version: 66.03
glider: 141
mission: 7
dive: 112
start: 4 28 108 11 44 4
data:
$ID,141
$MISSION,7
$DIVE,112
$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,240
$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,-8458.0068
$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,18
$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
$GPS1,113408,6112.706,-2255.406,39,1.1,39,-16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-53.4
$GPS2,114345,6112.736,-2255.291,10,1.3,10,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6107.337,-2259.808
$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,256.6,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.47,0.000,2,0.000,0.000,573,2041,3763
$GC,132,-1.34,-194.7,3.2,-5.7,14,156,11.18,2.65,-2.12,0.000,4,0.201,0.067,2478,3431,3857
$GC,391,-1.30,-194.7,40.3,-12.0,62,399,0.00,2.58,0.00,0.000,6,0.000,0.051,2478,2021,3858
$GC,527,-1.30,-194.7,56.8,-11.7,87,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2018,3858
$GC,869,-1.30,-194.7,95.6,-11.5,148,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3859
$GC,1207,-1.30,-194.7,135.5,-11.7,209,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,1545,-1.30,-194.7,173.6,-11.4,270,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,1887,-1.30,-194.7,210.3,-10.5,331,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,2231,-1.30,-194.7,247.4,-10.6,392,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,2574,-1.30,-194.7,284.5,-10.7,453,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,2916,-1.30,-194.7,320.1,-10.4,514,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2015,3858
$GC,3261,-1.30,-194.7,355.5,-10.0,571,3264,0.00,2.58,0.00,0.000,4,0.000,0.061,2477,625,3858
$GC,3287,-1.30,-194.7,358.4,-10.8,573,3294,0.00,2.50,0.00,0.000,6,0.000,0.044,2478,2013,3858
$GC,3613,-1.30,-194.7,391.7,-10.6,604,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,3930,-1.30,-194.7,425.2,-10.6,634,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3859
$GC,4249,-1.30,-194.7,457.5,-10.0,664,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,4567,-1.30,-194.7,490.2,-10.5,694,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,4886,-1.30,-194.7,524.4,-10.9,724,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,5206,-1.30,-194.7,559.3,-10.8,754,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3859
$GC,5523,-1.30,-194.7,594.2,-10.8,784,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2015,3858
$GC,5834,-1.30,-194.7,626.9,-10.2,802,5839,0.00,2.75,0.00,0.000,4,0.000,0.085,2478,3431,3858
$GC,5860,-1.30,-194.7,629.8,-11.6,803,5865,0.00,2.62,0.00,0.000,6,0.000,0.059,2478,2028,3858
$GC,6181,-1.30,-194.7,663.8,-10.5,819,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2028,3858
$GC,6490,-1.30,-194.7,696.4,-10.4,834,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2028,3858
$GC,6799,-1.30,-194.7,728.3,-10.1,849,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2027,3858
$GC,7109,-1.30,-194.7,758.1,-9.6,864,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2027,3858
$GC,7418,-1.30,-194.7,789.6,-10.3,879,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2022,3857
$GC,7727,-1.30,-194.7,820.4,-9.8,894,7732,0.00,2.75,0.00,0.000,4,0.000,0.082,2478,3431,3857
$GC,7776,-1.30,-194.7,825.6,-10.5,896,7780,0.00,2.62,0.00,0.000,6,0.000,0.063,2478,2028,3857
$GC,8097,-1.30,-194.7,857.3,-9.6,912,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2027,3857
$GC,8406,-1.30,-194.7,887.5,-9.7,927,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3856
$GC,8715,-1.30,-194.7,917.9,-10.2,942,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2026,3856
$GC,9025,-1.30,-194.7,948.1,-9.4,957,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3856
$GC,9334,-1.30,-194.7,977.0,-9.5,972,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2024,3855
$STATE,9476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9476,begin apogee
$GC,9481,-0.37,0.0,990.8,9.6,979,9654,1.02,0.00,168.77,1.298,6,0.100,0.000,2695,1981,3062
$STATE,9654,end apogee,CONTROL_FINISHED_OK
$STATE,9655,begin climb
$GC,9656,1.34,194.7,994.8,0.0,987,9834,1.70,2.90,167.55,1.266,4,0.077,0.099,3067,573,2267
$GC,9856,1.28,194.7,978.8,10.5,996,9861,0.00,2.60,0.00,0.000,6,0.000,0.052,3067,1978,2265
$GC,10183,1.22,194.7,943.4,10.8,1012,10187,0.00,2.72,0.00,0.000,4,0.000,0.079,3067,3396,2261
$GC,10266,1.17,194.7,933.5,12.5,1016,10271,0.15,2.60,0.00,0.000,6,0.104,0.052,3036,1988,2261
$GC,10592,1.19,217.0,902.6,9.2,1032,10614,0.00,0.00,19.98,1.172,6,0.000,0.000,3036,1985,2177
$GC,10922,1.23,242.3,872.5,9.1,1048,10947,0.00,0.00,24.10,1.174,6,0.000,0.000,3036,1985,2074
$GC,11250,1.23,242.3,839.7,10.2,1064,11255,0.00,2.67,0.00,0.000,4,0.000,0.068,3036,3396,2070
$GC,11289,1.23,242.3,835.5,10.9,1066,11294,0.00,2.58,0.00,0.000,6,0.000,0.052,3036,1996,2069
$GC,11615,1.23,243.0,803.0,10.0,1082,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1996,2069
$GC,11924,1.23,246.4,772.3,9.9,1097,11931,0.00,0.00,4.72,0.824,6,0.000,0.000,3037,1996,2057
$GC,12234,1.26,271.8,742.8,9.1,1112,12263,0.00,2.72,24.35,1.116,4,0.000,0.067,3036,3392,1953
$GC,12296,1.26,272.9,736.5,10.0,1115,12300,0.00,2.55,0.00,0.000,6,0.000,0.051,3036,2012,1950
$GC,12623,1.28,290.7,705.8,9.4,1131,12648,0.10,2.83,18.12,1.070,4,0.071,0.078,3067,583,1877
$GC,12665,1.28,290.7,701.2,11.3,1133,12669,0.00,2.65,0.00,0.000,6,0.000,0.050,3067,2017,1876
$GC,12990,1.28,290.7,663.3,11.9,1149,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2017,1873
$GC,13299,1.28,290.7,626.4,12.2,1164,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2018,1873
$GC,13611,1.28,290.7,589.7,11.9,1183,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2021,1872
$GC,13930,1.28,290.7,552.5,11.5,1213,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2022,1872
$GC,14248,1.28,290.7,515.3,11.9,1243,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2023,1872
$GC,14567,1.28,290.7,478.0,11.4,1273,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2023,1872
$GC,14885,1.28,290.7,442.2,11.1,1303,14886,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2023,1872
$GC,15203,1.28,290.7,406.9,11.1,1333,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2023,1872
$GC,15525,1.28,290.7,371.2,11.1,1363,15529,0.00,2.72,0.00,0.000,4,0.000,0.064,3066,570,1872
$GC,15558,1.28,290.7,367.1,11.4,1365,15564,0.00,2.60,0.00,0.000,6,0.000,0.045,3067,2013,1872
$GC,15891,1.28,290.7,330.5,10.7,1412,15898,0.00,2.58,0.00,0.000,4,0.000,0.065,3067,3397,1872
$GC,15926,1.28,290.7,326.7,10.9,1418,15932,0.00,2.53,0.00,0.000,6,0.000,0.049,3067,2004,1872
$GC,16268,1.28,290.7,289.7,11.3,1479,16274,0.00,2.67,0.00,0.000,4,0.000,0.067,3067,569,1872
$GC,16303,1.28,290.7,285.8,11.4,1485,16309,0.00,2.60,0.00,0.000,6,0.000,0.045,3067,2013,1872
$GC,16646,1.28,290.7,249.0,10.4,1546,16652,0.00,2.58,0.00,0.000,4,0.000,0.064,3067,3396,1872
$GC,16679,1.28,290.7,245.2,10.7,1552,16686,0.00,2.53,0.00,0.000,6,0.000,0.048,3067,1993,1872
$GC,17024,1.28,290.7,209.0,10.6,1613,17029,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1990,1872
$GC,17366,1.29,292.0,173.5,10.0,1674,17372,0.00,2.62,0.00,0.000,4,0.000,0.059,3067,3399,1872
$GC,17394,1.29,292.0,170.4,12.3,1679,17400,0.00,2.53,0.00,0.000,6,0.000,0.048,3067,2003,1872
$GC,17735,1.30,303.0,136.3,9.6,1740,17749,0.00,0.00,11.85,0.722,6,0.000,0.000,3067,2001,1826
$GC,18081,1.30,303.0,100.7,11.1,1802,18086,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1824
$GC,18420,1.30,303.0,64.7,10.8,1863,18427,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1824
$GC,18751,1.30,303.0,30.0,11.4,1924,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2001,1823
$GC,18885,1.34,338.8,16.5,8.8,1949,18922,0.00,0.00,30.80,0.677,6,0.000,0.000,3067,2001,1682
$STATE,19005,end climb,SURFACE_DEPTH_REACHED
$STATE,19005,begin surface coast
$FINISH,0.7,1.027214
$STATE,19029,end surface coast,CONTROL_FINISHED_OK
$STATE,19029,begin surface
$SM_CCo,19107,0.00,0.000,0,0,1675,340.23
$SM_GC,0.79,10.52,0.00,0.00,0.037,0.000,0.000,575,2051,1675,-10.06,0.59,340.23
$IRIDIUM_FIX,6046.07,-2254.35,230797,111152
$TT8_MAMPS,0.042185
$HUMID,1627
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,12.10
$XPDR_PINGS,380
$24V_AH,23.5,23.562
$10V_AH,10.5,31.929
$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,24.675,74.000,470.250,0.000,0.000,54.732,64.496,275.201,95.000,0.000,0.000,12.424,3078.921,11620.296,563.167,3758.293,647.286,0.000,2098.668,0.000,3761.512,0.000,0.466
$DEVICE_MAMPS,200.954,98.943,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1378.189,1422.365,739.961,944.041,921.003,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139081,1974
$CAP_FILE_SIZE,162311,0
$CFSIZE,260165632,245358592
$ERRORS,0,18,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,170337,6110.805,-2257.023,32,1.2,32,-16.6