,0.000,4,0.000,0.142,2531,3444,3859
$GC,770,-1.07,-194.7,58.3,-9.8,121,777,0.00,2.62,0.00,0.000,6,0.000,0.147,2531,2067,3859
$GC,1111,-1.07,-194.7,87.7,-10.3,182,1118,0.00,2.80,0.00,0.000,4,0.000,0.156,2531,612,3860
$GC,1226,-1.07,-194.7,99.7,-10.2,202,1234,0.00,2.62,0.00,0.000,6,0.000,0.123,2531,2054,3860
$GC,1572,-1.07,-194.7,133.7,-9.5,263,1579,0.00,2.58,0.00,0.000,4,0.000,0.142,2531,3443,3860
$GC,1653,-1.07,-194.7,141.8,-9.7,277,1660,0.00,2.65,0.00,0.000,6,0.000,0.155,2531,2055,3860
$GC,1997,-1.07,-194.7,175.2,-10.3,338,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2052,3860
$GC,2342,-1.07,-194.7,209.1,-9.5,399,2349,0.00,2.78,0.00,0.000,4,0.000,0.160,2531,623,3860
$GC,2390,-1.07,-194.7,213.7,-9.5,407,2397,0.00,2.65,0.00,0.000,6,0.000,0.133,2531,2068,3860
$GC,2735,-1.07,-194.7,246.9,-9.7,468,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2070,3860
$GC,3080,-1.07,-194.7,282.6,-11.0,529,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2070,3860
$GC,3423,-1.07,-194.7,318.8,-10.8,590,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2070,3860
$GC,3766,-1.07,-194.7,354.4,-10.3,647,3770,0.00,2.83,0.00,0.000,4,0.000,0.160,2531,615,3860
$GC,3828,-1.11,-194.7,360.9,-10.2,652,3833,0.00,2.65,0.00,0.000,6,0.000,0.126,2531,2063,3859
$GC,4156,-1.11,-194.7,392.4,-9.7,682,4161,0.00,2.58,0.00,0.000,4,0.000,0.144,2531,3439,3859
$GC,4213,-1.11,-194.7,398.7,-10.7,686,4220,0.00,2.62,0.00,0.000,6,0.000,0.151,2531,2062,3859
$GC,4540,-1.11,-194.7,429.7,-9.5,717,4544,0.00,2.83,0.00,0.000,4,0.000,0.164,2531,613,3858
$GC,4592,-1.15,-194.7,434.7,-9.6,721,4596,0.00,2.65,0.00,0.000,6,0.000,0.127,2531,2060,3858
$GC,4919,-1.15,-194.7,464.5,-9.1,751,4924,0.00,2.62,0.00,0.000,4,0.000,0.150,2531,3448,3858
$GC,4975,-1.15,-194.7,470.2,-9.6,755,4982,0.00,2.67,0.00,0.000,6,0.000,0.149,2531,2056,3858
$GC,5302,-1.15,-194.7,497.7,-7.8,786,5307,0.00,2.83,0.00,0.000,4,0.000,0.166,2531,613,3858
$GC,5366,-1.20,-194.7,503.1,-8.3,791,5370,0.00,2.65,0.00,0.000,6,0.000,0.129,2531,2056,3858
$GC,5694,-1.20,-194.7,529.8,-8.1,821,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2058,3858
$GC,6019,-1.20,-194.7,557.7,-9.0,852,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2058,3858
$GC,6338,-1.20,-194.7,586.5,-9.2,882,6343,0.00,2.67,0.00,0.000,4,0.000,0.160,2531,3446,3858
$GC,6394,-1.20,-194.7,592.2,-10.0,886,6401,0.00,2.70,0.00,0.000,6,0.000,0.160,2531,2047,3857
$GC,6713,-1.20,-194.7,620.8,-9.0,906,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2046,3857
$GC,7022,-1.20,-194.7,648.9,-9.5,921,7026,0.00,2.72,0.00,0.000,4,0.000,0.160,2531,3445,3856
$GC,7071,-1.20,-194.7,654.1,-9.6,923,7076,0.00,2.70,0.00,0.000,6,0.000,0.159,2531,2057,3856
$GC,7388,-1.20,-194.7,683.4,-9.3,938,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2054,3856
$GC,7697,-1.20,-194.7,712.4,-9.4,953,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2053,3856
$GC,8008,-1.20,-194.7,740.4,-8.8,968,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2052,3856
$GC,8316,-1.20,-194.7,770.1,-10.5,983,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2051,3855
$GC,8626,-1.20,-194.7,803.1,-10.6,998,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2051,3855
$GC,8934,-1.20,-194.7,834.7,-10.1,1013,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2050,3854
$GC,9245,-1.20,-194.7,865.1,-9.7,1028,9250,0.00,2.67,0.00,0.000,4,0.000,0.158,2531,3439,3854
$GC,9316,-1.20,-194.7,872.6,-9.9,1031,9321,0.00,2.67,0.00,0.000,6,0.000,0.158,2531,2066,3854
$GC,9633,-1.20,-194.7,903.1,-9.7,1046,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2065,3854
$GC,9942,-1.20,-194.7,930.9,-9.1,1061,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2064,3854
$GC,10253,-1.35,-194.7,954.9,-4.1,1076,10258,0.20,2.67,0.00,0.000,4,0.062,0.157,2477,3447,3854
$STATE,10387,end dive,NO_VERTICAL_VELOCITY
$STATE,10387,begin apogee
$GC,10395,-0.37,0.0,955.0,0.0,1082,10572,0.95,0.00,168.82,1.266,6,0.070,0.000,2695,1974,3062
$STATE,10573,end apogee,CONTROL_FINISHED_OK
$STATE,10573,begin climb
$GC,10575,1.34,194.7,954.7,0.0,1091,10748,1.67,0.00,168.18,1.233,6,0.075,0.000,3065,1974,2268
$GC,11049,1.37,218.4,916.4,9.2,1114,11084,0.00,2.83,23.77,1.066,4,0.000,0.147,3065,3393,2170
$GC,11119,1.37,218.4,909.4,10.2,1117,11123,0.00,2.75,0.00,0.000,6,0.000,0.152,3066,1986,2169
$GC,11440,1.37,218.4,877.5,10.4,1133,11445,0.00,2.72,0.00,0.000,4,0.000,0.149,3065,3400,2167
$GC,11490,1.39,233.7,872.4,9.5,1135,11510,0.00,2.75,14.65,1.100,6,0.000,0.155,3065,1986,2108
$GC,11833,1.43,266.9,840.8,8.8,1152,11870,0.12,2.78,31.23,1.151,4,0.064,0.148,3102,3396,1972
$GC,11900,1.37,266.9,834.1,10.6,1155,11906,0.12,2.72,0.00,0.000,6,0.114,0.155,3079,2007,1970
$GC,12228,1.37,266.9,800.5,10.2,1171,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2003,1968
$GC,12538,1.37,266.9,767.0,10.6,1186,12543,0.00,2.67,0.00,0.000,4,0.000,0.150,3079,3398,1967
$GC,12566,1.37,266.9,763.7,10.6,1187,12570,0.00,2.67,0.00,0.000,6,0.000,0.153,3079,2014,1966
$GC,12881,1.37,266.9,732.1,10.2,1202,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2012,1966
$GC,13191,1.37,266.9,700.8,10.0,1217,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2011,1965
$GC,13500,1.37,266.9,667.8,11.5,1232,13505,0.00,2.65,0.00,0.000,4,0.000,0.150,3079,3399,1965
$GC,13518,1.37,266.9,665.6,11.9,1233,13522,0.00,2.67,0.00,0.000,6,0.000,0.153,3079,2019,1965
$GC,13845,1.37,266.9,623.7,12.8,1249,13849,0.00,2.62,0.00,0.000,4,0.000,0.147,3079,3394,1965
$GC,13862,1.37,266.9,621.4,12.9,1250,13867,0.00,2.65,0.00,0.000,6,0.000,0.153,3078,2023,1965
$GC,14182,1.37,266.9,581.7,12.2,1272,14186,0.00,2.62,0.00,0.000,4,0.000,0.146,3079,3396,1965
$GC,14200,1.37,266.9,579.6,11.7,1273,14204,0.00,2.65,0.00,0.000,6,0.000,0.153,3079,2029,1964
$GC,14527,1.37,266.9,540.8,11.8,1303,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2029,1965
$GC,14852,1.37,266.9,503.1,11.3,1334,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2029,1965
$GC,15171,1.37,266.9,467.3,11.9,1364,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2028,1965
$GC,15489,1.37,266.9,432.5,10.7,1394,15494,0.00,2.60,0.00,0.000,4,0.000,0.143,3079,3400,1965
$GC,15518,1.37,266.9,429.4,11.6,1396,15523,0.00,2.65,0.00,0.000,6,0.000,0.154,3079,2033,1965
$GC,15845,1.39,281.6,397.2,9.5,1426,15864,0.00,0.00,13.45,0.858,6,0.000,0.000,3079,2032,1912
$GC,16184,1.41,295.1,363.7,9.5,1458,16202,0.00,0.00,13.52,0.838,6,0.000,0.000,3079,2031,1858
$GC,16531,1.45,328.1,329.8,8.9,1508,16571,0.00,2.95,29.85,0.851,4,0.000,0.162,3079,573,1723
$GC,16579,1.46,335.9,325.1,9.7,1515,16593,0.00,2.72,8.75,0.742,6,0.000,0.123,3079,2046,1691
$GC,16933,1.47,350.2,289.8,9.5,1577,16952,0.00,0.00,13.95,0.785,6,0.000,0.000,3079,2048,1633
$GC,17291,1.48,357.1,252.9,9.8,1640,17306,0.10,2.92,7.45,0.698,4,0.069,0.160,3112,571,1605
$GC,17319,1.48,357.1,249.7,10.6,1644,17326,0.00,2.70,0.00,0.000,6,0.000,0.129,3112,2036,1605
$GC,17665,1.48,357.1,209.9,12.3,1705,17672,0.00,2.90,0.00,0.000,4,0.000,0.163,3112,567,1603
$GC,17680,1.48,357.1,208.2,11.1,1707,17687,0.00,2.67,0.00,0.000,6,0.000,0.123,3112,2028,1603
$GC,18025,1.48,357.1,171.1,11.2,1768,18033,0.00,2.85,0.00,0.000,4,0.000,0.165,3112,572,1603
$GC,18039,1.48,357.1,169.6,10.9,1770,18047,0.00,2.65,0.00,0.000,6,0.000,0.127,3112,2022,1602
$GC,18387,1.54,401.1,134.8,8.5,1831,18433,0.00,0.00,39.15,0.743,6,0.000,0.000,3112,2024,1425
$GC,18771,1.54,401.1,97.8,10.6,1898,18778,0.00,2.85,0.00,0.000,4,0.000,0.162,3112,570,1420
$GC,18813,1.54,401.1,93.0,12.0,1905,18820,0.00,2.65,0.00,0.000,6,0.000,0.123,3112,2017,1420
$GC,19158,1.54,401.1,54.7,12.8,1966,19165,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2020,1419
$GC,19501,1.54,401.1,10.3,11.4,2027,19509,0.00,2.83,0.00,0.000,4,0.000,0.158,3112,563,1419
$GC,19538,1.57,432.2,6.6,8.9,2033,19573,0.00,2.65,25.92,0.650,6,0.000,0.126,3112,2014,1302
$STATE,19578,end climb,SURFACE_DEPTH_REACHED
$STATE,19578,begin surface coast
$FINISH,0.0,1.016231
$STATE,19613,end surface coast,CONTROL_FINISHED_OK
$STATE,19613,begin surface
$SM_CCo,19693,0.00,0.000,0,0,1297,432.71
$SM_GC,0.64,10.68,0.00,0.00,0.036,0.000,0.000,573,2018,1297,-10.07,-0.34,432.71
$IRIDIUM_FIX,6121.73,-2601.40,300897,181823
$TT8_MAMPS,0.041418
$HUMID,1693
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.80
$XPDR_PINGS,1211
$24V_AH,23.3,58.128
$10V_AH,10.6,60.239
$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,25.450,157.000,558.700,0.000,0.000,27.879,31.190,323.139,302.750,0.000,0.000,16.043,4109.219,10832.325,808.693,3632.046,825.883,0.000,2424.953,0.000,3659.812,0.000,0.465
$DEVICE_MAMPS,191.750,166.439,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1422.092,1559.697,798.217,1846.670,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,151843,2045
$CAP_FILE_SIZE,182363,0
$CFSIZE,260165632,229126144
$ERRORS,0,27,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,186.7,1
$GPS,060608,054625,6153.486,-2601.868,25,0.9,42,-18.7