version: 66.03
glider: 141
mission: 7
dive: 117
start: 4 29 108 14 50 9
data:
$ID,141
$MISSION,7
$DIVE,117
$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,255
$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,-8527.4316
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,144307,6103.486,-2314.252,31,2.0,31,-16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-55.3
$GPS2,144950,6103.465,-2314.207,10,1.4,10,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6100.670,-2319.263
$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,271.7,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.00,0.000,2,0.000,0.000,572,2048,3805
$GC,124,-1.34,-194.7,3.5,-6.9,13,148,11.18,2.60,-1.17,0.000,4,0.201,0.067,2481,3423,3858
$GC,354,-1.29,-194.7,36.5,-12.1,55,362,0.00,2.55,0.00,0.000,6,0.000,0.049,2481,2028,3858
$GC,487,-1.29,-194.7,53.2,-10.9,80,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,826,-1.29,-194.7,91.5,-10.5,141,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,1168,-1.29,-194.7,130.5,-11.5,202,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,1507,-1.29,-194.7,168.7,-11.3,263,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,1849,-1.29,-194.7,206.8,-11.1,324,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,2192,-1.29,-194.7,245.8,-11.1,385,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,2534,-1.29,-194.7,283.3,-10.6,446,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3858
$GC,2876,-1.29,-194.7,320.1,-11.3,507,2882,0.00,2.62,0.00,0.000,4,0.000,0.061,2481,3428,3858
$GC,2921,-1.29,-194.7,325.3,-11.5,515,2927,0.00,2.50,0.00,0.000,6,0.000,0.045,2481,2045,3858
$GC,3263,-1.29,-194.7,363.3,-10.8,566,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3858
$GC,3581,-1.29,-194.7,398.7,-11.2,596,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,3900,-1.29,-194.7,434.4,-11.2,626,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,4218,-1.29,-194.7,470.8,-11.8,656,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,4537,-1.29,-194.7,507.4,-11.4,686,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,4855,-1.29,-194.7,543.3,-11.2,716,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,5174,-1.29,-194.7,577.2,-10.5,746,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3858
$GC,5500,-1.29,-194.7,611.4,-10.6,772,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2041,3858
$GC,5809,-1.29,-194.7,644.0,-10.4,787,5814,0.00,2.78,0.00,0.000,4,0.000,0.094,2481,631,3858
$GC,5841,-1.29,-194.7,647.4,-10.6,788,5848,0.00,2.58,0.00,0.000,6,0.000,0.057,2481,2034,3858
$GC,6156,-1.29,-194.7,678.8,-9.8,804,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,6466,-1.29,-194.7,708.7,-9.7,819,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3858
$GC,6775,-1.29,-194.7,739.8,-10.0,834,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3858
$GC,7084,-1.29,-194.7,769.9,-9.9,849,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3858
$GC,7393,-1.29,-194.7,800.5,-9.9,864,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3858
$GC,7703,-1.29,-194.7,831.8,-10.2,879,7707,0.00,2.75,0.00,0.000,4,0.000,0.094,2481,3448,3857
$GC,7745,-1.29,-194.7,836.6,-11.1,881,7750,0.00,2.62,0.00,0.000,6,0.000,0.061,2481,2046,3857
$GC,8072,-1.29,-194.7,869.4,-10.0,897,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2045,3856
$GC,8382,-1.29,-194.7,899.4,-9.7,912,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3857
$GC,8691,-1.29,-194.7,929.8,-9.6,927,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2043,3856
$GC,9000,-1.29,-194.7,959.0,-9.5,942,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3856
$GC,9310,-1.29,-194.7,988.2,-9.4,957,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3855
$STATE,9328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9328,begin apogee
$GC,9333,-0.37,0.0,990.1,9.4,958,9505,1.00,0.00,168.62,1.292,6,0.100,0.000,2694,1985,3062
$STATE,9505,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9507,1.34,194.7,994.2,0.0,966,9680,1.70,0.00,168.50,1.262,6,0.076,0.000,3073,1984,2268
$GC,9983,1.28,194.7,946.4,11.5,990,9988,0.00,2.75,0.00,0.000,4,0.000,0.070,3073,3404,2262
$GC,10027,1.21,194.7,940.9,12.6,992,10032,0.15,2.65,0.00,0.000,6,0.107,0.054,3044,1978,2261
$GC,10348,1.21,194.7,908.0,10.3,1008,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1976,2261
$GC,10657,1.22,202.9,876.6,9.7,1023,10671,0.00,2.78,7.70,1.014,4,0.000,0.067,3044,3396,2233
$GC,10701,1.23,206.5,872.2,9.9,1025,10710,0.00,2.60,4.72,0.831,6,0.000,0.054,3044,1998,2220
$GC,11026,1.26,236.7,841.9,9.0,1041,11056,0.00,0.00,28.62,1.169,6,0.000,0.000,3043,1998,2097
$GC,11355,1.29,257.9,811.4,9.3,1057,11377,0.00,0.00,20.48,1.127,6,0.000,0.000,3044,1998,2010
$GC,11684,1.31,272.0,779.8,9.5,1073,11710,0.00,2.72,15.52,0.961,4,0.000,0.067,3044,3396,1952
$GC,11731,1.33,287.2,775.2,9.5,1075,11764,0.10,2.62,17.52,0.980,6,0.071,0.054,3074,1993,1890
$GC,12073,1.33,287.2,736.9,11.6,1092,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1991,1887
$GC,12381,1.33,287.2,699.4,12.1,1107,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1991,1887
$GC,12690,1.33,287.2,661.7,12.0,1122,12694,0.00,2.70,0.00,0.000,4,0.000,0.067,3074,3399,1886
$GC,12716,1.33,287.2,658.3,12.3,1123,12720,0.00,2.62,0.00,0.000,6,0.000,0.054,3074,2001,1885
$GC,13037,1.33,287.2,619.2,12.1,1139,13042,0.00,2.72,0.00,0.000,4,0.000,0.078,3074,575,1886
$GC,13069,1.28,287.2,615.1,12.2,1140,13076,0.00,2.62,0.00,0.000,6,0.000,0.050,3074,2013,1886
$GC,13390,1.28,287.2,576.5,12.1,1165,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2015,1885
$GC,13708,1.28,287.2,539.1,11.8,1195,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2015,1885
$GC,14030,1.28,287.2,502.7,11.1,1225,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2016,1885
$GC,14345,1.28,287.2,466.5,11.2,1255,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2016,1886
$GC,14664,1.28,287.2,430.3,11.6,1285,14665,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2016,1885
$GC,14982,1.28,287.2,393.0,11.9,1315,14983,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2016,1886
$GC,15301,1.28,287.2,354.8,12.2,1345,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2016,1885
$GC,15635,1.28,287.2,315.2,11.9,1401,15641,0.00,2.70,0.00,0.000,4,0.000,0.065,3074,569,1886
$GC,15664,1.28,287.2,311.7,12.0,1406,15670,0.00,2.58,0.00,0.000,6,0.000,0.045,3074,1998,1886
$GC,16007,1.28,287.2,271.6,11.8,1467,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2001,1886
$GC,16348,1.28,287.2,231.4,11.6,1528,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2001,1886
$GC,16692,1.28,287.2,193.1,12.0,1589,16697,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2001,1886
$GC,17034,1.28,287.2,154.6,11.6,1650,17039,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2000,1886
$GC,17373,1.28,287.2,116.8,10.6,1711,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2000,1886
$GC,17713,1.28,287.2,78.2,10.1,1772,17720,0.00,2.70,0.00,0.000,4,0.000,0.069,3074,566,1887
$GC,17744,1.28,287.2,75.1,11.2,1777,17750,0.00,2.58,0.00,0.000,6,0.000,0.044,3074,2000,1886
$GC,18077,1.28,287.2,38.7,10.6,1838,18085,0.00,2.60,0.00,0.000,4,0.000,0.067,3074,3388,1886
$GC,18108,1.28,287.2,35.3,11.6,1843,18117,0.00,2.55,0.00,0.000,6,0.000,0.054,3074,1998,1886
$GC,18243,1.28,287.2,20.7,12.2,1868,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1996,1886
$GC,18378,1.28,287.2,3.7,10.5,1893,18385,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1995,1886
$STATE,18391,end climb,SURFACE_DEPTH_REACHED
$STATE,18391,begin surface coast
$FINISH,0.2,1.027130
$STATE,18424,end surface coast,CONTROL_FINISHED_OK
$STATE,18424,begin surface
$SM_CCo,18503,0.00,0.000,0,0,1885,288.72
$SM_GC,0.80,10.55,0.00,0.00,0.039,0.000,0.000,569,2047,1885,-10.07,0.48,288.72
$IRIDIUM_FIX,6037.25,-2307.25,240797,090947
$TT8_MAMPS,0.042185
$HUMID,1611
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.80
$XPDR_PINGS,377
$24V_AH,23.5,24.446
$10V_AH,10.6,32.759
$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,24.675,63.700,431.700,0.000,0.000,30.281,31.552,222.979,94.250,0.000,0.000,11.997,2962.158,11250.541,590.758,3556.380,530.970,0.000,2009.936,0.000,3569.849,0.000,0.465
$DEVICE_MAMPS,200.954,94.341,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.030,1380.904,710.600,904.434,891.028,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135802,1901
$CAP_FILE_SIZE,152623,0
$CFSIZE,260165632,244908032
$ERRORS,0,11,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290408,195937,6103.152,-2319.986,31,1.0,31,-16.8