version: 66.03
glider: 141
mission: 7
dive: 345
start: 6 17 108 9 0 20
data:
$ID,141
$MISSION,7
$DIVE,345
$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,-12505.235
$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,7
$R_STBD_OVSHOOT,22
$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
$GPS1,084738,6152.112,-2622.679,29,1.8,29,-18.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-53.0
$GPS2,085957,6152.110,-2622.594,11,1.7,11,-18.9
$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,16.3,7452,-16.6,-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,-1.43,-160.8,0.0,0.0,0,130,0.00,0.00,-105.38,0.000,6,0.000,0.000,568,2050,3718
$GC,134,-1.47,-194.7,3.5,-6.5,14,157,10.93,1.92,-3.15,0.000,4,0.195,0.089,2454,3074,3859
$GC,243,-1.41,-194.7,24.9,-13.6,32,251,0.00,2.20,0.00,0.000,6,0.000,0.131,2454,2017,3860
$GC,387,-1.35,-194.7,44.7,-13.4,57,394,0.15,0.00,0.00,0.000,6,0.120,0.000,2486,2015,3859
$GC,530,-1.35,-194.7,62.4,-12.3,82,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2013,3860
$GC,874,-1.35,-194.7,102.9,-10.9,143,880,0.00,1.90,0.00,0.000,4,0.000,0.051,2486,3086,3860
$GC,927,-1.35,-194.7,109.0,-11.1,152,935,0.00,2.10,0.00,0.000,6,0.000,0.093,2486,2004,3860
$GC,1272,-1.35,-194.7,147.0,-11.1,213,1279,0.00,2.10,0.00,0.000,4,0.000,0.127,2485,985,3860
$GC,1332,-1.35,-194.7,153.5,-10.3,223,1339,0.00,1.88,0.00,0.000,6,0.000,0.066,2486,2014,3860
$GC,1677,-1.35,-194.7,192.0,-12.0,284,1684,0.00,2.00,0.00,0.000,4,0.000,0.078,2486,3087,3860
$GC,1753,-1.35,-194.7,201.2,-11.9,297,1760,0.00,2.45,0.00,0.000,6,0.000,0.192,2486,2057,3860
$GC,2098,-1.35,-194.7,242.5,-11.9,358,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2054,3860
$GC,2444,-1.35,-194.7,285.0,-12.4,419,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2055,3860
$GC,2788,-1.35,-194.7,324.3,-11.1,480,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2054,3860
$GC,3132,-1.35,-194.7,361.8,-10.7,532,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2055,3860
$GC,3451,-1.35,-194.7,394.9,-10.3,562,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2054,3860
$GC,3770,-1.35,-194.7,428.6,-11.0,592,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2054,3859
$GC,4088,-1.35,-194.7,461.9,-10.4,622,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2054,3859
$GC,4407,-1.35,-194.7,496.6,-11.3,652,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2054,3859
$GC,4725,-1.35,-194.7,531.5,-10.7,682,4729,0.00,1.92,0.00,0.000,4,0.000,0.075,2486,3088,3859
$GC,4786,-1.35,-194.7,538.3,-11.1,687,4793,0.00,2.22,0.00,0.000,6,0.000,0.136,2486,2029,3859
$GC,5114,-1.35,-194.7,571.4,-9.2,718,5117,0.00,2.00,0.00,0.000,4,0.000,0.075,2486,3095,3858
$GC,5164,-1.35,-194.7,576.3,-9.0,722,5171,0.00,2.03,0.00,0.000,6,0.000,0.090,2486,2024,3858
$GC,5488,-1.35,-194.7,607.1,-10.4,750,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2021,3858
$GC,5797,-1.35,-194.7,637.7,-10.8,765,5801,0.00,2.20,0.00,0.000,4,0.000,0.148,2486,979,3858
$STATE,5964,end dive,NO_VERTICAL_VELOCITY
$STATE,5964,begin apogee
$GC,5973,-0.37,0.0,640.5,0.0,772,6142,0.93,0.00,165.30,1.042,6,0.089,0.000,2695,1989,3062
$STATE,6142,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6145,1.47,194.7,640.3,0.0,781,6318,1.77,2.08,162.57,1.016,4,0.066,0.078,3095,3042,2267
$GC,6324,1.51,229.1,628.2,8.6,788,6364,0.00,2.08,31.02,0.966,6,0.000,0.093,3094,1974,2126
$GC,6677,1.51,229.1,587.0,14.5,809,6681,0.00,2.12,0.00,0.000,4,0.000,0.125,3095,937,2120
$GC,6895,1.51,229.1,556.8,12.7,828,6903,0.00,1.95,0.00,0.000,6,0.000,0.046,3094,2016,2120
$GC,7223,1.51,229.1,520.1,10.5,859,7227,0.00,1.85,0.00,0.000,4,0.000,0.064,3095,3036,2119
$GC,7270,1.51,229.1,514.4,12.2,863,7274,0.00,2.30,0.00,0.000,6,0.000,0.160,3095,2004,2119
$GC,7599,1.51,229.1,479.2,10.8,893,7603,0.00,2.15,0.00,0.000,4,0.000,0.105,3095,916,2119
$GC,7617,1.51,229.1,476.9,10.9,894,7621,0.00,1.95,0.00,0.000,6,0.000,0.040,3095,2006,2119
$GC,7952,1.52,233.4,443.3,9.8,925,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2010,2118
$GC,8277,1.52,236.3,412.0,9.9,956,8287,0.00,0.00,6.22,0.734,6,0.000,0.000,3095,2009,2098
$GC,8607,1.52,236.3,377.7,10.4,987,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2010,2097
$GC,8926,1.52,236.3,345.9,10.4,1020,8934,0.00,2.25,0.00,0.000,4,0.000,0.120,3095,924,2097
$GC,8952,1.52,236.3,343.0,10.2,1024,8959,0.00,1.98,0.00,0.000,6,0.000,0.061,3094,1987,2096
$GC,9298,1.52,236.3,307.3,10.4,1085,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1989,2097
$GC,9643,1.53,241.9,270.7,9.8,1146,9657,0.00,2.38,6.80,0.692,4,0.000,0.155,3095,922,2074
$GC,9665,1.53,244.9,268.4,9.9,1149,9678,0.00,1.95,4.35,0.570,6,0.000,0.054,3095,1998,2062
$GC,10017,1.56,270.1,234.8,8.9,1211,10045,0.10,0.00,23.02,0.775,6,0.070,0.000,3124,1999,1960
$GC,10383,1.56,270.1,195.5,11.0,1275,10390,0.00,2.10,0.00,0.000,4,0.000,0.099,3125,921,1957
$GC,10403,1.52,270.1,193.3,11.3,1278,10410,0.00,2.03,0.00,0.000,6,0.000,0.078,3125,1997,1957
$GC,10750,1.52,270.1,154.6,12.0,1339,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1997,1956
$GC,11092,1.52,270.1,114.8,12.4,1400,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1997,1956
$GC,11437,1.52,270.1,74.5,12.1,1461,11444,0.00,2.12,0.00,0.000,4,0.000,0.101,3125,907,1956
$GC,11470,1.48,270.1,70.7,12.4,1466,11478,0.05,1.95,0.00,0.000,6,0.105,0.044,3102,2007,1956
$GC,11817,1.52,307.6,37.2,8.4,1527,11858,0.00,2.05,33.15,0.666,4,0.000,0.068,3102,923,1807
$GC,11871,1.52,309.8,31.9,9.9,1535,11879,0.00,1.90,0.00,0.000,6,0.000,0.052,3102,1952,1805
$GC,12015,1.52,309.8,17.3,10.4,1560,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1954,1803
$STATE,12154,end climb,SURFACE_DEPTH_REACHED
$STATE,12154,begin surface coast
$FINISH,0.1,1.012842
$STATE,12184,end surface coast,CONTROL_FINISHED_OK
$STATE,12185,begin surface
$SM_CCo,12266,0.00,0.000,0,0,1799,309.81
$SM_GC,0.87,10.57,0.00,0.00,0.035,0.000,0.000,570,2044,1799,-10.07,0.40,309.81
$IRIDIUM_FIX,6126.23,-2617.59,110997,080854
$TT8_MAMPS,0.042185
$HUMID,1716
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,16.90
$XPDR_PINGS,996
$24V_AH,23.3,69.994
$10V_AH,10.6,69.169
$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,24.500,66.175,432.450,0.000,0.000,61.454,63.437,387.133,249.000,0.000,0.000,15.013,3141.459,5528.726,592.314,2834.487,895.187,0.000,1832.505,0.000,2854.881,0.000,0.465
$DEVICE_MAMPS,194.818,191.750,1042.353,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1101.567,1198.121,694.776,1500.862,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117063,1590
$CAP_FILE_SIZE,131070,0
$CFSIZE,260165632,224227328
$ERRORS,0,6,0,0,0,0,0,0,0,0,0,0,18,0,0
$CURRENT,0.082, 76.3,1
$GPS,170608,122602,6153.796,-2621.433,39,2.0,39,-18.9