version: 66.03
glider: 141
mission: 7
dive: 393
start: 6 27 108 1 53 21
data:
$ID,141
$MISSION,7
$DIVE,393
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-13413.154
$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,18
$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
$GPS1,014037,6144.817,-2602.488,28,1.3,28,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-52.8
$GPS2,015302,6144.829,-2602.641,9,1.0,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6137.193,-2559.011
$TGT_RADIUS,1852.000
$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,153.6,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.34,-194.7,0.0,0.0,0,142,0.00,0.00,-109.53,0.000,2,0.000,0.000,573,2037,3762
$GC,145,-1.34,-194.7,3.6,-7.4,20,165,11.23,2.10,-2.00,0.000,4,0.199,0.107,2483,967,3857
$GC,178,-0.85,-194.7,13.4,-26.9,25,186,0.52,2.40,0.00,0.000,6,0.105,0.134,2591,2032,3857
$GC,325,-0.92,-194.7,27.3,-8.8,50,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2034,3858
$GC,468,-1.01,-194.7,39.3,-8.8,75,475,0.15,2.15,0.00,0.000,4,0.053,0.110,2540,971,3858
$GC,499,-1.06,-194.7,42.3,-10.0,80,506,0.00,2.42,0.00,0.000,6,0.000,0.129,2540,2057,3858
$GC,643,-1.06,-194.7,56.9,-10.1,105,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2059,3858
$GC,986,-1.06,-194.7,87.8,-9.2,166,993,0.00,2.47,0.00,0.000,4,0.000,0.144,2540,3093,3859
$GC,1029,-1.06,-194.7,91.7,-9.1,173,1035,0.00,1.98,0.00,0.000,6,0.000,0.092,2540,2044,3859
$GC,1374,-1.06,-194.7,123.5,-9.0,234,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2037,3859
$GC,1719,-1.06,-194.7,154.0,-8.5,295,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2037,3859
$GC,2063,-1.06,-194.7,181.6,-8.0,356,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2037,3859
$GC,2407,-1.06,-194.7,210.7,-9.0,417,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2037,3859
$GC,2751,-1.06,-194.7,240.7,-8.4,478,2757,0.00,2.10,0.00,0.000,4,0.000,0.108,2540,3088,3859
$GC,2804,-1.06,-194.7,245.3,-8.2,487,2810,0.00,1.95,0.00,0.000,6,0.000,0.087,2540,2055,3858
$GC,3148,-1.06,-194.7,274.1,-8.8,548,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2050,3858
$GC,3492,-1.06,-194.7,303.1,-8.6,609,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2050,3858
$GC,3836,-1.06,-194.7,334.5,-9.5,670,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2050,3858
$GC,4175,-1.06,-194.7,367.9,-9.8,715,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2050,3857
$GC,4494,-1.06,-194.7,399.1,-9.4,745,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2050,3856
$GC,4812,-1.06,-194.7,429.2,-9.0,775,4816,0.00,2.53,0.00,0.000,4,0.000,0.146,2540,3086,3857
$GC,4841,-1.06,-194.7,431.9,-9.5,777,4845,0.00,1.95,0.00,0.000,6,0.000,0.090,2540,2063,3857
$GC,5175,-1.06,-194.7,460.1,-8.0,808,5179,0.00,2.53,0.00,0.000,4,0.000,0.149,2540,3088,3857
$GC,5197,-1.06,-194.7,462.2,-8.2,809,5203,0.00,1.95,0.00,0.000,6,0.000,0.091,2540,2068,3856
$GC,5524,-1.06,-194.7,489.0,-8.1,840,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2061,3856
$GC,5852,-1.06,-194.7,516.4,-8.6,871,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2061,3855
$GC,6180,-1.10,-194.7,545.5,-9.1,902,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2061,3855
$GC,6508,-1.14,-194.7,575.4,-9.1,933,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2061,3855
$GC,6846,-1.18,-194.7,605.8,-8.8,962,6850,0.00,2.72,0.00,0.000,4,0.000,0.166,2540,3084,3854
$GC,6867,-1.18,-194.7,608.1,-8.8,963,6871,0.00,2.00,0.00,0.000,6,0.000,0.096,2540,2065,3854
$GC,7196,-1.23,-194.7,636.4,-8.6,979,7198,0.12,0.00,0.00,0.000,6,0.063,0.000,2504,2064,3854
$GC,7504,-1.23,-194.7,666.1,-9.6,994,7508,0.00,2.45,0.00,0.000,4,0.000,0.143,2505,3086,3854
$GC,7536,-1.23,-194.7,669.4,-10.1,995,7542,0.00,2.05,0.00,0.000,6,0.000,0.104,2505,2071,3854
$GC,7853,-1.23,-194.7,699.5,-9.5,1011,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2069,3853
$GC,8161,-1.23,-194.7,730.2,-10.4,1026,8165,0.00,2.55,0.00,0.000,4,0.000,0.154,2504,3077,3853
$GC,8200,-1.23,-194.7,734.5,-11.2,1028,8204,0.00,2.17,0.00,0.000,6,0.000,0.118,2505,2073,3852
$GC,8528,-1.23,-194.7,770.5,-11.5,1044,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2072,3852
$GC,8837,-1.23,-194.7,804.6,-10.4,1059,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2071,3852
$GC,9146,-1.23,-194.7,833.9,-9.2,1074,9150,0.00,2.33,0.00,0.000,4,0.000,0.136,2505,3083,3852
$GC,9202,-1.23,-194.7,839.3,-9.8,1076,9206,0.00,2.03,0.00,0.000,6,0.000,0.100,2504,2070,3852
$GC,9524,-1.23,-194.7,870.4,-9.7,1092,9528,0.00,2.50,0.00,0.000,4,0.000,0.148,2504,3083,3851
$GC,9557,-1.23,-194.7,873.9,-10.6,1093,9561,0.00,2.00,0.00,0.000,6,0.000,0.102,2505,2081,3852
$GC,9879,-1.23,-194.7,904.9,-9.8,1109,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2079,3851
$GC,10190,-1.23,-194.7,932.6,-8.6,1124,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2079,3851
$GC,10497,-1.23,-194.7,960.0,-9.1,1139,10502,0.00,2.53,0.00,0.000,4,0.000,0.154,2505,3084,3850
$GC,10531,-1.23,-194.7,963.3,-9.2,1140,10537,0.00,2.00,0.00,0.000,6,0.000,0.100,2504,2080,3850
$STATE,10823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10824,begin apogee
$GC,10830,-0.37,0.0,991.4,9.7,1155,11007,0.90,0.00,171.57,1.282,6,0.101,0.000,2694,1975,3062
$STATE,11008,end apogee,CONTROL_FINISHED_OK
$STATE,11008,begin climb
$GC,11011,1.34,194.7,997.1,0.0,1164,11187,1.70,0.00,171.10,1.251,6,0.078,0.000,3065,1974,2268
$GC,11482,1.38,221.8,960.8,9.1,1187,11521,0.00,0.00,27.33,1.101,6,0.000,0.000,3065,1974,2156
$GC,11830,1.38,221.8,927.1,10.2,1204,11834,0.00,2.25,0.00,0.000,4,0.000,0.114,3065,3043,2153
$GC,11881,1.38,221.8,921.4,11.0,1206,11885,0.00,2.08,0.00,0.000,6,0.000,0.097,3065,1989,2153
$GC,12202,1.41,249.7,889.1,9.0,1222,12241,0.00,0.00,28.80,1.103,6,0.000,0.000,3065,1985,2042
$GC,12552,1.47,299.9,860.0,8.3,1239,12635,0.15,0.00,55.03,1.036,6,0.059,0.000,3106,1985,1839
$GC,12941,1.42,299.9,815.3,11.7,1258,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1985,1835
$GC,13250,1.38,299.9,778.6,11.6,1273,13255,0.12,2.33,0.00,0.000,4,0.108,0.125,3081,928,1834
$GC,13295,1.38,299.9,773.6,10.6,1275,13299,0.00,2.28,0.00,0.000,6,0.000,0.115,3081,2000,1834
$GC,13622,1.39,314.7,741.0,9.5,1291,13641,0.00,0.00,13.95,1.040,6,0.000,0.000,3081,2003,1779
$GC,13952,1.42,333.8,710.9,9.3,1307,13976,0.00,2.35,18.95,1.051,4,0.000,0.111,3081,929,1700
$GC,14018,1.43,346.7,704.3,9.6,1310,14043,0.00,2.12,15.85,0.904,6,0.000,0.098,3081,1993,1648
$GC,14367,1.43,346.7,669.3,10.8,1327,14369,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1994,1645
$GC,14675,1.43,346.7,631.3,12.9,1342,14679,0.00,2.22,0.00,0.000,4,0.000,0.110,3081,925,1644
$GC,14725,1.43,346.7,624.5,13.9,1344,14729,0.00,2.20,0.00,0.000,6,0.000,0.112,3081,1985,1644
$GC,15050,1.43,346.7,585.1,11.6,1365,15051,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1987,1643
$GC,15368,1.43,346.7,551.9,10.0,1395,15372,0.00,2.17,0.00,0.000,4,0.000,0.109,3081,925,1643
$GC,15428,1.43,346.7,545.4,10.2,1400,15435,0.00,2.20,0.00,0.000,6,0.000,0.116,3080,1976,1643
$GC,15758,1.46,368.8,514.6,9.2,1431,15789,0.00,0.00,22.92,0.884,6,0.000,0.000,3081,1979,1558
$GC,16108,1.47,378.1,481.2,9.7,1464,16120,0.00,0.00,9.75,0.854,6,0.000,0.000,3080,1979,1520
$GC,16437,1.47,378.1,448.7,10.5,1495,16441,0.00,2.15,0.00,0.000,4,0.000,0.104,3081,918,1518
$GC,16487,1.47,378.1,443.0,10.6,1499,16493,0.00,2.22,0.00,0.000,6,0.000,0.120,3081,1974,1517
$GC,16812,1.47,378.1,407.6,11.0,1530,16813,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1976,1517
$GC,17130,1.47,378.1,371.9,11.2,1560,17134,0.00,2.12,0.00,0.000,4,0.000,0.103,3081,922,1517
$GC,17170,1.47,378.1,367.3,12.9,1563,17176,0.00,2.03,0.00,0.000,6,0.000,0.096,3081,1961,1517
$GC,17505,1.47,380.1,331.6,9.9,1609,17510,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1963,1517
$GC,17847,1.47,380.1,297.2,10.3,1670,17853,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1963,1517
$GC,18191,1.47,380.1,264.5,10.2,1731,18197,0.00,2.10,0.00,0.000,4,0.000,0.104,3081,916,1517
$GC,18232,1.47,380.1,260.5,11.1,1738,18238,0.00,2.30,0.00,0.000,6,0.000,0.127,3081,1952,1517
$GC,18577,1.52,416.0,228.1,8.8,1799,18615,0.12,0.00,35.08,0.795,6,0.063,0.000,3118,1954,1365
$GC,18956,1.52,416.0,183.9,11.7,1866,18962,0.00,2.08,0.00,0.000,4,0.000,0.106,3118,922,1361
$GC,18998,1.52,416.0,178.6,11.3,1873,19003,0.00,1.98,0.00,0.000,6,0.000,0.094,3118,1939,1361
$GC,19342,1.52,416.0,137.9,11.8,1934,19347,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1943,1360
$GC,19686,1.52,416.0,98.4,11.1,1995,19691,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1944,1359
$GC,20029,1.52,416.0,56.4,10.6,2056,20035,0.00,2.05,0.00,0.000,4,0.000,0.106,3118,917,1359
$GC,20076,1.52,416.0,51.4,10.0,2064,20082,0.00,2.15,0.00,0.000,6,0.000,0.110,3118,1934,1359
$GC,20421,1.52,416.0,14.9,11.5,2125,20428,0.00,2.78,0.00,0.000,4,0.000,0.155,3119,3038,1359
$GC,20474,1.52,416.0,8.8,12.3,2134,20480,0.00,2.10,0.00,0.000,6,0.000,0.093,3118,1934,1358
$STATE,20531,end climb,SURFACE_DEPTH_REACHED
$STATE,20531,begin surface coast
$FINISH,0.3,1.026636
$STATE,20559,end surface coast,CONTROL_FINISHED_OK
$STATE,20559,begin surface
$SM_CCo,20641,0.00,0.000,0,0,1356,418.48
$SM_GC,0.81,10.68,0.00,0.00,0.036,0.000,0.000,575,2038,1356,-10.06,0.23,418.48
$IRIDIUM_FIX,6121.73,-2605.48,210997,010159
$TT8_MAMPS,0.041418
$HUMID,1759
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.90
$XPDR_PINGS,1393
$24V_AH,23.0,80.381
$10V_AH,10.5,77.002
$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,25.700,102.550,570.325,0.000,0.000,51.455,65.324,389.542,348.250,0.000,0.000,19.593,3352.065,12419.472,778.865,3791.555,1021.226,0.000,2448.018,0.000,3791.204,0.000,0.466
$DEVICE_MAMPS,198.653,166.439,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1500.546,1581.341,798.716,1908.554,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,158004,2149
$CAP_FILE_SIZE,187852,0
$CFSIZE,260165632,219787264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,32,9,0
$GPS,270608,073837,6140.845,-2556.807,37,1.5,37,-18.5