version: 66.03
glider: 141
mission: 7
dive: 120
start: 4 30 108 7 12 9
data:
$ID,141
$MISSION,7
$DIVE,120
$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,-8574.2168
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,070431,6104.397,-2333.873,40,1.2,40,-16.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-43.5
$GPS2,071151,6104.366,-2333.789,14,1.5,14,-16.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6104.366,-2339.012
$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,286.9,20000,-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,-194.7,0.0,0.0,0,153,0.00,0.00,-122.68,0.000,2,0.000,0.000,571,2014,3608
$GC,155,-1.34,-194.7,3.2,-5.6,17,179,11.12,2.65,-5.95,0.000,4,0.198,0.067,2481,3437,3856
$GC,327,-1.34,-194.7,25.5,-13.7,48,335,0.00,2.60,0.00,0.000,6,0.000,0.047,2481,2027,3857
$GC,461,-1.34,-194.7,40.9,-12.0,73,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3857
$GC,596,-1.34,-194.7,58.0,-12.6,98,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3857
$GC,936,-1.34,-194.7,96.0,-10.1,159,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3857
$GC,1278,-1.34,-194.7,133.1,-11.6,220,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3857
$GC,1618,-1.34,-194.7,172.3,-12.1,281,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3857
$GC,1963,-1.34,-194.7,212.5,-11.3,342,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3857
$GC,2305,-1.34,-194.7,251.0,-10.5,403,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3857
$GC,2649,-1.34,-194.7,288.3,-10.8,464,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3857
$GC,2991,-1.34,-194.7,326.0,-10.6,525,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3857
$GC,3327,-1.34,-194.7,361.0,-10.2,576,3331,0.00,2.65,0.00,0.000,4,0.000,0.063,2481,3438,3857
$GC,3365,-1.34,-194.7,365.2,-10.9,579,3369,0.00,2.58,0.00,0.000,6,0.000,0.048,2481,2015,3857
$GC,3692,-1.34,-194.7,398.4,-9.9,609,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2013,3857
$GC,4016,-1.34,-194.7,432.8,-10.6,640,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2013,3857
$GC,4335,-1.34,-194.7,467.0,-10.6,670,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2013,3857
$GC,4654,-1.34,-194.7,501.0,-11.0,700,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2013,3857
$GC,4974,-1.34,-194.7,535.9,-10.7,730,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2013,3857
$GC,5290,-1.34,-194.7,570.1,-10.8,760,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2012,3857
$GC,5618,-1.34,-194.7,605.2,-10.5,789,5623,0.00,2.72,0.00,0.000,4,0.000,0.077,2481,3432,3857
$GC,5657,-1.34,-194.7,609.5,-11.2,791,5661,0.00,2.60,0.00,0.000,6,0.000,0.056,2481,2017,3857
$GC,5987,-1.34,-194.7,644.7,-10.8,807,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3856
$GC,6297,-1.34,-194.7,677.2,-10.3,822,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3856
$GC,6607,-1.34,-194.7,708.5,-10.0,837,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2016,3856
$GC,6915,-1.34,-194.7,739.5,-10.0,852,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2016,3856
$GC,7225,-1.34,-194.7,771.1,-9.8,867,7230,0.00,2.78,0.00,0.000,4,0.000,0.086,2481,3437,3855
$GC,7263,-1.34,-194.7,775.2,-11.2,869,7268,0.00,2.62,0.00,0.000,6,0.000,0.064,2481,2025,3856
$GC,7589,-1.34,-194.7,808.5,-10.1,885,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2024,3856
$GC,7899,-1.34,-194.7,840.1,-10.6,900,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3856
$GC,8208,-1.34,-194.7,871.8,-9.9,915,8213,0.00,2.72,0.00,0.000,4,0.000,0.080,2481,3437,3855
$GC,8257,-1.34,-194.7,877.0,-10.2,917,8262,0.00,2.62,0.00,0.000,6,0.000,0.061,2480,2022,3855
$GC,8579,-1.34,-194.7,909.5,-10.5,933,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2020,3855
$GC,8887,-1.34,-194.7,942.5,-10.4,948,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3854
$GC,9197,-1.34,-194.7,973.0,-9.8,963,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2019,3854
$STATE,9381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9381,begin apogee
$GC,9386,-0.37,0.0,990.6,9.3,972,9557,1.00,0.00,168.23,1.289,6,0.097,0.000,2694,1984,3062
$STATE,9558,end apogee,CONTROL_FINISHED_OK
$STATE,9558,begin climb
$GC,9560,1.34,194.7,994.6,0.0,980,9732,1.67,0.00,168.07,1.259,6,0.075,0.000,3069,1984,2268
$GC,10036,1.28,194.7,949.7,10.6,1004,10041,0.00,2.70,0.00,0.000,4,0.000,0.071,3069,3391,2262
$GC,10085,1.22,194.7,944.0,11.6,1006,10090,0.12,2.62,0.00,0.000,6,0.107,0.055,3045,1976,2261
$GC,10400,1.25,219.6,914.9,9.1,1021,10429,0.00,2.80,22.35,1.174,4,0.000,0.070,3045,3385,2165
$GC,10458,1.25,219.6,909.1,10.3,1023,10464,0.00,2.58,0.00,0.000,6,0.000,0.053,3045,1997,2163
$GC,10773,1.25,219.6,877.9,10.2,1039,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1996,2163
$GC,11082,1.25,219.6,846.2,10.2,1054,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1996,2161
$GC,11392,1.25,219.6,815.1,10.1,1069,11396,0.00,2.65,0.00,0.000,4,0.000,0.070,3045,3388,2161
$GC,11434,1.25,219.6,810.5,10.6,1071,11439,0.00,2.58,0.00,0.000,6,0.000,0.053,3045,2009,2161
$GC,11761,1.26,222.7,778.3,9.9,1087,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2009,2161
$GC,12071,1.27,232.7,747.8,9.7,1102,12085,0.00,0.00,12.52,1.056,6,0.000,0.000,3045,2009,2113
$GC,12380,1.28,243.8,717.3,9.6,1117,12393,0.00,0.00,11.55,1.027,6,0.000,0.000,3045,2010,2067
$GC,12689,1.30,255.0,688.1,9.6,1132,12702,0.00,0.00,11.48,1.006,6,0.000,0.000,3045,2007,2022
$GC,12999,1.30,257.9,657.9,9.9,1147,13008,0.00,2.67,4.03,0.692,4,0.000,0.067,3045,3395,2010
$GC,13035,1.30,257.9,653.9,11.3,1148,13042,0.00,2.58,0.00,0.000,6,0.000,0.052,3045,2019,2009
$GC,13351,1.30,257.9,621.3,10.4,1164,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2019,2009
$GC,13663,1.30,257.9,588.4,10.4,1184,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2018,2009
$GC,13982,1.30,260.0,556.2,9.9,1214,13987,0.00,2.78,0.00,0.000,4,0.000,0.076,3045,570,2009
$GC,14003,1.30,260.0,553.9,11.1,1215,14010,0.00,2.62,0.00,0.000,6,0.000,0.054,3045,2012,2009
$GC,14328,1.32,272.6,521.2,9.6,1246,14348,0.00,0.00,14.65,0.939,6,0.000,0.000,3045,2013,1949
$GC,14667,1.32,272.6,487.1,10.1,1278,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2014,1948
$GC,14986,1.32,272.6,454.7,10.0,1308,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2013,1947
$GC,15303,1.32,272.6,422.1,10.2,1338,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2014,1947
$GC,15623,1.32,275.2,390.3,9.9,1368,15628,0.10,2.72,0.00,0.000,4,0.070,0.066,3077,568,1947
$GC,15644,1.32,275.2,387.7,11.2,1369,15650,0.00,2.62,0.00,0.000,6,0.000,0.047,3077,2014,1947
$GC,15969,1.32,275.2,350.7,11.3,1400,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2017,1948
$GC,16304,1.32,275.2,312.0,11.3,1459,16310,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2016,1947
$GC,16648,1.32,275.2,272.1,10.3,1520,16654,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2016,1947
$GC,16992,1.32,275.2,233.4,12.2,1581,16997,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2017,1947
$GC,17334,1.32,275.2,195.4,10.5,1642,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2017,1947
$GC,17676,1.32,275.2,156.9,10.3,1703,17682,0.00,2.72,0.00,0.000,4,0.000,0.065,3078,567,1947
$GC,17715,1.32,275.2,152.5,11.1,1710,17722,0.00,2.60,0.00,0.000,6,0.000,0.045,3077,2010,1947
$GC,18057,1.32,275.2,115.2,11.6,1771,18062,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2013,1948
$GC,18396,1.32,275.2,77.0,12.6,1832,18401,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2013,1947
$GC,18732,1.32,275.2,40.7,11.2,1893,18739,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2014,1948
$GC,18866,1.32,275.2,24.4,14.2,1918,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2014,1947
$GC,19000,1.32,275.2,10.1,12.1,1943,19008,0.00,2.60,0.00,0.000,4,0.000,0.061,3077,3394,1948
$GC,19020,1.32,275.2,7.4,13.1,1946,19028,0.00,2.58,0.00,0.000,6,0.000,0.052,3077,1993,1947
$STATE,19060,end climb,SURFACE_DEPTH_REACHED
$STATE,19060,begin surface coast
$FINISH,0.1,1.008098
$STATE,19083,end surface coast,CONTROL_FINISHED_OK
$STATE,19083,begin surface
$SM_CCo,19162,0.00,0.000,0,0,1946,273.75
$SM_GC,0.92,10.55,0.00,0.00,0.039,0.000,0.000,569,2039,1946,-10.07,0.25,273.75
$IRIDIUM_FIX,6037.25,-2321.24,250797,010158
$TT8_MAMPS,0.042185
$HUMID,1608
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.00
$XPDR_PINGS,372
$24V_AH,23.5,25.013
$10V_AH,10.6,33.263
$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,24.575,69.125,412.875,0.000,0.000,22.726,35.669,258.209,93.000,0.000,0.000,15.517,3054.894,11673.449,593.921,3693.085,569.175,0.000,2076.915,0.000,3696.054,0.000,0.465
$DEVICE_MAMPS,197.886,107.380,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1367.509,1408.335,730.538,935.387,921.503,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138893,1957
$CAP_FILE_SIZE,158125,0
$CFSIZE,260165632,244625408
$ERRORS,0,13,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,123307,6104.726,-2341.502,62,1.0,62,-17.0