version: 66.03
glider: 141
mission: 7
dive: 357
start: 6 19 108 20 7 22
data:
$ID,141
$MISSION,7
$DIVE,357
$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,-12757.854
$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,11
$R_STBD_OVSHOOT,42
$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
$GPS1,195837,6155.447,-2600.897,31,1.2,31,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-55.2
$GPS2,200703,6155.441,-2600.924,11,1.3,11,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$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,244.7,26861,-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,24,-1.34,-194.7,0.0,0.0,0,146,0.00,0.00,-119.75,0.000,2,0.000,0.000,570,2047,3815
$GC,150,-1.34,-194.7,3.9,-7.4,16,167,11.20,1.92,-0.90,0.000,4,0.197,0.077,2483,3069,3858
$GC,353,-1.28,-194.7,37.7,-14.0,51,361,0.00,2.08,0.00,0.000,6,0.000,0.107,2483,2036,3859
$GC,497,-1.23,-194.7,57.6,-14.8,76,505,0.12,2.15,0.00,0.000,4,0.121,0.114,2508,953,3859
$GC,546,-1.23,-194.7,64.7,-14.1,84,554,0.00,2.42,0.00,0.000,6,0.000,0.173,2507,1975,3859
$GC,892,-1.23,-194.7,103.7,-9.5,145,899,0.00,2.58,0.00,0.000,4,0.000,0.187,2507,3054,3860
$GC,946,-1.23,-194.7,108.9,-9.3,154,954,0.00,2.30,0.00,0.000,6,0.000,0.160,2507,1993,3860
$GC,1295,-1.23,-194.7,140.7,-9.7,215,1302,0.00,1.98,0.00,0.000,4,0.000,0.068,2507,3065,3860
$GC,1334,-1.23,-194.7,144.7,-10.3,221,1341,0.00,2.20,0.00,0.000,6,0.000,0.146,2507,2029,3860
$GC,1679,-1.23,-194.7,179.4,-10.0,282,1687,0.00,1.92,0.00,0.000,4,0.000,0.070,2507,3058,3860
$GC,1716,-1.23,-194.7,183.4,-10.6,288,1724,0.00,1.95,0.00,0.000,6,0.000,0.094,2507,2069,3860
$GC,2062,-1.23,-194.7,219.0,-9.9,349,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3860
$GC,2408,-1.23,-194.7,252.9,-9.3,410,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3860
$GC,2754,-1.23,-194.7,284.4,-9.0,471,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3860
$GC,3099,-1.23,-194.7,315.8,-9.0,532,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3860
$GC,3443,-1.23,-194.7,348.3,-10.3,593,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3859
$GC,3771,-1.23,-194.7,381.6,-10.1,625,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3859
$GC,4089,-1.23,-194.7,414.7,-11.0,655,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3859
$GC,4410,-1.23,-194.7,448.4,-10.4,685,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3858
$GC,4735,-1.23,-194.7,482.3,-10.2,716,4739,0.00,1.88,0.00,0.000,4,0.000,0.072,2507,3059,3858
$GC,4793,-1.23,-194.7,488.1,-9.8,721,4798,0.00,2.30,0.00,0.000,6,0.000,0.162,2507,2033,3858
$GC,5121,-1.23,-194.7,521.6,-10.3,751,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2032,3858
$GC,5438,-1.23,-194.7,554.4,-10.4,781,5441,0.00,1.88,0.00,0.000,4,0.000,0.063,2507,3058,3858
$GC,5472,-1.23,-194.7,558.2,-11.0,784,5476,0.00,2.08,0.00,0.000,6,0.000,0.125,2507,2070,3858
$GC,5806,-1.23,-194.7,593.5,-10.0,815,5809,0.00,1.83,0.00,0.000,4,0.000,0.065,2507,3059,3858
$GC,5845,-1.23,-194.7,597.7,-9.8,818,5853,0.00,2.00,0.00,0.000,6,0.000,0.099,2507,2032,3858
$GC,6163,-1.23,-194.7,627.2,-9.1,835,6166,0.00,2.03,0.00,0.000,4,0.000,0.099,2507,3054,3858
$GC,6190,-1.23,-194.7,630.0,-9.8,836,6194,0.00,1.95,0.00,0.000,6,0.000,0.104,2507,2066,3858
$GC,6518,-1.23,-194.7,660.5,-10.2,852,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2065,3857
$GC,6827,-1.23,-194.7,692.7,-10.0,867,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2062,3857
$GC,7136,-1.23,-194.7,720.8,-8.6,882,7140,0.00,1.88,0.00,0.000,4,0.000,0.076,2507,3063,3857
$GC,7183,-1.23,-194.7,724.9,-8.8,884,7187,0.00,1.98,0.00,0.000,6,0.000,0.114,2507,2079,3857
$GC,7515,-1.23,-194.7,753.8,-8.5,900,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2077,3857
$GC,7825,-1.23,-194.7,781.5,-9.8,915,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2076,3857
$GC,8135,-1.23,-194.7,811.8,-9.9,930,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2075,3856
$GC,8444,-1.23,-194.7,842.1,-9.2,945,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2074,3856
$GC,8753,-1.23,-194.7,871.7,-9.9,960,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2073,3856
$GC,9063,-1.55,-194.7,885.1,-0.0,975,9067,0.28,1.83,0.00,0.000,4,0.070,0.067,2439,3062,3856
$STATE,9076,end dive,NO_VERTICAL_VELOCITY
$STATE,9076,begin apogee
$GC,9085,-0.37,0.0,885.1,0.0,975,9258,1.10,0.00,169.85,1.210,6,0.067,0.000,2694,1982,3062
$STATE,9259,end apogee,CONTROL_FINISHED_OK
$STATE,9259,begin climb
$GC,9262,1.34,194.7,884.9,0.0,984,9442,1.67,2.25,167.90,1.183,4,0.067,0.121,3068,925,2267
$GC,9580,1.29,194.7,863.0,10.4,998,9583,0.00,2.05,0.00,0.000,6,0.000,0.101,3068,1948,2263
$GC,9912,1.33,227.2,831.2,8.9,1014,9949,0.00,2.78,29.50,1.113,4,0.000,0.193,3069,3041,2134
$GC,10011,1.33,227.2,821.5,10.7,1018,10014,0.00,2.08,0.00,0.000,6,0.000,0.090,3069,1974,2132
$GC,10333,1.37,260.0,791.7,8.9,1034,10378,0.00,2.10,32.30,1.051,4,0.000,0.104,3068,938,2002
$GC,10417,1.38,270.0,783.7,9.7,1037,10433,0.00,2.15,10.80,0.992,6,0.000,0.115,3068,1986,1961
$GC,10757,1.41,294.0,753.3,9.2,1054,10797,0.00,0.00,27.17,0.947,6,0.000,0.000,3068,1988,1863
$GC,11106,1.44,315.3,720.9,9.3,1071,11136,0.10,0.00,22.48,0.976,6,0.072,0.000,3098,1989,1776
$GC,11435,1.44,315.3,685.3,10.7,1087,11439,0.00,2.22,0.00,0.000,4,0.000,0.130,3098,933,1772
$GC,11486,1.39,315.3,679.3,11.7,1089,11489,0.00,2.03,0.00,0.000,6,0.000,0.083,3098,1978,1772
$GC,11813,1.39,315.3,642.4,11.7,1105,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1981,1771
$GC,12123,1.39,315.3,607.2,10.9,1120,12127,0.00,2.20,0.00,0.000,4,0.000,0.123,3098,3047,1770
$GC,12162,1.39,315.3,602.1,13.1,1122,12167,0.00,2.53,0.00,0.000,6,0.000,0.186,3098,2000,1770
$GC,12488,1.39,315.3,559.9,12.9,1152,12492,0.00,1.95,0.00,0.000,4,0.000,0.062,3098,924,1769
$GC,12524,1.35,315.3,555.3,13.6,1155,12529,0.12,2.17,0.00,0.000,6,0.109,0.110,3074,1990,1770
$GC,12850,1.36,318.9,521.3,9.9,1185,12859,0.00,0.00,4.05,0.641,6,0.000,0.000,3074,1990,1759
$GC,13181,1.38,342.6,490.6,9.2,1216,13228,0.00,2.47,27.02,0.831,4,0.000,0.153,3074,924,1664
$GC,13256,1.41,364.2,483.3,9.2,1222,13291,0.00,1.98,23.52,0.858,6,0.000,0.059,3074,1985,1576
$GC,13618,1.45,397.9,452.1,8.8,1256,13652,0.10,0.00,31.48,0.915,6,0.070,0.000,3104,1986,1439
$GC,13967,1.45,397.9,413.9,11.2,1289,13971,0.00,1.92,0.00,0.000,4,0.000,0.052,3104,916,1434
$GC,14024,1.45,397.9,407.1,11.8,1294,14028,0.00,2.03,0.00,0.000,6,0.000,0.081,3104,1967,1434
$GC,14356,1.45,397.9,368.9,11.6,1325,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1966,1433
$GC,14683,1.45,397.9,330.5,11.6,1369,14690,0.00,1.88,0.00,0.000,4,0.000,0.051,3104,916,1432
$GC,14713,1.45,397.9,326.8,12.1,1374,14721,0.00,2.42,0.00,0.000,6,0.000,0.167,3104,1966,1432
$GC,15060,1.45,397.9,287.7,11.1,1435,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1965,1432
$GC,15403,1.45,397.9,248.8,11.2,1496,15410,0.00,2.05,0.00,0.000,4,0.000,0.099,3104,915,1432
$GC,15446,1.45,397.9,243.8,12.1,1503,15453,0.00,1.92,0.00,0.000,6,0.000,0.064,3104,1965,1432
$GC,15792,1.45,397.9,205.7,10.7,1564,15798,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1967,1431
$GC,16137,1.45,397.9,169.4,10.4,1625,16144,0.00,1.90,0.00,0.000,4,0.000,0.054,3104,907,1431
$GC,16174,1.45,397.9,165.1,12.0,1631,16181,0.00,2.17,0.00,0.000,6,0.000,0.127,3104,1939,1431
$GC,16518,1.45,397.9,120.1,11.8,1692,16525,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1940,1431
$GC,16864,1.50,432.6,86.7,8.8,1753,16898,0.00,0.00,30.60,0.703,6,0.000,0.000,3104,1940,1297
$GC,17237,1.50,432.6,37.8,13.9,1818,17244,0.00,1.98,0.00,0.000,4,0.000,0.092,3104,913,1292
$GC,17279,1.50,432.6,32.4,13.8,1825,17286,0.00,2.03,0.00,0.000,6,0.000,0.095,3104,1954,1292
$GC,17423,1.51,441.7,18.4,9.7,1850,17438,0.00,2.10,8.75,0.604,4,0.000,0.067,3104,3057,1259
$GC,17474,1.56,441.7,13.1,10.6,1858,17482,0.00,2.47,0.00,0.000,6,0.000,0.159,3104,1950,1259
$STATE,17575,end climb,SURFACE_DEPTH_REACHED
$STATE,17575,begin surface coast
$FINISH,0.2,1.013541
$STATE,17607,end surface coast,CONTROL_FINISHED_OK
$STATE,17607,begin surface
$SM_CCo,17688,0.00,0.000,0,0,1257,442.77
$SM_GC,0.87,10.73,0.00,0.00,0.041,0.000,0.000,570,2074,1257,-10.08,1.24,442.77
$IRIDIUM_FIX,6117.23,-2953.15,130997,141419
$TT8_MAMPS,0.041418
$HUMID,1736
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.70
$XPDR_PINGS,1187
$24V_AH,23.1,72.532
$10V_AH,10.5,71.135
$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,25.425,101.325,585.425,0.000,0.000,22.445,30.745,284.490,296.750,0.000,0.000,12.729,3826.289,9405.648,776.650,3405.193,757.838,0.000,2296.737,0.000,3402.215,0.000,0.466
$DEVICE_MAMPS,197.119,193.284,1210.326,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1303.445,1416.640,699.572,1745.491,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139197,1881
$CAP_FILE_SIZE,166214,0
$CFSIZE,260165632,223076352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,23,7,0
$CURRENT,0.049,167.5,1
$GPS,200608,010326,6153.298,-2605.050,39,1.6,39,-18.7