version: 66.03
glider: 141
mission: 7
dive: 102
start: 4 26 108 3 45 27
data:
$ID,141
$MISSION,7
$DIVE,102
$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,45
$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,-8182.2842
$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,40
$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,21
$ROLL_AD_RATE,350
$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
$GPS1,033507,6056.086,-2315.129,25,1.6,25,-16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-57.5
$GPS2,034509,6056.101,-2315.239,11,1.8,11,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6103.737,-2311.544
$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,61.7,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-101.50,0.000,2,0.000,0.000,572,2007,3835
$GC,132,-1.34,-194.7,3.5,-6.5,14,149,11.20,2.65,-0.45,0.000,4,0.201,0.071,2480,610,3858
$GC,223,-1.34,-194.7,20.8,-11.9,30,231,0.00,2.58,0.00,0.000,6,0.000,0.051,2480,2030,3859
$GC,357,-1.34,-194.7,36.0,-11.1,55,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2032,3859
$GC,490,-1.34,-194.7,51.3,-11.7,80,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2032,3859
$GC,829,-1.34,-194.7,90.3,-11.2,141,837,0.00,2.62,0.00,0.000,4,0.000,0.058,2480,3437,3859
$GC,872,-1.30,-194.7,95.2,-11.7,148,879,0.00,2.55,0.00,0.000,6,0.000,0.050,2480,2009,3859
$GC,1211,-1.30,-194.7,133.0,-11.1,209,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2003,3858
$GC,1551,-1.30,-194.7,170.7,-11.4,270,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2002,3858
$GC,1893,-1.30,-194.7,208.5,-11.2,331,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2002,3859
$GC,2235,-1.30,-194.7,246.8,-11.4,392,2241,0.00,2.65,0.00,0.000,4,0.000,0.061,2480,3438,3858
$GC,2281,-1.26,-194.7,252.1,-11.5,400,2288,0.12,2.53,0.00,0.000,6,0.119,0.044,2504,2025,3858
$GC,2627,-1.26,-194.7,285.2,-9.3,461,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2021,3858
$GC,2969,-1.26,-194.7,317.2,-9.3,522,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2019,3858
$GC,3311,-1.26,-194.7,349.9,-9.5,583,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2020,3859
$GC,3635,-1.26,-194.7,381.4,-9.6,614,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2019,3858
$GC,3954,-1.26,-194.7,412.1,-9.7,644,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2020,3859
$GC,4272,-1.26,-194.7,442.2,-9.2,674,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2019,3859
$GC,4592,-1.26,-194.7,473.2,-10.0,704,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2019,3858
$GC,4910,-1.26,-194.7,504.4,-9.9,734,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2019,3858
$GC,5227,-1.26,-194.7,536.6,-10.1,764,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2019,3858
$GC,5547,-1.26,-194.7,568.2,-9.9,794,5551,0.00,2.70,0.00,0.000,4,0.000,0.077,2504,3431,3858
$GC,5585,-1.26,-194.7,572.1,-10.2,797,5589,0.00,2.53,0.00,0.000,6,0.000,0.052,2504,2040,3858
$GC,5909,-1.26,-194.7,602.1,-9.0,826,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2038,3858
$GC,6218,-1.26,-194.7,628.7,-8.5,841,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2039,3858
$GC,6527,-1.26,-194.7,655.6,-8.9,856,6531,0.00,2.72,0.00,0.000,4,0.000,0.084,2504,3433,3858
$GC,6575,-1.26,-194.7,660.3,-9.3,858,6580,0.00,2.58,0.00,0.000,6,0.000,0.061,2504,2043,3858
$GC,6897,-1.26,-194.7,688.8,-9.0,874,6901,0.00,2.83,0.00,0.000,4,0.000,0.105,2504,620,3858
$GC,6945,-1.26,-194.7,693.5,-9.6,876,6950,0.00,2.62,0.00,0.000,6,0.000,0.067,2504,2035,3858
$GC,7267,-1.26,-194.7,722.5,-9.1,892,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2035,3857
$GC,7576,-1.26,-194.7,750.5,-9.0,907,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2035,3857
$GC,7885,-1.26,-194.7,778.5,-9.0,922,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3857
$GC,8194,-1.26,-194.7,807.1,-9.3,937,8199,0.00,2.97,0.00,0.000,4,0.000,0.135,2503,3445,3857
$GC,8243,-1.26,-194.7,812.0,-9.7,939,8247,0.00,2.62,0.00,0.000,6,0.000,0.067,2504,2027,3857
$GC,8564,-1.26,-194.7,841.3,-9.1,955,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2027,3857
$GC,8874,-1.26,-194.7,869.1,-8.9,970,8878,0.00,2.67,0.00,0.000,4,0.000,0.077,2504,3444,3857
$GC,8939,-1.26,-194.7,875.5,-9.8,973,8944,0.00,2.55,0.00,0.000,6,0.000,0.057,2504,2048,3857
$GC,9266,-1.26,-194.7,906.2,-9.7,989,9271,0.00,2.80,0.00,0.000,4,0.000,0.101,2503,620,3856
$GC,9315,-1.26,-194.7,911.1,-9.6,991,9319,0.00,2.60,0.00,0.000,6,0.000,0.057,2503,2047,3856
$GC,9636,-1.26,-194.7,940.1,-8.8,1007,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2047,3856
$GC,9945,-1.26,-194.7,966.2,-8.2,1022,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2047,3855
$STATE,10232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10232,begin apogee
$GC,10237,-0.37,0.0,990.4,8.5,1036,10409,0.90,0.00,168.85,1.292,6,0.097,0.000,2696,1975,3062
$STATE,10410,end apogee,CONTROL_FINISHED_OK
$STATE,10410,begin climb
$GC,10412,1.34,194.7,994.4,0.0,1044,10585,1.67,0.00,168.43,1.262,6,0.076,0.000,3069,1975,2268
$GC,10888,1.28,194.7,948.4,11.0,1068,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1975,2262
$GC,11196,1.22,194.7,914.7,10.8,1083,11201,0.12,2.70,0.00,0.000,4,0.104,0.071,3045,3403,2261
$GC,11235,1.22,194.7,910.6,10.2,1085,11239,0.00,2.58,0.00,0.000,6,0.000,0.051,3044,1990,2261
$GC,11560,1.23,199.9,878.1,9.8,1101,11567,0.00,0.00,4.95,0.862,6,0.000,0.000,3044,1988,2246
$GC,11869,1.24,206.3,847.6,9.8,1116,11883,0.00,2.72,7.25,0.994,4,0.000,0.064,3045,3397,2221
$GC,11923,1.24,206.3,842.1,11.8,1118,11927,0.00,2.55,0.00,0.000,6,0.000,0.050,3044,2002,2220
$GC,12244,1.26,229.6,811.8,9.2,1134,12268,0.00,0.00,22.48,1.141,6,0.000,0.000,3044,2001,2125
$GC,12573,1.27,236.4,780.2,9.8,1150,12583,0.00,0.00,7.35,0.966,6,0.000,0.000,3044,2001,2098
$GC,12883,1.27,236.4,749.1,10.1,1165,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2001,2096
$GC,13192,1.27,236.4,718.0,10.1,1180,13196,0.00,2.60,0.00,0.000,4,0.000,0.064,3044,3398,2096
$GC,13217,1.27,236.4,715.2,10.3,1181,13222,0.00,2.58,0.00,0.000,6,0.000,0.050,3044,1996,2095
$GC,13539,1.29,253.2,683.9,9.4,1197,13561,0.00,2.80,16.45,1.051,4,0.000,0.075,3044,576,2029
$GC,13577,1.32,273.5,680.1,9.3,1198,13606,0.10,2.60,19.67,1.045,6,0.068,0.046,3076,2002,1947
$GC,13914,1.28,273.5,642.1,11.5,1215,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2002,1943
$GC,14222,1.24,273.5,606.8,11.4,1230,14224,0.15,0.00,0.00,0.000,6,0.097,0.000,3046,2004,1942
$GC,14539,1.24,279.9,575.4,9.8,1256,14549,0.00,0.00,6.72,0.850,6,0.000,0.000,3046,2005,1920
$GC,14868,1.24,279.9,542.4,10.2,1287,14869,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2005,1919
$GC,15186,1.25,283.6,510.3,9.9,1317,15198,0.00,2.70,4.75,0.716,4,0.000,0.064,3046,573,1906
$GC,15213,1.25,283.6,507.4,10.3,1319,15220,0.00,2.55,0.00,0.000,6,0.000,0.044,3046,1986,1905
$GC,15539,1.25,289.2,475.9,9.8,1350,15549,0.00,0.00,7.22,0.818,6,0.000,0.000,3046,1988,1882
$GC,15868,1.25,289.2,442.8,10.1,1381,15869,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1989,1880
$GC,16185,1.25,289.2,409.7,10.6,1411,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1989,1881
$GC,16504,1.25,289.2,375.5,11.0,1441,16509,0.00,2.62,0.00,0.000,4,0.000,0.061,3046,575,1881
$GC,16525,1.25,289.2,373.0,11.4,1442,16532,0.00,2.58,0.00,0.000,6,0.000,0.042,3046,1999,1880
$GC,16856,1.25,289.2,335.8,12.4,1484,16862,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1998,1880
$GC,17200,1.28,313.0,297.7,9.2,1545,17226,0.00,0.00,22.10,0.831,6,0.000,0.000,3046,2000,1785
$GC,17563,1.30,328.7,260.9,9.5,1610,17585,0.00,2.72,14.62,0.786,4,0.000,0.062,3046,565,1721
$GC,17608,1.30,328.7,256.3,10.7,1618,17614,0.00,2.55,0.00,0.000,6,0.000,0.041,3046,1985,1720
$GC,17951,1.33,347.4,222.0,9.4,1679,17973,0.10,0.00,17.85,0.771,6,0.067,0.000,3080,1986,1645
$GC,18310,1.33,347.4,179.2,12.5,1743,18316,0.00,2.62,0.00,0.000,4,0.000,0.062,3080,574,1641
$GC,18333,1.33,347.4,176.3,12.7,1747,18339,0.00,2.50,0.00,0.000,6,0.000,0.041,3080,1980,1641
$GC,18674,1.33,347.4,135.5,10.9,1808,18680,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1982,1640
$GC,19015,1.33,347.4,95.3,11.1,1869,19022,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1981,1640
$GC,19360,1.33,347.4,55.1,11.6,1930,19366,0.00,2.62,0.00,0.000,4,0.000,0.067,3080,571,1640
$GC,19396,1.33,347.4,50.8,10.6,1936,19402,0.00,2.50,0.00,0.000,6,0.000,0.046,3079,1972,1640
$GC,19717,1.33,347.4,13.5,11.9,1997,19724,0.00,2.60,0.00,0.000,4,0.000,0.058,3080,3382,1639
$GC,19747,1.33,347.4,9.6,11.8,2002,19755,0.00,2.55,0.00,0.000,6,0.000,0.050,3080,1979,1639
$STATE,19797,end climb,SURFACE_DEPTH_REACHED
$STATE,19797,begin surface coast
$FINISH,0.0,1.027132
$STATE,19825,end surface coast,CONTROL_FINISHED_OK
$STATE,19825,begin surface
$SM_CCo,19904,0.00,0.000,0,0,1638,349.31
$SM_GC,0.65,10.52,0.00,0.00,0.037,0.000,0.000,569,2041,1638,-10.08,0.31,349.31
$IRIDIUM_FIX,6032.86,-2315.98,210797,030346
$TT8_MAMPS,0.042185
$HUMID,1627
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.30
$XPDR_PINGS,358
$24V_AH,23.5,21.522
$10V_AH,10.6,30.201
$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,24.900,100.275,488.700,0.000,0.000,58.110,67.941,292.736,89.500,0.000,0.000,12.898,3150.868,12229.505,646.382,3763.361,698.276,0.000,2193.808,0.000,3785.543,0.000,0.466
$DEVICE_MAMPS,200.954,134.992,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1402.669,1468.905,721.250,927.050,872.622,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142066,2016
$CAP_FILE_SIZE,172750,0
$CFSIZE,260165632,246251520
$ERRORS,0,7,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,091838,6059.844,-2314.170,40,1.1,53,-16.7