version: 66.03
glider: 141
mission: 7
dive: 122
start: 4 30 108 18 12 56
data:
$ID,141
$MISSION,7
$DIVE,122
$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,300
$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,-8603.7666
$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,20
$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
$GPS1,180445,6103.805,-2350.706,36,3.1,55,-17.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-47.5
$GPS2,181238,6103.790,-2350.771,13,1.6,13,-17.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6109.189,-2355.283
$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,317.0,20000,-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,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,-94.82,0.000,2,0.000,0.000,572,2031,3759
$GC,127,-1.34,-194.7,3.5,-6.9,13,151,11.07,2.65,-2.25,0.000,4,0.197,0.067,2483,3431,3859
$GC,289,-1.29,-194.7,27.4,-10.6,42,297,0.00,2.58,0.00,0.000,6,0.000,0.045,2483,2028,3860
$GC,423,-1.29,-194.7,45.8,-13.2,67,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2022,3859
$GC,561,-1.29,-194.7,62.5,-10.2,92,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2023,3860
$GC,901,-1.29,-194.7,101.7,-12.0,153,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2023,3860
$GC,1246,-1.29,-194.7,140.0,-10.7,214,1253,0.00,2.60,0.00,0.000,4,0.000,0.065,2483,617,3860
$GC,1300,-1.29,-194.7,145.6,-10.7,223,1306,0.00,2.58,0.00,0.000,6,0.000,0.045,2483,2042,3860
$GC,1643,-1.29,-194.7,183.4,-11.2,284,1649,0.00,2.65,0.00,0.000,4,0.000,0.066,2482,623,3860
$GC,1705,-1.29,-194.7,190.2,-11.0,295,1711,0.00,2.53,0.00,0.000,6,0.000,0.044,2483,2026,3860
$GC,2048,-1.29,-194.7,227.2,-11.2,356,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2028,3860
$GC,2392,-1.29,-194.7,263.2,-10.5,417,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,2734,-1.29,-194.7,300.0,-10.7,478,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,3076,-1.29,-194.7,337.6,-11.2,539,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,3411,-1.29,-194.7,373.8,-10.3,580,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2028,3860
$GC,3729,-1.29,-194.7,407.5,-10.9,610,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,4048,-1.29,-194.7,440.6,-10.8,640,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,4366,-1.29,-194.7,474.7,-10.6,670,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3860
$GC,4685,-1.29,-194.7,506.8,-10.2,700,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3860
$GC,5004,-1.29,-194.7,539.2,-9.8,730,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3860
$GC,5322,-1.29,-194.7,571.3,-10.5,760,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,5650,-1.29,-194.7,605.0,-10.3,789,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3860
$GC,5960,-1.29,-194.7,635.7,-9.9,804,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3859
$GC,6269,-1.29,-194.7,666.4,-9.9,819,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3859
$GC,6578,-1.29,-194.7,696.7,-9.7,834,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3859
$GC,6887,-1.29,-194.7,727.2,-10.0,849,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3859
$GC,7197,-1.29,-194.7,757.2,-9.4,864,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,7506,-1.29,-194.7,786.6,-9.2,879,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3859
$GC,7815,-1.29,-194.7,814.5,-9.0,894,7820,0.00,2.78,0.00,0.000,4,0.000,0.089,2483,3435,3858
$GC,7870,-1.29,-194.7,820.0,-10.0,896,7876,0.00,2.65,0.00,0.000,6,0.000,0.064,2483,2019,3858
$GC,8185,-1.29,-194.7,850.6,-9.7,912,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,8495,-1.29,-194.7,880.0,-9.4,927,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2016,3858
$GC,8803,-1.29,-194.7,909.9,-9.6,942,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2015,3858
$GC,9113,-1.29,-194.7,939.4,-9.8,957,9117,0.00,2.72,0.00,0.000,4,0.000,0.080,2482,3428,3858
$GC,9174,-1.29,-194.7,945.9,-11.2,960,9178,0.00,2.62,0.00,0.000,6,0.000,0.061,2483,2019,3858
$GC,9499,-1.29,-194.7,978.3,-9.8,976,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3858
$STATE,9621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9621,begin apogee
$GC,9625,-0.37,0.0,990.6,9.8,982,9798,1.00,0.00,169.12,1.286,6,0.103,0.000,2694,1982,3062
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9801,1.34,194.7,995.0,0.0,990,9974,1.70,0.00,167.70,1.256,6,0.077,0.000,3066,1982,2268
$GC,10272,1.29,194.7,950.3,10.9,1013,10276,0.00,2.72,0.00,0.000,4,0.000,0.071,3066,3387,2262
$GC,10311,1.23,194.7,946.0,11.9,1015,10316,0.00,2.62,0.00,0.000,6,0.000,0.054,3067,1975,2261
$GC,10637,1.18,194.7,912.3,10.2,1031,10642,0.15,2.72,0.00,0.000,4,0.104,0.070,3033,3389,2261
$GC,10669,1.22,222.3,909.0,9.0,1032,10699,0.00,2.60,24.90,1.173,6,0.000,0.053,3032,1989,2155
$GC,11027,1.25,247.4,877.3,9.1,1050,11053,0.00,0.00,23.92,1.160,6,0.000,0.000,3032,1989,2053
$GC,11355,1.27,270.0,846.2,9.2,1066,11384,0.10,2.78,21.38,1.137,4,0.071,0.069,3063,3387,1960
$GC,11418,1.27,270.0,839.2,12.0,1069,11423,0.00,2.58,0.00,0.000,6,0.000,0.054,3063,2004,1958
$GC,11744,1.27,270.0,803.8,10.8,1085,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2004,1955
$GC,12053,1.27,270.0,769.4,11.0,1100,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2003,1955
$GC,12363,1.27,270.0,736.5,10.4,1115,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2002,1954
$GC,12672,1.27,270.0,704.2,10.5,1130,12676,0.00,2.62,0.00,0.000,4,0.000,0.068,3062,3387,1955
$GC,12692,1.27,270.0,701.8,10.1,1131,12697,0.00,2.55,0.00,0.000,6,0.000,0.053,3063,2015,1954
$GC,13019,1.27,270.0,667.5,10.9,1147,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2015,1954
$GC,13328,1.27,270.0,632.3,11.6,1162,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2015,1954
$GC,13637,1.27,270.0,597.8,10.8,1177,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2015,1954
$GC,13956,1.27,270.0,562.9,11.6,1207,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2014,1954
$GC,14274,1.27,270.0,525.4,11.4,1237,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2013,1954
$GC,14593,1.27,270.0,489.6,11.3,1267,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2013,1954
$GC,14911,1.27,270.0,455.1,11.0,1297,14912,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1954
$GC,15231,1.28,271.5,422.3,9.9,1327,15232,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1954
$GC,15548,1.28,271.5,390.5,10.1,1357,15549,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1954
$GC,15870,1.28,273.4,358.6,9.9,1387,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1954
$GC,16199,1.28,273.4,324.5,10.1,1439,16204,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1954
$GC,16541,1.28,273.4,290.5,10.5,1500,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2012,1954
$GC,16885,1.30,290.3,254.4,9.4,1561,16906,0.00,0.00,18.42,0.799,6,0.000,0.000,3063,2012,1878
$GC,17243,1.30,290.3,212.4,11.0,1625,17249,0.00,2.72,0.00,0.000,4,0.000,0.067,3063,570,1875
$GC,17267,1.30,290.3,209.6,13.6,1629,17273,0.00,2.60,0.00,0.000,6,0.000,0.045,3063,2005,1876
$GC,17610,1.30,290.3,170.7,11.3,1690,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2008,1875
$GC,17952,1.33,313.6,134.0,9.2,1751,17983,0.00,2.80,20.98,0.735,4,0.000,0.069,3063,572,1783
$GC,17995,1.33,313.6,129.4,10.3,1758,18003,0.00,2.62,0.00,0.000,6,0.000,0.047,3063,1995,1782
$GC,18341,1.33,313.6,92.5,11.1,1819,18346,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1997,1779
$GC,18680,1.33,313.6,56.1,10.6,1880,18686,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1997,1779
$GC,19004,1.33,313.6,16.6,13.1,1941,19012,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1997,1778
$GC,19138,1.39,361.2,3.7,8.3,1966,19148,0.00,0.00,7.35,0.592,2,0.000,0.000,3063,1997,1750
$STATE,19148,end climb,SURFACE_DEPTH_REACHED
$STATE,19148,begin surface coast
$FINISH,0.1,1.024025
$STATE,19186,end surface coast,CONTROL_FINISHED_OK
$STATE,19186,begin surface
$SM_CCo,19265,0.00,0.000,0,0,1744,323.06
$SM_GC,0.70,10.48,0.00,0.00,0.035,0.000,0.000,569,2050,1744,-10.08,0.54,323.06
$IRIDIUM_FIX,6041.65,-2328.85,250797,121258
$TT8_MAMPS,0.042185
$HUMID,1621
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.40
$XPDR_PINGS,381
$24V_AH,23.5,25.380
$10V_AH,10.5,33.602
$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,24.500,58.425,453.775,0.000,0.000,25.089,30.293,297.226,95.250,0.000,0.000,14.951,3065.882,11761.759,553.505,3700.630,640.396,0.000,2058.294,0.000,3722.952,0.000,0.466
$DEVICE_MAMPS,197.119,109.681,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1381.944,1427.720,727.593,926.662,891.550,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139143,1974
$CAP_FILE_SIZE,159402,0
$CFSIZE,260165632,244445184
$ERRORS,0,13,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,233508,6104.396,-2359.534,33,0.9,33,-17.1