version: 66.03
glider: 141
mission: 7
dive: 291
start: 6 6 108 10 57 46
data:
$ID,141
$MISSION,7
$DIVE,291
$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,-11570.636
$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
$GPS1,104907,6156.465,-2601.701,38,1.1,38,-18.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-54.1
$GPS2,105727,6156.469,-2601.629,9,1.8,9,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$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,241.0,27797,-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,-194.7,0.0,0.0,0,130,0.00,0.00,-105.80,0.000,2,0.000,0.000,570,2034,3721
$GC,133,-1.34,-194.7,3.5,-6.5,14,156,11.05,2.78,-3.00,0.000,4,0.195,0.169,2484,613,3858
$GC,191,-1.29,-194.7,16.6,-13.2,23,198,0.00,2.60,0.00,0.000,6,0.000,0.129,2484,2031,3859
$GC,333,-1.23,-194.7,35.9,-13.8,48,341,0.12,2.62,0.00,0.000,4,0.115,0.139,2508,3446,3859
$GC,422,-1.23,-194.7,45.9,-10.4,63,429,0.00,2.65,0.00,0.000,6,0.000,0.154,2508,2060,3859
$GC,564,-1.23,-194.7,60.3,-10.8,88,572,0.00,2.78,0.00,0.000,4,0.000,0.158,2508,622,3859
$GC,607,-1.23,-194.7,65.0,-11.1,95,614,0.00,2.60,0.00,0.000,6,0.000,0.134,2508,2032,3859
$GC,951,-1.23,-194.7,106.1,-12.9,156,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2034,3860
$GC,1297,-1.23,-194.7,149.4,-12.0,217,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2034,3859
$GC,1641,-1.23,-194.7,187.7,-11.0,278,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,1987,-1.23,-194.7,222.8,-9.9,339,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,2330,-1.23,-194.7,255.4,-9.7,400,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,2676,-1.23,-194.7,288.2,-9.5,461,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,3020,-1.23,-194.7,319.3,-8.8,522,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,3365,-1.23,-194.7,350.3,-9.3,583,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,3683,-1.23,-194.7,383.7,-10.7,613,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,4002,-1.23,-194.7,419.6,-11.4,643,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,4320,-1.23,-194.7,456.7,-11.5,673,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,4640,-1.23,-194.7,493.5,-11.6,703,4644,0.00,2.80,0.00,0.000,4,0.000,0.166,2508,613,3859
$GC,4683,-1.23,-194.7,499.2,-11.9,706,4691,0.00,2.65,0.00,0.000,6,0.000,0.131,2508,2032,3859
$GC,5012,-1.23,-194.7,537.0,-11.3,737,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2034,3859
$GC,5337,-1.23,-194.7,571.5,-10.4,768,5342,0.00,2.83,0.00,0.000,4,0.000,0.171,2508,616,3859
$GC,5370,-1.23,-194.7,575.3,-10.9,770,5378,0.00,2.65,0.00,0.000,6,0.000,0.133,2508,2026,3858
$GC,5696,-1.23,-194.7,607.6,-10.7,798,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2030,3858
$GC,6003,-1.23,-194.7,642.3,-11.4,813,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2030,3858
$GC,6314,-1.23,-194.7,674.9,-10.0,828,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2029,3858
$GC,6623,-1.23,-194.7,705.6,-9.8,843,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2030,3858
$GC,6932,-1.23,-194.7,737.7,-10.8,858,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2030,3857
$GC,7241,-1.23,-194.7,767.7,-8.3,873,7245,0.00,2.88,0.00,0.000,4,0.000,0.183,2508,617,3857
$GC,7268,-1.23,-194.7,770.8,-11.6,874,7272,0.00,2.62,0.00,0.000,6,0.000,0.138,2508,2021,3857
$GC,7584,-1.23,-194.7,802.7,-9.9,889,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2023,3857
$GC,7893,-1.23,-194.7,831.6,-8.8,904,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2023,3857
$STATE,8117,end dive,NO_VERTICAL_VELOCITY
$STATE,8118,begin apogee
$GC,8124,-0.37,0.0,832.6,0.0,915,8299,0.85,0.00,167.02,1.178,6,0.074,0.000,2698,1988,3061
$STATE,8300,end apogee,CONTROL_FINISHED_OK
$STATE,8300,begin climb
$GC,8303,1.34,194.7,832.1,0.0,924,8478,1.70,2.92,165.05,1.147,4,0.074,0.164,3069,3402,2266
$GC,8581,1.34,194.7,808.3,11.6,936,8589,0.00,2.75,0.00,0.000,6,0.000,0.159,3069,1986,2263
$GC,8897,1.34,194.7,775.4,10.4,952,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1984,2262
$GC,9207,1.37,216.7,746.5,9.2,967,9232,0.00,2.80,19.75,1.056,4,0.000,0.146,3069,3413,2177
$GC,9274,1.37,216.7,739.6,11.0,970,9279,0.00,2.78,0.00,0.000,6,0.000,0.153,3069,1995,2176
$GC,9601,1.41,245.4,710.0,9.0,986,9629,0.00,0.00,26.77,1.061,6,0.000,0.000,3069,1991,2061
$GC,9930,1.41,245.4,676.6,10.3,1002,9934,0.00,2.70,0.00,0.000,4,0.000,0.146,3069,3407,2057
$GC,10001,1.41,245.4,668.1,11.6,1005,10006,0.00,2.75,0.00,0.000,6,0.000,0.154,3069,1994,2056
$GC,10317,1.41,245.4,635.8,10.2,1020,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1992,2056
$GC,10628,1.45,281.7,607.8,8.7,1035,10668,0.12,0.00,33.20,1.025,6,0.064,0.000,3105,1991,1912
$GC,10988,1.39,281.7,569.6,10.7,1065,10995,0.12,0.00,0.00,0.000,6,0.107,0.000,3081,1992,1908
$GC,11317,1.42,301.3,538.6,9.3,1096,11352,0.00,2.78,20.30,0.884,4,0.000,0.147,3081,3399,1832
$GC,11399,1.42,301.3,530.2,10.2,1103,11404,0.00,2.72,0.00,0.000,6,0.000,0.156,3081,2004,1831
$GC,11725,1.44,320.9,499.9,9.3,1133,11746,0.00,0.00,18.17,0.933,6,0.000,0.000,3082,2002,1753
$GC,12065,1.46,334.9,466.9,9.5,1165,12084,0.00,0.00,13.62,0.893,6,0.000,0.000,3081,2002,1696
$GC,12403,1.47,344.0,435.2,9.7,1197,12415,0.00,0.00,9.85,0.839,6,0.000,0.000,3082,2002,1658
$GC,12729,1.47,344.0,401.3,10.5,1228,12734,0.00,2.83,0.00,0.000,4,0.000,0.166,3081,574,1656
$GC,12772,1.47,344.0,397.1,10.4,1231,12776,0.00,2.65,0.00,0.000,6,0.000,0.131,3081,2003,1656
$GC,13098,1.48,355.5,364.2,9.6,1261,13115,0.00,2.65,11.40,0.820,4,0.000,0.143,3080,3399,1613
$GC,13142,1.48,355.5,359.4,10.4,1264,13151,0.00,2.72,0.00,0.000,6,0.000,0.150,3081,1993,1612
$GC,13481,1.49,357.7,326.1,9.9,1316,13489,0.10,2.80,0.00,0.000,4,0.070,0.171,3112,566,1611
$GC,13518,1.44,357.7,321.7,11.8,1322,13526,0.00,2.65,0.00,0.000,6,0.000,0.129,3112,2006,1611
$GC,13864,1.44,357.7,280.0,11.8,1383,13870,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2008,1611
$GC,14208,1.44,357.7,236.7,13.7,1444,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2008,1611
$GC,14553,1.44,357.7,189.9,13.1,1505,14560,0.00,2.83,0.00,0.000,4,0.000,0.164,3112,570,1611
$GC,14590,1.40,357.7,184.7,14.7,1511,14598,0.15,2.62,0.00,0.000,6,0.102,0.129,3082,1995,1611
$GC,14939,1.40,364.8,147.9,9.8,1572,14953,0.00,0.00,9.52,0.692,6,0.000,0.000,3082,1997,1574
$GC,15290,1.46,408.0,115.0,8.5,1634,15337,0.00,0.00,39.28,0.730,6,0.000,0.000,3083,1997,1396
$GC,15676,1.53,463.2,82.2,8.1,1701,15732,0.12,2.85,48.00,0.699,4,0.061,0.160,3120,572,1172
$GC,15767,1.55,487.0,73.7,9.2,1715,15796,0.00,2.62,21.23,0.666,6,0.000,0.130,3120,1988,1075
$GC,16135,1.55,487.0,37.6,10.2,1779,16143,0.00,2.80,0.00,0.000,4,0.000,0.168,3120,568,1069
$GC,16173,1.55,487.0,33.5,10.9,1785,16180,0.00,2.55,0.00,0.000,6,0.000,0.127,3120,1963,1068
$GC,16315,1.55,487.0,19.1,10.2,1810,16321,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1964,1067
$STATE,16448,end climb,SURFACE_DEPTH_REACHED
$STATE,16448,begin surface coast
$FINISH,0.2,1.026917
$STATE,16473,end surface coast,CONTROL_FINISHED_OK
$STATE,16473,begin surface
$SM_CCo,16553,0.00,0.000,0,0,1065,489.86
$SM_GC,0.77,10.62,0.00,0.00,0.034,0.000,0.000,570,2043,1065,-10.06,0.37,489.86
$IRIDIUM_FIX,6126.23,-2603.30,310897,050540
$TT8_MAMPS,0.042185
$HUMID,1699
$INTERNAL_PRESSURE,9.99062
$TCM_TEMP,16.80
$XPDR_PINGS,1086
$24V_AH,23.4,58.566
$10V_AH,10.6,60.565
$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,24.975,87.475,603.175,0.000,0.000,28.910,34.590,291.210,271.500,0.000,0.000,11.362,3696.378,8594.059,775.060,3250.090,719.930,0.000,2203.178,0.000,3261.040,0.000,0.466
$DEVICE_MAMPS,194.818,183.313,1178.112,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1275.085,1380.369,727.071,1714.034,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136032,1838
$CAP_FILE_SIZE,153048,0
$CFSIZE,260165632,228978688
$ERRORS,0,14,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,133.5,1
$GPS,060608,153456,6154.429,-2604.718,40,1.2,40,-18.7