version: 66.03
glider: 141
mission: 7
dive: 342
start: 6 16 108 20 14 42
data:
$ID,141
$MISSION,7
$DIVE,342
$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,-12459.683
$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
$GPS1,200008,6147.424,-2622.667,50,1.2,50,-18.8
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-51.5
$GPS2,201420,6147.416,-2622.618,7,1.2,12,-18.8
$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,203.6,3802,-17.9,-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,-1.50,-140.1,0.0,0.0,0,124,0.00,0.00,-94.57,0.000,6,0.000,0.000,566,2043,3634
$GC,128,-1.55,-184.9,3.9,-7.8,14,151,10.77,2.35,-3.88,0.000,4,0.193,0.230,2437,968,3816
$GC,403,-1.55,-184.9,47.1,-13.5,62,410,0.00,1.95,0.00,0.000,6,0.000,0.120,2437,2024,3817
$GC,548,-1.51,-184.9,68.2,-14.4,87,554,0.00,2.10,0.00,0.000,4,0.000,0.166,2437,964,3817
$GC,612,-1.51,-184.9,78.0,-14.5,98,619,0.00,1.92,0.00,0.000,6,0.000,0.120,2437,2006,3818
$GC,958,-1.46,-184.9,124.5,-13.5,159,966,0.10,1.98,0.00,0.000,4,0.130,0.134,2456,3088,3818
$GC,989,-1.46,-184.9,128.6,-13.0,164,997,0.00,2.38,0.00,0.000,6,0.000,0.212,2456,2001,3818
$GC,1334,-1.46,-184.9,171.5,-12.3,225,1341,0.00,2.00,0.00,0.000,4,0.000,0.133,2456,3088,3818
$GC,1365,-1.46,-184.9,175.5,-13.0,230,1372,0.00,2.20,0.00,0.000,6,0.000,0.186,2456,2012,3818
$GC,1711,-1.46,-184.9,218.9,-12.0,291,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2007,3818
$GC,2056,-1.46,-184.9,261.7,-12.3,352,2063,0.00,2.00,0.00,0.000,4,0.000,0.140,2456,3102,3818
$GC,2120,-1.46,-184.9,269.7,-12.2,363,2127,0.00,2.22,0.00,0.000,6,0.000,0.193,2456,2047,3818
$GC,2465,-1.46,-184.9,310.9,-12.0,424,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2043,3818
$GC,2815,-1.46,-184.9,352.9,-12.0,484,2819,0.00,2.67,0.00,0.000,4,0.000,0.280,2456,3083,3818
$GC,2856,-1.46,-184.9,357.9,-12.9,487,2860,0.00,2.22,0.00,0.000,6,0.000,0.194,2456,2021,3818
$GC,3184,-1.46,-184.9,398.7,-12.8,517,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2020,3818
$GC,3509,-1.46,-184.9,442.2,-13.6,548,3513,0.00,1.98,0.00,0.000,4,0.000,0.140,2455,3087,3817
$GC,3560,-1.46,-184.9,449.2,-14.0,552,3567,0.00,2.12,0.00,0.000,6,0.000,0.194,2456,2048,3817
$GC,3887,-1.46,-184.9,492.1,-13.3,583,3890,0.00,1.95,0.00,0.000,4,0.000,0.143,2456,3094,3817
$GC,3921,-1.46,-184.9,497.0,-13.7,586,3926,0.00,2.25,0.00,0.000,6,0.000,0.205,2456,2054,3817
$GC,4249,-1.46,-184.9,538.6,-12.8,616,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2053,3817
$GC,4575,-1.46,-184.9,581.0,-12.8,647,4578,0.00,1.95,0.00,0.000,4,0.000,0.147,2456,3086,3817
$GC,4610,-1.46,-184.9,585.6,-14.1,650,4614,0.00,2.20,0.00,0.000,6,0.000,0.203,2456,2059,3817
$GC,4930,-1.46,-184.9,623.9,-10.3,670,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2059,3816
$GC,5239,-1.46,-184.9,656.1,-10.4,685,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2058,3816
$GC,5550,-1.46,-184.9,691.8,-11.7,700,5553,0.00,1.98,0.00,0.000,4,0.000,0.155,2456,3085,3816
$GC,5582,-1.46,-184.9,696.9,-14.2,701,5586,0.00,2.30,0.00,0.000,6,0.000,0.220,2456,2067,3816
$GC,5906,-1.46,-184.9,735.8,-13.2,717,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2064,3815
$GC,6216,-1.82,-194.7,750.7,-0.0,732,6221,0.30,2.40,0.00,0.000,4,0.061,0.218,2377,965,3815
$STATE,6232,end dive,NO_VERTICAL_VELOCITY
$STATE,6232,begin apogee
$GC,6240,-0.37,0.0,750.7,0.0,733,6403,1.40,0.00,158.77,1.116,6,0.064,0.000,2697,1984,3062
$STATE,6404,end apogee,CONTROL_FINISHED_OK
$STATE,6404,begin climb
$GC,6407,1.57,194.7,750.6,0.0,741,6586,1.90,2.10,164.95,1.086,4,0.074,0.157,3115,3040,2266
$GC,6839,1.57,194.7,706.5,13.5,760,6843,0.00,2.17,0.00,0.000,6,0.000,0.181,3115,1976,2262
$GC,7162,1.57,194.7,670.6,10.7,776,7165,0.00,2.03,0.00,0.000,4,0.000,0.143,3115,3052,2262
$GC,7231,1.57,194.7,662.5,11.4,779,7235,0.00,2.17,0.00,0.000,6,0.000,0.184,3115,1997,2262
$GC,7558,1.57,194.7,626.4,11.1,795,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1994,2261
$GC,7869,1.57,194.7,591.1,11.1,813,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1994,2261
$GC,8188,1.57,194.7,555.8,11.2,843,8191,0.00,1.98,0.00,0.000,4,0.000,0.143,3115,3045,2260
$GC,8250,1.57,194.7,548.6,12.2,848,8257,0.00,2.08,0.00,0.000,6,0.000,0.176,3115,1993,2260
$GC,8577,1.57,194.7,513.0,10.9,879,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2260
$GC,8894,1.57,194.7,479.5,10.3,909,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1989,2260
$GC,9212,1.57,194.7,445.5,10.9,939,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2259
$GC,9531,1.57,194.7,409.1,11.8,969,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2259
$GC,9849,1.57,194.7,370.8,12.2,999,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2259
$GC,10174,1.57,194.7,332.6,11.1,1042,10181,0.00,2.00,0.00,0.000,4,0.000,0.140,3115,3048,2259
$GC,10227,1.57,194.7,326.4,11.7,1051,10234,0.00,1.92,0.00,0.000,6,0.000,0.128,3115,1999,2259
$GC,10573,1.58,205.7,290.4,9.5,1112,10587,0.00,0.00,9.55,0.751,6,0.000,0.000,3115,1997,2222
$GC,10926,1.60,218.5,256.7,9.4,1174,10946,0.00,0.00,12.55,0.757,6,0.000,0.000,3115,1997,2170
$GC,11285,1.60,221.3,222.0,9.9,1237,11293,0.00,0.00,3.72,0.505,6,0.000,0.000,3115,1997,2160
$GC,11631,1.61,226.6,188.5,9.7,1298,11646,0.00,1.98,6.47,0.638,4,0.000,0.137,3115,3048,2137
$GC,11687,1.61,231.4,182.8,9.8,1307,11701,0.00,2.20,5.85,0.612,6,0.000,0.194,3115,2003,2118
$GC,12041,1.62,242.7,148.8,9.5,1369,12061,0.00,2.10,11.50,0.688,4,0.000,0.146,3115,929,2071
$GC,12115,1.63,244.9,141.3,9.9,1381,12122,0.00,2.35,0.00,0.000,6,0.000,0.209,3115,1997,2070
$GC,12458,1.64,255.2,106.2,9.5,1442,12479,0.00,2.80,12.07,0.668,4,0.000,0.290,3115,3043,2020
$GC,12509,1.64,255.2,100.9,11.0,1450,12516,0.00,2.08,0.00,0.000,6,0.000,0.166,3115,1998,2019
$GC,12856,1.64,255.2,64.9,10.3,1511,12863,0.00,1.95,0.00,0.000,4,0.000,0.135,3115,3055,2018
$GC,12904,1.64,255.2,59.9,10.4,1519,12911,0.00,2.15,0.00,0.000,6,0.000,0.191,3115,2015,2018
$GC,13249,1.66,269.3,25.5,9.3,1580,13271,0.12,2.20,12.90,0.628,4,0.063,0.170,3151,932,1963
$GC,13347,1.60,269.3,12.7,13.8,1596,13355,0.12,2.62,0.00,0.000,6,0.110,0.252,3127,2016,1963
$STATE,13422,end climb,SURFACE_DEPTH_REACHED
$STATE,13422,begin surface coast
$FINISH,0.2,1.026939
$STATE,13445,end surface coast,CONTROL_FINISHED_OK
$STATE,13445,begin surface
$SM_CCo,13527,0.00,0.000,0,0,1959,270.32
$SM_GC,0.83,10.77,0.00,0.00,0.039,0.000,0.000,571,2046,1959,-10.07,0.45,270.32
$IRIDIUM_FIX,6121.73,-2621.71,100997,202028
$TT8_MAMPS,0.042185
$HUMID,1722
$INTERNAL_PRESSURE,10.0687
$TCM_TEMP,16.90
$XPDR_PINGS,1026
$24V_AH,23.3,69.410
$10V_AH,10.6,68.717
$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,25.500,86.000,398.350,0.000,0.000,59.737,78.364,488.801,256.500,0.000,0.000,15.939,3271.602,6637.299,566.851,2878.293,1008.609,0.000,1831.424,0.000,2896.386,0.000,0.468
$DEVICE_MAMPS,193.284,289.926,1115.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1115.741,1230.854,669.740,1513.575,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120250,1613
$CAP_FILE_SIZE,142332,0
$CFSIZE,260165632,224464896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
$CURRENT,0.063,  7.5,1
$GPS,170608,000126,6146.085,-2622.949,40,1.4,40,-18.8