version: 66.03
glider: 141
mission: 7
dive: 353
start: 6 18 108 21 18 52
data:
$ID,141
$MISSION,7
$DIVE,353
$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,-12683.358
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,211009,6145.967,-2601.829,32,1.5,33,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-54.5
$GPS2,211833,6145.906,-2601.887,13,1.8,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,23.0,18992,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,119,0.00,0.00,-94.65,0.000,2,0.000,0.000,577,2032,3779
$GC,123,-1.34,-194.7,3.8,-6.7,13,146,11.15,1.98,-1.67,0.000,4,0.199,0.073,2481,3090,3858
$GC,205,-1.28,-194.7,19.8,-12.1,26,213,0.10,2.00,0.00,0.000,6,0.122,0.089,2499,2018,3859
$GC,349,-1.28,-194.7,35.7,-10.9,51,356,0.00,2.00,0.00,0.000,4,0.000,0.102,2499,984,3859
$GC,443,-1.28,-194.7,46.8,-11.5,67,451,0.00,1.95,0.00,0.000,6,0.000,0.087,2499,1982,3859
$GC,586,-1.28,-194.7,62.9,-11.2,92,594,0.00,2.12,0.00,0.000,4,0.000,0.087,2499,3091,3859
$GC,719,-1.28,-194.7,77.2,-10.4,115,726,0.00,2.15,0.00,0.000,6,0.000,0.114,2499,2012,3860
$GC,1062,-1.28,-194.7,112.1,-10.2,176,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2003,3859
$GC,1411,-1.28,-194.7,146.5,-10.2,237,1418,0.00,1.95,0.00,0.000,4,0.000,0.061,2499,3097,3860
$GC,1515,-1.28,-194.7,157.5,-10.4,255,1522,0.00,2.45,0.00,0.000,6,0.000,0.179,2499,2022,3860
$GC,1860,-1.28,-194.7,191.4,-9.5,316,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2015,3860
$GC,2205,-1.28,-194.7,225.9,-10.1,377,2212,0.00,1.98,0.00,0.000,4,0.000,0.065,2499,3098,3860
$GC,2292,-1.28,-194.7,234.9,-10.1,392,2299,0.00,2.00,0.00,0.000,6,0.000,0.097,2499,2042,3860
$GC,2638,-1.28,-194.7,269.1,-9.8,453,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2037,3860
$GC,2982,-1.28,-194.7,304.4,-10.2,514,2990,0.00,1.98,0.00,0.000,4,0.000,0.067,2499,3098,3860
$GC,3069,-1.28,-194.7,313.4,-10.2,529,3076,0.00,2.05,0.00,0.000,6,0.000,0.110,2499,2047,3859
$GC,3414,-1.28,-194.7,348.1,-9.7,590,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2041,3859
$GC,3742,-1.28,-194.7,380.7,-10.0,622,3746,0.00,1.90,0.00,0.000,4,0.000,0.056,2499,3102,3860
$GC,3800,-1.28,-194.7,386.7,-10.2,627,3804,0.00,2.12,0.00,0.000,6,0.000,0.126,2499,2087,3859
$GC,4127,-1.28,-194.7,419.7,-10.3,657,4131,0.00,2.25,0.00,0.000,4,0.000,0.124,2499,992,3859
$GC,4183,-1.28,-194.7,425.7,-10.4,661,4189,0.00,1.95,0.00,0.000,6,0.000,0.065,2499,2066,3859
$GC,4509,-1.28,-194.7,458.8,-10.2,692,4513,0.00,1.90,0.00,0.000,4,0.000,0.074,2499,3094,3859
$GC,4578,-1.28,-194.7,466.0,-10.3,698,4582,0.00,2.47,0.00,0.000,6,0.000,0.193,2499,2077,3859
$GC,4905,-1.28,-194.7,497.1,-9.2,728,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2073,3859
$GC,5232,-1.28,-194.7,527.0,-9.6,759,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2072,3859
$GC,5549,-1.28,-194.7,560.0,-11.1,789,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2072,3858
$GC,5869,-1.28,-194.7,596.7,-11.6,819,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2072,3858
$GC,6189,-1.28,-194.7,633.8,-11.5,836,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2072,3859
$GC,6498,-1.28,-194.7,665.8,-9.8,851,6502,0.00,2.33,0.00,0.000,4,0.000,0.138,2499,976,3858
$GC,6548,-1.28,-194.7,670.9,-10.1,853,6552,0.00,1.98,0.00,0.000,6,0.000,0.057,2499,2060,3858
$GC,6872,-1.28,-194.7,701.5,-9.2,869,6876,0.00,1.98,0.00,0.000,4,0.000,0.091,2499,3094,3858
$GC,6950,-1.28,-194.7,709.2,-9.6,872,6954,0.00,1.85,0.00,0.000,6,0.000,0.048,2499,2068,3858
$GC,7273,-1.28,-194.7,737.8,-8.8,888,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2067,3858
$GC,7583,-1.28,-194.7,765.2,-9.4,903,7587,0.00,2.28,0.00,0.000,4,0.000,0.131,2499,978,3857
$GC,7639,-1.28,-194.7,771.0,-9.3,905,7646,0.00,2.05,0.00,0.000,6,0.000,0.068,2499,2082,3857
$GC,7956,-1.28,-194.7,798.7,-9.0,921,7960,0.00,2.00,0.00,0.000,4,0.000,0.106,2499,3080,3857
$GC,8023,-1.28,-194.7,805.1,-9.5,924,8028,0.00,2.40,0.00,0.000,6,0.000,0.189,2499,2092,3857
$GC,8351,-1.28,-194.7,834.5,-9.4,940,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2090,3857
$GC,8661,-1.28,-194.7,865.6,-10.2,955,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2089,3857
$GC,8971,-1.28,-194.7,896.3,-10.1,970,8974,0.00,1.90,0.00,0.000,4,0.000,0.080,2499,3094,3856
$GC,9043,-1.28,-194.7,904.4,-11.8,973,9047,0.00,2.22,0.00,0.000,6,0.000,0.160,2499,2099,3856
$GC,9371,-1.28,-194.7,937.5,-10.0,989,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2098,3856
$GC,9679,-1.28,-194.7,968.4,-9.8,1004,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2097,3855
$STATE,9903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9903,begin apogee
$GC,9910,-0.37,0.0,990.5,9.8,1015,10086,0.93,0.00,171.68,1.284,6,0.100,0.000,2694,1987,3062
$STATE,10087,end apogee,CONTROL_FINISHED_OK
$STATE,10087,begin climb
$GC,10091,1.34,194.7,996.5,0.0,1024,10271,1.73,2.17,170.12,1.253,4,0.078,0.104,3069,926,2267
$GC,10283,1.33,230.6,984.7,8.8,1032,10321,0.00,1.92,33.20,1.191,6,0.000,0.044,3069,1998,2122
$GC,10639,1.35,248.6,951.4,9.4,1050,10658,0.00,0.00,17.35,1.135,6,0.000,0.000,3069,1998,2048
$GC,10966,1.35,248.6,917.3,10.5,1066,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1999,2044
$GC,11276,1.35,248.6,884.5,10.7,1081,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2000,2044
$GC,11585,1.38,270.7,854.2,9.2,1096,11625,0.00,0.00,24.70,0.986,6,0.000,0.000,3069,2000,1959
$GC,11935,1.38,270.7,818.9,10.7,1113,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2001,1956
$GC,12244,1.40,291.7,788.6,9.3,1128,12285,0.00,2.47,25.25,0.967,4,0.000,0.148,3069,922,1872
$GC,12296,1.45,328.3,783.7,8.7,1130,12337,0.10,1.90,35.10,1.124,6,0.071,0.041,3099,1986,1723
$GC,12661,1.45,328.3,745.1,11.1,1148,12662,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1987,1717
$GC,12969,1.45,328.3,712.1,10.2,1163,12972,0.00,2.15,0.00,0.000,4,0.000,0.108,3099,923,1716
$GC,13025,1.42,338.2,706.2,9.7,1165,13040,0.00,1.85,9.52,0.972,6,0.000,0.044,3099,1965,1682
$GC,13363,1.42,338.2,671.0,11.2,1182,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1969,1680
$GC,13672,1.42,338.2,631.0,13.3,1197,13676,0.00,1.90,0.00,0.000,4,0.000,0.055,3099,917,1679
$GC,13695,1.42,338.2,627.7,14.3,1198,13699,0.00,1.92,0.00,0.000,6,0.000,0.062,3099,1956,1680
$GC,14021,1.42,338.2,586.2,12.6,1218,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1959,1680
$GC,14339,1.42,338.2,548.6,11.5,1248,14342,0.00,1.88,0.00,0.000,4,0.000,0.054,3099,919,1679
$GC,14355,1.42,338.2,546.4,11.6,1249,14362,0.00,2.15,0.00,0.000,6,0.000,0.121,3099,1953,1679
$GC,14683,1.42,338.2,510.0,11.3,1280,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1955,1679
$GC,15009,1.42,338.2,473.9,11.2,1311,15012,0.00,2.00,0.00,0.000,4,0.000,0.093,3099,918,1679
$GC,15025,1.42,338.2,471.7,11.9,1312,15033,0.00,1.95,0.00,0.000,6,0.000,0.060,3099,1967,1679
$GC,15352,1.42,338.2,434.2,11.6,1343,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1968,1679
$GC,15671,1.42,338.2,397.8,11.5,1373,15675,0.00,1.90,0.00,0.000,4,0.000,0.052,3099,924,1679
$GC,15695,1.42,338.2,394.6,11.8,1375,15699,0.00,2.05,0.00,0.000,6,0.000,0.104,3099,1940,1679
$GC,16025,1.42,338.2,356.1,11.9,1406,16027,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1941,1679
$GC,16359,1.42,338.2,316.5,11.7,1461,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1941,1680
$GC,16704,1.42,338.2,274.9,12.2,1522,16711,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1942,1679
$GC,17050,1.42,338.2,234.5,13.0,1583,17056,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1941,1679
$GC,17394,1.42,338.2,196.3,10.5,1644,17400,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1943,1680
$GC,17738,1.42,338.8,160.7,10.0,1705,17744,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1943,1679
$GC,18081,1.42,345.0,125.7,9.8,1766,18094,0.00,0.00,7.60,0.640,6,0.000,0.000,3099,1944,1653
$GC,18433,1.42,345.0,91.1,10.6,1828,18439,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1944,1653
$GC,18777,1.42,345.0,54.1,11.0,1889,18783,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1944,1653
$GC,19121,1.42,345.0,15.5,11.2,1950,19128,0.00,2.05,0.00,0.000,4,0.000,0.076,3099,3059,1653
$GC,19136,1.42,345.0,13.8,11.2,1952,19143,0.00,2.12,0.00,0.000,6,0.000,0.092,3099,1930,1652
$STATE,19231,end climb,SURFACE_DEPTH_REACHED
$STATE,19231,begin surface coast
$FINISH,0.1,1.026910
$STATE,19263,end surface coast,CONTROL_FINISHED_OK
$STATE,19264,begin surface
$SM_CCo,19345,0.00,0.000,0,0,1651,346.12
$SM_GC,0.95,10.60,0.00,0.00,0.038,0.000,0.000,573,2050,1651,-10.06,0.57,346.12
$IRIDIUM_FIX,6121.73,-2607.48,120997,151555
$TT8_MAMPS,0.041418
$HUMID,1731
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,15.20
$XPDR_PINGS,1280
$24V_AH,23.1,71.602
$10V_AH,10.5,70.427
$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,24.600,91.025,494.525,0.000,0.000,31.008,38.181,268.199,320.000,0.000,0.000,15.179,3952.953,10885.942,688.789,3494.633,803.160,0.000,2228.854,0.000,3518.853,0.000,0.465
$DEVICE_MAMPS,198.653,192.517,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1367.095,1518.017,743.288,1742.155,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145697,1974
$CAP_FILE_SIZE,166623,0
$CFSIZE,260165632,223469568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,4,0
$CURRENT,0.092,133.3,1
$GPS,190608,024232,6148.212,-2559.722,37,1.3,37,-18.6