version: 66.03
glider: 141
mission: 7
dive: 351
start: 6 18 108 10 12 57
data:
$ID,141
$MISSION,7
$DIVE,351
$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,-12655.477
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,100031,6150.565,-2611.514,41,1.8,41,-18.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-53.9
$GPS2,101238,6150.562,-2611.467,10,1.9,15,-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,153.0,13783,-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,25,-1.34,-194.7,0.0,0.0,0,140,0.00,0.00,-113.15,0.000,2,0.000,0.000,569,2058,3685
$GC,144,-1.34,-194.7,3.2,-5.6,15,167,11.18,2.10,-3.95,0.000,4,0.197,0.113,2481,968,3858
$GC,410,-1.34,-194.7,42.0,-12.7,61,418,0.00,1.90,0.00,0.000,6,0.000,0.051,2481,2007,3859
$GC,555,-1.29,-194.7,59.6,-12.3,86,562,0.00,2.10,0.00,0.000,4,0.000,0.124,2481,987,3859
$GC,602,-1.29,-194.7,65.6,-12.3,94,610,0.00,1.88,0.00,0.000,6,0.000,0.052,2481,2008,3859
$GC,951,-1.25,-194.7,106.0,-11.8,155,958,0.12,0.00,0.00,0.000,6,0.117,0.000,2504,2011,3859
$GC,1295,-1.25,-194.7,143.9,-10.5,216,1303,0.00,2.00,0.00,0.000,4,0.000,0.068,2504,3110,3860
$GC,1329,-1.25,-194.7,147.2,-10.9,221,1336,0.00,2.30,0.00,0.000,6,0.000,0.137,2504,2028,3860
$GC,1675,-1.25,-194.7,183.4,-10.4,282,1682,0.00,1.90,0.00,0.000,4,0.000,0.052,2504,3086,3860
$GC,1728,-1.25,-194.7,188.9,-10.0,291,1735,0.00,2.33,0.00,0.000,6,0.000,0.147,2504,1999,3860
$GC,2073,-1.25,-194.7,224.3,-10.1,352,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1991,3860
$GC,2419,-1.25,-194.7,258.4,-10.5,413,2426,0.00,2.00,0.00,0.000,4,0.000,0.065,2504,3088,3860
$GC,2461,-1.25,-194.7,262.9,-10.5,420,2469,0.00,2.08,0.00,0.000,6,0.000,0.108,2504,2034,3859
$GC,2807,-1.25,-194.7,300.5,-11.4,481,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2029,3859
$GC,3152,-1.25,-194.7,337.9,-10.2,542,3159,0.00,1.92,0.00,0.000,4,0.000,0.063,2504,3089,3859
$GC,3194,-1.25,-194.7,342.3,-10.2,549,3201,0.00,2.10,0.00,0.000,6,0.000,0.115,2504,2032,3859
$GC,3531,-1.25,-194.7,374.6,-9.2,587,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2028,3859
$GC,3849,-1.25,-194.7,406.5,-10.2,617,3853,0.00,1.90,0.00,0.000,4,0.000,0.054,2504,3090,3859
$GC,3875,-1.25,-194.7,409.0,-10.2,619,3879,0.00,2.00,0.00,0.000,6,0.000,0.089,2504,2039,3859
$GC,4209,-1.25,-194.7,442.3,-9.9,650,4212,0.00,1.88,0.00,0.000,4,0.000,0.052,2504,3088,3858
$GC,4232,-1.25,-194.7,444.9,-10.3,652,4236,0.00,2.30,0.00,0.000,6,0.000,0.147,2504,2048,3858
$GC,4559,-1.25,-194.7,478.6,-10.6,682,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3858
$GC,4886,-1.25,-194.7,514.6,-11.1,713,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3858
$GC,5204,-1.25,-194.7,548.5,-10.6,743,5208,0.00,1.90,0.00,0.000,4,0.000,0.057,2504,3084,3857
$GC,5240,-1.25,-194.7,552.1,-10.6,746,5244,0.00,2.12,0.00,0.000,6,0.000,0.112,2504,2039,3857
$GC,5569,-1.25,-194.7,585.1,-10.8,776,5573,0.00,1.92,0.00,0.000,4,0.000,0.061,2504,3094,3857
$GC,5597,-1.25,-194.7,588.9,-12.2,778,5605,0.00,2.15,0.00,0.000,6,0.000,0.122,2504,2037,3857
$GC,5927,-1.25,-194.7,625.1,-10.6,799,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2037,3857
$GC,6236,-1.25,-194.7,657.0,-10.3,814,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2036,3857
$GC,6545,-1.25,-194.7,687.5,-9.8,829,6549,0.00,1.98,0.00,0.000,4,0.000,0.076,2504,3089,3856
$GC,6584,-1.25,-194.7,691.7,-10.6,830,6591,0.00,1.88,0.00,0.000,6,0.000,0.051,2504,2058,3856
$GC,6901,-1.25,-194.7,722.1,-9.5,846,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2057,3856
$GC,7210,-1.25,-194.7,749.8,-8.5,861,7213,0.00,1.92,0.00,0.000,4,0.000,0.074,2504,3086,3856
$GC,7256,-1.25,-194.7,753.8,-8.9,863,7260,0.00,1.88,0.00,0.000,6,0.000,0.047,2504,2050,3856
$GC,7591,-1.25,-194.7,782.9,-8.9,879,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2048,3856
$GC,7899,-1.25,-194.7,810.3,-8.7,894,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2048,3855
$GC,8209,-1.25,-194.7,836.8,-8.3,909,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2047,3854
$GC,8520,-1.25,-194.7,862.3,-8.7,924,8523,0.00,2.12,0.00,0.000,4,0.000,0.119,2504,3080,3854
$GC,8589,-1.25,-194.7,869.2,-9.9,927,8593,0.00,2.25,0.00,0.000,6,0.000,0.156,2504,2070,3854
$GC,8917,-1.25,-194.7,898.1,-8.2,943,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2069,3854
$GC,9225,-1.25,-194.7,923.0,-10.4,958,9229,0.00,2.38,0.00,0.000,4,0.000,0.147,2504,966,3854
$GC,9264,-1.25,-194.7,927.2,-11.0,960,9268,0.00,2.03,0.00,0.000,6,0.000,0.067,2504,2051,3854
$GC,9598,-1.53,-194.7,942.4,-0.1,976,9600,0.25,0.00,0.00,0.000,6,0.068,0.000,2444,2052,3854
$STATE,9615,end dive,NO_VERTICAL_VELOCITY
$STATE,9615,begin apogee
$GC,9622,-0.37,0.0,942.3,0.0,977,9798,1.12,0.00,170.05,1.244,6,0.063,0.000,2702,1955,3062
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9802,1.34,194.7,942.2,0.0,986,9980,1.67,2.12,168.93,1.215,4,0.065,0.070,3074,3044,2267
$GC,10045,1.39,234.5,927.1,8.6,997,10087,0.00,2.25,36.58,1.163,6,0.000,0.133,3074,1996,2104
$GC,10417,1.39,234.5,889.0,10.2,1015,10421,0.00,2.25,0.00,0.000,4,0.000,0.130,3074,924,2099
$GC,10485,1.35,234.5,880.6,11.9,1018,10489,0.00,1.90,0.00,0.000,6,0.000,0.042,3074,1997,2099
$GC,10812,1.35,234.5,844.9,10.3,1034,10816,0.00,1.90,0.00,0.000,4,0.000,0.069,3074,3033,2098
$GC,10868,1.35,234.5,838.9,10.5,1036,10872,0.00,2.00,0.00,0.000,6,0.000,0.079,3074,1968,2097
$GC,11190,1.40,273.8,809.8,8.6,1052,11242,0.00,0.00,39.88,1.043,6,0.000,0.000,3074,1963,1945
$GC,11539,1.40,273.8,777.4,10.8,1069,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1963,1940
$GC,11849,1.40,273.8,741.4,11.4,1084,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1963,1940
$GC,12158,1.41,286.1,709.5,9.6,1099,12177,0.00,0.00,12.32,1.006,6,0.000,0.000,3074,1962,1894
$GC,12487,1.41,286.1,676.4,10.5,1115,12490,0.00,1.95,0.00,0.000,4,0.000,0.060,3074,3037,1892
$GC,12537,1.41,286.1,670.7,11.7,1117,12541,0.00,1.88,0.00,0.000,6,0.000,0.044,3074,2000,1892
$GC,12864,1.41,286.1,634.9,11.0,1133,12868,0.00,2.12,0.00,0.000,4,0.000,0.104,3074,926,1892
$GC,12910,1.41,286.1,630.0,10.7,1135,12914,0.00,1.88,0.00,0.000,6,0.000,0.042,3074,1987,1891
$GC,13235,1.42,296.9,598.8,9.6,1151,13259,0.00,2.00,11.02,0.932,4,0.000,0.077,3074,3030,1851
$GC,13298,1.42,296.9,592.0,10.6,1156,13306,0.00,2.25,0.00,0.000,6,0.000,0.147,3074,1988,1850
$GC,13627,1.42,297.4,560.4,10.0,1187,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1985,1850
$GC,13952,1.42,297.4,527.4,10.3,1218,13956,0.00,2.10,0.00,0.000,4,0.000,0.101,3074,911,1849
$GC,14002,1.42,297.4,521.9,10.5,1222,14009,0.00,2.00,0.00,0.000,6,0.000,0.068,3074,1981,1849
$GC,14330,1.42,297.4,486.2,11.4,1253,14334,0.00,1.92,0.00,0.000,4,0.000,0.063,3074,3045,1849
$GC,14368,1.42,297.4,481.4,11.5,1256,14376,0.00,2.25,0.00,0.000,6,0.000,0.136,3074,1963,1849
$GC,14694,1.42,297.4,447.2,10.8,1287,14698,0.00,2.15,0.00,0.000,4,0.000,0.130,3074,936,1848
$GC,14734,1.42,297.4,442.7,11.1,1290,14738,0.00,1.90,0.00,0.000,6,0.000,0.039,3074,2002,1849
$GC,15065,1.44,308.7,409.4,9.6,1321,15085,0.00,0.00,11.85,0.838,6,0.000,0.000,3074,2004,1803
$GC,15405,1.46,322.9,377.4,9.5,1353,15424,0.10,0.00,13.98,0.832,6,0.069,0.000,3105,2004,1745
$GC,15747,1.46,322.9,338.0,11.6,1394,15755,0.00,2.05,0.00,0.000,4,0.000,0.091,3105,924,1742
$GC,15807,1.41,322.9,331.0,11.6,1404,15814,0.00,1.95,0.00,0.000,6,0.000,0.064,3105,1972,1742
$GC,16153,1.41,322.9,292.4,10.2,1465,16159,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1974,1742
$GC,16498,1.41,323.9,257.5,10.0,1526,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1973,1742
$GC,16844,1.41,323.9,220.5,11.1,1587,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1974,1742
$GC,17189,1.41,323.9,183.4,10.9,1648,17196,0.00,2.12,0.00,0.000,4,0.000,0.117,3105,935,1742
$GC,17232,1.37,323.9,178.4,12.4,1655,17240,0.12,1.90,0.00,0.000,6,0.107,0.057,3081,1977,1741
$GC,17580,1.40,347.0,143.7,9.2,1716,17607,0.00,0.00,22.73,0.728,6,0.000,0.000,3081,1979,1646
$GC,17945,1.40,347.0,108.7,11.0,1780,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1980,1643
$GC,18288,1.40,347.0,72.7,10.7,1841,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1981,1643
$GC,18631,1.40,347.0,35.6,11.3,1902,18638,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1981,1643
$GC,18774,1.40,347.0,20.6,10.2,1927,18780,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1981,1642
$GC,18916,1.48,410.1,7.2,7.8,1952,18968,0.00,0.00,49.55,0.650,2,0.000,0.000,3081,1981,1415
$STATE,18969,end climb,SURFACE_DEPTH_REACHED
$STATE,18969,begin surface coast
$FINISH,0.2,1.023441
$STATE,19003,end surface coast,CONTROL_FINISHED_OK
$STATE,19003,begin surface
$SM_CCo,19084,0.00,0.000,0,0,1408,405.48
$SM_GC,0.84,10.60,0.00,0.00,0.038,0.000,0.000,574,2042,1408,-10.06,0.34,405.48
$IRIDIUM_FIX,6126.23,-2625.76,120997,101000
$TT8_MAMPS,0.042185
$HUMID,1723
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,15.40
$XPDR_PINGS,1283
$24V_AH,23.1,71.149
$10V_AH,10.5,70.080
$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,25.175,102.325,536.875,0.000,0.000,53.692,73.428,371.426,320.750,0.000,0.000,16.839,4003.973,10548.256,754.826,3500.397,983.957,0.000,2320.434,0.000,3527.217,0.000,0.465
$DEVICE_MAMPS,197.119,156.468,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1360.199,1513.025,739.352,1775.273,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145397,1965
$CAP_FILE_SIZE,174987,0
$CFSIZE,260165632,223653888
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,25,3,0
$CURRENT,0.080,153.6,1
$GPS,180608,153208,6147.712,-2606.600,29,1.0,29,-18.7