version: 66.03
glider: 141
mission: 7
dive: 367
start: 6 21 108 17 1 4
data:
$ID,141
$MISSION,7
$DIVE,367
$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,-12944.221
$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,6
$R_STBD_OVSHOOT,14
$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
$GPS1,165308,6153.605,-2621.529,27,1.1,27,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-55.3
$GPS2,170045,6153.629,-2621.615,14,1.1,14,-18.9
$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,4.5,4781,-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,-194.7,0.0,0.0,0,134,0.00,0.00,-106.78,0.000,2,0.000,0.000,574,2050,3696
$GC,137,-1.34,-194.7,3.3,-5.7,14,161,11.18,1.98,-3.65,0.000,4,0.199,0.113,2481,955,3859
$GC,403,-1.34,-194.7,43.7,-13.9,60,411,0.00,2.35,0.00,0.000,6,0.000,0.195,2481,2022,3860
$GC,547,-1.30,-194.7,62.4,-12.4,85,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3860
$GC,892,-1.30,-194.7,99.9,-11.3,146,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3860
$GC,1237,-1.25,-194.7,141.4,-12.3,207,1245,0.12,1.95,0.00,0.000,4,0.118,0.107,2505,3097,3861
$GC,1302,-1.25,-194.7,149.0,-11.1,218,1310,0.00,2.38,0.00,0.000,6,0.000,0.183,2505,1986,3861
$GC,1650,-1.25,-194.7,183.5,-9.3,279,1657,0.00,2.15,0.00,0.000,4,0.000,0.135,2505,3093,3861
$GC,1721,-1.25,-194.7,190.5,-10.1,291,1728,0.00,1.90,0.00,0.000,6,0.000,0.090,2505,2019,3860
$GC,2066,-1.25,-194.7,225.3,-10.3,352,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2014,3861
$GC,2412,-1.25,-194.7,261.4,-10.2,413,2419,0.00,1.98,0.00,0.000,4,0.000,0.105,2505,3102,3860
$GC,2487,-1.25,-194.7,269.3,-10.6,426,2495,0.00,2.28,0.00,0.000,6,0.000,0.186,2505,2035,3860
$GC,2834,-1.25,-194.7,302.9,-9.8,487,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2033,3860
$GC,3178,-1.25,-194.7,338.3,-10.3,548,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2033,3860
$GC,3511,-1.25,-194.7,371.6,-9.6,589,3515,0.00,1.95,0.00,0.000,4,0.000,0.108,2505,3104,3860
$GC,3606,-1.25,-194.7,381.5,-10.4,597,3613,0.00,1.92,0.00,0.000,6,0.000,0.100,2505,2025,3860
$GC,3933,-1.25,-194.7,414.5,-10.2,628,3937,0.00,1.98,0.00,0.000,4,0.000,0.110,2505,3101,3860
$GC,3995,-1.25,-194.7,421.4,-10.7,633,4002,0.00,2.03,0.00,0.000,6,0.000,0.127,2505,2037,3859
$GC,4322,-1.25,-194.7,454.8,-10.1,664,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2034,3859
$GC,4639,-1.25,-194.7,486.7,-9.8,694,4642,0.00,1.95,0.00,0.000,4,0.000,0.111,2505,3095,3859
$GC,4711,-1.25,-194.7,494.0,-9.5,700,4719,0.00,2.33,0.00,0.000,6,0.000,0.211,2505,2062,3859
$GC,5040,-1.25,-194.7,523.0,-8.4,731,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2060,3859
$GC,5366,-1.25,-194.7,551.3,-9.1,762,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3859
$GC,5685,-1.25,-194.7,577.5,-7.6,792,5689,0.00,1.92,0.00,0.000,4,0.000,0.117,2505,3099,3858
$GC,5753,-1.25,-194.7,582.8,-8.4,798,5757,0.00,2.08,0.00,0.000,6,0.000,0.146,2505,2052,3858
$GC,6087,-1.25,-194.7,615.0,-9.4,822,6091,0.00,2.35,0.00,0.000,4,0.000,0.206,2505,3089,3858
$GC,6142,-1.25,-194.7,620.2,-10.5,824,6150,0.00,2.47,0.00,0.000,6,0.000,0.233,2506,2071,3858
$GC,6459,-1.25,-194.7,649.8,-9.9,840,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3858
$GC,6768,-1.25,-194.7,680.9,-8.9,855,6772,0.00,2.03,0.00,0.000,4,0.000,0.146,2505,3095,3857
$GC,6837,-1.25,-194.7,687.7,-10.2,858,6840,0.00,1.90,0.00,0.000,6,0.000,0.107,2505,2062,3857
$GC,7172,-1.25,-194.7,716.9,-8.5,874,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3857
$GC,7481,-1.25,-194.7,746.8,-9.8,889,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2059,3857
$GC,7790,-1.25,-194.7,777.4,-10.0,904,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2059,3856
$GC,8098,-1.25,-194.7,808.5,-9.9,919,8103,0.00,2.58,0.00,0.000,4,0.000,0.252,2505,3087,3856
$GC,8171,-1.25,-194.7,815.9,-10.7,922,8175,0.00,1.83,0.00,0.000,6,0.000,0.104,2505,2083,3856
$GC,8493,-1.25,-194.7,845.2,-9.3,938,8497,0.00,2.60,0.00,0.000,4,0.000,0.225,2505,970,3856
$GC,8559,-1.25,-194.7,851.8,-10.3,941,8563,0.00,2.08,0.00,0.000,6,0.000,0.107,2505,2097,3855
$STATE,8822,end dive,NO_VERTICAL_VELOCITY
$STATE,8822,begin apogee
$GC,8829,-0.37,0.0,856.8,0.0,954,9006,0.88,0.00,169.60,1.184,6,0.081,0.000,2696,1993,3061
$STATE,9006,end apogee,CONTROL_FINISHED_OK
$STATE,9006,begin climb
$GC,9009,1.34,194.7,856.6,0.0,963,9189,1.67,2.35,167.55,1.155,4,0.074,0.166,3067,917,2267
$GC,9223,1.29,195.2,840.8,10.0,972,9228,0.00,2.30,0.00,0.000,6,0.000,0.174,3066,1988,2265
$GC,9540,1.29,195.2,807.4,10.5,987,9543,0.00,2.00,0.00,0.000,4,0.000,0.114,3066,909,2262
$GC,9563,1.24,195.2,804.9,10.8,988,9568,0.00,2.47,0.00,0.000,6,0.000,0.210,3067,1977,2262
$GC,9891,1.24,195.2,768.9,11.5,1004,9895,0.00,1.98,0.00,0.000,4,0.000,0.113,3067,915,2262
$GC,9908,1.20,195.2,766.6,12.0,1004,9916,0.12,2.50,0.00,0.000,6,0.105,0.223,3043,1968,2262
$GC,10223,1.20,195.2,731.0,11.4,1020,10228,0.00,2.65,0.00,0.000,4,0.000,0.245,3043,3044,2261
$GC,10242,1.20,195.2,729.0,11.0,1021,10246,0.00,2.58,0.00,0.000,6,0.000,0.229,3043,1973,2261
$GC,10569,1.23,219.6,696.6,9.2,1037,10594,0.00,0.00,22.58,1.042,6,0.000,0.000,3043,1969,2166
$GC,10898,1.28,260.3,667.4,8.6,1053,10939,0.00,0.00,37.97,1.044,6,0.000,0.000,3043,1969,2000
$GC,11247,1.34,311.0,637.6,8.2,1070,11297,0.12,0.00,46.55,1.026,6,0.064,0.000,3078,1969,1794
$GC,11597,1.35,316.3,601.9,9.8,1087,11604,0.00,0.00,5.47,0.759,6,0.000,0.000,3078,1969,1772
$GC,11917,1.35,316.3,569.7,11.1,1116,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1969,1769
$GC,12242,1.35,316.3,533.5,10.4,1147,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1969,1768
$GC,12561,1.35,316.3,499.4,11.3,1177,12565,0.00,1.95,0.00,0.000,4,0.000,0.113,3078,902,1768
$GC,12577,1.35,316.3,497.3,11.1,1178,12585,0.00,2.00,0.00,0.000,6,0.000,0.107,3078,1983,1768
$GC,12905,1.35,316.3,461.1,11.1,1209,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1985,1767
$GC,13231,1.35,316.3,425.3,11.2,1240,13234,0.00,1.95,0.00,0.000,4,0.000,0.107,3078,923,1767
$GC,13254,1.35,316.3,422.7,11.0,1242,13258,0.00,2.22,0.00,0.000,6,0.000,0.173,3078,1971,1767
$GC,13579,1.35,316.3,387.4,10.5,1272,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1970,1767
$GC,13900,1.35,316.3,354.6,10.2,1302,13904,0.00,2.42,0.00,0.000,4,0.000,0.225,3078,922,1767
$GC,13929,1.35,316.3,351.4,10.7,1304,13932,0.00,2.10,0.00,0.000,6,0.000,0.149,3078,1965,1767
$GC,14271,1.36,322.7,316.4,9.8,1363,14285,0.00,0.00,6.82,0.709,6,0.000,0.000,3078,1965,1744
$GC,14624,1.38,337.3,281.1,9.5,1425,14645,0.00,2.00,14.60,0.780,4,0.000,0.104,3078,918,1686
$GC,14658,1.38,342.5,277.8,9.8,1430,14672,0.00,2.45,6.53,0.665,6,0.000,0.218,3078,1962,1664
$GC,15011,1.40,357.1,243.0,9.5,1492,15030,0.00,0.00,14.60,0.756,6,0.000,0.000,3078,1961,1606
$GC,15370,1.40,357.1,206.9,10.2,1555,15377,0.00,2.47,0.00,0.000,4,0.000,0.232,3078,924,1602
$GC,15395,1.40,357.1,204.2,10.8,1559,15402,0.00,1.98,0.00,0.000,6,0.000,0.117,3078,1963,1603
$GC,15740,1.40,360.3,169.9,9.9,1620,15748,0.00,0.00,3.85,0.502,6,0.000,0.000,3078,1962,1593
$GC,16088,1.40,360.3,134.7,10.1,1681,16095,0.00,1.90,0.00,0.000,4,0.000,0.110,3078,924,1592
$GC,16108,1.40,360.3,132.5,10.1,1684,16115,0.00,2.10,0.00,0.000,6,0.000,0.156,3078,1952,1592
$GC,16454,1.40,360.3,97.5,10.6,1745,16461,0.00,1.88,0.00,0.000,4,0.000,0.107,3078,923,1592
$GC,16469,1.40,360.3,95.8,10.2,1747,16476,0.00,2.35,0.00,0.000,6,0.000,0.215,3078,1944,1592
$GC,16815,1.40,360.3,55.1,10.2,1808,16822,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1944,1592
$GC,17160,1.47,378.1,20.1,9.4,1869,17182,0.00,2.22,16.90,0.640,4,0.000,0.173,3078,924,1519
$GC,17235,1.52,418.7,12.9,8.6,1881,17278,0.12,2.10,36.62,0.644,6,0.061,0.165,3118,1941,1355
$STATE,17328,end climb,SURFACE_DEPTH_REACHED
$STATE,17328,begin surface coast
$FINISH,0.2,1.012750
$STATE,17359,end surface coast,CONTROL_FINISHED_OK
$STATE,17360,begin surface
$SM_CCo,17441,0.00,0.000,0,0,1348,420.20
$SM_GC,0.99,10.75,0.00,0.00,0.038,0.000,0.000,572,2038,1348,-10.06,0.23,420.20
$IRIDIUM_FIX,6130.75,-2619.61,150997,131341
$TT8_MAMPS,0.041418
$HUMID,1725
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.80
$XPDR_PINGS,1223
$24V_AH,23.2,74.658
$10V_AH,10.5,72.715
$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,24.975,104.325,549.650,0.000,0.000,29.323,33.708,242.333,305.750,0.000,0.000,16.312,3808.902,9224.107,732.696,3374.907,741.928,0.000,2226.395,0.000,3394.191,0.000,0.466
$DEVICE_MAMPS,198.653,252.343,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1316.590,1464.467,721.463,1769.898,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139369,1901
$CAP_FILE_SIZE,161399,0
$CFSIZE,260165632,222212096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$CURRENT,0.100,301.7,1
$GPS,210608,215307,6156.686,-2624.218,40,1.1,45,-18.9