version: 66.03
glider: 141
mission: 7
dive: 359
start: 6 20 108 6 5 58
data:
$ID,141
$MISSION,7
$DIVE,359
$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,-12785.678
$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,1
$R_STBD_OVSHOOT,27
$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
$GPS1,055731,6151.020,-2609.555,38,1.7,38,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-55.3
$GPS2,060539,6151.021,-2609.558,11,1.5,11,-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,247.0,15745,-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,-194.7,0.0,0.0,0,147,0.00,0.00,-122.10,0.000,2,0.000,0.000,570,2032,3705
$GC,150,-1.34,-194.7,3.3,-5.5,16,174,11.18,2.50,-3.42,0.000,4,0.198,0.183,2483,957,3859
$GC,360,-1.34,-194.7,34.3,-12.5,52,368,0.00,2.08,0.00,0.000,6,0.000,0.094,2483,2013,3860
$GC,504,-1.29,-194.7,49.5,-11.7,77,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2012,3860
$GC,647,-1.24,-194.7,63.7,-10.4,102,655,0.12,0.00,0.00,0.000,6,0.121,0.000,2506,2013,3860
$GC,992,-1.24,-194.7,100.5,-11.3,163,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2013,3860
$GC,1336,-1.24,-194.7,136.5,-10.2,224,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2013,3860
$GC,1681,-1.24,-194.7,171.3,-10.1,285,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2013,3860
$GC,2026,-1.24,-194.7,207.1,-10.4,346,2034,0.00,2.60,0.00,0.000,4,0.000,0.193,2506,3088,3860
$GC,2069,-1.24,-194.7,211.6,-10.5,353,2077,0.00,2.90,0.00,0.000,6,0.000,0.237,2506,2033,3860
$GC,2415,-1.24,-194.7,249.5,-10.5,414,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2031,3860
$GC,2761,-1.24,-194.7,289.5,-11.6,475,2768,0.00,1.98,0.00,0.000,4,0.000,0.067,2506,3105,3860
$GC,2821,-1.24,-194.7,296.6,-11.8,485,2829,0.00,2.30,0.00,0.000,6,0.000,0.139,2506,2034,3860
$GC,3167,-1.24,-194.7,338.1,-11.9,546,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2033,3860
$GC,3504,-1.24,-194.7,378.3,-11.6,586,3507,0.00,1.98,0.00,0.000,4,0.000,0.070,2507,3102,3860
$GC,3539,-1.24,-194.7,382.3,-11.8,589,3543,0.00,2.30,0.00,0.000,6,0.000,0.142,2506,2039,3860
$GC,3872,-1.24,-194.7,419.1,-11.1,620,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2034,3860
$GC,4200,-1.24,-194.7,454.3,-10.6,651,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2034,3860
$GC,4525,-1.24,-194.7,488.0,-10.2,682,4529,0.00,1.92,0.00,0.000,4,0.000,0.062,2506,3096,3859
$GC,4572,-1.24,-194.7,492.8,-10.6,686,4576,0.00,2.47,0.00,0.000,6,0.000,0.178,2506,2028,3859
$GC,4899,-1.24,-194.7,526.7,-10.6,716,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2025,3859
$GC,5216,-1.24,-194.7,561.3,-11.2,746,5220,0.00,2.00,0.00,0.000,4,0.000,0.075,2506,3094,3859
$GC,5288,-1.24,-194.7,569.5,-10.8,752,5296,0.00,2.28,0.00,0.000,6,0.000,0.154,2506,2067,3859
$GC,5616,-1.24,-194.7,602.6,-9.7,782,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3859
$GC,5923,-1.24,-194.7,631.3,-8.8,797,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3859
$GC,6232,-1.24,-194.7,655.1,-7.4,812,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2066,3858
$GC,6543,-1.24,-194.7,677.7,-7.3,827,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2065,3858
$GC,6852,-1.24,-194.7,703.8,-8.9,842,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3858
$GC,7160,-1.24,-194.7,733.3,-9.4,857,7164,0.00,2.17,0.00,0.000,4,0.000,0.133,2506,3088,3858
$GC,7188,-1.24,-194.7,736.1,-9.7,858,7193,0.00,2.58,0.00,0.000,6,0.000,0.196,2506,2034,3857
$GC,7505,-1.24,-194.7,766.6,-10.1,873,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2033,3857
$GC,7814,-1.24,-194.7,796.5,-9.4,888,7818,0.00,2.03,0.00,0.000,4,0.000,0.081,2506,3098,3857
$GC,7860,-1.24,-194.7,801.1,-9.8,890,7864,0.00,1.85,0.00,0.000,6,0.000,0.048,2506,2059,3857
$GC,8194,-1.24,-194.7,833.8,-10.2,906,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3857
$GC,8503,-1.24,-194.7,864.2,-9.4,921,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3856
$GC,8814,-1.24,-194.7,893.3,-10.0,936,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3856
$GC,9121,-1.24,-194.7,922.9,-9.0,951,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3855
$GC,9432,-1.24,-194.7,950.1,-8.9,966,9436,0.00,2.08,0.00,0.000,4,0.000,0.109,2506,3087,3855
$GC,9467,-1.24,-194.7,953.4,-9.5,967,9471,0.00,2.03,0.00,0.000,6,0.000,0.105,2506,2061,3855
$GC,9790,-1.44,-194.7,967.0,0.0,983,9791,0.17,0.00,0.00,0.000,6,0.063,0.000,2460,2061,3855
$STATE,9806,end dive,NO_VERTICAL_VELOCITY
$STATE,9806,begin apogee
$GC,9813,-0.37,0.0,967.0,0.0,984,9990,1.08,0.00,170.95,1.259,6,0.078,0.000,2697,1989,3062
$STATE,9991,end apogee,CONTROL_FINISHED_OK
$STATE,9991,begin climb
$GC,9994,1.34,194.7,966.7,0.0,993,10175,1.70,2.38,169.32,1.227,4,0.077,0.139,3069,928,2268
$GC,10284,1.29,194.7,944.3,10.6,1006,10288,0.00,1.95,0.00,0.000,6,0.000,0.044,3069,2016,2264
$GC,10619,1.30,201.4,910.3,9.8,1022,10627,0.00,0.00,6.80,0.943,6,0.000,0.000,3069,2019,2240
$GC,10927,1.29,225.9,881.4,9.2,1037,10952,0.00,0.00,23.75,1.135,6,0.000,0.000,3069,2019,2140
$GC,11256,1.29,226.0,848.4,10.0,1053,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2019,2136
$GC,11564,1.29,226.0,816.5,10.6,1068,11568,0.00,2.25,0.00,0.000,4,0.000,0.118,3069,923,2136
$GC,11614,1.25,226.0,811.0,10.1,1070,11617,0.00,1.90,0.00,0.000,6,0.000,0.041,3069,1981,2136
$GC,11936,1.25,226.0,778.8,10.0,1086,11939,0.00,1.95,0.00,0.000,4,0.000,0.074,3069,3034,2135
$GC,11982,1.25,226.0,774.1,10.4,1088,11986,0.00,2.17,0.00,0.000,6,0.000,0.115,3069,1969,2135
$GC,12311,1.28,253.1,742.6,9.1,1104,12342,0.00,2.03,25.27,1.085,4,0.000,0.064,3069,916,2029
$GC,12374,1.33,292.3,736.6,8.6,1107,12419,0.00,2.03,37.38,1.085,6,0.000,0.078,3069,1962,1869
$GC,12728,1.35,313.6,701.8,9.3,1124,12754,0.00,2.20,19.77,1.031,4,0.000,0.096,3069,3041,1782
$GC,12783,1.39,341.5,696.4,9.0,1126,12818,0.00,2.42,27.02,1.038,6,0.000,0.160,3069,1973,1668
$GC,13129,1.43,379.7,665.4,8.7,1143,13185,0.10,2.30,39.58,0.956,4,0.071,0.138,3099,918,1513
$GC,13224,1.43,379.7,655.5,10.1,1147,13228,0.00,2.25,0.00,0.000,6,0.000,0.128,3099,1969,1511
$GC,13546,1.43,379.7,623.0,10.4,1163,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1972,1508
$GC,13857,1.43,379.7,588.9,11.2,1182,13862,0.00,2.35,0.00,0.000,4,0.000,0.157,3099,924,1507
$GC,13891,1.43,379.7,584.9,11.2,1184,13898,0.00,1.90,0.00,0.000,6,0.000,0.044,3099,1979,1507
$GC,14218,1.43,379.7,548.5,11.3,1215,14225,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1982,1507
$GC,14544,1.43,379.7,513.3,11.0,1246,14548,0.00,1.92,0.00,0.000,4,0.000,0.054,3099,911,1506
$GC,14591,1.43,379.7,508.1,12.1,1250,14595,0.00,2.30,0.00,0.000,6,0.000,0.150,3099,1944,1507
$GC,14916,1.43,379.7,473.3,10.7,1280,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1945,1506
$GC,15237,1.43,379.7,439.1,10.5,1310,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1946,1506
$GC,15553,1.43,379.7,405.8,10.3,1340,15557,0.00,1.85,0.00,0.000,4,0.000,0.051,3099,908,1506
$GC,15580,1.43,379.7,402.7,11.0,1342,15588,0.00,2.45,0.00,0.000,6,0.000,0.176,3099,1951,1506
$GC,15908,1.43,379.7,369.1,10.5,1373,15909,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1951,1506
$GC,16232,1.43,379.7,333.2,11.7,1416,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1951,1506
$GC,16579,1.43,379.7,292.0,13.0,1477,16586,0.00,1.95,0.00,0.000,4,0.000,0.082,3100,923,1506
$GC,16616,1.43,379.7,287.5,12.1,1483,16622,0.00,2.30,0.00,0.000,6,0.000,0.156,3099,1946,1506
$GC,16961,1.44,382.8,249.3,9.9,1544,16969,0.00,2.72,0.00,0.000,4,0.000,0.205,3099,3048,1505
$GC,16993,1.44,382.8,245.6,12.4,1549,17000,0.00,2.60,0.00,0.000,6,0.000,0.186,3099,1954,1505
$GC,17338,1.44,382.8,207.5,10.5,1610,17346,0.00,2.10,0.00,0.000,4,0.000,0.119,3099,917,1505
$GC,17404,1.44,382.8,200.4,11.7,1621,17411,0.00,2.03,0.00,0.000,6,0.000,0.098,3099,1937,1505
$GC,17749,1.44,382.8,163.9,11.2,1682,17756,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1939,1505
$GC,18095,1.44,382.8,124.1,12.8,1743,18101,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1939,1505
$GC,18438,1.44,382.8,85.6,11.4,1804,18445,0.00,2.50,0.00,0.000,4,0.000,0.196,3100,900,1505
$GC,18471,1.44,382.8,82.2,11.4,1809,18478,0.00,2.03,0.00,0.000,6,0.000,0.092,3099,1932,1505
$GC,18818,1.44,382.8,45.5,11.1,1870,18825,0.00,2.03,0.00,0.000,4,0.000,0.049,3099,3085,1505
$GC,18872,1.44,382.8,39.5,11.4,1879,18879,0.00,2.20,0.00,0.000,6,0.000,0.086,3099,1913,1505
$GC,19015,1.46,401.6,24.2,9.3,1904,19043,0.00,2.12,19.00,0.650,4,0.000,0.119,3100,912,1425
$GC,19073,1.46,401.6,18.1,10.7,1913,19080,0.00,1.95,0.00,0.000,6,0.000,0.056,3099,1956,1424
$GC,19216,1.46,401.6,3.7,10.3,1938,19223,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1958,1423
$STATE,19227,end climb,SURFACE_DEPTH_REACHED
$STATE,19227,begin surface coast
$FINISH,0.2,1.026821
$STATE,19257,end surface coast,CONTROL_FINISHED_OK
$STATE,19257,begin surface
$SM_CCo,19338,0.00,0.000,0,0,1421,402.54
$SM_GC,0.98,10.60,0.00,0.00,0.036,0.000,0.000,570,2042,1421,-10.06,0.34,402.54
$IRIDIUM_FIX,6126.23,-2607.40,140997,010142
$TT8_MAMPS,0.041418
$HUMID,1726
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.20
$XPDR_PINGS,1266
$24V_AH,23.1,73.000
$10V_AH,10.5,71.467
$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,24.950,105.450,538.850,0.000,0.000,25.203,38.209,262.775,316.500,0.000,0.000,12.719,3989.527,10814.459,745.452,3482.454,775.958,0.000,2309.422,0.000,3486.032,0.000,0.465
$DEVICE_MAMPS,197.886,237.003,1258.647,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1347.547,1476.259,729.265,1739.092,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142618,1945
$CAP_FILE_SIZE,172055,0
$CFSIZE,260165632,222875648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,2,0
$CURRENT,0.010,311.7,1
$GPS,200608,112932,6149.291,-2614.537,37,1.7,37,-18.8