version: 66.03
glider: 141
mission: 7
dive: 350
start: 6 18 108 5 7 40
data:
$ID,141
$MISSION,7
$DIVE,350
$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,-12638.009
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,045837,6152.768,-2615.710,36,1.9,41,-18.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-52.1
$GPS2,050723,6152.708,-2615.701,12,2.8,31,-18.8
$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,153.8,19216,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.34,-194.7,0.0,0.0,0,132,0.00,0.00,-106.00,0.000,2,0.000,0.000,572,2011,3727
$GC,135,-1.34,-194.7,3.4,-6.1,14,158,11.00,2.35,-2.88,0.000,4,0.192,0.174,2482,990,3858
$GC,411,-1.30,-194.7,46.5,-11.7,62,419,0.00,1.85,0.00,0.000,6,0.000,0.044,2482,2013,3860
$GC,557,-1.26,-194.7,61.1,-8.2,87,565,0.10,2.30,0.00,0.000,4,0.124,0.160,2501,995,3860
$GC,617,-1.26,-194.7,66.7,-8.8,97,624,0.00,1.92,0.00,0.000,6,0.000,0.057,2502,2056,3860
$GC,962,-1.26,-194.7,103.2,-10.2,158,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2058,3860
$GC,1307,-1.26,-194.7,138.3,-9.9,219,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2058,3860
$GC,1650,-1.26,-194.7,174.0,-10.2,280,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2058,3860
$GC,1996,-1.26,-194.7,208.7,-10.1,341,2003,0.00,1.88,0.00,0.000,4,0.000,0.067,2501,3086,3860
$GC,2021,-1.26,-194.7,211.3,-10.0,345,2029,0.00,2.25,0.00,0.000,6,0.000,0.148,2501,2031,3860
$GC,2368,-1.26,-194.7,246.9,-10.2,406,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2026,3860
$GC,2715,-1.26,-194.7,280.2,-9.0,467,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2026,3860
$GC,3058,-1.26,-194.7,313.0,-9.9,528,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2026,3860
$GC,3408,-1.26,-194.7,351.8,-12.0,589,3412,0.00,1.98,0.00,0.000,4,0.000,0.067,2502,3087,3859
$GC,3444,-1.26,-194.7,356.0,-11.9,592,3449,0.00,2.20,0.00,0.000,6,0.000,0.145,2502,2065,3859
$GC,3772,-1.26,-194.7,394.2,-11.0,622,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2062,3859
$GC,4098,-1.26,-194.7,429.5,-11.2,653,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3859
$GC,4416,-1.26,-194.7,464.5,-11.0,683,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3859
$GC,4735,-1.26,-194.7,498.8,-11.0,713,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3859
$GC,5054,-1.26,-194.7,529.9,-9.7,743,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2062,3859
$GC,5373,-1.26,-194.7,559.3,-8.7,773,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3858
$GC,5690,-1.26,-194.7,590.8,-10.6,803,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3858
$GC,6013,-1.26,-194.7,623.9,-10.1,823,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3858
$GC,6321,-1.26,-194.7,653.8,-9.4,838,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2062,3858
$GC,6631,-1.26,-194.7,683.6,-9.9,853,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2062,3858
$GC,6940,-1.26,-194.7,717.0,-10.5,868,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2062,3857
$GC,7249,-1.26,-194.7,749.0,-10.9,883,7253,0.00,1.92,0.00,0.000,4,0.000,0.084,2501,3080,3857
$GC,7273,-1.26,-194.7,751.3,-9.6,884,7277,0.00,2.12,0.00,0.000,6,0.000,0.120,2501,2045,3857
$GC,7601,-1.26,-194.7,787.6,-11.4,900,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2042,3857
$GC,7910,-1.26,-194.7,823.5,-11.6,915,7914,0.00,1.92,0.00,0.000,4,0.000,0.069,2501,3083,3856
$GC,7943,-1.26,-194.7,827.8,-11.9,916,7947,0.00,2.05,0.00,0.000,6,0.000,0.094,2501,2053,3856
$GC,8266,-1.26,-194.7,865.4,-7.6,932,8270,0.00,1.90,0.00,0.000,4,0.000,0.067,2501,3081,3856
$GC,8299,-1.26,-194.7,868.3,-8.7,933,8303,0.00,2.00,0.00,0.000,6,0.000,0.088,2501,2036,3855
$GC,8621,-1.57,-194.7,886.9,-0.0,949,8626,0.25,2.22,0.00,0.000,4,0.062,0.138,2435,986,3855
$STATE,8696,end dive,NO_VERTICAL_VELOCITY
$STATE,8697,begin apogee
$GC,8706,-0.37,0.0,886.8,0.0,952,8879,1.12,0.00,170.00,1.201,6,0.068,0.000,2695,1989,3061
$STATE,8880,end apogee,CONTROL_FINISHED_OK
$STATE,8880,begin climb
$GC,8883,1.34,194.7,886.6,0.0,961,9063,1.70,2.00,167.77,1.176,4,0.074,0.074,3068,3044,2267
$GC,9295,1.34,194.7,855.5,12.3,979,9298,0.00,1.88,0.00,0.000,6,0.000,0.042,3068,1982,2262
$GC,9623,1.34,194.7,824.1,10.8,995,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1978,2262
$GC,9931,1.35,202.7,793.0,9.7,1010,9941,0.00,0.00,7.80,0.942,6,0.000,0.000,3068,1978,2235
$GC,10242,1.41,246.7,765.2,8.5,1025,10285,0.00,0.00,41.10,1.104,6,0.000,0.000,3068,1978,2056
$GC,10590,1.41,246.7,730.8,10.8,1042,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1978,2052
$GC,10900,1.42,254.4,699.2,9.7,1057,10914,0.00,2.08,7.85,0.914,4,0.000,0.073,3068,3043,2023
$GC,10960,1.43,262.1,693.3,9.7,1059,10975,0.10,2.05,8.45,0.920,6,0.071,0.092,3098,1982,1993
$GC,11299,1.39,268.7,661.0,9.8,1076,11313,0.00,2.12,7.32,0.880,4,0.000,0.094,3098,934,1966
$GC,11359,1.34,268.7,654.6,10.1,1078,11367,0.10,1.90,0.00,0.000,6,0.093,0.043,3074,1991,1965
$GC,11675,1.39,305.8,627.4,8.7,1094,11736,0.00,0.00,41.45,0.910,6,0.000,0.000,3074,1994,1815
$GC,12046,1.39,305.8,590.3,10.9,1116,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1995,1810
$GC,12365,1.39,305.8,555.4,10.5,1146,12369,0.00,1.92,0.00,0.000,4,0.000,0.054,3073,929,1809
$GC,12423,1.39,305.8,549.4,10.2,1151,12427,0.00,1.92,0.00,0.000,6,0.000,0.056,3073,1981,1809
$GC,12754,1.44,345.7,518.5,8.6,1182,12794,0.00,0.00,36.67,0.963,6,0.000,0.000,3073,1983,1651
$GC,13112,1.44,345.7,485.4,10.1,1216,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1985,1647
$GC,13431,1.44,345.7,452.6,10.6,1246,13435,0.00,1.90,0.00,0.000,4,0.000,0.052,3073,925,1646
$GC,13481,1.44,345.7,447.0,10.6,1250,13489,0.00,1.95,0.00,0.000,6,0.000,0.058,3073,1975,1646
$GC,13809,1.44,345.7,414.2,10.3,1281,13813,0.00,1.92,0.00,0.000,4,0.000,0.060,3073,3048,1645
$GC,13844,1.44,345.7,410.2,10.6,1284,13848,0.00,2.03,0.00,0.000,6,0.000,0.077,3073,1952,1645
$GC,14177,1.46,368.0,378.0,9.2,1315,14204,0.10,2.05,20.48,0.861,4,0.069,0.093,3105,933,1561
$GC,14250,1.46,368.0,369.5,11.4,1321,14254,0.00,1.90,0.00,0.000,6,0.000,0.056,3104,1973,1560
$GC,14585,1.46,368.0,329.1,12.7,1366,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1975,1557
$GC,14930,1.46,368.0,286.3,11.7,1427,14937,0.00,2.00,0.00,0.000,4,0.000,0.091,3105,926,1557
$GC,14983,1.46,368.0,279.6,12.4,1436,14990,0.00,1.92,0.00,0.000,6,0.000,0.056,3105,1967,1557
$GC,15328,1.46,368.0,238.0,11.5,1497,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1969,1556
$GC,15673,1.46,368.0,196.8,11.1,1558,15680,0.00,2.12,0.00,0.000,4,0.000,0.133,3105,939,1556
$GC,15721,1.46,368.0,191.2,10.8,1566,15728,0.00,1.83,0.00,0.000,6,0.000,0.046,3105,1969,1556
$GC,16067,1.46,368.0,153.7,10.7,1627,16073,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1972,1556
$GC,16409,1.46,368.0,116.3,11.1,1688,16416,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1972,1556
$GC,16753,1.46,368.0,76.0,12.7,1749,16760,0.00,1.85,0.00,0.000,4,0.000,0.058,3105,931,1557
$GC,16814,1.46,368.0,68.3,12.1,1759,16821,0.00,1.83,0.00,0.000,6,0.000,0.054,3105,1941,1556
$GC,17159,1.47,373.3,25.4,9.8,1820,17167,0.00,0.00,5.50,0.543,6,0.000,0.000,3105,1944,1539
$GC,17302,1.51,407.5,10.5,8.8,1845,17337,0.00,0.00,31.10,0.651,6,0.000,0.000,3105,1944,1399
$STATE,17375,end climb,SURFACE_DEPTH_REACHED
$STATE,17376,begin surface coast
$FINISH,0.1,1.006748
$STATE,17410,end surface coast,CONTROL_FINISHED_OK
$STATE,17411,begin surface
$SM_CCo,17493,0.00,0.000,0,0,1394,409.16
$SM_GC,0.92,10.73,0.00,0.00,0.038,0.000,0.000,568,2056,1394,-10.08,0.74,409.16
$IRIDIUM_FIX,6130.75,-2617.59,120997,000027
$TT8_MAMPS,0.041418
$HUMID,1707
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.60
$XPDR_PINGS,1197
$24V_AH,23.2,70.916
$10V_AH,10.5,69.904
$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,25.200,72.125,545.500,0.000,0.000,26.364,41.873,283.152,299.250,0.000,0.000,34.009,3782.674,9367.109,707.763,3369.765,773.404,0.000,2170.450,0.000,3369.235,0.000,0.465
$DEVICE_MAMPS,191.750,174.109,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1293.772,1405.708,705.700,1731.891,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136111,1863
$CAP_FILE_SIZE,157539,0
$CFSIZE,260165632,223776768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,3,0
$CURRENT,0.037,160.8,1
$GPS,180608,100031,6150.565,-2611.514,41,1.8,41,-18.8