version: 66.03
glider: 141
mission: 7
dive: 360
start: 6 20 108 11 38 16
data:
$ID,141
$MISSION,7
$DIVE,360
$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,-12801.495
$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,2
$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
$GPS1,112932,6149.291,-2614.537,37,1.7,37,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-55.5
$GPS2,113757,6149.292,-2614.355,13,1.6,13,-18.8
$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,244.9,10484,-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,21,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,138,0.00,0.00,-111.88,0.000,2,0.000,0.000,571,2045,3688
$GC,142,-1.34,-194.7,3.2,-5.2,15,165,11.15,1.92,-3.92,0.000,4,0.197,0.064,2480,947,3858
$GC,195,-1.29,-194.7,14.3,-12.9,23,202,0.00,2.38,0.00,0.000,6,0.000,0.149,2481,2021,3858
$GC,338,-1.24,-194.7,31.1,-10.9,48,345,0.12,0.00,0.00,0.000,6,0.119,0.000,2505,2021,3859
$GC,481,-1.24,-194.7,45.7,-10.0,73,488,0.00,2.58,0.00,0.000,4,0.000,0.222,2505,3088,3859
$GC,512,-1.24,-194.7,49.2,-10.9,78,520,0.00,2.38,0.00,0.000,6,0.000,0.212,2505,2029,3859
$GC,655,-1.24,-194.7,64.1,-10.7,103,662,0.00,2.45,0.00,0.000,4,0.000,0.215,2505,3089,3859
$GC,697,-1.24,-194.7,69.0,-11.2,110,704,0.00,2.80,0.00,0.000,6,0.000,0.278,2505,2040,3859
$GC,1044,-1.24,-194.7,109.9,-11.7,171,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2035,3859
$GC,1390,-1.24,-194.7,149.9,-11.1,232,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2035,3859
$GC,1735,-1.24,-194.7,186.2,-10.2,293,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2035,3859
$GC,2079,-1.24,-194.7,222.1,-11.0,354,2087,0.00,2.38,0.00,0.000,4,0.000,0.209,2505,3088,3859
$GC,2128,-1.24,-194.7,227.3,-10.6,362,2135,0.00,1.88,0.00,0.000,6,0.000,0.094,2505,2050,3859
$GC,2474,-1.24,-194.7,264.4,-11.0,423,2481,0.00,1.92,0.00,0.000,4,0.000,0.108,2505,3105,3859
$GC,2511,-1.24,-194.7,268.4,-10.7,429,2518,0.00,1.95,0.00,0.000,6,0.000,0.119,2505,2058,3859
$GC,2856,-1.24,-194.7,304.6,-10.8,490,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2055,3860
$GC,3202,-1.24,-194.7,340.4,-10.2,551,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2055,3859
$GC,3532,-1.24,-194.7,374.1,-10.1,590,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2055,3859
$GC,3852,-1.24,-194.7,405.4,-9.9,620,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2056,3859
$GC,4170,-1.24,-194.7,434.3,-8.9,650,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2056,3859
$GC,4489,-1.24,-194.7,463.6,-9.3,680,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2055,3858
$GC,4806,-1.24,-194.7,495.9,-10.3,710,4810,0.00,2.55,0.00,0.000,4,0.000,0.245,2505,3092,3858
$GC,4858,-1.24,-194.7,501.2,-10.7,714,4863,0.00,2.67,0.00,0.000,6,0.000,0.265,2505,2070,3858
$GC,5185,-1.24,-194.7,532.2,-9.3,744,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2069,3858
$GC,5504,-1.24,-194.7,561.4,-9.3,774,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2068,3858
$GC,5830,-1.24,-194.7,591.7,-9.3,805,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2068,3858
$GC,6153,-1.24,-194.7,621.6,-9.1,825,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2068,3858
$GC,6461,-1.24,-194.7,651.7,-10.1,840,6465,0.00,1.98,0.00,0.000,4,0.000,0.128,2505,3101,3857
$GC,6507,-1.24,-194.7,656.3,-9.9,842,6511,0.00,2.03,0.00,0.000,6,0.000,0.141,2505,2071,3857
$GC,6841,-1.24,-194.7,688.9,-9.8,858,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2069,3857
$GC,7150,-1.24,-194.7,721.2,-10.3,873,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2068,3856
$GC,7460,-1.24,-194.7,752.6,-9.4,888,7464,0.00,2.15,0.00,0.000,4,0.000,0.143,2505,967,3856
$GC,7489,-1.24,-194.7,755.4,-9.7,889,7493,0.00,2.08,0.00,0.000,6,0.000,0.114,2505,2082,3856
$GC,7805,-1.24,-194.7,783.8,-9.1,904,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2084,3856
$GC,8115,-1.24,-194.7,813.0,-9.7,919,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3856
$GC,8424,-1.24,-194.7,842.1,-9.0,934,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3855
$GC,8734,-1.56,-194.7,865.9,-1.7,949,8738,0.28,2.08,0.00,0.000,4,0.087,0.115,2442,970,3855
$STATE,8861,end dive,NO_VERTICAL_VELOCITY
$STATE,8863,begin apogee
$GC,8872,-0.37,0.0,865.9,0.0,955,9045,1.10,0.00,169.00,1.188,6,0.049,0.000,2704,1983,3062
$STATE,9046,end apogee,CONTROL_FINISHED_OK
$STATE,9046,begin climb
$GC,9049,1.34,194.7,865.4,0.0,964,9229,1.65,2.90,167.55,1.158,4,0.075,0.272,3067,3046,2267
$GC,9381,1.45,281.2,838.9,7.0,978,9464,0.05,1.95,77.18,1.130,6,0.041,0.107,3098,1985,1916
$GC,9786,1.48,305.4,812.5,9.2,998,9831,0.00,2.08,26.58,0.944,4,0.000,0.130,3098,922,1815
$GC,9871,1.43,305.4,803.1,11.8,1001,9878,0.00,2.70,0.00,0.000,6,0.000,0.242,3098,2000,1815
$GC,10188,1.43,305.4,766.2,11.5,1017,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2002,1812
$GC,10497,1.43,305.4,732.9,10.7,1032,10501,0.00,2.78,0.00,0.000,4,0.000,0.264,3098,934,1811
$GC,10537,1.38,305.4,728.1,12.3,1034,10541,0.00,2.30,0.00,0.000,6,0.000,0.181,3098,1995,1811
$GC,10864,1.38,305.4,691.4,10.6,1050,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1996,1810
$GC,11175,1.38,305.4,655.9,11.8,1065,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1997,1810
$GC,11484,1.38,305.4,620.1,11.6,1080,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1997,1810
$GC,11796,1.38,305.4,585.4,10.5,1101,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1998,1809
$GC,12115,1.38,305.4,551.4,11.0,1131,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1999,1810
$GC,12433,1.38,305.4,516.3,11.1,1161,12436,0.00,1.98,0.00,0.000,4,0.000,0.110,3098,922,1810
$GC,12467,1.38,305.4,512.3,11.1,1164,12472,0.00,2.58,0.00,0.000,6,0.000,0.232,3098,1985,1810
$GC,12792,1.38,305.4,473.7,12.0,1194,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1986,1810
$GC,13112,1.38,305.4,434.6,11.7,1224,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1986,1810
$GC,13430,1.38,305.4,397.1,11.4,1254,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1986,1810
$GC,13749,1.38,305.4,361.8,11.1,1284,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1986,1810
$GC,14079,1.38,305.4,323.6,11.3,1334,14086,0.00,2.60,0.00,0.000,4,0.000,0.249,3098,924,1810
$GC,14116,1.34,305.4,319.3,11.7,1340,14124,0.12,2.30,0.00,0.000,6,0.106,0.182,3073,1987,1809
$GC,14467,1.34,307.1,283.7,9.9,1401,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1986,1810
$GC,14811,1.34,307.1,248.2,10.1,1462,14819,0.00,1.95,0.00,0.000,4,0.000,0.106,3073,934,1810
$GC,14843,1.34,307.1,244.9,10.4,1467,14850,0.00,2.22,0.00,0.000,6,0.000,0.176,3073,1976,1810
$GC,15189,1.36,317.7,210.6,9.6,1528,15203,0.00,0.00,11.07,0.723,6,0.000,0.000,3074,1975,1765
$GC,15542,1.37,329.4,178.0,9.6,1590,15556,0.00,0.00,11.62,0.706,6,0.000,0.000,3073,1975,1719
$GC,15897,1.40,347.9,145.1,9.4,1652,15920,0.00,2.00,18.27,0.716,4,0.000,0.104,3073,928,1642
$GC,15949,1.42,368.0,140.0,9.3,1660,15977,0.00,2.55,19.30,0.703,6,0.000,0.233,3073,1970,1560
$GC,16313,1.42,368.0,105.0,10.3,1724,16320,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1970,1556
$GC,16657,1.42,368.0,69.1,11.2,1785,16664,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1970,1555
$GC,17002,1.54,425.9,36.6,8.0,1846,17060,0.15,2.67,50.17,0.664,4,0.058,0.245,3122,925,1326
$GC,17090,1.54,425.9,26.9,10.9,1859,17097,0.00,2.25,0.00,0.000,6,0.000,0.180,3122,1964,1323
$GC,17233,1.54,425.9,11.0,10.9,1884,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1963,1321
$STATE,17305,end climb,SURFACE_DEPTH_REACHED
$STATE,17305,begin surface coast
$FINISH,0.2,1.003686
$STATE,17334,end surface coast,CONTROL_FINISHED_OK
$STATE,17334,begin surface
$SM_CCo,17415,0.00,0.000,0,0,1318,427.80
$SM_GC,0.91,10.77,0.00,0.00,0.039,0.000,0.000,574,2051,1318,-10.06,0.59,427.80
$IRIDIUM_FIX,6126.23,-2607.40,140997,060648
$TT8_MAMPS,0.042185
$HUMID,1715
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.30
$XPDR_PINGS,1236
$24V_AH,23.2,73.223
$10V_AH,10.5,71.636
$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,25.400,78.525,550.750,0.000,0.000,24.890,39.087,272.536,309.000,0.000,0.000,15.189,3847.868,9183.745,702.293,3411.823,752.064,0.000,2194.590,0.000,3419.901,0.000,0.465
$DEVICE_MAMPS,197.119,277.654,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1314.177,1425.155,739.030,1780.374,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139107,1902
$CAP_FILE_SIZE,158814,0
$CFSIZE,260165632,222806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,2,0
$CURRENT,0.033, 64.4,1
$GPS,200608,162937,6147.667,-2617.844,29,0.9,29,-18.8