version: 66.03
glider: 141
mission: 7
dive: 370
start: 6 22 108 7 59 15
data:
$ID,141
$MISSION,7
$DIVE,370
$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,-12988.026
$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,17
$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
$GPS1,075037,6152.924,-2616.741,28,1.2,28,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.1
$GPS2,075856,6152.968,-2616.733,11,1.3,11,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$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,153.0,20198,-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,-194.7,0.0,0.0,0,131,0.00,0.00,-106.75,0.000,2,0.000,0.000,568,2033,3681
$GC,135,-1.34,-194.7,3.0,-5.0,14,158,11.23,1.92,-4.05,0.000,4,0.199,0.120,2481,3096,3857
$GC,317,-1.28,-194.7,28.3,-10.8,45,324,0.00,1.92,0.00,0.000,6,0.000,0.097,2481,2025,3858
$GC,460,-1.24,-194.7,42.3,-10.5,70,467,0.12,2.35,0.00,0.000,4,0.118,0.201,2505,3080,3858
$GC,532,-1.24,-194.7,49.2,-9.4,82,540,0.00,2.28,0.00,0.000,6,0.000,0.193,2505,2067,3858
$GC,677,-1.24,-194.7,64.1,-10.6,107,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3858
$GC,1021,-1.24,-194.7,99.2,-10.0,168,1028,0.00,2.17,0.00,0.000,4,0.000,0.150,2505,963,3859
$GC,1046,-1.24,-194.7,101.8,-10.5,172,1053,0.00,1.95,0.00,0.000,6,0.000,0.094,2505,2031,3859
$GC,1393,-1.24,-194.7,137.8,-10.6,233,1399,0.00,1.95,0.00,0.000,4,0.000,0.104,2505,953,3859
$GC,1418,-1.24,-194.7,140.5,-11.0,237,1425,0.00,2.22,0.00,0.000,6,0.000,0.166,2505,2028,3859
$GC,1763,-1.24,-194.7,177.1,-10.1,298,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2028,3859
$GC,2109,-1.24,-194.7,211.0,-9.4,359,2116,0.00,2.22,0.00,0.000,4,0.000,0.172,2505,3091,3859
$GC,2146,-1.24,-194.7,214.7,-9.7,365,2153,0.00,2.50,0.00,0.000,6,0.000,0.228,2505,2042,3859
$GC,2492,-1.24,-194.7,247.6,-9.6,426,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3859
$GC,2837,-1.24,-194.7,279.7,-9.1,487,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3859
$GC,3181,-1.24,-194.7,313.6,-10.2,548,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3858
$GC,3528,-1.24,-194.7,347.7,-9.5,609,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2040,3859
$GC,3862,-1.24,-194.7,378.9,-9.5,642,3866,0.00,2.15,0.00,0.000,4,0.000,0.163,2505,3089,3859
$GC,3885,-1.24,-194.7,381.4,-9.7,643,3892,0.00,2.40,0.00,0.000,6,0.000,0.203,2505,2019,3858
$GC,4213,-1.24,-194.7,412.5,-9.9,674,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2016,3858
$GC,4538,-1.24,-194.7,446.4,-10.6,705,4542,0.00,2.35,0.00,0.000,4,0.000,0.194,2505,3088,3858
$GC,4591,-1.24,-194.7,452.0,-11.3,709,4595,0.00,2.30,0.00,0.000,6,0.000,0.199,2505,2045,3857
$GC,4918,-1.24,-194.7,487.4,-11.0,739,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3857
$GC,5235,-1.24,-194.7,521.1,-10.3,769,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3857
$GC,5553,-1.24,-194.7,552.1,-9.5,799,5557,0.00,1.95,0.00,0.000,4,0.000,0.118,2505,3094,3857
$GC,5589,-1.24,-194.7,555.7,-9.9,802,5593,0.00,2.30,0.00,0.000,6,0.000,0.198,2505,2043,3857
$GC,5916,-1.24,-194.7,592.7,-12.7,832,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2042,3856
$GC,6244,-1.24,-194.7,632.8,-11.6,851,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2042,3856
$GC,6554,-1.24,-194.7,667.2,-11.0,866,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3856
$GC,6863,-1.24,-194.7,700.1,-10.2,881,6867,0.00,2.08,0.00,0.000,4,0.000,0.150,2505,3090,3856
$GC,6902,-1.24,-194.7,704.1,-10.3,882,6909,0.00,1.95,0.00,0.000,6,0.000,0.109,2505,2048,3855
$GC,7218,-1.24,-194.7,734.8,-10.1,898,7222,0.00,1.98,0.00,0.000,4,0.000,0.125,2505,3091,3855
$GC,7251,-1.24,-194.7,738.4,-10.3,899,7255,0.00,1.92,0.00,0.000,6,0.000,0.108,2505,2043,3856
$GC,7575,-1.24,-194.7,771.1,-10.3,915,7579,0.00,1.98,0.00,0.000,4,0.000,0.125,2505,3092,3855
$GC,7614,-1.24,-194.7,774.7,-9.3,916,7622,0.00,1.92,0.00,0.000,6,0.000,0.113,2505,2057,3855
$GC,7932,-1.54,-194.7,796.2,-0.1,932,7936,0.25,2.10,0.00,0.000,4,0.071,0.139,2442,970,3855
$STATE,8029,end dive,NO_VERTICAL_VELOCITY
$STATE,8030,begin apogee
$GC,8038,-0.37,0.0,796.1,0.0,936,8210,1.10,0.00,168.07,1.143,6,0.067,0.000,2696,1984,3062
$STATE,8210,end apogee,CONTROL_FINISHED_OK
$STATE,8210,begin climb
$GC,8214,1.34,194.7,796.0,0.0,945,8393,1.70,2.15,166.32,1.117,4,0.077,0.147,3068,3054,2266
$GC,8610,1.33,218.3,764.9,9.2,962,8636,0.00,1.95,21.65,1.032,6,0.000,0.109,3068,1982,2171
$GC,8956,1.35,237.7,732.3,9.3,979,8976,0.00,0.00,18.23,1.016,6,0.000,0.000,3068,1978,2093
$GC,9284,1.39,271.1,702.5,8.8,995,9323,0.00,0.00,31.52,1.040,6,0.000,0.000,3068,1978,1955
$GC,9631,1.42,290.2,671.4,9.3,1012,9663,0.00,2.05,20.27,0.917,4,0.000,0.120,3068,931,1879
$GC,9699,1.42,290.2,664.8,10.2,1015,9703,0.00,2.47,0.00,0.000,6,0.000,0.209,3067,1991,1878
$GC,10027,1.42,290.2,634.2,10.0,1031,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1992,1875
$GC,10336,1.42,290.2,602.9,10.4,1046,10341,0.00,2.38,0.00,0.000,4,0.000,0.192,3068,925,1875
$GC,10388,1.42,290.2,597.4,10.1,1049,10392,0.00,2.00,0.00,0.000,6,0.000,0.120,3067,1987,1875
$GC,10719,1.42,290.2,563.7,10.9,1080,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1990,1874
$GC,11037,1.42,290.2,530.0,10.7,1110,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1990,1874
$GC,11355,1.42,290.2,496.8,10.2,1140,11359,0.00,1.98,0.00,0.000,4,0.000,0.108,3068,919,1874
$GC,11417,1.42,294.7,490.5,9.8,1145,11427,0.00,2.20,5.20,0.716,6,0.000,0.172,3068,1974,1859
$GC,11754,1.44,310.9,458.1,9.4,1177,11775,0.10,0.00,15.88,0.884,6,0.067,0.000,3100,1973,1793
$GC,12092,1.44,310.9,418.1,12.1,1209,12096,0.00,2.03,0.00,0.000,4,0.000,0.135,3100,916,1791
$GC,12131,1.39,310.9,412.9,12.6,1212,12138,0.00,2.20,0.00,0.000,6,0.000,0.168,3100,1976,1791
$GC,12459,1.39,310.9,373.8,11.8,1243,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1976,1791
$GC,12791,1.39,310.9,335.8,11.7,1285,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1976,1791
$GC,13136,1.39,310.9,294.3,11.9,1346,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1976,1790
$GC,13482,1.39,310.9,252.6,11.0,1407,13489,0.00,2.25,0.00,0.000,4,0.000,0.184,3100,924,1790
$GC,13531,1.35,310.9,246.9,11.2,1415,13538,0.12,2.15,0.00,0.000,6,0.106,0.160,3076,1971,1790
$GC,13877,1.35,310.9,210.9,10.1,1476,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1970,1790
$GC,14223,1.35,310.9,175.1,10.4,1537,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1971,1790
$GC,14568,1.35,310.9,138.7,10.0,1598,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1970,1790
$GC,14914,1.37,323.4,105.2,9.6,1659,14934,0.00,1.98,11.85,0.671,4,0.000,0.110,3076,927,1742
$GC,14975,1.39,345.1,99.5,9.2,1669,15003,0.00,2.42,20.80,0.689,6,0.000,0.221,3076,1958,1654
$GC,15344,1.40,346.0,66.3,10.0,1733,15351,0.00,2.55,0.00,0.000,4,0.000,0.224,3075,3045,1651
$GC,15386,1.41,354.4,62.0,9.7,1740,15401,0.00,2.05,9.45,0.620,6,0.000,0.110,3076,1952,1617
$GC,15739,1.46,395.8,32.6,8.6,1802,15782,0.00,2.12,36.92,0.659,4,0.000,0.150,3075,932,1448
$GC,15819,1.53,418.1,25.6,9.2,1814,15849,0.15,2.05,20.67,0.630,6,0.054,0.147,3121,1952,1356
$GC,15985,1.53,418.1,7.0,11.3,1842,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1952,1351
$STATE,16018,end climb,SURFACE_DEPTH_REACHED
$STATE,16019,begin surface coast
$FINISH,0.2,1.005883
$STATE,16048,end surface coast,CONTROL_FINISHED_OK
$STATE,16048,begin surface
$SM_CCo,16130,0.00,0.000,0,0,1349,420.44
$SM_GC,0.91,10.77,0.00,0.00,0.039,0.000,0.000,571,2036,1349,-10.06,0.17,420.44
$IRIDIUM_FIX,6130.75,-2621.64,160997,030351
$TT8_MAMPS,0.042185
$HUMID,1745
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,15.80
$XPDR_PINGS,1150
$24V_AH,23.2,75.283
$10V_AH,10.5,73.212
$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,25.550,90.350,546.850,0.000,0.000,22.968,32.176,276.215,287.500,0.000,0.000,12.919,3735.591,8059.727,727.690,3328.593,758.591,0.000,2201.023,0.000,3338.893,0.000,0.465
$DEVICE_MAMPS,199.420,227.799,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1281.359,1410.601,770.599,1745.984,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135874,1853
$CAP_FILE_SIZE,157538,0
$CFSIZE,260165632,221937664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$CURRENT,0.014,238.9,1
$GPS,220608,122908,6151.207,-2613.437,25,1.5,25,-18.8