version: 66.03
glider: 141
mission: 7
dive: 339
start: 6 16 108 5 16 10
data:
$ID,141
$MISSION,7
$DIVE,339
$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,-12411.75
$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,13
$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
$GPS1,050738,6151.540,-2609.380,31,1.5,31,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-48.4
$GPS2,051551,6151.554,-2609.340,13,1.5,13,-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,244.9,16554,-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,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-97.57,0.000,2,0.000,0.000,570,2025,3703
$GC,125,-1.34,-194.7,3.2,-6.2,13,149,11.07,2.70,-3.60,0.000,4,0.193,0.286,2481,3082,3859
$GC,240,-1.27,-194.7,23.5,-14.2,32,248,0.10,2.00,0.00,0.000,6,0.122,0.157,2499,2030,3860
$GC,383,-1.27,-194.7,44.3,-15.4,57,391,0.00,2.20,0.00,0.000,4,0.000,0.196,2499,969,3860
$GC,431,-1.27,-194.7,51.3,-14.2,65,438,0.00,2.20,0.00,0.000,6,0.000,0.206,2499,1978,3860
$GC,776,-1.27,-194.7,97.7,-12.9,126,783,0.00,2.92,0.00,0.000,4,0.000,0.290,2499,3082,3860
$GC,818,-1.27,-194.7,103.2,-12.6,133,826,0.00,2.15,0.00,0.000,6,0.000,0.166,2499,1987,3860
$GC,1164,-1.27,-194.7,147.6,-12.7,194,1171,0.00,2.03,0.00,0.000,4,0.000,0.133,2499,3094,3861
$GC,1190,-1.27,-194.7,151.0,-13.0,198,1198,0.00,2.38,0.00,0.000,6,0.000,0.212,2499,2010,3861
$GC,1536,-1.27,-194.7,193.4,-11.4,259,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2006,3861
$GC,1881,-1.27,-194.7,231.3,-10.4,320,1888,0.00,2.00,0.00,0.000,4,0.000,0.143,2499,3098,3861
$GC,1924,-1.27,-194.7,235.6,-9.9,327,1931,0.00,2.30,0.00,0.000,6,0.000,0.199,2499,2007,3861
$GC,2269,-1.27,-194.7,267.5,-9.0,388,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2003,3861
$GC,2615,-1.27,-194.7,297.1,-8.5,449,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2003,3860
$GC,2959,-1.27,-194.7,326.9,-8.2,510,2967,0.00,2.00,0.00,0.000,4,0.000,0.144,2499,3092,3861
$GC,2997,-1.27,-194.7,330.1,-8.8,516,3005,0.00,2.20,0.00,0.000,6,0.000,0.196,2499,2025,3860
$GC,3343,-1.27,-194.7,361.0,-9.2,567,3346,0.00,1.98,0.00,0.000,4,0.000,0.137,2499,3093,3860
$GC,3370,-1.27,-194.7,363.8,-9.9,569,3377,0.00,2.10,0.00,0.000,6,0.000,0.166,2499,2025,3861
$GC,3697,-1.27,-194.7,395.6,-10.1,600,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2021,3860
$GC,4013,-1.27,-194.7,428.5,-10.4,630,4016,0.00,1.98,0.00,0.000,4,0.000,0.139,2499,3089,3860
$GC,4041,-1.27,-194.7,431.7,-11.1,632,4048,0.00,2.00,0.00,0.000,6,0.000,0.142,2499,2032,3860
$GC,4368,-1.27,-194.7,465.9,-10.2,663,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2030,3860
$GC,4685,-1.27,-194.7,500.8,-11.2,693,4690,0.00,2.75,0.00,0.000,4,0.000,0.288,2499,3080,3860
$GC,4714,-1.27,-194.7,504.3,-12.2,695,4718,0.00,2.15,0.00,0.000,6,0.000,0.179,2499,2018,3860
$GC,5041,-1.27,-194.7,543.4,-12.1,725,5045,0.00,2.00,0.00,0.000,4,0.000,0.146,2499,3087,3860
$GC,5069,-1.27,-194.7,547.3,-13.0,727,5077,0.00,2.05,0.00,0.000,6,0.000,0.166,2499,2044,3860
$GC,5396,-1.27,-194.7,585.4,-11.6,758,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3860
$GC,5710,-1.27,-194.7,621.8,-11.1,779,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3859
$GC,6018,-1.27,-194.7,654.1,-10.0,794,6021,0.00,2.00,0.00,0.000,4,0.000,0.155,2499,3086,3859
$GC,6057,-1.27,-194.7,658.3,-9.8,795,6064,0.00,1.98,0.00,0.000,6,0.000,0.146,2499,2042,3859
$GC,6374,-1.27,-194.7,687.0,-8.8,811,6378,0.00,2.00,0.00,0.000,4,0.000,0.154,2498,3086,3859
$GC,6401,-1.27,-194.7,689.6,-9.3,812,6405,0.00,2.20,0.00,0.000,6,0.000,0.199,2499,2047,3859
$GC,6722,-1.27,-194.7,716.1,-7.9,828,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2044,3859
$GC,7033,-1.27,-194.7,741.4,-8.5,843,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3858
$GC,7341,-1.27,-194.7,770.8,-10.3,858,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2043,3858
$GC,7651,-1.27,-194.7,802.7,-10.0,873,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2041,3857
$GC,7962,-1.27,-194.7,829.9,-8.6,888,7965,0.00,2.00,0.00,0.000,4,0.000,0.152,2499,3093,3857
$GC,8012,-1.27,-194.7,834.8,-9.0,890,8016,0.00,2.12,0.00,0.000,6,0.000,0.183,2498,2047,3857
$GC,8333,-1.27,-194.7,865.0,-9.4,906,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2046,3856
$GC,8645,-1.27,-194.7,894.8,-9.4,921,8648,0.00,1.98,0.00,0.000,4,0.000,0.150,2499,3085,3856
$GC,8700,-1.27,-194.7,900.5,-10.2,923,8704,0.00,2.15,0.00,0.000,6,0.000,0.198,2498,2064,3856
$GC,9022,-1.49,-194.7,921.7,0.0,939,9024,0.20,0.00,0.00,0.000,6,0.064,0.000,2449,2062,3856
$STATE,9122,end dive,NO_VERTICAL_VELOCITY
$STATE,9122,begin apogee
$GC,9128,-0.37,0.0,921.7,0.0,944,9305,1.12,0.00,169.73,1.233,6,0.074,0.000,2700,1982,3062
$STATE,9306,end apogee,CONTROL_FINISHED_OK
$STATE,9306,begin climb
$GC,9309,1.34,194.7,921.5,0.0,953,9482,1.67,0.00,168.48,1.202,6,0.076,0.000,3068,1981,2268
$GC,9789,1.30,194.7,880.1,10.5,976,9792,0.00,2.00,0.00,0.000,4,0.000,0.145,3068,3042,2262
$GC,9838,1.30,194.7,874.8,10.2,978,9842,0.00,2.08,0.00,0.000,6,0.000,0.162,3068,1989,2262
$GC,10166,1.31,200.6,842.0,9.8,994,10174,0.00,0.00,5.88,0.880,6,0.000,0.000,3069,1985,2244
$GC,10476,1.34,227.3,813.8,9.1,1009,10504,0.00,0.00,25.58,1.114,6,0.000,0.000,3068,1985,2135
$GC,10805,1.38,261.7,784.1,8.8,1025,10842,0.00,2.03,32.65,1.108,4,0.000,0.141,3068,3041,1993
$GC,10888,1.38,261.7,775.6,10.8,1028,10892,0.00,2.35,0.00,0.000,6,0.000,0.222,3068,1995,1990
$GC,11221,1.38,261.7,742.3,10.0,1044,11225,0.00,2.20,0.00,0.000,4,0.000,0.185,3068,922,1988
$GC,11270,1.38,261.7,737.1,10.7,1046,11274,0.00,2.00,0.00,0.000,6,0.000,0.130,3068,1981,1988
$GC,11591,1.38,261.7,704.0,10.4,1062,11595,0.00,2.00,0.00,0.000,4,0.000,0.150,3068,3043,1987
$GC,11641,1.38,261.7,698.3,10.9,1064,11645,0.00,2.17,0.00,0.000,6,0.000,0.181,3068,1980,1987
$GC,11969,1.40,276.4,665.6,9.5,1080,11991,0.00,0.00,15.25,0.889,6,0.000,0.000,3068,1977,1935
$GC,12299,1.41,286.6,633.6,9.6,1096,12322,0.00,2.12,11.02,0.947,4,0.000,0.172,3068,926,1893
$GC,12361,1.42,291.9,627.3,9.8,1098,12372,0.00,2.00,6.65,0.838,6,0.000,0.135,3068,2007,1872
$GC,12691,1.45,318.6,597.3,9.1,1115,12721,0.12,0.00,25.52,0.998,6,0.062,0.000,3106,2009,1762
$GC,13038,1.45,318.6,561.3,10.3,1148,13042,0.00,2.33,0.00,0.000,4,0.000,0.204,3106,925,1758
$GC,13105,1.40,318.6,554.0,10.3,1153,13113,0.12,2.60,0.00,0.000,6,0.105,0.260,3082,1978,1758
$GC,13430,1.43,346.6,523.9,9.0,1184,13461,0.00,0.00,26.67,0.959,6,0.000,0.000,3082,1978,1647
$GC,13780,1.45,360.9,490.7,9.5,1217,13799,0.00,0.00,14.07,0.891,6,0.000,0.000,3082,1979,1589
$GC,14120,1.45,362.5,457.1,9.9,1249,14123,0.00,2.10,0.00,0.000,4,0.000,0.170,3082,925,1587
$GC,14159,1.45,362.5,452.8,10.2,1252,14166,0.00,2.30,0.00,0.000,6,0.000,0.209,3082,1976,1586
$GC,14486,1.49,392.1,421.9,9.0,1283,14517,0.00,0.00,29.12,0.896,6,0.000,0.000,3082,1976,1463
$GC,14832,1.54,434.6,391.8,8.5,1316,14882,0.15,2.33,38.90,0.881,4,0.056,0.191,3126,918,1289
$GC,14910,1.54,434.6,382.9,12.1,1322,14918,0.00,1.98,0.00,0.000,6,0.000,0.133,3126,1973,1286
$GC,15239,1.54,434.6,344.2,11.6,1357,15246,0.00,2.20,0.00,0.000,4,0.000,0.193,3126,925,1283
$GC,15275,1.54,434.6,339.8,12.7,1363,15282,0.00,2.22,0.00,0.000,6,0.000,0.205,3126,1946,1282
$GC,15620,1.54,434.6,299.4,11.7,1424,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1947,1281
$GC,15967,1.54,434.6,258.8,13.6,1485,15974,0.00,2.05,0.00,0.000,4,0.000,0.172,3126,924,1281
$GC,16015,1.54,434.6,252.4,13.2,1493,16022,0.00,1.90,0.00,0.000,6,0.000,0.131,3126,1961,1281
$GC,16361,1.54,434.6,206.9,12.9,1554,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1965,1281
$GC,16706,1.54,434.6,161.5,14.0,1615,16713,0.00,2.17,0.00,0.000,4,0.000,0.194,3126,918,1280
$GC,16770,1.54,434.6,152.3,14.2,1626,16778,0.00,1.88,0.00,0.000,6,0.000,0.123,3126,1930,1280
$GC,17116,1.54,434.6,104.0,14.5,1687,17122,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1932,1280
$GC,17462,1.54,434.6,52.8,14.0,1748,17469,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1934,1280
$GC,17806,1.54,434.6,5.9,12.1,1809,17812,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1934,1279
$STATE,17828,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,0.3,1.026896
$STATE,17852,end surface coast,CONTROL_FINISHED_OK
$STATE,17852,begin surface
$SM_CCo,17933,0.00,0.000,0,0,1277,437.86
$SM_GC,0.71,10.73,0.00,0.00,0.038,0.000,0.000,572,2029,1277,-10.06,-0.03,437.86
$IRIDIUM_FIX,6126.23,-2601.30,100997,000044
$TT8_MAMPS,0.042185
$HUMID,1738
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,1182
$24V_AH,23.2,68.804
$10V_AH,10.5,68.240
$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,25.300,107.875,569.525,0.000,0.000,27.312,33.620,272.360,295.500,0.000,0.000,14.828,3713.428,9916.870,768.291,3241.994,766.519,0.000,2217.462,0.000,3259.360,0.000,0.465
$DEVICE_MAMPS,193.284,289.926,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1256.890,1386.344,621.413,1640.488,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132874,1817
$CAP_FILE_SIZE,163504,0
$CFSIZE,260165632,224714752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$CURRENT,0.039, 52.1,1
$GPS,160608,101607,6150.097,-2613.326,27,1.9,27,-18.8