version: 66.03
glider: 141
mission: 7
dive: 365
start: 6 21 108 9 19 54
data:
$ID,141
$MISSION,7
$DIVE,365
$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,-12894.24
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,091138,6150.253,-2621.516,33,1.5,33,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-55.4
$GPS2,091933,6150.309,-2621.485,11,1.4,11,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,11.9,10858,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,148,0.00,0.00,-120.80,0.000,2,0.000,0.000,574,2036,3793
$GC,151,-1.34,-194.7,3.8,-6.5,16,175,11.12,2.60,-1.35,0.000,4,0.196,0.244,2482,3079,3858
$GC,427,-1.29,-194.7,44.3,-14.4,64,435,0.00,1.98,0.00,0.000,6,0.000,0.118,2482,2011,3859
$GC,571,-1.24,-194.7,61.5,-11.1,89,578,0.12,2.17,0.00,0.000,4,0.119,0.163,2505,3081,3859
$GC,649,-1.24,-194.7,69.8,-10.6,102,656,0.00,2.12,0.00,0.000,6,0.000,0.171,2506,2040,3859
$GC,995,-1.24,-194.7,107.6,-10.3,163,1002,0.00,2.28,0.00,0.000,4,0.000,0.187,2506,976,3859
$GC,1071,-1.24,-194.7,116.5,-9.9,176,1078,0.00,1.95,0.00,0.000,6,0.000,0.100,2506,2042,3859
$GC,1419,-1.24,-194.7,153.3,-12.0,237,1426,0.00,2.25,0.00,0.000,4,0.000,0.196,2505,3080,3859
$GC,1478,-1.24,-194.7,160.7,-11.5,247,1485,0.00,1.98,0.00,0.000,6,0.000,0.133,2506,2040,3859
$GC,1824,-1.24,-194.7,198.0,-10.2,308,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2035,3859
$GC,2170,-1.24,-194.7,231.7,-9.6,369,2177,0.00,1.98,0.00,0.000,4,0.000,0.124,2506,3085,3859
$GC,2223,-1.24,-194.7,237.0,-9.4,378,2230,0.00,1.88,0.00,0.000,6,0.000,0.100,2506,2049,3859
$GC,2570,-1.24,-194.7,270.3,-9.4,439,2577,0.00,1.92,0.00,0.000,4,0.000,0.103,2506,977,3859
$GC,2640,-1.24,-194.7,277.2,-9.5,451,2648,0.00,2.33,0.00,0.000,6,0.000,0.189,2506,2039,3859
$GC,2986,-1.24,-194.7,311.6,-10.4,512,2993,0.00,1.95,0.00,0.000,4,0.000,0.119,2505,3091,3860
$GC,3084,-1.24,-194.7,321.8,-10.5,529,3091,0.00,2.05,0.00,0.000,6,0.000,0.143,2506,2043,3859
$GC,3425,-1.24,-194.7,356.7,-10.3,584,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3859
$GC,3745,-1.24,-194.7,389.9,-10.4,614,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2039,3859
$GC,4063,-1.24,-194.7,420.6,-9.0,644,4066,0.00,2.03,0.00,0.000,4,0.000,0.132,2506,3104,3858
$GC,4166,-1.24,-194.7,429.5,-8.9,653,4170,0.00,1.90,0.00,0.000,6,0.000,0.095,2506,2060,3859
$GC,4500,-1.24,-194.7,455.9,-7.8,684,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2057,3858
$GC,4827,-1.24,-194.7,481.4,-8.1,715,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2054,3858
$GC,5144,-1.24,-194.7,511.9,-8.8,745,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2055,3858
$GC,5464,-1.24,-194.7,542.8,-9.9,775,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2054,3858
$GC,5780,-1.24,-194.7,574.8,-11.5,805,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2054,3857
$GC,6096,-1.24,-194.7,608.9,-10.2,831,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2054,3857
$GC,6406,-1.24,-194.7,640.5,-9.9,846,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2055,3857
$GC,6716,-1.33,-194.7,667.1,-5.5,861,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2054,3857
$STATE,6877,end dive,NO_VERTICAL_VELOCITY
$STATE,6877,begin apogee
$GC,6884,-0.37,0.0,667.1,0.0,869,7054,0.85,0.00,165.70,1.058,6,0.074,0.000,2696,1986,3062
$STATE,7054,end apogee,CONTROL_FINISHED_OK
$STATE,7054,begin climb
$GC,7057,1.34,194.7,666.9,0.0,877,7236,1.70,2.15,163.93,1.029,4,0.074,0.147,3070,929,2267
$GC,7276,1.33,224.0,652.3,9.0,886,7309,0.00,2.00,26.52,0.975,6,0.000,0.109,3071,1990,2147
$GC,7639,1.36,251.5,619.7,9.0,904,7666,0.00,0.00,25.05,0.963,6,0.000,0.000,3070,1991,2036
$GC,7971,1.36,255.3,587.6,9.9,925,7983,0.00,2.15,4.30,0.653,4,0.000,0.150,3069,926,2021
$GC,7996,1.36,255.3,584.9,10.6,927,8000,0.00,2.22,0.00,0.000,6,0.000,0.171,3070,1970,2021
$GC,8323,1.36,255.3,548.8,11.1,957,8327,0.00,1.92,0.00,0.000,4,0.000,0.110,3070,925,2020
$GC,8348,1.36,255.3,545.6,12.3,959,8352,0.00,2.33,0.00,0.000,6,0.000,0.193,3070,1972,2020
$GC,8675,1.36,255.3,509.0,10.6,989,8679,0.00,1.95,0.00,0.000,4,0.000,0.109,3070,916,2019
$GC,8691,1.36,255.3,506.7,11.4,990,8698,0.00,2.42,0.00,0.000,6,0.000,0.216,3070,1969,2019
$GC,9020,1.36,255.3,472.6,10.8,1021,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1970,2018
$GC,9345,1.36,255.3,438.7,10.3,1052,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1970,2018
$GC,9664,1.36,255.3,404.7,10.5,1082,9667,0.00,1.92,0.00,0.000,4,0.000,0.107,3070,920,2018
$GC,9687,1.36,255.3,402.0,11.2,1084,9691,0.00,2.45,0.00,0.000,6,0.000,0.217,3070,1965,2018
$GC,10015,1.37,262.9,369.8,9.7,1114,10025,0.00,0.00,7.90,0.759,6,0.000,0.000,3070,1965,1990
$GC,10349,1.37,262.9,336.2,10.2,1157,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1965,1988
$GC,10694,1.38,268.4,302.1,9.8,1218,10702,0.00,0.00,6.45,0.688,6,0.000,0.000,3070,1965,1967
$GC,11041,1.41,289.1,268.8,9.3,1279,11068,0.00,1.95,20.23,0.792,4,0.000,0.104,3070,915,1882
$GC,11081,1.42,300.0,264.8,9.6,1285,11101,0.00,2.55,11.23,0.734,6,0.000,0.228,3070,1961,1838
$GC,11443,1.42,300.0,229.0,10.4,1348,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1961,1835
$GC,11788,1.42,300.0,192.1,10.8,1409,11795,0.00,2.55,0.00,0.000,4,0.000,0.241,3070,926,1834
$GC,11807,1.42,300.0,189.9,10.8,1412,11815,0.00,1.90,0.00,0.000,6,0.000,0.098,3070,1961,1834
$GC,12153,1.42,300.0,152.2,10.4,1473,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1963,1834
$GC,12499,1.45,326.2,119.7,9.1,1534,12528,0.10,2.00,22.90,0.709,4,0.068,0.104,3102,919,1732
$GC,12547,1.45,326.2,114.8,11.4,1541,12554,0.00,2.12,0.00,0.000,6,0.000,0.160,3103,1937,1731
$GC,12895,1.45,326.2,75.2,11.4,1602,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1937,1728
$GC,13240,1.51,374.2,43.9,8.3,1663,13289,0.00,2.50,42.47,0.674,4,0.000,0.222,3103,928,1535
$GC,13325,1.51,374.4,36.0,10.0,1676,13333,0.00,1.95,0.00,0.000,6,0.000,0.116,3103,1943,1533
$GC,13468,1.52,382.5,21.9,9.7,1701,13483,0.00,2.03,7.68,0.570,4,0.000,0.105,3103,3051,1502
$GC,13513,1.52,382.5,17.0,11.7,1708,13520,0.00,2.05,0.00,0.000,6,0.000,0.133,3102,1988,1501
$STATE,13644,end climb,SURFACE_DEPTH_REACHED
$STATE,13644,begin surface coast
$FINISH,0.1,1.013249
$STATE,13674,end surface coast,CONTROL_FINISHED_OK
$STATE,13674,begin surface
$SM_CCo,13755,0.00,0.000,0,0,1499,383.40
$SM_GC,1.04,10.68,0.00,0.00,0.039,0.000,0.000,573,2049,1499,-10.06,0.54,383.40
$IRIDIUM_FIX,6121.73,-2617.64,150997,050505
$TT8_MAMPS,0.041418
$HUMID,1741
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,17.00
$XPDR_PINGS,1101
$24V_AH,23.3,74.251
$10V_AH,10.6,72.401
$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,24.575,76.750,504.350,0.000,0.000,28.694,32.430,258.534,275.250,0.000,0.000,12.785,3432.490,6381.875,667.465,3014.901,718.579,0.000,1995.357,0.000,3040.304,0.000,0.465
$DEVICE_MAMPS,196.352,243.906,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1204.426,1316.591,743.053,1630.597,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129627,1736
$CAP_FILE_SIZE,138409,0
$CFSIZE,260165632,222408704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$CURRENT,0.039,101.6,1
$GPS,210608,131025,6152.241,-2620.990,39,1.3,39,-18.9