version: 66.03
glider: 141
mission: 7
dive: 344
start: 6 17 108 4 17 30
data:
$ID,141
$MISSION,7
$DIVE,344
$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,-12489.593
$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,14
$R_STBD_OVSHOOT,24
$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
$GPS1,040937,6148.754,-2623.069,36,1.9,41,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-50.3
$GPS2,041709,6148.749,-2623.119,11,1.9,11,-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,19.3,13670,-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,-194.7,0.0,0.0,0,138,0.00,0.00,-113.47,0.000,2,0.000,0.000,569,2055,3625
$GC,141,-1.34,-194.7,3.2,-5.8,15,165,11.07,1.88,-5.28,0.000,4,0.195,0.081,2482,3081,3857
$GC,206,-1.28,-194.7,16.8,-14.6,25,214,0.00,2.12,0.00,0.000,6,0.000,0.114,2482,2042,3858
$GC,350,-1.22,-194.7,33.9,-11.8,50,357,0.15,0.00,0.00,0.000,6,0.114,0.000,2515,2039,3858
$GC,491,-1.22,-194.7,48.6,-10.2,75,498,0.00,1.92,0.00,0.000,4,0.000,0.064,2515,3077,3858
$GC,545,-1.22,-194.7,54.3,-10.8,84,553,0.00,2.08,0.00,0.000,6,0.000,0.104,2515,2019,3858
$GC,891,-1.22,-194.7,91.4,-9.4,145,898,0.00,2.15,0.00,0.000,4,0.000,0.128,2515,981,3859
$GC,944,-1.22,-194.7,96.3,-9.1,154,951,0.00,1.95,0.00,0.000,6,0.000,0.060,2515,2041,3859
$GC,1288,-1.22,-194.7,128.5,-10.2,215,1295,0.00,1.92,0.00,0.000,4,0.000,0.067,2515,3098,3859
$GC,1352,-1.22,-194.7,135.2,-10.7,226,1360,0.00,2.40,0.00,0.000,6,0.000,0.176,2515,2064,3858
$GC,1698,-1.22,-194.7,174.0,-12.0,287,1705,0.00,2.22,0.00,0.000,4,0.000,0.120,2515,961,3858
$GC,1762,-1.22,-194.7,182.0,-12.1,298,1769,0.00,2.00,0.00,0.000,6,0.000,0.051,2515,2056,3858
$GC,2108,-1.22,-194.7,221.8,-10.3,359,2114,0.00,1.83,0.00,0.000,4,0.000,0.054,2515,3087,3859
$GC,2177,-1.22,-194.7,229.5,-11.2,371,2185,0.00,2.08,0.00,0.000,6,0.000,0.103,2515,2043,3858
$GC,2523,-1.22,-194.7,263.6,-9.7,432,2530,0.00,2.38,0.00,0.000,4,0.000,0.163,2515,968,3858
$GC,2599,-1.22,-194.7,271.3,-10.0,445,2606,0.00,1.95,0.00,0.000,6,0.000,0.051,2515,2053,3858
$GC,2944,-1.22,-194.7,306.9,-10.9,506,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3858
$GC,3288,-1.22,-194.7,342.4,-9.5,567,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3858
$GC,3628,-1.22,-194.7,373.1,-8.4,605,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3858
$GC,3954,-1.22,-194.7,400.7,-8.5,636,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3858
$GC,4273,-1.22,-194.7,429.0,-9.1,666,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3858
$GC,4591,-1.22,-194.7,459.3,-9.4,696,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2056,3857
$GC,4910,-1.22,-194.7,487.5,-8.6,726,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3857
$GC,5227,-1.22,-194.7,517.3,-10.1,756,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3856
$GC,5547,-1.22,-194.7,551.4,-11.1,786,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3856
$GC,5865,-1.22,-194.7,583.5,-9.5,816,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2057,3856
$GC,6180,-1.22,-194.7,611.3,-8.6,840,6183,0.00,2.05,0.00,0.000,4,0.000,0.074,2515,964,3856
$GC,6236,-1.22,-194.7,616.5,-9.0,842,6240,0.00,2.00,0.00,0.000,6,0.000,0.066,2515,2044,3856
$GC,6558,-1.22,-194.7,647.9,-10.6,858,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2046,3856
$GC,6868,-1.22,-194.7,676.1,-8.1,873,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2046,3856
$GC,7179,-1.22,-194.7,700.6,-7.8,888,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2045,3855
$GC,7486,-1.22,-194.7,729.0,-10.1,903,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2045,3855
$GC,7797,-1.22,-194.7,759.3,-9.4,918,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2045,3855
$GC,8106,-1.22,-194.7,786.8,-8.7,933,8109,0.00,2.03,0.00,0.000,4,0.000,0.097,2515,3091,3854
$GC,8167,-1.22,-194.7,792.7,-9.6,935,8174,0.00,2.20,0.00,0.000,6,0.000,0.140,2515,2049,3855
$STATE,8460,end dive,NO_VERTICAL_VELOCITY
$STATE,8460,begin apogee
$GC,8467,-0.37,0.0,798.8,0.0,950,8643,0.77,0.00,167.48,1.144,6,0.038,0.000,2711,1971,3061
$STATE,8644,end apogee,CONTROL_FINISHED_OK
$STATE,8644,begin climb
$GC,8647,1.34,194.7,798.5,0.0,959,8827,1.60,2.05,165.93,1.116,4,0.071,0.065,3066,3040,2267
$GC,8923,1.35,203.8,780.0,9.7,971,8940,0.00,2.22,9.15,0.930,6,0.000,0.126,3066,1983,2230
$GC,9249,1.39,229.2,749.7,9.1,987,9275,0.00,0.00,23.75,1.041,6,0.000,0.000,3066,1980,2127
$GC,9579,1.39,229.2,716.5,10.5,1003,9583,0.00,1.98,0.00,0.000,4,0.000,0.060,3066,3043,2123
$GC,9602,1.39,229.2,713.9,10.7,1004,9606,0.00,2.20,0.00,0.000,6,0.000,0.126,3066,1993,2123
$GC,9929,1.45,283.1,684.6,8.1,1020,9981,0.12,0.00,49.58,1.052,6,0.064,0.000,3103,1990,1907
$GC,10279,1.40,283.1,648.8,10.8,1037,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1990,1902
$GC,10588,1.36,283.1,611.3,12.5,1052,10589,0.15,0.00,0.00,0.000,6,0.104,0.000,3073,1990,1901
$GC,10904,1.42,337.0,579.2,8.1,1077,10964,0.00,0.00,50.35,0.969,6,0.000,0.000,3073,1990,1687
$GC,11282,1.42,337.0,538.9,12.1,1113,11286,0.00,2.20,0.00,0.000,4,0.000,0.122,3073,922,1683
$GC,11311,1.42,337.0,535.2,12.5,1115,11315,0.00,1.98,0.00,0.000,6,0.000,0.056,3073,1999,1682
$GC,11642,1.42,337.0,500.5,11.0,1146,11646,0.00,2.38,0.00,0.000,4,0.000,0.149,3073,921,1682
$GC,11684,1.42,337.0,495.9,11.0,1149,11687,0.00,1.88,0.00,0.000,6,0.000,0.041,3073,1985,1682
$GC,12014,1.42,337.0,457.8,11.1,1180,12018,0.00,2.03,0.00,0.000,4,0.000,0.077,3072,920,1681
$GC,12030,1.42,337.0,455.9,11.1,1181,12038,0.00,1.90,0.00,0.000,6,0.000,0.067,3073,1957,1681
$GC,12358,1.42,337.0,422.6,10.5,1212,12362,0.00,2.08,0.00,0.000,4,0.000,0.103,3073,911,1681
$GC,12374,1.42,337.0,420.4,10.3,1213,12381,0.00,1.88,0.00,0.000,6,0.000,0.042,3073,1983,1681
$GC,12701,1.42,337.0,386.8,10.4,1244,12705,0.00,2.20,0.00,0.000,4,0.000,0.122,3073,921,1681
$GC,12719,1.42,337.0,384.7,10.7,1245,12723,0.00,1.85,0.00,0.000,6,0.000,0.053,3073,1943,1681
$GC,13045,1.42,337.0,349.2,11.2,1276,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1945,1681
$GC,13390,1.42,337.0,312.3,10.6,1337,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1946,1680
$GC,13735,1.44,350.2,278.5,9.5,1398,13757,0.00,2.38,12.27,0.771,4,0.000,0.157,3073,918,1634
$GC,13764,1.45,360.2,275.7,9.7,1402,13784,0.00,1.92,10.82,0.743,6,0.000,0.061,3073,1949,1592
$GC,14123,1.45,360.2,239.3,10.4,1465,14130,0.10,0.00,0.00,0.000,6,0.068,0.000,3104,1950,1590
$GC,14468,1.45,360.2,197.5,12.2,1526,14475,0.00,2.15,0.00,0.000,4,0.000,0.127,3104,916,1589
$GC,14499,1.45,360.2,193.6,12.4,1531,14506,0.00,1.88,0.00,0.000,6,0.000,0.059,3104,1944,1589
$GC,14843,1.45,360.2,152.5,12.2,1592,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1948,1589
$GC,15187,1.45,360.2,109.2,13.6,1653,15194,0.00,1.85,0.00,0.000,4,0.000,0.051,3104,908,1588
$GC,15223,1.45,360.2,104.2,13.5,1659,15230,0.00,1.85,0.00,0.000,6,0.000,0.059,3104,1931,1588
$GC,15568,1.45,360.2,59.3,12.9,1720,15575,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1934,1588
$GC,15913,1.45,360.2,17.0,11.4,1781,15920,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1934,1588
$STATE,16037,end climb,SURFACE_DEPTH_REACHED
$STATE,16037,begin surface coast
$FINISH,0.3,1.026907
$STATE,16060,end surface coast,CONTROL_FINISHED_OK
$STATE,16060,begin surface
$SM_CCo,16142,0.00,0.000,0,0,1586,362.06
$SM_GC,0.93,10.57,0.00,0.00,0.035,0.000,0.000,568,2046,1586,-10.07,0.45,362.06
$IRIDIUM_FIX,6121.73,-2627.80,110997,000032
$TT8_MAMPS,0.042185
$HUMID,1718
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.90
$XPDR_PINGS,1156
$24V_AH,23.3,69.817
$10V_AH,10.6,69.026
$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,24.550,78.325,489.325,0.000,0.000,29.514,32.066,242.189,289.000,0.000,0.000,13.084,3596.204,8420.675,690.631,3178.074,695.297,0.000,2075.699,0.000,3192.717,0.000,0.465
$DEVICE_MAMPS,194.818,175.643,1143.597,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1253.594,1358.966,703.372,1685.278,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132826,1807
$CAP_FILE_SIZE,148067,0
$CFSIZE,260165632,224280576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,20,1,0
$CURRENT,0.106,  2.5,1
$GPS,170608,084738,6152.112,-2622.679,29,1.8,29,-18.9