version: 66.03
glider: 141
mission: 7
dive: 358
start: 6 20 108 1 11 58
data:
$ID,141
$MISSION,7
$DIVE,358
$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,-12772.329
$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,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
$GPS1,010326,6153.298,-2605.050,39,1.6,39,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-55.6
$GPS2,011139,6153.247,-2604.937,12,1.2,12,-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,246.0,21514,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.34,-194.7,0.0,0.0,0,152,0.00,0.00,-125.43,0.000,2,0.000,0.000,570,2071,3827
$GC,155,-1.34,-194.7,4.0,-7.2,17,172,11.18,1.90,-0.62,0.000,4,0.199,0.080,2481,3070,3859
$GC,405,-1.28,-194.7,42.2,-12.3,60,413,0.00,2.25,0.00,0.000,6,0.000,0.142,2480,2026,3860
$GC,551,-1.23,-194.7,59.7,-11.9,85,558,0.15,1.92,0.00,0.000,4,0.112,0.065,2513,3069,3860
$GC,589,-1.23,-194.7,64.1,-11.0,91,596,0.00,2.22,0.00,0.000,6,0.000,0.144,2513,2022,3860
$GC,934,-1.23,-194.7,101.9,-10.9,152,941,0.00,1.95,0.00,0.000,4,0.000,0.071,2513,3065,3860
$GC,970,-1.23,-194.7,106.1,-11.5,158,977,0.00,2.03,0.00,0.000,6,0.000,0.117,2513,2094,3860
$GC,1315,-1.23,-194.7,144.5,-10.9,219,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,1659,-1.23,-194.7,180.7,-9.8,280,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,2005,-1.23,-194.7,214.2,-9.2,341,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,2350,-1.23,-194.7,245.6,-9.0,402,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,2696,-1.23,-194.7,279.0,-9.8,463,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,3040,-1.23,-194.7,315.1,-10.8,524,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,3385,-1.23,-194.7,349.9,-10.3,585,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,3710,-1.23,-194.7,383.8,-10.4,616,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3860
$GC,4030,-1.23,-194.7,416.9,-10.8,646,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3859
$GC,4346,-1.23,-194.7,450.9,-10.9,676,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3859
$GC,4666,-1.23,-194.7,484.2,-10.0,706,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3859
$GC,4984,-1.23,-194.7,517.0,-10.0,736,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3858
$GC,5303,-1.23,-194.7,550.0,-10.3,766,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2091,3858
$GC,5621,-1.23,-194.7,584.1,-11.0,796,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3858
$GC,5934,-1.23,-194.7,618.5,-10.2,818,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3858
$GC,6244,-1.23,-194.7,650.8,-10.7,833,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,3858
$GC,6553,-1.23,-194.7,684.9,-11.0,848,6556,0.00,1.88,0.00,0.000,4,0.000,0.089,2513,3069,3858
$GC,6598,-1.23,-194.7,690.2,-12.0,850,6602,0.00,2.17,0.00,0.000,6,0.000,0.152,2513,2084,3858
$GC,6931,-1.23,-194.7,726.6,-10.7,866,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2081,3858
$GC,7241,-1.23,-194.7,757.2,-9.1,881,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2080,3857
$GC,7550,-1.23,-194.7,785.6,-9.6,896,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2079,3857
$GC,7860,-1.23,-194.7,811.8,-8.4,911,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2078,3857
$GC,8168,-1.23,-194.7,838.8,-9.0,926,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2077,3857
$GC,8478,-1.23,-194.7,867.6,-8.3,941,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2078,3857
$GC,8788,-1.23,-194.7,887.4,-9.4,956,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2077,3856
$STATE,9031,end dive,NO_VERTICAL_VELOCITY
$STATE,9031,begin apogee
$GC,9038,-0.37,0.0,892.0,0.0,968,9215,0.82,0.00,170.05,1.211,6,0.072,0.000,2699,1998,3061
$STATE,9216,end apogee,CONTROL_FINISHED_OK
$STATE,9216,begin climb
$GC,9219,1.34,194.7,891.8,0.0,977,9400,1.67,1.90,168.07,1.180,4,0.076,0.059,3067,3024,2266
$GC,9446,1.34,194.7,872.5,12.6,987,9450,0.00,2.10,0.00,0.000,6,0.000,0.105,3067,1994,2263
$GC,9780,1.53,349.8,841.4,4.6,1003,9922,0.20,0.00,139.07,1.142,6,0.054,0.000,3121,1990,1635
$GC,10231,1.48,349.8,788.1,11.3,1025,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1990,1628
$GC,10538,1.43,349.8,753.0,11.9,1040,10540,0.15,0.00,0.00,0.000,6,0.107,0.000,3092,1990,1627
$GC,10848,1.43,349.8,720.4,10.1,1055,10851,0.00,2.00,0.00,0.000,4,0.000,0.076,3092,919,1627
$GC,10886,1.43,349.8,716.0,11.1,1056,10894,0.00,1.95,0.00,0.000,6,0.000,0.065,3091,1949,1627
$GC,11202,1.43,349.8,682.5,11.0,1072,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1951,1626
$GC,11513,1.43,349.8,643.1,13.5,1087,11517,0.00,2.22,0.00,0.000,4,0.000,0.114,3092,3044,1626
$GC,11545,1.43,349.8,638.7,12.1,1088,11553,0.00,2.35,0.00,0.000,6,0.000,0.155,3092,1990,1625
$GC,11861,1.43,349.8,603.8,10.9,1104,11865,0.00,2.15,0.00,0.000,4,0.000,0.109,3092,920,1625
$GC,11917,1.43,349.8,597.2,11.4,1107,11924,0.00,1.90,0.00,0.000,6,0.000,0.043,3092,1996,1626
$GC,12245,1.50,402.5,567.0,8.2,1138,12294,0.00,0.00,47.70,1.002,6,0.000,0.000,3092,1999,1421
$GC,12612,1.55,443.1,535.4,8.6,1173,12660,0.10,2.28,38.00,0.967,4,0.071,0.114,3121,928,1254
$GC,12699,1.55,443.1,525.9,11.5,1180,12707,0.00,1.90,0.00,0.000,6,0.000,0.048,3121,1983,1252
$GC,13029,1.55,443.1,487.7,12.7,1211,13033,0.00,2.12,0.00,0.000,4,0.000,0.107,3122,918,1248
$GC,13064,1.55,443.1,482.6,13.3,1214,13068,0.00,1.90,0.00,0.000,6,0.000,0.055,3121,1958,1248
$GC,13395,1.55,443.1,440.6,13.3,1245,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1960,1247
$GC,13714,1.55,443.1,400.3,12.6,1275,13718,0.00,1.88,0.00,0.000,4,0.000,0.052,3121,917,1247
$GC,13764,1.55,443.1,393.2,14.2,1279,13771,0.00,2.33,0.00,0.000,6,0.000,0.158,3121,1945,1247
$GC,14092,1.55,443.1,352.4,12.0,1310,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1946,1246
$GC,14435,1.55,443.1,310.2,12.6,1369,14442,0.00,2.20,0.00,0.000,4,0.000,0.142,3121,925,1246
$GC,14483,1.55,443.1,304.2,13.1,1377,14490,0.00,1.83,0.00,0.000,6,0.000,0.037,3121,1972,1246
$GC,14828,1.55,443.1,262.1,12.0,1438,14836,0.00,2.35,0.00,0.000,4,0.000,0.156,3121,920,1246
$GC,14871,1.55,443.1,256.7,13.1,1445,14877,0.00,1.80,0.00,0.000,6,0.000,0.051,3122,1917,1246
$GC,15216,1.55,443.1,214.0,11.5,1506,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1920,1246
$GC,15565,1.55,443.1,170.3,13.1,1567,15571,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1922,1246
$GC,15909,1.55,443.1,125.3,13.8,1628,15916,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1921,1246
$GC,16255,1.55,443.1,84.2,11.9,1689,16262,0.00,1.90,0.00,0.000,4,0.000,0.092,3121,916,1245
$GC,16286,1.55,443.1,80.4,12.6,1694,16294,0.00,1.98,0.00,0.000,6,0.000,0.100,3121,1893,1246
$GC,16630,1.55,443.1,38.7,11.0,1755,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1898,1246
$GC,16773,1.55,443.1,23.6,11.0,1780,16781,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1897,1245
$GC,16917,1.55,443.1,7.2,11.6,1805,16925,0.00,2.40,0.00,0.000,4,0.000,0.137,3121,3024,1245
$STATE,16952,end climb,SURFACE_DEPTH_REACHED
$STATE,16952,begin surface coast
$FINISH,0.4,1.026811
$STATE,16975,end surface coast,CONTROL_FINISHED_OK
$STATE,16975,begin surface
$SM_CCo,17058,0.00,0.000,0,0,1244,445.96
$SM_GC,0.93,10.77,0.00,0.00,0.040,0.000,0.000,570,2039,1244,-10.08,0.25,445.96
$IRIDIUM_FIX,6130.75,-2559.20,130997,202058
$TT8_MAMPS,0.042185
$HUMID,1728
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,1162
$24V_AH,23.1,72.767
$10V_AH,10.5,71.296
$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,25.050,62.525,562.900,0.000,0.000,23.980,31.797,272.386,290.500,0.000,0.000,13.845,3646.488,9218.177,743.094,3178.326,743.942,0.000,2132.969,0.000,3202.598,0.000,0.465
$DEVICE_MAMPS,198.653,217.061,1211.093,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1260.250,1375.253,683.250,1690.340,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132850,1815
$CAP_FILE_SIZE,147389,0
$CFSIZE,260165632,223006720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$CURRENT,0.047,207.1,1
$GPS,200608,055731,6151.020,-2609.555,38,1.7,38,-18.7