version: 66.03
glider: 141
mission: 7
dive: 382
start: 6 24 108 22 40 41
data:
$ID,141
$MISSION,7
$DIVE,382
$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,-13214.983
$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,3
$R_STBD_OVSHOOT,17
$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
$GPS1,222758,6149.558,-2615.139,36,2.6,55,-18.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.0
$GPS2,224021,6149.582,-2615.298,9,1.4,9,-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,239.6,10304,-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,-194.7,0.0,0.0,0,131,0.00,0.00,-104.20,0.000,2,0.000,0.000,569,2052,3773
$GC,135,-1.34,-194.7,3.8,-6.5,14,158,11.15,2.05,-1.73,0.000,4,0.196,0.114,2480,955,3858
$GC,267,-1.34,-194.7,27.0,-12.6,36,275,0.00,1.95,0.00,0.000,6,0.000,0.094,2480,2026,3859
$GC,411,-1.29,-194.7,43.8,-12.0,61,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2027,3859
$GC,553,-1.23,-194.7,61.6,-11.9,86,561,0.15,2.17,0.00,0.000,4,0.113,0.157,2514,953,3859
$GC,580,-1.23,-194.7,64.3,-10.6,90,588,0.00,2.42,0.00,0.000,6,0.000,0.210,2513,2008,3859
$GC,927,-1.23,-194.7,98.4,-9.5,151,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2008,3859
$GC,1269,-1.23,-194.7,132.5,-10.0,212,1277,0.00,2.60,0.00,0.000,4,0.000,0.237,2513,3087,3859
$GC,1307,-1.23,-194.7,136.4,-10.4,218,1315,0.00,2.28,0.00,0.000,6,0.000,0.176,2514,2013,3859
$GC,1655,-1.23,-194.7,172.2,-10.8,279,1662,0.00,2.45,0.00,0.000,4,0.000,0.217,2513,3088,3859
$GC,1715,-1.23,-194.7,178.5,-10.3,289,1722,0.00,2.55,0.00,0.000,6,0.000,0.234,2514,2034,3859
$GC,2060,-1.23,-194.7,213.3,-10.1,350,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2031,3859
$GC,2406,-1.23,-194.7,248.3,-10.3,411,2413,0.00,2.28,0.00,0.000,4,0.000,0.183,2514,3090,3859
$GC,2470,-1.23,-194.7,255.2,-10.5,422,2478,0.00,2.30,0.00,0.000,6,0.000,0.194,2514,2037,3859
$GC,2816,-1.23,-194.7,290.8,-9.7,483,2823,0.00,1.95,0.00,0.000,4,0.000,0.107,2514,3104,3859
$GC,2842,-1.23,-194.7,293.3,-9.7,487,2849,0.00,2.28,0.00,0.000,6,0.000,0.186,2514,2045,3859
$GC,3188,-1.23,-194.7,326.5,-9.6,548,3195,0.00,1.95,0.00,0.000,4,0.000,0.117,2513,3092,3859
$GC,3220,-1.23,-194.7,329.6,-9.8,553,3227,0.00,2.35,0.00,0.000,6,0.000,0.204,2514,2045,3859
$GC,3559,-1.23,-194.7,362.4,-9.5,602,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2041,3859
$GC,3877,-1.23,-194.7,393.3,-9.5,632,3881,0.00,2.25,0.00,0.000,4,0.000,0.186,2514,3087,3858
$GC,3911,-1.23,-194.7,396.9,-10.2,634,3919,0.00,2.45,0.00,0.000,6,0.000,0.226,2513,2045,3858
$GC,4239,-1.23,-194.7,429.0,-9.4,665,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2042,3858
$GC,4565,-1.23,-194.7,462.3,-10.8,696,4569,0.00,2.25,0.00,0.000,4,0.000,0.192,2514,3087,3858
$GC,4623,-1.23,-194.7,468.7,-11.2,701,4628,0.00,2.53,0.00,0.000,6,0.000,0.238,2514,2045,3858
$GC,4952,-1.23,-194.7,501.8,-10.1,731,4956,0.00,2.33,0.00,0.000,4,0.000,0.198,2514,3091,3857
$GC,5003,-1.23,-194.7,507.4,-10.3,735,5007,0.00,2.38,0.00,0.000,6,0.000,0.219,2514,2072,3857
$GC,5331,-1.23,-194.7,540.7,-10.7,765,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2072,3857
$GC,5656,-1.23,-194.7,575.6,-10.2,796,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2071,3857
$GC,5972,-1.23,-194.7,609.0,-10.7,822,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2071,3857
$GC,6283,-1.23,-194.7,639.8,-9.6,837,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2071,3856
$GC,6590,-1.23,-194.7,669.8,-10.1,852,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2071,3856
$GC,6900,-1.23,-194.7,701.0,-9.7,867,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2071,3856
$GC,7210,-1.23,-194.7,729.8,-8.9,882,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2071,3855
$GC,7519,-1.23,-194.7,757.6,-9.0,897,7523,0.00,1.95,0.00,0.000,4,0.000,0.130,2514,3098,3855
$GC,7558,-1.23,-194.7,761.4,-9.1,898,7566,0.00,1.95,0.00,0.000,6,0.000,0.114,2514,2052,3855
$GC,7875,-1.23,-194.7,790.5,-9.3,914,7879,0.00,2.42,0.00,0.000,4,0.000,0.222,2514,3086,3854
$GC,7908,-1.23,-194.7,794.2,-10.5,915,7915,0.00,1.88,0.00,0.000,6,0.000,0.105,2513,2062,3854
$GC,8226,-1.23,-194.7,824.9,-9.6,931,8229,0.00,1.95,0.00,0.000,4,0.000,0.123,2514,3097,3854
$GC,8265,-1.23,-194.7,829.2,-10.5,932,8272,0.00,2.15,0.00,0.000,6,0.000,0.174,2514,2071,3854
$GC,8582,-1.33,-194.7,855.7,-5.7,948,8584,0.12,0.00,0.00,0.000,6,0.067,0.000,2479,2069,3854
$STATE,8743,end dive,NO_VERTICAL_VELOCITY
$STATE,8743,begin apogee
$GC,8750,-0.37,0.0,855.7,0.0,956,8927,1.00,0.00,169.32,1.183,6,0.079,0.000,2699,1981,3061
$STATE,8927,end apogee,CONTROL_FINISHED_OK
$STATE,8927,begin climb
$GC,8931,1.34,194.7,855.3,0.0,965,9104,1.67,0.00,168.60,1.152,6,0.076,0.000,3068,1981,2268
$GC,9407,1.39,235.9,817.7,8.6,988,9447,0.00,0.00,37.55,1.102,6,0.000,0.000,3068,1981,2100
$GC,9755,1.40,242.9,785.7,9.8,1005,9765,0.00,0.00,7.38,0.907,6,0.000,0.000,3068,1981,2071
$GC,10064,1.42,258.0,755.8,9.5,1020,10084,0.00,0.00,15.10,1.025,6,0.000,0.000,3068,1981,2009
$GC,10393,1.48,303.3,727.0,8.4,1036,10439,0.15,0.00,43.10,1.075,6,0.058,0.000,3111,1981,1825
$GC,10744,1.43,303.3,690.3,10.5,1053,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1981,1819
$GC,11052,1.40,323.3,660.6,9.3,1068,11077,0.12,2.05,18.23,1.001,4,0.107,0.123,3087,921,1743
$GC,11125,1.42,335.8,653.9,9.6,1071,11148,0.00,1.98,13.20,0.956,6,0.000,0.100,3087,2003,1692
$GC,11457,1.44,355.0,623.6,9.3,1087,11485,0.00,0.00,21.27,0.910,6,0.000,0.000,3086,2005,1614
$GC,11789,1.44,355.0,590.6,10.1,1107,11793,0.00,2.00,0.00,0.000,4,0.000,0.114,3087,924,1611
$GC,11845,1.44,355.0,584.6,10.5,1112,11850,0.00,2.35,0.00,0.000,6,0.000,0.196,3087,1972,1610
$GC,12171,1.44,355.0,550.8,11.4,1142,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1973,1610
$GC,12492,1.45,363.5,516.9,9.7,1172,12506,0.00,2.03,8.57,0.842,4,0.000,0.107,3087,921,1579
$GC,12534,1.45,365.8,512.3,9.9,1175,12545,0.00,2.60,4.00,0.614,6,0.000,0.235,3087,1974,1569
$GC,12872,1.45,365.8,476.2,10.9,1207,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1973,1568
$GC,13190,1.45,365.8,442.2,10.2,1237,13194,0.00,2.28,0.00,0.000,4,0.000,0.183,3087,916,1567
$GC,13236,1.46,372.9,437.5,9.8,1240,13248,0.00,1.92,7.72,0.782,6,0.000,0.105,3086,1963,1541
$GC,13569,1.47,375.7,405.5,9.9,1271,13578,0.00,0.00,4.10,0.595,6,0.000,0.000,3087,1965,1529
$GC,13899,1.47,375.7,370.8,11.6,1302,13903,0.00,1.90,0.00,0.000,4,0.000,0.108,3087,921,1528
$GC,13938,1.47,375.7,365.5,12.4,1305,13945,0.00,2.15,0.00,0.000,6,0.000,0.169,3087,1943,1528
$GC,14275,1.47,375.7,326.5,12.2,1353,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1944,1528
$GC,14618,1.47,375.7,287.4,10.6,1414,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1944,1528
$GC,14964,1.47,375.7,249.8,11.3,1475,14971,0.00,1.88,0.00,0.000,4,0.000,0.106,3087,918,1528
$GC,15001,1.47,375.7,245.5,11.4,1481,15008,0.00,2.42,0.00,0.000,6,0.000,0.216,3087,1950,1528
$GC,15347,1.47,375.7,207.7,10.8,1542,15353,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1950,1528
$GC,15693,1.47,375.7,170.9,10.5,1603,15699,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1950,1528
$GC,16036,1.47,378.7,135.2,9.9,1664,16044,0.00,0.00,4.03,0.503,6,0.000,0.000,3087,1950,1518
$GC,16382,1.47,378.7,100.1,10.5,1725,16389,0.00,1.88,0.00,0.000,4,0.000,0.105,3087,922,1518
$GC,16413,1.47,378.7,96.7,10.8,1730,16420,0.00,2.50,0.00,0.000,6,0.000,0.236,3086,1946,1518
$GC,16758,1.52,418.9,63.8,8.6,1791,16805,0.10,2.90,37.45,0.683,4,0.068,0.253,3119,3042,1352
$GC,16847,1.52,418.9,53.9,11.6,1805,16854,0.00,2.72,0.00,0.000,6,0.000,0.242,3119,1963,1350
$GC,17193,1.52,418.9,16.5,11.2,1866,17200,0.00,2.03,0.00,0.000,4,0.000,0.147,3119,917,1348
$GC,17253,1.52,418.9,9.8,11.2,1876,17260,0.00,2.15,0.00,0.000,6,0.000,0.160,3119,1961,1348
$STATE,17315,end climb,SURFACE_DEPTH_REACHED
$STATE,17316,begin surface coast
$FINISH,0.2,1.013281
$STATE,17345,end surface coast,CONTROL_FINISHED_OK
$STATE,17345,begin surface
$SM_CCo,17428,0.00,0.000,0,0,1346,421.18
$SM_GC,0.81,10.75,0.00,0.00,0.040,0.000,0.000,575,2049,1346,-10.06,0.54,421.18
$IRIDIUM_FIX,6126.23,-2619.66,180997,222216
$TT8_MAMPS,0.042185
$HUMID,1755
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,15.30
$XPDR_PINGS,1205
$24V_AH,23.1,77.934
$10V_AH,10.5,75.207
$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,25.225,98.125,559.625,0.000,0.000,51.174,72.951,389.339,301.250,0.000,0.000,13.851,3831.278,9240.226,792.728,3299.682,986.670,0.000,2233.636,0.000,3330.543,0.000,0.465
$DEVICE_MAMPS,195.585,253.110,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1310.106,1440.374,739.122,1761.388,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139073,1892
$CAP_FILE_SIZE,166077,0
$CFSIZE,260165632,220815360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$CURRENT,0.022, 59.8,1
$GPS,250608,033226,6147.830,-2618.826,39,1.5,39,-18.8