version: 66.03
glider: 141
mission: 7
dive: 338
start: 6 16 108 0 13 34
data:
$ID,141
$MISSION,7
$DIVE,338
$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,-12396.295
$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,30
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,17
$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
$GPS1,000322,6152.667,-2605.685,38,2.3,57,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-48.9
$GPS2,001314,6152.592,-2605.541,10,1.4,15,-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,247.5,20309,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,139,0.00,0.00,-114.55,0.000,2,0.000,0.000,568,2040,3699
$GC,143,-1.34,-194.7,3.2,-5.6,15,167,11.15,2.62,-3.50,0.000,4,0.196,0.281,2480,3077,3857
$GC,376,-1.29,-194.7,39.3,-12.5,55,383,0.00,2.22,0.00,0.000,6,0.000,0.189,2480,2030,3859
$GC,519,-1.24,-194.7,56.6,-12.3,80,526,0.15,0.00,0.00,0.000,6,0.114,0.000,2513,2028,3859
$GC,863,-1.24,-194.7,94.6,-11.5,141,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2028,3859
$GC,1205,-1.24,-194.7,133.2,-10.8,202,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2028,3860
$GC,1549,-1.24,-194.7,171.1,-11.3,263,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2028,3859
$GC,1895,-1.24,-194.7,210.7,-11.7,324,1902,0.00,1.98,0.00,0.000,4,0.000,0.136,2513,3087,3859
$GC,1932,-1.24,-194.7,215.0,-11.6,330,1939,0.00,2.28,0.00,0.000,6,0.000,0.216,2513,2031,3859
$GC,2277,-1.24,-194.7,254.7,-11.0,391,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2029,3859
$GC,2622,-1.24,-194.7,292.5,-11.1,452,2629,0.00,1.98,0.00,0.000,4,0.000,0.135,2513,3087,3859
$GC,2653,-1.24,-194.7,295.9,-11.0,457,2660,0.00,2.17,0.00,0.000,6,0.000,0.187,2513,2028,3859
$GC,2998,-1.24,-194.7,334.6,-11.4,518,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2026,3859
$GC,3334,-1.24,-194.7,370.8,-10.6,561,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2026,3859
$GC,3653,-1.24,-194.7,403.7,-10.2,591,3656,0.00,1.95,0.00,0.000,4,0.000,0.139,2513,3084,3859
$GC,3687,-1.24,-194.7,407.3,-10.4,594,3691,0.00,2.08,0.00,0.000,6,0.000,0.170,2513,2034,3859
$GC,4015,-1.24,-194.7,439.5,-9.7,624,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2032,3859
$GC,4341,-1.24,-194.7,470.8,-9.5,655,4344,0.00,1.95,0.00,0.000,4,0.000,0.140,2513,3083,3858
$GC,4369,-1.24,-194.7,473.7,-10.0,657,4376,0.00,1.90,0.00,0.000,6,0.000,0.129,2513,2044,3858
$GC,4695,-1.24,-194.7,505.5,-10.2,688,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2043,3858
$GC,5013,-1.24,-194.7,537.9,-9.9,718,5017,0.00,1.95,0.00,0.000,4,0.000,0.145,2513,3081,3858
$GC,5040,-1.24,-194.7,540.9,-10.5,720,5048,0.00,2.15,0.00,0.000,6,0.000,0.189,2513,2060,3858
$GC,5368,-1.24,-194.7,571.7,-8.9,751,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2060,3858
$GC,5704,-1.24,-194.7,602.4,-8.9,782,5708,0.00,1.95,0.00,0.000,4,0.000,0.147,2513,3089,3858
$GC,5738,-1.24,-194.7,605.9,-9.6,783,5742,0.00,2.22,0.00,0.000,6,0.000,0.201,2513,2047,3858
$GC,6054,-1.24,-194.7,636.5,-9.9,798,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2046,3857
$GC,6363,-1.24,-194.7,667.6,-10.2,813,6367,0.00,2.00,0.00,0.000,4,0.000,0.157,2514,3088,3857
$GC,6390,-1.24,-194.7,670.6,-10.5,814,6395,0.00,2.35,0.00,0.000,6,0.000,0.232,2513,2052,3857
$GC,6713,-1.24,-194.7,701.9,-9.7,830,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2050,3857
$GC,7023,-1.24,-194.7,730.6,-9.3,845,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2048,3856
$GC,7331,-1.24,-194.7,758.4,-8.7,860,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2048,3856
$GC,7642,-1.24,-194.7,786.5,-9.2,875,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2047,3856
$GC,7951,-1.24,-194.7,814.1,-8.4,890,7954,0.00,1.98,0.00,0.000,4,0.000,0.151,2513,3090,3856
$GC,7978,-1.24,-194.7,816.7,-9.3,891,7981,0.00,1.92,0.00,0.000,6,0.000,0.140,2513,2061,3855
$GC,8306,-1.24,-194.7,845.8,-9.1,907,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2060,3856
$GC,8615,-1.24,-194.7,874.4,-9.5,922,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2060,3855
$STATE,8839,end dive,NO_VERTICAL_VELOCITY
$STATE,8839,begin apogee
$GC,8845,-0.37,0.0,877.5,0.0,933,9022,0.82,0.00,168.98,1.199,6,0.067,0.000,2700,1973,3061
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9023,begin climb
$GC,9026,1.34,194.7,877.3,0.0,942,9206,1.67,2.28,166.80,1.174,4,0.076,0.201,3069,924,2267
$GC,9397,1.29,194.7,845.7,12.1,958,9401,0.00,1.98,0.00,0.000,6,0.000,0.132,3069,1984,2263
$GC,9719,1.30,197.5,812.9,9.9,974,9723,0.00,2.00,0.00,0.000,4,0.000,0.153,3069,3043,2262
$GC,9788,1.30,197.5,806.1,10.0,977,9792,0.00,2.12,0.00,0.000,6,0.000,0.177,3068,1994,2261
$GC,10116,1.30,197.5,773.3,10.1,993,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1990,2261
$GC,10425,1.30,197.5,740.7,11.0,1008,10427,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1990,2260
$GC,10734,1.30,197.5,708.7,10.1,1023,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1990,2260
$GC,11045,1.34,235.4,680.5,8.7,1038,11084,0.00,0.00,36.40,1.062,6,0.000,0.000,3068,1990,2102
$GC,11392,1.40,278.7,650.5,8.5,1055,11434,0.00,0.00,40.03,1.039,6,0.000,0.000,3068,1990,1925
$GC,11742,1.41,288.0,618.0,9.7,1072,11756,0.00,2.05,9.20,0.899,4,0.000,0.143,3069,3042,1886
$GC,11787,1.41,290.1,613.4,9.9,1074,11791,0.00,2.17,0.00,0.000,6,0.000,0.190,3068,1998,1885
$GC,12110,1.43,302.1,582.7,9.6,1098,12140,0.10,0.00,16.10,0.853,6,0.067,0.000,3100,1996,1829
$GC,12458,1.43,302.1,544.1,11.0,1131,12461,0.00,2.12,0.00,0.000,4,0.000,0.173,3100,927,1827
$GC,12485,1.38,302.1,540.7,11.2,1133,12492,0.00,2.55,0.00,0.000,6,0.000,0.245,3100,1994,1827
$GC,12812,1.38,302.1,503.8,11.7,1164,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1994,1826
$GC,13130,1.38,302.1,466.8,11.8,1194,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1995,1826
$GC,13447,1.38,302.1,430.0,11.4,1224,13450,0.00,2.10,0.00,0.000,4,0.000,0.164,3100,916,1826
$GC,13505,1.34,302.1,423.2,11.7,1229,13509,0.15,2.00,0.00,0.000,6,0.101,0.127,3070,2003,1826
$GC,13830,1.35,306.9,391.1,9.8,1259,13840,0.00,0.00,5.35,0.691,6,0.000,0.000,3070,2006,1809
$GC,14160,1.35,312.5,358.8,9.8,1290,14173,0.00,2.15,6.60,0.726,4,0.000,0.164,3070,926,1786
$GC,14202,1.35,312.5,354.2,10.3,1293,14209,0.00,2.33,0.00,0.000,6,0.000,0.213,3070,1977,1786
$GC,14543,1.35,312.5,320.0,10.2,1350,14550,0.00,2.80,0.00,0.000,4,0.000,0.289,3070,3045,1785
$GC,14574,1.35,312.5,316.6,10.9,1355,14582,0.00,2.38,0.00,0.000,6,0.000,0.220,3070,1974,1785
$GC,14919,1.35,312.5,279.7,10.6,1416,14927,0.00,2.08,0.00,0.000,4,0.000,0.173,3070,931,1785
$GC,14974,1.35,312.5,273.6,11.5,1425,14981,0.00,1.92,0.00,0.000,6,0.000,0.126,3070,1986,1785
$GC,15318,1.35,312.5,237.1,10.4,1486,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1987,1785
$GC,15664,1.35,312.5,199.4,11.1,1547,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1987,1785
$GC,16009,1.35,312.5,162.6,10.5,1608,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1988,1785
$GC,16352,1.35,312.5,126.8,10.1,1669,16359,0.00,2.22,0.00,0.000,4,0.000,0.195,3070,925,1785
$GC,16395,1.35,312.5,122.3,10.9,1676,16402,0.00,1.95,0.00,0.000,6,0.000,0.127,3070,1974,1785
$GC,16741,1.35,312.5,85.7,11.1,1737,16747,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1976,1785
$GC,17084,1.35,312.5,47.1,11.7,1798,17091,0.00,2.00,0.00,0.000,4,0.000,0.140,3070,3070,1785
$GC,17122,1.35,312.5,42.5,12.4,1804,17129,0.00,2.05,0.00,0.000,6,0.000,0.130,3070,1970,1785
$GC,17264,1.35,314.8,25.3,9.9,1829,17271,0.00,2.12,0.00,0.000,4,0.000,0.187,3070,921,1785
$GC,17312,1.35,314.8,20.0,11.3,1837,17319,0.00,1.95,0.00,0.000,6,0.000,0.123,3070,1971,1785
$GC,17456,1.35,314.8,4.8,10.2,1862,17463,0.00,1.98,0.00,0.000,4,0.000,0.142,3070,3037,1785
$STATE,17474,end climb,SURFACE_DEPTH_REACHED
$STATE,17474,begin surface coast
$FINISH,1.0,1.026874
$STATE,17492,end surface coast,CONTROL_FINISHED_OK
$STATE,17492,begin surface
$SM_CCo,17575,0.00,0.000,0,0,1782,313.98
$SM_GC,0.73,10.45,0.00,0.00,0.035,0.000,0.000,570,2025,1782,-10.08,-0.14,313.98
$IRIDIUM_FIX,6130.75,-2559.20,090997,181808
$TT8_MAMPS,0.042185
$HUMID,1719
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,16.80
$XPDR_PINGS,1219
$24V_AH,23.2,68.568
$10V_AH,10.6,68.079
$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,24.500,89.025,449.450,0.000,0.000,31.248,33.174,365.879,304.750,0.000,0.000,16.655,3799.034,9509.711,665.972,3318.125,854.466,0.000,2117.653,0.000,3333.269,0.000,0.466
$DEVICE_MAMPS,196.352,289.159,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1293.305,1422.461,703.968,1733.574,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139162,1868
$CAP_FILE_SIZE,160070,0
$CFSIZE,260165632,224800768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$CURRENT,0.062, 30.7,1
$GPS,160608,050738,6151.540,-2609.380,31,1.5,31,-18.7