version: 66.03
glider: 141
mission: 7
dive: 347
start: 6 17 108 15 25 55
data:
$ID,141
$MISSION,7
$DIVE,347
$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,-12572.601
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,151759,6154.922,-2622.592,8,99.0,27,-18.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-56.2
$GPS2,152537,6154.894,-2622.701,39,1.2,51,-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,12.8,2301,-27.2,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.10,-63.0,0.0,0.0,0,86,0.00,0.00,-55.10,0.000,6,0.000,0.000,572,2052,3317
$GC,89,-2.17,-119.5,2.4,-4.0,8,114,10.02,1.95,-7.30,0.000,4,0.196,0.081,2304,3084,3551
$GC,300,-2.12,-119.5,35.4,-16.6,44,308,0.00,2.12,0.00,0.000,6,0.000,0.127,2303,2041,3552
$GC,443,-2.12,-119.5,56.7,-13.9,69,450,0.00,2.35,0.00,0.000,4,0.000,0.154,2304,970,3553
$GC,520,-2.12,-119.5,68.2,-15.7,82,528,0.00,2.05,0.00,0.000,6,0.000,0.101,2304,2007,3552
$GC,866,-2.12,-119.5,121.7,-15.7,143,873,0.00,2.00,0.00,0.000,4,0.000,0.066,2304,3104,3553
$GC,998,-2.12,-119.5,143.2,-16.4,166,1005,0.00,2.10,0.00,0.000,6,0.000,0.096,2303,1991,3553
$GC,1343,-2.12,-119.5,200.3,-16.6,227,1350,0.00,2.03,0.00,0.000,4,0.000,0.064,2304,3098,3554
$GC,1426,-2.12,-119.5,214.2,-16.6,241,1433,0.00,2.12,0.00,0.000,6,0.000,0.113,2304,2050,3553
$GC,1770,-2.12,-119.5,269.0,-15.4,302,1777,0.00,1.95,0.00,0.000,4,0.000,0.071,2303,3101,3553
$GC,1857,-2.12,-119.5,282.6,-15.5,317,1864,0.00,2.28,0.00,0.000,6,0.000,0.140,2304,2043,3553
$GC,2202,-2.12,-119.5,334.2,-14.5,378,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2041,3553
$GC,2533,-2.12,-119.5,383.1,-14.6,418,2536,0.00,1.95,0.00,0.000,4,0.000,0.067,2304,3106,3553
$GC,2695,-2.12,-119.5,408.4,-15.6,432,2703,0.00,2.22,0.00,0.000,6,0.000,0.130,2304,2027,3553
$GC,3022,-2.12,-119.5,459.5,-16.4,463,3026,0.00,1.98,0.00,0.000,4,0.000,0.068,2304,3095,3553
$GC,3106,-2.12,-119.5,473.7,-16.4,470,3114,0.00,2.15,0.00,0.000,6,0.000,0.139,2304,2063,3553
$GC,3434,-2.12,-119.5,523.5,-15.4,501,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2061,3553
$GC,3751,-2.12,-119.5,574.7,-16.2,531,3755,0.00,1.92,0.00,0.000,4,0.000,0.067,2304,3094,3553
$GC,3868,-2.12,-119.5,594.5,-16.6,541,3875,0.00,2.00,0.00,0.000,6,0.000,0.098,2304,2077,3552
$GC,4196,-2.12,-119.5,645.9,-15.4,559,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2075,3553
$GC,4507,-2.12,-119.5,692.4,-14.8,574,4510,0.00,1.92,0.00,0.000,4,0.000,0.081,2304,3092,3553
$GC,4601,-2.12,-119.5,707.4,-15.0,578,4605,0.00,1.85,0.00,0.000,6,0.000,0.053,2304,2076,3553
$GC,4928,-2.12,-119.5,752.4,-13.9,594,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2074,3552
$GC,5239,-2.12,-119.5,794.9,-13.7,609,5243,0.00,1.92,0.00,0.000,4,0.000,0.074,2304,3090,3552
$GC,5356,-2.12,-119.5,811.2,-12.2,614,5360,0.00,2.28,0.00,0.000,6,0.000,0.156,2304,2074,3552
$GC,5680,-2.12,-119.5,857.9,-14.2,630,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2072,3552
$GC,5987,-2.12,-119.5,899.8,-14.0,645,5991,0.00,1.90,0.00,0.000,4,0.000,0.072,2304,3095,3551
$GC,6083,-2.12,-119.5,913.4,-14.9,649,6087,0.00,2.08,0.00,0.000,6,0.000,0.117,2303,2079,3552
$GC,6405,-2.12,-119.5,957.6,-12.9,665,6409,0.00,2.38,0.00,0.000,4,0.000,0.143,2304,968,3551
$GC,6471,-2.12,-119.5,966.5,-14.0,668,6475,0.00,2.08,0.00,0.000,6,0.000,0.053,2304,2097,3551
$STATE,6651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6651,begin apogee
$GC,6658,-0.37,0.0,991.3,13.5,677,6774,2.00,0.00,106.70,1.272,6,0.140,0.000,2694,1983,3062
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6774,begin climb
$GC,6778,2.17,119.5,995.0,0.0,683,6894,2.53,0.00,105.53,1.244,6,0.071,0.000,3250,1982,2574
$GC,7202,2.17,119.5,938.1,15.1,704,7206,0.00,1.98,0.00,0.000,4,0.000,0.068,3250,3048,2570
$GC,7263,2.17,119.5,928.7,14.8,706,7271,0.00,2.33,0.00,0.000,6,0.000,0.153,3250,1978,2570
$GC,7580,2.17,119.5,883.7,14.4,722,7583,0.00,1.98,0.00,0.000,4,0.000,0.060,3250,3056,2569
$GC,7663,2.17,119.5,870.7,15.4,725,7670,0.00,2.05,0.00,0.000,6,0.000,0.099,3250,2028,2570
$GC,7982,2.17,119.5,821.7,15.6,741,7985,0.00,1.88,0.00,0.000,4,0.000,0.058,3250,3057,2569
$GC,8010,2.17,119.5,816.7,16.2,742,8014,0.00,2.08,0.00,0.000,6,0.000,0.098,3250,1998,2569
$GC,8337,2.17,119.5,768.2,14.6,758,8340,0.00,1.92,0.00,0.000,4,0.000,0.058,3250,3059,2569
$GC,8370,2.17,119.5,763.1,14.5,759,8374,0.00,2.15,0.00,0.000,6,0.000,0.117,3250,2008,2568
$GC,8693,2.17,119.5,717.6,14.5,775,8697,0.00,1.92,0.00,0.000,4,0.000,0.058,3250,3051,2568
$GC,8748,2.17,119.5,708.9,15.4,777,8752,0.00,1.92,0.00,0.000,6,0.000,0.079,3250,2043,2568
$GC,9070,2.17,119.5,662.8,14.3,793,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2042,2568
$GC,9380,2.17,119.5,620.9,13.4,808,9384,0.00,1.83,0.00,0.000,4,0.000,0.056,3250,3056,2569
$GC,9404,2.17,119.5,617.5,14.7,809,9407,0.00,2.03,0.00,0.000,6,0.000,0.096,3250,2013,2568
$GC,9732,2.17,119.5,570.8,14.3,834,9736,0.00,1.88,0.00,0.000,4,0.000,0.058,3250,3048,2568
$GC,9801,2.17,119.5,560.6,15.4,840,9805,0.00,1.95,0.00,0.000,6,0.000,0.084,3250,2019,2568
$GC,10134,2.17,119.5,513.3,14.5,871,10138,0.00,1.88,0.00,0.000,4,0.000,0.057,3250,3056,2568
$GC,10182,2.17,119.5,506.2,15.2,875,10186,0.00,1.90,0.00,0.000,6,0.000,0.071,3250,2045,2568
$GC,10516,2.17,119.5,458.5,14.3,906,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2044,2568
$GC,10841,2.17,119.5,412.0,13.9,937,10845,0.00,1.83,0.00,0.000,4,0.000,0.053,3250,3062,2568
$GC,10876,2.17,119.5,407.0,15.6,940,10879,0.00,2.03,0.00,0.000,6,0.000,0.102,3250,2043,2568
$GC,11209,2.17,119.5,360.5,14.2,971,11213,0.00,1.83,0.00,0.000,4,0.000,0.051,3250,3048,2568
$GC,11244,2.17,119.5,355.1,14.5,974,11247,0.00,1.95,0.00,0.000,6,0.000,0.091,3250,2045,2568
$GC,11585,2.17,119.5,305.7,15.0,1031,11592,0.00,1.80,0.00,0.000,4,0.000,0.054,3250,3058,2568
$GC,11605,2.17,119.5,302.8,15.5,1034,11612,0.00,2.30,0.00,0.000,6,0.000,0.171,3250,2034,2568
$GC,11951,2.17,119.5,251.8,14.4,1095,11958,0.00,1.83,0.00,0.000,4,0.000,0.058,3250,3063,2568
$GC,11981,2.17,119.5,247.2,15.5,1100,11989,0.00,2.00,0.00,0.000,6,0.000,0.110,3250,2067,2568
$GC,12328,2.17,119.5,196.7,14.5,1161,12335,0.00,1.75,0.00,0.000,4,0.000,0.048,3250,3059,2568
$GC,12342,2.17,119.5,194.5,14.4,1163,12349,0.00,2.10,0.00,0.000,6,0.000,0.133,3251,2070,2568
$GC,12687,2.17,119.5,144.5,14.3,1224,12695,0.00,1.77,0.00,0.000,4,0.000,0.051,3250,3058,2568
$GC,12741,2.17,119.5,136.2,15.2,1233,12748,0.00,1.92,0.00,0.000,6,0.000,0.102,3250,2067,2568
$GC,13088,2.17,119.5,88.0,13.8,1294,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2063,2569
$GC,13434,2.17,119.5,40.5,13.0,1355,13442,0.00,2.35,0.00,0.000,4,0.000,0.134,3250,942,2569
$GC,13449,2.17,119.5,38.3,13.3,1357,13457,0.00,2.03,0.00,0.000,6,0.000,0.046,3250,2107,2568
$GC,13592,2.17,119.5,20.9,12.1,1382,13599,0.00,1.75,0.00,0.000,4,0.000,0.066,3250,3059,2569
$GC,13641,2.17,119.5,14.7,13.4,1390,13650,0.00,1.85,0.00,0.000,6,0.000,0.100,3250,2106,2568
$STATE,13737,end climb,SURFACE_DEPTH_REACHED
$STATE,13738,begin surface coast
$FINISH,0.2,1.026874
$STATE,13761,end surface coast,CONTROL_FINISHED_OK
$STATE,13763,begin surface
$SM_CCo,13785,64.32,0.652,0,0,2245,200.16
$SM_GC,1.12,0.00,0.00,64.32,0.000,0.000,0.652,574,2037,2245,-10.15,0.20,200.16
$IRIDIUM_FIX,6130.75,-2625.73,110997,121212
$TT8_MAMPS,0.042185
$HUMID,1706
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,16.80
$XPDR_PINGS,912
$24V_AH,23.1,70.263
$10V_AH,10.5,69.412
$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,25.800,112.675,212.225,64.325,0.000,22.600,33.595,231.709,228.000,0.000,0.000,53.161,2909.413,7606.437,492.791,2630.615,664.841,0.000,1643.820,0.000,2620.014,0.000,0.465
$DEVICE_MAMPS,196.352,171.041,1272.453,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,977.622,1092.539,549.940,1264.463,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104468,1411
$CAP_FILE_SIZE,131679,0
$CFSIZE,260165632,224092160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,27,0,0
$CURRENT,0.082,313.3,1
$GPS,170608,191802,6157.039,-2624.271,36,1.8,36,-18.9