version: 66.03
glider: 141
mission: 7
dive: 355
start: 6 19 108 8 50 3
data:
$ID,141
$MISSION,7
$DIVE,355
$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,-12713.31
$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,10
$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
$GPS1,084052,6150.910,-2559.018,40,2.3,59,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.7
$GPS2,084944,6150.873,-2558.910,10,1.4,15,-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,12.0,9800,-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,-194.7,0.0,0.0,0,124,0.00,0.00,-99.65,0.000,2,0.000,0.000,572,2037,3777
$GC,127,-1.34,-194.7,3.6,-6.5,13,151,11.27,1.98,-1.73,0.000,4,0.199,0.081,2483,3085,3858
$GC,204,-1.27,-194.7,19.0,-12.5,25,212,0.00,2.00,0.00,0.000,6,0.000,0.081,2483,1998,3859
$GC,347,-1.22,-194.7,36.6,-11.8,50,354,0.15,0.00,0.00,0.000,6,0.115,0.000,2516,1991,3859
$GC,490,-1.22,-194.7,51.3,-10.2,75,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1989,3859
$GC,833,-1.22,-194.7,86.6,-11.0,136,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1988,3859
$GC,1179,-1.22,-194.7,125.8,-11.4,197,1186,0.00,2.00,0.00,0.000,4,0.000,0.073,2516,3084,3859
$GC,1283,-1.22,-194.7,137.9,-11.6,215,1290,0.00,2.03,0.00,0.000,6,0.000,0.078,2516,2004,3860
$GC,1628,-1.22,-194.7,176.9,-11.2,276,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1999,3860
$GC,1974,-1.22,-194.7,213.5,-10.6,337,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1999,3859
$GC,2318,-1.22,-194.7,247.8,-9.9,398,2325,0.00,1.95,0.00,0.000,4,0.000,0.055,2516,3093,3859
$GC,2389,-1.22,-194.7,254.8,-9.8,410,2396,0.00,2.17,0.00,0.000,6,0.000,0.106,2516,1981,3860
$GC,2735,-1.22,-194.7,287.2,-9.4,471,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1973,3859
$GC,3079,-1.22,-194.7,319.6,-9.3,532,3087,0.00,2.03,0.00,0.000,4,0.000,0.062,2516,3108,3860
$GC,3167,-1.22,-194.7,327.9,-9.4,547,3174,0.00,2.33,0.00,0.000,6,0.000,0.143,2516,2011,3859
$GC,3514,-1.22,-194.7,359.2,-9.1,600,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2006,3859
$GC,3833,-1.22,-194.7,387.7,-9.0,630,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2006,3859
$GC,4151,-1.22,-194.7,417.1,-9.4,660,4154,0.00,1.95,0.00,0.000,4,0.000,0.056,2516,3093,3859
$GC,4224,-1.22,-194.7,424.4,-9.7,666,4231,0.00,2.17,0.00,0.000,6,0.000,0.127,2516,2036,3859
$GC,4552,-1.22,-194.7,455.7,-9.8,697,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2033,3859
$GC,4878,-1.22,-194.7,487.1,-9.4,728,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2033,3858
$GC,5196,-1.22,-194.7,517.5,-9.6,758,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2033,3858
$GC,5515,-1.22,-194.7,546.9,-9.0,788,5518,0.00,1.92,0.00,0.000,4,0.000,0.063,2516,3089,3858
$GC,5565,-1.22,-194.7,552.0,-9.8,792,5573,0.00,2.15,0.00,0.000,6,0.000,0.121,2516,2021,3858
$GC,5893,-1.22,-194.7,581.8,-9.2,823,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2020,3858
$GC,6217,-1.22,-194.7,611.2,-9.0,848,6220,0.00,1.95,0.00,0.000,4,0.000,0.065,2516,3083,3858
$GC,6286,-1.22,-194.7,617.7,-9.5,851,6290,0.00,1.88,0.00,0.000,6,0.000,0.044,2516,2042,3858
$GC,6620,-1.22,-194.7,647.0,-8.9,867,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2041,3858
$GC,6928,-1.22,-194.7,674.0,-8.6,882,6932,0.00,1.95,0.00,0.000,4,0.000,0.074,2516,3080,3857
$GC,6990,-1.22,-194.7,679.7,-9.2,884,6997,0.00,1.85,0.00,0.000,6,0.000,0.057,2516,2058,3857
$GC,7306,-1.22,-194.7,707.4,-9.0,900,7310,0.00,2.33,0.00,0.000,4,0.000,0.140,2516,978,3857
$GC,7378,-1.22,-194.7,714.2,-9.4,903,7382,0.00,1.92,0.00,0.000,6,0.000,0.051,2516,2052,3857
$GC,7701,-1.22,-194.7,744.1,-9.7,919,7704,0.00,2.03,0.00,0.000,4,0.000,0.105,2516,3078,3857
$GC,7785,-1.22,-194.7,752.7,-10.1,922,7792,0.00,2.22,0.00,0.000,6,0.000,0.146,2516,2059,3857
$GC,8101,-1.22,-194.7,782.2,-9.0,938,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2059,3856
$GC,8411,-1.22,-194.7,810.8,-9.4,953,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2057,3856
$GC,8722,-1.22,-194.7,841.1,-9.7,968,8725,0.00,2.03,0.00,0.000,4,0.000,0.073,2516,967,3856
$GC,8791,-1.22,-194.7,847.7,-9.3,971,8795,0.00,1.98,0.00,0.000,6,0.000,0.051,2516,2071,3856
$GC,9124,-1.22,-194.7,878.2,-9.0,987,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2072,3855
$GC,9435,-1.22,-194.7,907.7,-9.8,1002,9439,0.00,2.05,0.00,0.000,4,0.000,0.119,2515,3080,3855
$GC,9526,-1.22,-194.7,917.0,-10.3,1006,9530,0.00,2.40,0.00,0.000,6,0.000,0.179,2516,2051,3854
$GC,9853,-1.22,-194.7,951.3,-11.1,1022,9856,0.00,2.00,0.00,0.000,4,0.000,0.074,2516,973,3854
$GC,9909,-1.26,-194.7,957.6,-11.4,1024,9912,0.00,2.03,0.00,0.000,6,0.000,0.067,2516,2064,3854
$GC,10231,-1.26,-194.7,983.3,-8.7,1040,10234,0.00,1.98,0.00,0.000,4,0.000,0.095,2516,3087,3854
$GC,10293,-1.26,-194.7,988.6,-9.0,1042,10300,0.00,2.15,0.00,0.000,6,0.000,0.130,2515,2067,3853
$STATE,10317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10317,begin apogee
$GC,10324,-0.37,0.0,990.8,8.3,1044,10501,0.85,0.00,171.80,1.282,6,0.100,0.000,2694,1965,3062
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10504,1.34,194.7,991.1,0.0,1053,10680,1.70,0.00,171.30,1.250,6,0.077,0.000,3066,1964,2268
$GC,10978,1.33,217.7,945.6,9.2,1076,11001,0.00,0.00,21.42,1.156,6,0.000,0.000,3065,1964,2174
$GC,11307,1.34,224.8,911.9,9.8,1092,11316,0.00,0.00,7.70,0.994,6,0.000,0.000,3065,1964,2145
$GC,11617,1.35,233.0,883.2,9.7,1107,11631,0.00,2.05,8.93,1.026,4,0.000,0.062,3066,3041,2113
$GC,11643,1.35,233.0,880.2,10.5,1108,11647,0.00,1.92,0.00,0.000,6,0.000,0.043,3065,1962,2111
$GC,11971,1.35,233.0,846.2,10.3,1124,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1957,2110
$GC,12281,1.37,248.1,815.8,9.5,1139,12306,0.00,0.00,17.65,0.998,6,0.000,0.000,3066,1957,2049
$GC,12610,1.39,263.8,783.8,9.5,1155,12630,0.00,0.00,15.57,1.078,6,0.000,0.000,3066,1956,1986
$GC,12939,1.41,279.0,752.9,9.5,1171,12964,0.00,0.00,17.45,0.963,6,0.000,0.000,3066,1957,1924
$GC,13269,1.41,284.1,720.8,9.8,1187,13277,0.00,0.00,6.22,0.873,6,0.000,0.000,3066,1957,1903
$GC,13577,1.43,299.8,692.3,9.5,1202,13603,0.10,0.00,18.35,0.943,6,0.071,0.000,3095,1957,1839
$GC,13907,1.43,299.8,655.9,11.2,1218,13911,0.00,1.98,0.00,0.000,4,0.000,0.059,3095,3042,1836
$GC,13931,1.43,299.8,653.0,12.0,1219,13935,0.00,2.60,0.00,0.000,6,0.000,0.191,3095,1972,1835
$GC,14258,1.43,299.8,615.3,11.2,1235,14262,0.00,1.92,0.00,0.000,4,0.000,0.063,3095,915,1835
$GC,14282,1.39,299.8,612.5,11.1,1236,14286,0.00,1.92,0.00,0.000,6,0.000,0.056,3095,1966,1835
$GC,14611,1.39,299.8,574.7,12.0,1261,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1968,1835
$GC,14931,1.39,299.8,537.3,12.2,1291,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1970,1835
$GC,15248,1.39,299.8,499.6,11.3,1321,15249,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1971,1835
$GC,15567,1.39,299.8,464.0,10.6,1351,15571,0.00,2.00,0.00,0.000,4,0.000,0.074,3096,3045,1835
$GC,15591,1.39,299.8,461.3,10.3,1353,15595,0.00,1.90,0.00,0.000,6,0.000,0.039,3095,1955,1834
$GC,15923,1.39,299.8,426.2,10.8,1384,15925,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1952,1834
$GC,16241,1.39,299.8,392.2,10.9,1414,16242,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1953,1834
$GC,16559,1.39,299.8,357.4,11.2,1444,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1952,1834
$GC,16893,1.39,299.8,320.3,10.5,1497,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1952,1835
$GC,17237,1.39,299.8,285.4,10.2,1558,17244,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1952,1835
$GC,17583,1.42,320.0,250.5,9.3,1619,17609,0.00,0.00,18.42,0.785,6,0.000,0.000,3096,1953,1756
$GC,17947,1.42,320.0,212.9,10.4,1683,17953,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1952,1754
$GC,18291,1.42,320.0,176.4,10.7,1744,18298,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1952,1754
$GC,18636,1.45,348.3,142.2,9.0,1805,18668,0.00,0.00,26.52,0.733,6,0.000,0.000,3095,1952,1641
$GC,19007,1.45,348.3,106.6,10.0,1870,19014,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1952,1637
$GC,19353,1.50,388.4,75.6,8.6,1931,19392,0.00,0.00,35.83,0.696,6,0.000,0.000,3096,1952,1477
$GC,19730,1.57,446.1,39.5,8.0,1997,19787,0.12,2.17,50.22,0.667,4,0.061,0.114,3134,933,1242
$GC,19806,1.57,446.1,31.6,11.1,2008,19814,0.00,1.88,0.00,0.000,6,0.000,0.035,3134,1986,1239
$GC,19948,1.57,446.1,16.2,10.3,2033,19955,0.00,2.05,0.00,0.000,4,0.000,0.097,3134,931,1236
$GC,19965,1.57,446.1,14.6,10.0,2035,19972,0.00,1.88,0.00,0.000,6,0.000,0.059,3134,1933,1235
$STATE,20060,end climb,SURFACE_DEPTH_REACHED
$STATE,20060,begin surface coast
$FINISH,0.1,1.026847
$STATE,20089,end surface coast,CONTROL_FINISHED_OK
$STATE,20092,begin surface
$SM_CCo,20173,0.00,0.000,0,0,1232,448.65
$SM_GC,0.85,10.80,0.00,0.00,0.037,0.000,0.000,568,2051,1232,-10.08,0.59,448.65
$IRIDIUM_FIX,6126.23,-2605.39,130997,030348
$TT8_MAMPS,0.041418
$HUMID,1718
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.80
$XPDR_PINGS,1348
$24V_AH,23.1,72.068
$10V_AH,10.5,70.789
$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,25.000,82.025,587.400,0.000,0.000,30.242,38.818,290.686,337.000,0.000,0.000,16.786,4115.081,11326.450,788.847,3629.980,820.492,0.000,2369.170,0.000,3649.007,0.000,0.465
$DEVICE_MAMPS,199.420,190.983,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1426.664,1567.516,764.538,1817.868,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,151414,2057
$CAP_FILE_SIZE,174049,0
$CFSIZE,260165632,223256576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,3,0
$CURRENT,0.069,152.9,1
$GPS,190608,142737,6153.209,-2558.804,37,1.9,43,-18.7