version: 66.03
glider: 141
mission: 7
dive: 348
start: 6 17 108 19 25 40
data:
$ID,141
$MISSION,7
$DIVE,348
$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,-12585.7
$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,15
$R_STBD_OVSHOOT,7
$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
$GPS1,191802,6157.039,-2624.271,36,1.8,36,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.7
$GPS2,192521,6157.070,-2624.306,10,1.1,10,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$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,154.6,30263,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,94,0.00,0.00,-67.38,0.000,2,0.000,0.000,573,2037,3633
$GC,97,-1.34,-194.7,3.2,-5.6,9,121,11.15,2.12,-5.25,0.000,4,0.196,0.115,2482,970,3857
$GC,296,-1.34,-194.7,31.5,-12.0,43,303,0.00,1.95,0.00,0.000,6,0.000,0.053,2482,2035,3858
$GC,439,-1.30,-194.7,48.3,-12.2,68,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3859
$GC,582,-1.25,-194.7,66.6,-12.3,93,589,0.12,0.00,0.00,0.000,6,0.118,0.000,2506,2037,3859
$GC,926,-1.25,-194.7,101.0,-9.8,154,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2037,3859
$GC,1269,-1.25,-194.7,136.6,-10.3,215,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2037,3860
$GC,1612,-1.25,-194.7,171.9,-10.8,276,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2038,3860
$GC,1957,-1.25,-194.7,207.3,-10.3,337,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2038,3860
$GC,2300,-1.25,-194.7,242.5,-10.3,398,2308,0.00,1.95,0.00,0.000,4,0.000,0.074,2506,3086,3860
$GC,2326,-1.25,-194.7,245.2,-10.6,402,2334,0.00,2.40,0.00,0.000,6,0.000,0.176,2506,2045,3860
$GC,2673,-1.25,-194.7,282.5,-10.8,463,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2042,3860
$GC,3017,-1.25,-194.7,320.1,-11.0,524,3024,0.00,1.90,0.00,0.000,4,0.000,0.058,2506,3087,3860
$GC,3037,-1.25,-194.7,322.2,-10.9,527,3044,0.00,2.08,0.00,0.000,6,0.000,0.105,2506,2045,3860
$GC,3377,-1.25,-194.7,359.5,-11.1,580,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2042,3860
$GC,3697,-1.25,-194.7,394.4,-10.9,610,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3859
$GC,4014,-1.25,-194.7,428.4,-10.8,640,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2043,3860
$GC,4333,-1.25,-194.7,461.6,-10.5,670,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3860
$GC,4652,-1.25,-194.7,494.7,-9.8,700,4655,0.00,1.90,0.00,0.000,4,0.000,0.061,2506,3087,3860
$GC,4680,-1.25,-194.7,497.6,-10.5,702,4687,0.00,2.28,0.00,0.000,6,0.000,0.146,2507,2058,3860
$GC,5009,-1.25,-194.7,530.2,-10.7,733,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2055,3860
$GC,5334,-1.25,-194.7,564.6,-10.3,764,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2054,3859
$GC,5652,-1.25,-194.7,596.7,-10.1,794,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2055,3860
$GC,5966,-1.25,-194.7,626.0,-9.3,811,5969,0.00,1.95,0.00,0.000,4,0.000,0.084,2506,3080,3859
$GC,5999,-1.25,-194.7,629.6,-9.6,812,6004,0.00,2.03,0.00,0.000,6,0.000,0.094,2506,2025,3859
$GC,6321,-1.25,-194.7,660.8,-9.8,828,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2022,3859
$GC,6631,-1.25,-194.7,692.0,-9.7,843,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2020,3858
$GC,6941,-1.25,-194.7,721.5,-9.3,858,6945,0.00,1.98,0.00,0.000,4,0.000,0.075,2506,3081,3858
$GC,6968,-1.25,-194.7,724.3,-9.9,859,6972,0.00,1.83,0.00,0.000,6,0.000,0.049,2506,2059,3858
$GC,7295,-1.25,-194.7,757.4,-10.5,875,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3858
$GC,7605,-1.25,-194.7,788.1,-9.5,890,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2055,3858
$GC,7915,-1.25,-194.7,816.8,-9.7,905,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2054,3857
$GC,8223,-1.25,-194.7,844.7,-9.3,920,8227,0.00,1.92,0.00,0.000,4,0.000,0.076,2506,3083,3857
$GC,8270,-1.25,-194.7,849.2,-10.4,922,8274,0.00,2.25,0.00,0.000,6,0.000,0.153,2506,2070,3857
$GC,8597,-1.25,-194.7,880.4,-9.8,938,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2070,3856
$GC,8906,-1.25,-194.7,909.0,-9.2,953,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2068,3856
$GC,9216,-1.45,-194.7,921.2,0.0,968,9218,0.20,0.00,0.00,0.000,6,0.061,0.000,2456,2068,3856
$STATE,9233,end dive,NO_VERTICAL_VELOCITY
$STATE,9233,begin apogee
$GC,9239,-0.37,0.0,921.2,0.0,969,9416,1.10,0.00,170.45,1.226,6,0.077,0.000,2699,1983,3062
$STATE,9417,end apogee,CONTROL_FINISHED_OK
$STATE,9417,begin climb
$GC,9420,1.34,194.7,921.0,0.0,978,9597,1.73,1.98,169.25,1.196,4,0.077,0.060,3072,3039,2267
$GC,9657,1.30,194.7,903.4,10.6,989,9661,0.00,2.05,0.00,0.000,6,0.000,0.084,3072,1970,2264
$GC,9986,1.26,200.5,871.8,9.8,1005,9993,0.00,0.00,5.80,0.866,6,0.000,0.000,3072,1966,2244
$GC,10294,1.22,206.2,840.3,9.8,1020,10307,0.12,2.03,6.82,0.917,4,0.105,0.058,3048,3038,2220
$GC,10354,1.27,245.3,834.9,8.6,1022,10406,0.00,2.10,39.03,1.081,6,0.000,0.113,3047,1983,2061
$GC,10716,1.33,291.5,805.1,8.4,1040,10774,0.00,0.00,45.45,1.080,6,0.000,0.000,3047,1982,1872
$GC,11083,1.39,340.4,776.1,8.3,1058,11143,0.15,0.00,47.12,1.068,6,0.057,0.000,3090,1982,1674
$GC,11452,1.39,340.4,736.1,11.2,1076,11455,0.00,1.98,0.00,0.000,4,0.000,0.073,3090,931,1668
$GC,11490,1.39,340.4,731.5,11.5,1077,11497,0.00,1.92,0.00,0.000,6,0.000,0.048,3091,2008,1668
$GC,11807,1.39,340.4,697.5,10.9,1093,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2011,1667
$GC,12117,1.39,342.3,664.3,9.9,1108,12121,0.00,2.30,0.00,0.000,4,0.000,0.133,3091,934,1666
$GC,12166,1.39,342.3,659.0,10.1,1110,12170,0.00,1.90,0.00,0.000,6,0.000,0.043,3091,1991,1666
$GC,12489,1.42,370.0,628.9,9.0,1126,12537,0.00,2.12,31.17,0.920,4,0.000,0.086,3090,938,1553
$GC,12571,1.43,373.0,621.2,9.9,1129,12579,0.00,1.85,4.20,0.670,6,0.000,0.051,3091,1978,1541
$GC,12889,1.43,373.3,591.8,10.0,1148,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1980,1538
$GC,13210,1.43,373.3,558.9,10.7,1178,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1980,1537
$GC,13538,1.43,378.1,526.3,9.8,1209,13550,0.00,2.33,5.82,0.768,4,0.000,0.146,3090,932,1520
$GC,13597,1.43,378.1,520.0,10.9,1214,13601,0.00,1.85,0.00,0.000,6,0.000,0.040,3091,1980,1520
$GC,13928,1.43,379.8,487.3,9.9,1245,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1983,1519
$GC,14247,1.43,379.8,453.1,10.8,1275,14251,0.00,2.38,0.00,0.000,4,0.000,0.167,3090,936,1518
$GC,14286,1.43,379.8,448.4,11.7,1278,14293,0.00,1.83,0.00,0.000,6,0.000,0.047,3090,1960,1518
$GC,14614,1.43,379.8,412.5,11.4,1309,14620,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1962,1518
$GC,14939,1.43,379.8,376.1,10.9,1340,14943,0.00,1.98,0.00,0.000,4,0.000,0.087,3090,935,1518
$GC,14978,1.43,379.8,371.6,11.5,1343,14985,0.00,1.80,0.00,0.000,6,0.000,0.046,3091,1966,1518
$GC,15310,1.43,379.8,335.5,10.6,1386,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1968,1518
$GC,15657,1.43,379.8,298.4,11.0,1447,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1968,1518
$GC,16001,1.43,379.8,263.3,10.4,1508,16008,0.00,1.90,0.00,0.000,4,0.000,0.059,3090,924,1518
$GC,16037,1.43,379.8,259.4,11.0,1514,16045,0.00,1.88,0.00,0.000,6,0.000,0.053,3090,1945,1518
$GC,16384,1.43,379.8,223.2,10.8,1575,16390,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1948,1518
$GC,16728,1.43,379.8,185.2,11.5,1636,16734,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1949,1518
$GC,17075,1.43,379.8,146.5,10.8,1697,17081,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1950,1518
$GC,17416,1.43,379.8,109.3,11.8,1758,17424,0.00,2.03,0.00,0.000,4,0.000,0.111,3091,933,1517
$GC,17459,1.43,379.8,104.8,10.6,1765,17466,0.00,1.85,0.00,0.000,6,0.000,0.059,3090,1950,1517
$GC,17803,1.43,379.8,68.1,12.1,1826,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1952,1517
$GC,18147,1.46,404.1,33.9,9.2,1887,18175,0.00,0.00,24.10,0.663,6,0.000,0.000,3091,1952,1414
$GC,18313,1.59,466.9,18.0,7.8,1915,18371,0.15,0.00,55.12,0.651,6,0.055,0.000,3141,1952,1158
$STATE,18437,end climb,SURFACE_DEPTH_REACHED
$STATE,18437,begin surface coast
$FINISH,0.1,1.014288
$STATE,18468,end surface coast,CONTROL_FINISHED_OK
$STATE,18468,begin surface
$SM_CCo,18549,0.00,0.000,0,0,1150,469.01
$SM_GC,0.72,10.88,0.00,0.00,0.039,0.000,0.000,575,2041,1150,-10.06,0.34,469.01
$IRIDIUM_FIX,6135.28,-2623.67,110997,151544
$TT8_MAMPS,0.041418
$HUMID,1722
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.90
$XPDR_PINGS,1252
$24V_AH,23.2,70.500
$10V_AH,10.5,69.582
$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,25.600,68.875,604.350,0.000,0.000,29.331,38.994,228.362,313.000,0.000,0.000,12.469,3925.400,10129.307,765.241,3420.364,735.731,0.000,2271.349,0.000,3450.742,0.000,0.465
$DEVICE_MAMPS,196.352,176.410,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1344.487,1475.441,733.948,1766.050,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142374,1940
$CAP_FILE_SIZE,161964,0
$CFSIZE,260165632,223948800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,5,0
$CURRENT,0.066, 75.0,1
$GPS,180608,003607,6155.065,-2619.004,35,1.2,41,-18.9