version: 66.03
glider: 141
mission: 7
dive: 356
start: 6 19 108 14 36 54
data:
$ID,141
$MISSION,7
$DIVE,356
$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,-12744.497
$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
$GPS1,142737,6153.209,-2558.804,37,1.9,43,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-52.6
$GPS2,143637,6153.142,-2558.792,13,1.8,29,-18.7
$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,6.2,5669,-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,20,begin dive
$GC,23,-1.34,-194.7,0.0,0.0,0,153,0.00,0.00,-127.30,0.000,6,0.000,0.000,568,2050,3856
$GC,156,-1.34,-194.7,4.1,-7.9,17,172,11.20,1.92,0.00,0.000,4,0.198,0.041,2480,974,3858
$GC,214,-1.29,-194.7,17.8,-12.2,26,221,0.00,1.92,0.00,0.000,6,0.000,0.057,2480,2015,3859
$GC,357,-1.24,-194.7,34.1,-10.8,51,365,0.15,1.95,0.00,0.000,4,0.115,0.063,2513,3092,3859
$GC,422,-1.24,-194.7,40.7,-10.0,62,430,0.00,2.35,0.00,0.000,6,0.000,0.160,2513,2037,3859
$GC,566,-1.24,-194.7,54.0,-9.3,87,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2034,3860
$GC,914,-1.24,-194.7,85.2,-9.4,148,921,0.00,1.92,0.00,0.000,4,0.000,0.052,2513,956,3860
$GC,975,-1.24,-194.7,90.4,-8.3,158,982,0.00,1.95,0.00,0.000,6,0.000,0.051,2513,2021,3860
$GC,1320,-1.24,-194.7,117.8,-8.0,219,1326,0.00,1.88,0.00,0.000,4,0.000,0.049,2513,3091,3860
$GC,1425,-1.24,-194.7,126.7,-8.3,237,1433,0.00,2.33,0.00,0.000,6,0.000,0.150,2513,2032,3861
$GC,1770,-1.24,-194.7,159.3,-10.0,298,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2031,3860
$GC,2115,-1.24,-194.7,191.1,-9.0,359,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2030,3860
$GC,2460,-1.24,-194.7,222.3,-9.1,420,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2030,3860
$GC,2805,-1.24,-194.7,253.8,-9.7,481,2812,0.00,2.25,0.00,0.000,4,0.000,0.138,2513,3082,3860
$GC,2875,-1.24,-194.7,260.8,-9.5,493,2882,0.00,2.00,0.00,0.000,6,0.000,0.074,2513,1998,3860
$GC,3220,-1.24,-194.7,294.2,-9.9,554,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1989,3859
$GC,3567,-1.24,-194.7,328.0,-9.9,615,3574,0.00,2.08,0.00,0.000,4,0.000,0.087,2513,3079,3858
$GC,3659,-1.24,-194.7,337.4,-9.9,631,3666,0.00,1.95,0.00,0.000,6,0.000,0.078,2513,2028,3859
$GC,3997,-1.24,-194.7,370.9,-10.1,673,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2022,3858
$GC,4317,-1.24,-194.7,404.6,-11.1,703,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2023,3858
$GC,4634,-1.24,-194.7,441.4,-11.7,733,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2023,3858
$GC,4952,-1.24,-194.7,475.5,-10.3,763,4956,0.00,1.98,0.00,0.000,4,0.000,0.072,2513,3091,3858
$GC,5035,-1.24,-194.7,484.5,-10.8,770,5042,0.00,2.22,0.00,0.000,6,0.000,0.150,2513,2065,3857
$GC,5363,-1.24,-194.7,518.8,-10.6,801,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2061,3857
$GC,5688,-1.24,-194.7,552.6,-10.1,832,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2061,3857
$GC,6007,-1.24,-194.7,586.3,-10.4,862,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2061,3857
$GC,6331,-1.24,-194.7,617.6,-9.4,884,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2061,3856
$GC,6642,-1.24,-194.7,647.3,-9.3,899,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2061,3856
$GC,6949,-1.24,-194.7,676.2,-9.7,914,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2059,3856
$GC,7259,-1.24,-194.7,704.5,-8.9,929,7262,0.00,2.00,0.00,0.000,4,0.000,0.098,2513,3080,3856
$GC,7328,-1.24,-194.7,710.6,-9.4,932,7332,0.00,1.85,0.00,0.000,6,0.000,0.048,2513,2045,3855
$GC,7661,-1.24,-194.7,739.4,-8.7,948,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2043,3855
$GC,7971,-1.24,-194.7,769.0,-10.1,963,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2042,3855
$GC,8280,-1.24,-194.7,799.2,-9.9,978,8284,0.00,2.30,0.00,0.000,4,0.000,0.143,2513,978,3855
$GC,8336,-1.24,-194.7,805.0,-10.1,980,8343,0.00,2.00,0.00,0.000,6,0.000,0.071,2513,2049,3855
$GC,8652,-1.24,-194.7,835.4,-9.8,996,8656,0.00,2.05,0.00,0.000,4,0.000,0.107,2513,3086,3855
$GC,8754,-1.24,-194.7,845.7,-9.7,1000,8758,0.00,2.25,0.00,0.000,6,0.000,0.149,2513,2059,3855
$GC,9070,-1.24,-194.7,874.8,-8.7,1015,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2058,3855
$GC,9380,-1.24,-194.7,903.6,-9.1,1030,9383,0.00,1.98,0.00,0.000,4,0.000,0.085,2513,3086,3854
$GC,9458,-1.24,-194.7,911.5,-10.2,1033,9462,0.00,2.10,0.00,0.000,6,0.000,0.107,2513,2047,3854
$GC,9782,-1.24,-194.7,940.2,-9.0,1049,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2047,3854
$STATE,9983,end dive,NO_VERTICAL_VELOCITY
$STATE,9983,begin apogee
$GC,9990,-0.37,0.0,940.3,0.0,1059,10166,0.82,0.00,170.65,1.247,6,0.069,0.000,2700,1986,3062
$STATE,10167,end apogee,CONTROL_FINISHED_OK
$STATE,10167,begin climb
$GC,10170,1.34,194.7,940.2,0.0,1068,10351,1.70,2.08,169.77,1.218,4,0.071,0.071,3072,3047,2267
$GC,10378,1.32,214.2,926.6,9.3,1078,10401,0.00,2.08,18.50,1.119,6,0.000,0.091,3072,1979,2188
$GC,10709,1.28,214.2,893.0,10.0,1094,10713,0.00,1.95,0.00,0.000,4,0.000,0.058,3072,3051,2184
$GC,10721,1.24,214.2,891.7,10.8,1094,10726,0.12,2.38,0.00,0.000,6,0.109,0.156,3048,1993,2183
$GC,11038,1.26,235.1,862.5,9.3,1109,11059,0.00,0.00,19.83,1.118,6,0.000,0.000,3048,1990,2102
$GC,11367,1.30,268.3,834.0,8.8,1125,11402,0.00,2.00,31.20,1.141,4,0.000,0.060,3048,3055,1968
$GC,11420,1.36,313.9,828.9,8.4,1127,11484,0.12,2.28,47.15,1.062,6,0.065,0.126,3083,1988,1781
$GC,11806,1.36,313.9,788.3,10.5,1146,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1988,1775
$GC,12116,1.36,313.9,755.8,10.4,1161,12119,0.00,1.98,0.00,0.000,4,0.000,0.068,3083,922,1773
$GC,12132,1.36,313.9,753.9,10.1,1161,12139,0.00,1.92,0.00,0.000,6,0.000,0.048,3084,2006,1774
$GC,12449,1.36,313.9,721.3,10.9,1177,12452,0.00,2.10,0.00,0.000,4,0.000,0.086,3083,927,1773
$GC,12476,1.36,313.9,717.9,12.0,1178,12480,0.00,1.90,0.00,0.000,6,0.000,0.043,3083,1978,1773
$GC,12804,1.36,313.9,681.5,11.3,1194,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1981,1772
$GC,13113,1.36,313.9,646.0,11.3,1209,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1982,1772
$GC,13422,1.36,313.9,613.0,10.5,1224,13426,0.00,2.12,0.00,0.000,4,0.000,0.111,3083,917,1772
$GC,13444,1.36,313.9,610.5,10.9,1225,13447,0.00,1.95,0.00,0.000,6,0.000,0.062,3083,1975,1772
$GC,13769,1.36,313.9,576.6,10.8,1250,13772,0.00,1.92,0.00,0.000,4,0.000,0.054,3083,916,1771
$GC,13792,1.36,313.9,573.7,11.5,1252,13796,0.00,1.95,0.00,0.000,6,0.000,0.062,3083,1963,1771
$GC,14126,1.36,313.9,535.6,11.8,1283,14132,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1964,1771
$GC,14451,1.36,313.9,498.1,11.4,1314,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1965,1771
$GC,14770,1.36,313.9,461.5,11.6,1344,14774,0.00,2.42,0.00,0.000,4,0.000,0.173,3082,922,1771
$GC,14780,1.36,313.9,460.2,11.5,1344,14787,0.00,1.90,0.00,0.000,6,0.000,0.041,3083,1987,1771
$GC,15108,1.36,313.9,422.1,11.7,1375,15114,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1988,1771
$GC,15433,1.36,313.9,383.2,11.5,1406,15437,0.00,1.95,0.00,0.000,4,0.000,0.051,3083,901,1771
$GC,15460,1.36,313.9,379.7,12.1,1408,15468,0.00,2.12,0.00,0.000,6,0.000,0.110,3083,1941,1771
$GC,15789,1.36,313.9,343.2,11.1,1444,15797,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1941,1771
$GC,16135,1.36,313.9,307.6,10.1,1505,16142,0.00,2.40,0.00,0.000,4,0.000,0.146,3083,3044,1771
$GC,16149,1.36,313.9,306.0,10.0,1507,16157,0.00,2.35,0.00,0.000,6,0.000,0.144,3083,1963,1771
$GC,16495,1.36,313.9,270.5,10.6,1568,16502,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1961,1771
$GC,16841,1.36,318.6,234.7,9.8,1629,16847,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1961,1771
$GC,17186,1.38,333.6,201.0,9.5,1690,17206,0.00,0.00,16.92,0.752,6,0.000,0.000,3083,1961,1702
$GC,17545,1.40,345.7,164.4,9.6,1753,17564,0.00,1.90,12.68,0.712,4,0.000,0.051,3083,909,1651
$GC,17572,1.40,345.7,161.6,10.2,1757,17580,0.00,1.90,0.00,0.000,6,0.000,0.045,3083,1989,1650
$GC,17916,1.40,347.5,127.4,9.9,1818,17923,0.00,2.25,0.00,0.000,4,0.000,0.138,3083,921,1649
$GC,17947,1.40,347.5,123.9,11.4,1823,17954,0.00,1.85,0.00,0.000,6,0.000,0.057,3083,1934,1649
$GC,18293,1.40,347.5,85.7,12.2,1884,18301,0.00,2.28,0.00,0.000,4,0.000,0.133,3083,3018,1648
$GC,18307,1.40,347.5,84.0,11.7,1886,18315,0.00,2.05,0.00,0.000,6,0.000,0.078,3083,1928,1648
$GC,18654,1.40,347.5,46.8,10.7,1947,18661,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1926,1647
$GC,18796,1.42,367.0,32.4,9.3,1972,18824,0.00,2.00,19.70,0.660,4,0.000,0.053,3083,3046,1564
$GC,18832,1.43,373.1,29.0,9.8,1977,18847,0.00,2.55,6.78,0.563,6,0.000,0.156,3083,1894,1539
$GC,18985,1.48,413.6,14.7,8.6,2003,19027,0.00,0.00,36.40,0.650,6,0.000,0.000,3083,1892,1374
$STATE,19115,end climb,SURFACE_DEPTH_REACHED
$STATE,19116,begin surface coast
$FINISH,0.1,1.013158
$STATE,19152,end surface coast,CONTROL_FINISHED_OK
$STATE,19153,begin surface
$SM_CCo,19234,0.00,0.000,0,0,1368,415.78
$SM_GC,0.97,10.57,0.00,0.00,0.037,0.000,0.000,570,2050,1368,-10.07,0.54,415.78
$IRIDIUM_FIX,6130.75,-2603.30,130997,080823
$TT8_MAMPS,0.042185
$HUMID,1728
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.70
$XPDR_PINGS,1275
$24V_AH,23.1,72.299
$10V_AH,10.5,70.967
$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,24.700,104.125,549.575,0.000,0.000,28.105,44.936,282.086,318.750,0.000,0.000,30.560,4065.896,10482.567,782.531,3599.223,818.823,0.000,2365.562,0.000,3595.749,0.000,0.465
$DEVICE_MAMPS,197.886,172.575,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1407.050,1540.153,797.295,1841.727,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148556,2031
$CAP_FILE_SIZE,174223,0
$CFSIZE,260165632,223154176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,2,0
$CURRENT,0.073,222.4,1
$GPS,190608,195837,6155.447,-2600.897,31,1.2,31,-18.7