version: 66.03
glider: 141
mission: 7
dive: 121
start: 4 30 108 12 44 4
data:
$ID,141
$MISSION,7
$DIVE,121
$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,-8588.1875
$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,28
$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
$GPS1,123307,6104.726,-2341.502,62,1.0,62,-17.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-48.6
$GPS2,124345,6104.692,-2341.500,11,1.4,11,-17.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6101.897,-2346.552
$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,272.0,20000,-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,-194.7,0.0,0.0,0,115,0.00,0.00,-87.00,0.000,2,0.000,0.000,569,2041,3770
$GC,117,-1.34,-194.7,3.9,-7.6,12,142,11.10,2.62,-1.92,0.000,4,0.198,0.069,2484,3427,3858
$GC,331,-1.34,-194.7,40.3,-12.2,51,338,0.00,2.55,0.00,0.000,6,0.000,0.051,2484,2029,3859
$GC,469,-1.34,-194.7,55.9,-14.9,76,476,0.00,2.58,0.00,0.000,4,0.000,0.065,2484,624,3859
$GC,498,-1.34,-194.7,60.5,-14.8,81,506,0.00,2.53,0.00,0.000,6,0.000,0.045,2484,2013,3859
$GC,840,-1.34,-194.7,97.3,-11.1,142,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2015,3859
$GC,1177,-1.34,-194.7,134.4,-10.5,203,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2016,3859
$GC,1516,-1.34,-194.7,171.9,-11.4,264,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2016,3859
$GC,1860,-1.34,-194.7,209.9,-11.2,325,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2016,3859
$GC,2202,-1.34,-194.7,247.0,-10.9,386,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2016,3859
$GC,2544,-1.34,-194.7,283.4,-10.9,447,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2016,3859
$GC,2885,-1.34,-194.7,319.3,-10.6,508,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2016,3859
$GC,3226,-1.34,-194.7,354.6,-10.1,565,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2016,3859
$GC,3544,-1.34,-194.7,387.0,-10.0,595,3548,0.00,2.60,0.00,0.000,4,0.000,0.063,2484,626,3859
$GC,3587,-1.34,-194.7,391.5,-10.6,598,3594,0.00,2.50,0.00,0.000,6,0.000,0.045,2484,2016,3859
$GC,3912,-1.34,-194.7,424.0,-10.2,629,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2018,3859
$GC,4232,-1.34,-194.7,456.8,-10.4,659,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2018,3859
$GC,4549,-1.34,-194.7,490.2,-10.6,689,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2018,3859
$GC,4867,-1.34,-194.7,525.0,-11.0,719,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3859
$GC,5186,-1.34,-194.7,560.4,-11.0,749,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3859
$GC,5504,-1.34,-194.7,595.1,-10.4,779,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3859
$GC,5825,-1.34,-194.7,628.7,-10.4,797,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3859
$GC,6134,-1.34,-194.7,661.4,-10.5,812,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3859
$GC,6444,-1.34,-194.7,694.6,-10.7,827,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3858
$GC,6753,-1.34,-194.7,726.2,-10.0,842,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3858
$GC,7062,-1.34,-194.7,757.8,-10.6,857,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3858
$GC,7371,-1.34,-194.7,790.8,-11.0,872,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3858
$GC,7681,-1.34,-194.7,822.0,-9.3,887,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3858
$GC,7990,-1.34,-194.7,850.9,-9.4,902,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2019,3858
$GC,8300,-1.34,-194.7,880.0,-9.6,917,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3857
$GC,8609,-1.34,-194.7,910.4,-10.0,932,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3857
$GC,8918,-1.34,-194.7,941.0,-9.6,947,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3857
$GC,9227,-1.34,-194.7,969.3,-9.0,962,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2019,3857
$STATE,9473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9473,begin apogee
$GC,9478,-0.37,0.0,991.5,9.2,974,9650,1.00,0.00,168.68,1.291,6,0.096,0.000,2698,1985,3061
$STATE,9651,end apogee,CONTROL_FINISHED_OK
$STATE,9651,begin climb
$GC,9653,1.34,194.7,995.9,0.0,982,9829,1.67,2.85,167.93,1.259,4,0.083,0.080,3073,3389,2267
$GC,9858,1.28,194.7,980.4,11.4,993,9863,0.00,2.65,0.00,0.000,6,0.000,0.057,3073,1986,2264
$GC,10184,1.22,194.7,944.1,11.2,1009,10186,0.15,0.00,0.00,0.000,6,0.105,0.000,3044,1986,2261
$GC,10492,1.22,194.7,912.8,10.1,1024,10497,0.00,2.72,0.00,0.000,4,0.000,0.071,3043,3394,2260
$GC,10541,1.22,194.7,907.5,11.0,1026,10545,0.00,2.60,0.00,0.000,6,0.000,0.054,3043,1995,2260
$GC,10862,1.22,196.2,875.1,9.9,1042,10867,0.00,2.67,0.00,0.000,4,0.000,0.071,3043,3389,2260
$GC,10894,1.22,196.2,871.6,10.1,1043,10901,0.00,2.60,0.00,0.000,6,0.000,0.054,3043,2004,2260
$GC,11210,1.23,208.9,841.6,9.6,1059,11225,0.00,0.00,12.80,1.096,6,0.000,0.000,3044,2003,2210
$GC,11519,1.25,219.5,812.0,9.6,1074,11535,0.00,2.70,10.82,1.058,4,0.000,0.070,3043,3390,2166
$GC,11562,1.25,219.5,807.5,10.3,1075,11567,0.00,2.58,0.00,0.000,6,0.000,0.053,3043,2012,2165
$GC,11889,1.25,219.5,774.9,10.1,1091,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2012,2164
$GC,12199,1.25,224.5,744.0,9.8,1106,12210,0.00,2.67,5.97,0.890,4,0.000,0.069,3043,3391,2145
$GC,12243,1.25,224.5,739.2,10.8,1108,12247,0.00,2.55,0.00,0.000,6,0.000,0.053,3043,2018,2144
$GC,12569,1.29,253.1,708.7,9.0,1124,12599,0.00,0.00,27.33,1.085,6,0.000,0.000,3043,2018,2030
$GC,12899,1.30,262.9,677.6,9.7,1140,12910,0.00,0.00,9.70,0.964,6,0.000,0.000,3043,2018,1990
$GC,13208,1.30,263.5,647.1,10.0,1155,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2018,1988
$GC,13517,1.31,268.8,616.7,9.8,1170,13526,0.00,0.00,6.65,0.857,6,0.000,0.000,3043,2018,1966
$GC,13830,1.31,268.8,585.8,10.1,1191,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2017,1965
$GC,14148,1.31,268.8,553.7,10.1,1221,14153,0.00,2.62,0.00,0.000,4,0.000,0.068,3043,3389,1965
$GC,14169,1.31,268.8,551.4,10.5,1222,14176,0.00,2.55,0.00,0.000,6,0.000,0.052,3043,2028,1964
$GC,14495,1.31,268.8,519.2,10.1,1253,14500,0.00,2.75,0.00,0.000,4,0.000,0.072,3042,576,1964
$GC,14516,1.31,272.1,516.9,9.9,1254,14526,0.10,2.65,4.60,0.701,6,0.069,0.049,3076,2029,1952
$GC,14850,1.31,272.1,476.7,12.3,1286,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2030,1952
$GC,15169,1.31,272.1,438.5,12.1,1316,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2030,1952
$GC,15488,1.31,272.1,400.9,11.5,1346,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2032,1952
$GC,15806,1.31,272.1,363.4,12.0,1376,15807,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2032,1952
$GC,16136,1.31,272.1,324.2,11.3,1425,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2032,1952
$GC,16478,1.31,272.1,284.9,10.7,1486,16484,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2033,1952
$GC,16821,1.32,279.3,247.5,9.7,1547,16838,0.00,2.60,8.15,0.727,4,0.000,0.062,3076,3388,1922
$GC,16855,1.32,279.3,243.7,10.3,1553,16861,0.00,2.53,0.00,0.000,6,0.000,0.048,3076,2011,1922
$GC,17198,1.32,279.3,205.6,10.6,1614,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2009,1921
$GC,17539,1.32,279.3,168.2,11.0,1675,17546,0.00,2.67,0.00,0.000,4,0.000,0.065,3076,578,1921
$GC,17568,1.32,279.3,164.9,12.2,1680,17575,0.00,2.60,0.00,0.000,6,0.000,0.045,3076,2025,1921
$GC,17912,1.34,293.4,127.1,9.5,1741,17931,0.00,0.00,14.05,0.713,6,0.000,0.000,3076,2028,1865
$GC,18264,1.34,293.4,88.7,10.9,1804,18270,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2029,1863
$GC,18603,1.34,293.4,51.9,11.5,1865,18608,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2030,1863
$GC,18923,1.34,293.4,19.8,11.8,1926,18930,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2029,1862
$STATE,19050,end climb,SURFACE_DEPTH_REACHED
$STATE,19050,begin surface coast
$FINISH,0.4,1.027181
$STATE,19073,end surface coast,CONTROL_FINISHED_OK
$STATE,19074,begin surface
$SM_CCo,19151,0.00,0.000,0,0,1862,294.61
$SM_GC,0.87,10.43,0.00,0.00,0.032,0.000,0.000,572,2029,1862,-10.07,-0.03,294.61
$IRIDIUM_FIX,6041.65,-2332.93,250797,121246
$TT8_MAMPS,0.042185
$HUMID,1613
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.20
$XPDR_PINGS,372
$24V_AH,23.5,25.196
$10V_AH,10.6,33.432
$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,24.450,63.025,436.675,0.000,0.000,46.955,66.679,338.351,93.000,0.000,0.000,13.344,3042.907,11819.243,569.295,3643.652,698.824,0.000,2019.127,0.000,3647.406,0.000,0.468
$DEVICE_MAMPS,197.886,86.671,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1366.764,1410.852,719.781,916.426,883.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138903,1954
$CAP_FILE_SIZE,159583,0
$CFSIZE,260165632,244535296
$ERRORS,0,17,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,180445,6103.805,-2350.706,36,3.1,55,-17.0