version: 66.03
glider: 141
mission: 7
dive: 118
start: 4 29 108 20 6 40
data:
$ID,141
$MISSION,7
$DIVE,118
$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,270
$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,-8542.3262
$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,21
$R_STBD_OVSHOOT,32
$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
$GPS1,195937,6103.152,-2319.986,31,1.0,31,-16.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-46.9
$GPS2,200621,6103.136,-2319.953,12,1.1,12,-16.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6103.136,-2325.180
$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,286.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,124,0.00,0.00,-94.22,0.000,2,0.000,0.000,569,2048,3792
$GC,126,-1.34,-194.7,3.4,-6.4,13,151,11.07,2.60,-1.48,0.000,4,0.195,0.067,2480,3425,3858
$GC,294,-1.30,-194.7,31.4,-16.1,43,302,0.00,2.55,0.00,0.000,6,0.000,0.051,2480,2028,3858
$GC,426,-1.30,-194.7,51.2,-12.0,68,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3858
$GC,764,-1.30,-194.7,91.4,-11.1,129,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3858
$GC,1108,-1.30,-194.7,129.8,-11.2,190,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3858
$GC,1447,-1.30,-194.7,167.0,-10.6,251,1453,0.00,2.62,0.00,0.000,4,0.000,0.057,2480,3435,3858
$GC,1482,-1.25,-194.7,170.8,-11.2,257,1488,0.12,2.53,0.00,0.000,6,0.117,0.044,2503,2037,3858
$GC,1826,-1.25,-194.7,204.3,-9.2,318,1832,0.00,2.60,0.00,0.000,4,0.000,0.059,2503,626,3859
$GC,1872,-1.25,-194.7,208.8,-9.7,326,1878,0.00,2.53,0.00,0.000,6,0.000,0.044,2503,2034,3859
$GC,2215,-1.25,-194.7,240.6,-9.2,387,2221,0.00,2.60,0.00,0.000,4,0.000,0.059,2503,3435,3859
$GC,2250,-1.25,-194.7,244.0,-10.5,393,2256,0.00,2.53,0.00,0.000,6,0.000,0.044,2503,2036,3859
$GC,2593,-1.25,-194.7,276.1,-9.3,454,2599,0.00,2.60,0.00,0.000,4,0.000,0.060,2503,623,3858
$GC,2634,-1.25,-194.7,280.0,-10.1,461,2640,0.00,2.53,0.00,0.000,6,0.000,0.044,2503,2033,3859
$GC,2977,-1.25,-194.7,312.8,-9.3,522,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2036,3859
$GC,3319,-1.25,-194.7,345.5,-9.8,583,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3859
$GC,3646,-1.25,-194.7,377.0,-10.2,618,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3859
$GC,3964,-1.25,-194.7,409.1,-10.2,648,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3859
$GC,4282,-1.25,-194.7,442.2,-10.4,678,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3859
$GC,4601,-1.25,-194.7,474.7,-10.0,708,4606,0.00,2.65,0.00,0.000,4,0.000,0.065,2503,626,3859
$GC,4651,-1.25,-194.7,479.8,-10.7,712,4656,0.00,2.50,0.00,0.000,6,0.000,0.046,2503,2021,3859
$GC,4977,-1.25,-194.7,512.4,-10.1,742,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2021,3859
$GC,5294,-1.25,-194.7,544.0,-9.6,772,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2023,3859
$GC,5613,-1.25,-194.7,574.3,-9.7,802,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2023,3859
$GC,5940,-1.25,-194.7,605.9,-9.6,830,5944,0.00,2.72,0.00,0.000,4,0.000,0.080,2503,3436,3858
$GC,5983,-1.25,-194.7,610.3,-10.1,832,5987,0.00,2.58,0.00,0.000,6,0.000,0.055,2503,2034,3858
$GC,6309,-1.25,-194.7,640.9,-9.4,848,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2034,3858
$GC,6619,-1.25,-194.7,668.8,-9.0,863,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2032,3858
$GC,6928,-1.25,-194.7,696.9,-9.3,878,6933,0.00,2.78,0.00,0.000,4,0.000,0.090,2503,3434,3858
$GC,6960,-1.25,-194.7,700.3,-10.3,879,6967,0.00,2.67,0.00,0.000,6,0.000,0.071,2503,2040,3858
$GC,7276,-1.25,-194.7,729.7,-9.3,895,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2039,3858
$GC,7586,-1.25,-194.7,757.8,-9.0,910,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3857
$GC,7895,-1.25,-194.7,786.2,-9.4,925,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2033,3857
$GC,8204,-1.25,-194.7,814.1,-8.9,940,8209,0.00,2.70,0.00,0.000,4,0.000,0.082,2503,3434,3857
$GC,8281,-1.25,-194.7,821.5,-9.3,943,8287,0.00,2.60,0.00,0.000,6,0.000,0.062,2503,2039,3857
$GC,8596,-1.25,-194.7,850.2,-9.3,959,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2037,3856
$GC,8906,-1.25,-194.7,879.1,-9.3,974,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2036,3856
$GC,9215,-1.25,-194.7,906.0,-8.3,989,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2035,3856
$GC,9524,-1.25,-194.7,931.9,-8.5,1004,9529,0.00,2.67,0.00,0.000,4,0.000,0.079,2503,3433,3855
$GC,9573,-1.25,-194.7,936.4,-9.1,1006,9578,0.00,2.58,0.00,0.000,6,0.000,0.061,2503,2041,3855
$GC,9895,-1.25,-194.7,964.4,-9.0,1022,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2040,3855
$STATE,10181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10181,begin apogee
$GC,10186,-0.37,0.0,990.1,8.8,1036,10358,0.90,0.00,168.32,1.294,6,0.098,0.000,2694,1978,3062
$STATE,10358,end apogee,CONTROL_FINISHED_OK
$STATE,10359,begin climb
$GC,10361,1.34,194.7,994.8,0.0,1044,10534,1.70,0.00,167.57,1.265,6,0.077,0.000,3065,1977,2268
$GC,10832,1.29,194.7,950.9,11.2,1067,10836,0.00,2.70,0.00,0.000,4,0.000,0.071,3065,3390,2262
$GC,10875,1.24,194.7,945.7,11.9,1069,10880,0.00,2.60,0.00,0.000,6,0.000,0.054,3065,1982,2261
$GC,11196,1.19,194.7,911.3,10.6,1085,11198,0.12,0.00,0.00,0.000,6,0.109,0.000,3041,1979,2261
$GC,11505,1.20,209.3,881.7,9.5,1100,11526,0.00,2.78,13.20,1.121,4,0.000,0.069,3041,3386,2207
$GC,11542,1.22,225.8,877.8,9.4,1101,11564,0.00,2.60,16.30,1.131,6,0.000,0.054,3041,1987,2141
$GC,11873,1.23,229.1,845.0,9.9,1117,11879,0.00,0.00,4.32,0.788,6,0.000,0.000,3041,1987,2127
$GC,12182,1.24,241.6,815.1,9.6,1132,12197,0.00,0.00,12.98,1.090,6,0.000,0.000,3041,1985,2077
$GC,12491,1.26,258.3,786.2,9.4,1147,12519,0.00,0.00,18.73,1.011,6,0.000,0.000,3041,1985,2007
$GC,12841,1.27,262.7,752.8,9.8,1164,12851,0.00,2.70,5.20,0.844,4,0.000,0.067,3041,3390,1989
$GC,12880,1.28,271.6,749.1,9.7,1166,12895,0.00,2.60,9.73,1.005,6,0.000,0.053,3041,1990,1954
$GC,13204,1.30,285.5,718.2,9.5,1181,13232,0.00,2.80,15.77,0.937,4,0.000,0.081,3041,572,1899
$GC,13245,1.31,296.8,714.3,9.6,1183,13270,0.10,2.65,14.32,0.900,6,0.069,0.051,3073,2005,1852
$GC,13597,1.31,296.8,672.0,12.5,1200,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2007,1849
$GC,13906,1.31,296.8,632.7,12.6,1215,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2007,1848
$GC,14216,1.31,296.8,595.0,11.7,1232,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2009,1847
$GC,14535,1.31,296.8,558.9,10.9,1262,14537,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2010,1847
$GC,14853,1.31,296.8,522.8,11.5,1292,14858,0.00,2.72,0.00,0.000,4,0.000,0.068,3073,569,1848
$GC,14874,1.31,296.8,520.3,11.4,1293,14880,0.00,2.62,0.00,0.000,6,0.000,0.048,3073,1996,1847
$GC,15200,1.31,296.8,484.0,11.2,1324,15201,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1996,1848
$GC,15520,1.31,296.8,448.3,11.2,1354,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1999,1847
$GC,15836,1.31,296.8,412.2,11.5,1384,15840,0.00,2.70,0.00,0.000,4,0.000,0.066,3073,567,1848
$GC,15856,1.31,296.8,409.6,12.1,1385,15863,0.00,2.58,0.00,0.000,6,0.000,0.046,3073,1992,1848
$GC,16182,1.31,296.8,371.9,11.6,1416,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1992,1848
$GC,16507,1.31,296.8,333.8,11.5,1458,16512,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1994,1848
$GC,16848,1.31,296.8,292.4,11.0,1519,16854,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1994,1848
$GC,17191,1.31,296.8,252.9,11.5,1580,17197,0.00,2.65,0.00,0.000,4,0.000,0.067,3073,574,1848
$GC,17214,1.31,296.8,250.2,11.4,1584,17221,0.00,2.58,0.00,0.000,6,0.000,0.046,3073,2007,1848
$GC,17558,1.31,296.8,212.7,11.2,1645,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2009,1847
$GC,17900,1.31,296.8,174.4,10.7,1706,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2009,1848
$GC,18241,1.31,296.8,136.9,10.8,1767,18250,0.00,2.72,0.00,0.000,4,0.000,0.067,3073,569,1848
$GC,18278,1.31,296.8,132.5,11.8,1773,18286,0.00,2.55,0.00,0.000,6,0.000,0.052,3073,1971,1848
$GC,18624,1.31,296.8,94.0,11.9,1834,18630,0.00,2.60,0.00,0.000,4,0.000,0.061,3073,3396,1848
$GC,18646,1.31,296.8,91.0,11.8,1838,18653,0.00,2.55,0.00,0.000,6,0.000,0.050,3073,1972,1848
$GC,18988,1.33,313.0,52.0,9.4,1899,19007,0.00,0.00,14.65,0.671,6,0.000,0.000,3073,1969,1785
$GC,19321,1.33,313.0,13.6,13.2,1962,19328,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1968,1784
$STATE,19412,end climb,SURFACE_DEPTH_REACHED
$STATE,19412,begin surface coast
$FINISH,0.2,1.017063
$STATE,19445,end surface coast,CONTROL_FINISHED_OK
$STATE,19445,begin surface
$SM_CCo,19524,0.00,0.000,0,0,1781,314.23
$SM_GC,0.77,10.50,0.00,0.00,0.036,0.000,0.000,571,2042,1781,-10.07,0.34,314.23
$IRIDIUM_FIX,6041.65,-2309.00,240797,141447
$TT8_MAMPS,0.041418
$HUMID,1630
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.70
$XPDR_PINGS,393
$24V_AH,23.5,24.629
$10V_AH,10.6,32.927
$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,24.525,100.075,461.100,0.000,0.000,28.975,28.177,225.968,98.250,0.000,0.000,14.268,3117.789,11882.801,604.740,3743.839,565.393,0.000,2156.111,0.000,3757.381,0.000,0.466
$DEVICE_MAMPS,194.818,91.273,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1383.642,1446.712,717.035,916.637,857.226,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142180,1985
$CAP_FILE_SIZE,168591,0
$CFSIZE,260165632,244797440
$ERRORS,0,35,0,0,0,0,0,0,0,0,0,1,0,3,0
$GPS,300408,013307,6103.772,-2326.670,29,1.4,29,-16.8