version: 66.03
glider: 141
mission: 7
dive: 343
start: 6 17 108 0 9 23
data:
$ID,141
$MISSION,7
$DIVE,343
$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,-12475.879
$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,15
$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
$GPS1,000126,6146.085,-2622.949,40,1.4,40,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.9
$GPS2,000902,6146.066,-2622.941,9,1.4,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,18.7,18638,-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,-194.7,0.0,0.0,0,112,0.00,0.00,-87.65,0.000,2,0.000,0.000,571,2045,3722
$GC,116,-1.34,-194.7,3.2,-5.8,12,139,11.10,2.78,-3.12,0.000,4,0.196,0.301,2481,3080,3858
$GC,226,-1.28,-194.7,21.1,-12.0,30,233,0.00,2.20,0.00,0.000,6,0.000,0.199,2481,2032,3859
$GC,370,-1.22,-194.7,39.4,-12.6,55,377,0.15,0.00,0.00,0.000,6,0.117,0.000,2510,2030,3859
$GC,513,-1.22,-194.7,56.9,-11.5,80,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2029,3859
$GC,858,-1.22,-194.7,93.7,-9.9,141,865,0.00,2.22,0.00,0.000,4,0.000,0.197,2510,965,3860
$GC,933,-1.22,-194.7,101.7,-10.6,154,941,0.00,2.65,0.00,0.000,6,0.000,0.258,2510,2040,3861
$GC,1279,-1.22,-194.7,135.4,-8.6,215,1287,0.00,1.95,0.00,0.000,4,0.000,0.135,2510,3101,3860
$GC,1342,-1.22,-194.7,140.9,-8.9,225,1349,0.00,2.15,0.00,0.000,6,0.000,0.175,2510,2039,3860
$GC,1686,-1.22,-194.7,174.8,-10.3,286,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2037,3860
$GC,2031,-1.22,-194.7,212.1,-11.2,347,2038,0.00,2.28,0.00,0.000,4,0.000,0.206,2510,971,3860
$GC,2084,-1.22,-194.7,218.1,-11.1,356,2091,0.00,2.25,0.00,0.000,6,0.000,0.196,2510,2053,3860
$GC,2430,-1.22,-194.7,257.7,-11.2,417,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2054,3860
$GC,2775,-1.22,-194.7,294.2,-9.7,478,2782,0.00,2.60,0.00,0.000,4,0.000,0.232,2510,3090,3861
$GC,2840,-1.22,-194.7,300.6,-9.9,489,2847,0.00,2.40,0.00,0.000,6,0.000,0.169,2510,2052,3860
$GC,3186,-1.22,-194.7,334.7,-10.2,550,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2050,3860
$GC,3520,-1.22,-194.7,369.0,-10.3,594,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2050,3860
$GC,3838,-1.22,-194.7,402.8,-10.8,624,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2050,3860
$GC,4158,-1.22,-194.7,435.7,-9.9,654,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2051,3860
$GC,4476,-1.22,-194.7,464.8,-8.9,684,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2051,3860
$GC,4795,-1.22,-194.7,493.5,-9.3,714,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2051,3860
$GC,5112,-1.22,-194.7,526.8,-11.3,744,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2051,3859
$GC,5432,-1.22,-194.7,562.6,-11.2,774,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2051,3859
$GC,5750,-1.22,-194.7,597.6,-11.0,804,5754,0.00,2.35,0.00,0.000,4,0.000,0.146,2510,964,3859
$GC,5813,-1.22,-194.7,604.2,-10.7,808,5816,0.00,2.05,0.00,0.000,6,0.000,0.065,2510,2070,3859
$GC,6147,-1.22,-194.7,638.2,-10.5,824,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2072,3859
$GC,6456,-1.22,-194.7,667.9,-9.1,839,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2072,3859
$GC,6766,-1.22,-194.7,696.7,-9.3,854,6770,0.00,2.33,0.00,0.000,4,0.000,0.131,2510,968,3859
$GC,6830,-1.22,-194.7,702.9,-9.3,857,6834,0.00,2.05,0.00,0.000,6,0.000,0.070,2510,2072,3859
$GC,7163,-1.22,-194.7,734.8,-11.0,873,7167,0.00,1.98,0.00,0.000,4,0.000,0.097,2510,3094,3858
$STATE,7331,end dive,NO_VERTICAL_VELOCITY
$STATE,7331,begin apogee
$GC,7340,-0.37,0.0,737.2,0.0,880,7512,0.82,0.00,166.77,1.105,6,0.084,0.000,2694,1975,3061
$STATE,7513,end apogee,CONTROL_FINISHED_OK
$STATE,7513,begin climb
$GC,7516,1.34,194.7,736.8,0.0,889,7695,1.70,2.17,164.75,1.077,4,0.077,0.104,3067,930,2266
$GC,7892,1.30,194.7,700.5,10.7,905,7899,0.00,1.90,0.00,0.000,6,0.000,0.049,3067,1995,2262
$GC,8209,1.30,194.7,671.1,10.9,921,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1997,2262
$GC,8517,1.38,258.5,646.1,7.8,936,8584,0.00,2.05,56.42,1.029,4,0.000,0.084,3067,3035,2006
$GC,8601,1.47,331.9,639.4,7.5,939,8676,0.15,2.10,65.82,1.015,6,0.058,0.100,3108,1985,1707
$GC,8983,1.47,331.9,598.4,11.8,958,8987,0.00,2.25,0.00,0.000,4,0.000,0.135,3109,925,1700
$GC,9016,1.42,331.9,594.1,12.3,960,9024,0.00,1.95,0.00,0.000,6,0.000,0.063,3109,1977,1700
$GC,9344,1.42,331.9,555.8,11.9,991,9348,0.00,2.08,0.00,0.000,4,0.000,0.097,3109,930,1699
$GC,9360,1.37,331.9,553.4,11.9,992,9368,0.15,1.98,0.00,0.000,6,0.102,0.066,3079,1983,1698
$GC,9686,1.41,362.7,523.8,8.9,1023,9732,0.00,2.12,31.30,0.854,4,0.000,0.099,3079,921,1583
$GC,9745,1.44,384.2,518.3,9.3,1028,9772,0.00,1.98,21.33,0.915,6,0.000,0.058,3079,1989,1494
$GC,10099,1.44,389.9,484.6,9.8,1061,10113,0.00,2.25,5.72,0.723,4,0.000,0.130,3079,929,1471
$GC,10136,1.46,402.1,480.8,9.6,1064,10154,0.00,1.92,12.73,0.861,6,0.000,0.058,3079,1974,1422
$GC,10474,1.46,405.0,448.5,9.9,1095,10478,0.00,2.12,0.00,0.000,4,0.000,0.111,3079,929,1418
$GC,10495,1.46,405.0,446.1,10.3,1096,10503,0.00,1.85,0.00,0.000,6,0.000,0.041,3079,1964,1418
$GC,10823,1.48,415.8,413.2,9.6,1127,10847,0.10,2.00,13.23,0.840,4,0.068,0.063,3110,929,1365
$GC,10860,1.48,415.8,409.0,11.9,1130,10864,0.00,1.85,0.00,0.000,6,0.000,0.052,3109,1944,1365
$GC,11192,1.48,415.8,372.8,11.6,1161,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1946,1363
$GC,11517,1.48,415.8,332.8,12.5,1203,11524,0.00,2.10,0.00,0.000,4,0.000,0.116,3110,919,1362
$GC,11547,1.48,415.8,328.8,13.0,1208,11554,0.00,1.90,0.00,0.000,6,0.000,0.058,3110,1941,1362
$GC,11893,1.48,415.8,282.8,13.0,1269,11900,0.00,2.05,0.00,0.000,4,0.000,0.112,3110,921,1362
$GC,11908,1.48,415.8,280.9,12.6,1271,11915,0.00,1.85,0.00,0.000,6,0.000,0.048,3110,1937,1362
$GC,12254,1.48,415.8,233.9,13.4,1332,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1940,1362
$GC,12599,1.48,415.8,190.7,11.5,1393,12606,0.00,1.85,0.00,0.000,4,0.000,0.064,3110,930,1362
$GC,12640,1.48,415.8,185.5,13.3,1400,12647,0.00,1.85,0.00,0.000,6,0.000,0.062,3110,1930,1362
$GC,12987,1.48,415.8,143.1,11.7,1461,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1934,1362
$GC,13332,1.48,415.8,103.8,11.1,1522,13339,0.00,2.00,0.00,0.000,4,0.000,0.104,3110,914,1362
$GC,13357,1.48,415.8,100.9,11.7,1526,13364,0.00,1.85,0.00,0.000,6,0.000,0.055,3110,1919,1361
$GC,13703,1.48,415.8,62.0,11.5,1587,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1922,1361
$GC,14049,1.48,415.8,22.5,11.4,1648,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1924,1361
$GC,14191,1.48,415.8,7.7,11.2,1673,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1925,1361
$STATE,14230,end climb,SURFACE_DEPTH_REACHED
$STATE,14230,begin surface coast
$FINISH,0.3,1.026922
$STATE,14254,end surface coast,CONTROL_FINISHED_OK
$STATE,14255,begin surface
$SM_CCo,14336,0.00,0.000,0,0,1360,417.50
$SM_GC,0.77,10.57,0.00,0.00,0.033,0.000,0.000,569,2053,1360,-10.08,0.62,417.50
$IRIDIUM_FIX,6121.73,-2623.73,100997,202036
$TT8_MAMPS,0.042185
$HUMID,1724
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.40
$XPDR_PINGS,1060
$24V_AH,23.3,69.617
$10V_AH,10.6,68.867
$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,24.750,84.825,538.075,0.000,0.000,31.554,39.108,234.460,265.000,0.000,0.000,15.568,3357.213,6992.795,689.338,3071.197,668.127,0.000,2057.033,0.000,3068.268,0.000,0.466
$DEVICE_MAMPS,195.585,300.664,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1165.046,1269.818,700.295,1578.936,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123294,1684
$CAP_FILE_SIZE,141596,0
$CFSIZE,260165632,224382976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,23,2,0
$CURRENT,0.075,329.4,1
$GPS,170608,040937,6148.754,-2623.069,36,1.9,41,-18.8