version: 66.03
glider: 141
mission: 7
dive: 119
start: 4 30 108 1 41 9
data:
$ID,141
$MISSION,7
$DIVE,119
$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,-8558.0713
$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,25
$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
$GPS1,013307,6103.772,-2326.670,29,1.4,29,-16.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-48.3
$GPS2,014051,6103.738,-2326.626,13,1.5,13,-16.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6103.738,-2331.851
$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,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,-101.30,0.000,2,0.000,0.000,571,2045,3849
$GC,131,-1.34,-194.7,3.9,-7.6,14,148,11.23,2.60,0.00,0.000,4,0.202,0.053,2480,3439,3851
$GC,358,-1.29,-194.7,39.8,-11.7,56,366,0.00,2.58,0.00,0.000,6,0.000,0.051,2480,2032,3851
$GC,493,-1.29,-194.7,54.2,-10.2,81,501,0.00,2.62,0.00,0.000,4,0.000,0.064,2480,623,3851
$GC,536,-1.29,-194.7,58.9,-11.2,88,543,0.00,2.50,0.00,0.000,6,0.000,0.051,2480,2013,3851
$GC,873,-1.29,-194.7,100.1,-11.1,149,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2014,3851
$GC,1210,-1.29,-194.7,136.7,-10.5,210,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3851
$GC,1552,-1.29,-194.7,172.5,-11.4,271,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3851
$GC,1894,-1.29,-194.7,210.7,-11.5,332,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3851
$GC,2238,-1.29,-194.7,249.9,-11.4,393,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3851
$GC,2580,-1.29,-194.7,288.0,-10.9,454,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3852
$GC,2922,-1.29,-194.7,325.9,-11.0,515,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2016,3851
$GC,3257,-1.29,-194.7,361.4,-10.4,566,3261,0.00,2.67,0.00,0.000,4,0.000,0.064,2480,3439,3851
$GC,3300,-1.29,-194.7,366.3,-11.7,569,3307,0.00,2.60,0.00,0.000,6,0.000,0.048,2480,2016,3851
$GC,3626,-1.29,-194.7,400.0,-10.2,600,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2014,3851
$GC,3943,-1.29,-194.7,433.5,-10.5,630,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2014,3852
$GC,4262,-1.29,-194.7,467.7,-10.9,660,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2014,3851
$GC,4580,-1.29,-194.7,502.6,-10.8,690,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2014,3851
$GC,4899,-1.29,-194.7,536.6,-10.6,720,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2014,3851
$GC,5217,-1.29,-194.7,570.8,-10.8,750,5222,0.00,2.72,0.00,0.000,4,0.000,0.072,2480,3433,3851
$GC,5261,-1.29,-194.7,575.8,-11.1,753,5268,0.00,2.60,0.00,0.000,6,0.000,0.054,2480,2021,3851
$GC,5593,-1.29,-194.7,610.9,-10.6,780,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3851
$GC,5902,-1.29,-194.7,643.4,-10.5,795,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2019,3851
$GC,6212,-1.29,-194.7,675.1,-10.2,810,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2019,3851
$GC,6521,-1.29,-194.7,706.6,-10.1,825,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2019,3851
$GC,6831,-1.29,-194.7,738.2,-10.2,840,6835,0.00,2.80,0.00,0.000,4,0.000,0.090,2480,3438,3850
$GC,6874,-1.29,-194.7,743.0,-10.5,842,6878,0.00,2.65,0.00,0.000,6,0.000,0.064,2480,2023,3850
$GC,7200,-1.29,-194.7,776.0,-10.1,858,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2020,3850
$GC,7509,-1.29,-194.7,807.9,-10.2,873,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2019,3850
$GC,7819,-1.29,-194.7,839.2,-10.0,888,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2018,3850
$GC,8128,-1.29,-194.7,869.9,-10.1,903,8132,0.00,2.72,0.00,0.000,4,0.000,0.080,2480,3438,3849
$GC,8211,-1.29,-194.7,878.5,-10.1,907,8216,0.00,2.62,0.00,0.000,6,0.000,0.062,2480,2023,3849
$GC,8538,-1.29,-194.7,909.8,-9.7,923,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3849
$GC,8847,-1.29,-194.7,939.7,-9.6,938,8851,0.00,2.70,0.00,0.000,4,0.000,0.078,2480,3431,3849
$GC,8889,-1.29,-194.7,944.2,-10.5,940,8894,0.00,2.62,0.00,0.000,6,0.000,0.061,2480,2032,3848
$GC,9217,-1.29,-194.7,975.4,-9.7,956,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2031,3848
$STATE,9379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9379,begin apogee
$GC,9384,-0.37,0.0,991.6,10.0,964,9555,1.02,0.00,167.32,1.292,6,0.103,0.000,2696,1973,3062
$STATE,9556,end apogee,CONTROL_FINISHED_OK
$STATE,9556,begin climb
$GC,9557,1.34,194.7,996.6,0.0,972,9730,1.67,0.00,168.68,1.263,6,0.075,0.000,3069,1973,2268
$GC,10034,1.28,194.7,952.3,10.7,996,10038,0.00,2.72,0.00,0.000,4,0.000,0.070,3069,3388,2262
$GC,10060,1.22,194.7,949.2,10.9,997,10065,0.12,2.62,0.00,0.000,6,0.109,0.054,3045,1975,2261
$GC,10381,1.26,227.3,919.2,8.9,1013,10412,0.00,0.00,29.42,1.193,6,0.000,0.000,3046,1972,2135
$GC,10710,1.26,232.6,888.4,9.8,1029,10721,0.00,2.75,6.05,0.937,4,0.000,0.069,3046,3387,2112
$GC,10765,1.26,232.6,882.6,10.6,1031,10772,0.00,2.65,0.00,0.000,6,0.000,0.054,3046,1985,2111
$GC,11081,1.27,237.8,851.3,9.8,1047,11089,0.00,0.00,6.20,0.943,6,0.000,0.000,3046,1983,2092
$GC,11390,1.27,237.8,820.2,10.0,1062,11394,0.00,2.67,0.00,0.000,4,0.000,0.070,3046,3387,2090
$GC,11421,1.27,237.8,816.7,10.4,1063,11429,0.00,2.60,0.00,0.000,6,0.000,0.054,3046,1999,2090
$GC,11737,1.27,237.8,783.4,10.7,1079,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1999,2089
$GC,12046,1.27,237.8,751.6,10.0,1094,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1999,2089
$GC,12355,1.27,237.8,720.2,10.2,1109,12359,0.00,2.65,0.00,0.000,4,0.000,0.069,3045,3387,2089
$GC,12394,1.27,237.8,716.1,10.3,1111,12398,0.00,2.55,0.00,0.000,6,0.000,0.053,3045,2004,2088
$GC,12719,1.28,242.9,683.3,9.8,1127,12726,0.00,0.00,5.88,0.870,6,0.000,0.000,3045,2004,2071
$GC,13028,1.28,248.4,653.5,9.8,1142,13037,0.00,0.00,6.68,0.888,6,0.000,0.000,3045,2004,2049
$GC,13337,1.31,270.3,624.3,9.2,1157,13361,0.00,0.00,21.17,1.029,6,0.000,0.000,3046,2004,1960
$GC,13669,1.33,291.0,593.2,9.3,1176,13695,0.10,2.83,20.23,1.001,4,0.070,0.079,3077,569,1875
$GC,13729,1.29,291.0,586.5,11.3,1181,13733,0.00,2.62,0.00,0.000,6,0.000,0.050,3077,1992,1873
$GC,14053,1.29,291.0,548.3,11.5,1211,14054,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1995,1871
$GC,14372,1.29,291.0,511.3,11.6,1241,14377,0.00,2.70,0.00,0.000,4,0.000,0.070,3077,570,1871
$GC,14415,1.25,291.0,505.9,11.9,1244,14422,0.12,2.60,0.00,0.000,6,0.101,0.049,3053,1998,1871
$GC,14740,1.25,291.0,472.6,10.4,1275,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2000,1871
$GC,15060,1.26,296.4,439.9,9.8,1305,15071,0.00,2.70,5.80,0.748,4,0.000,0.067,3052,575,1853
$GC,15098,1.26,296.4,435.6,10.3,1308,15105,0.00,2.55,0.00,0.000,6,0.000,0.047,3052,1979,1853
$GC,15424,1.26,296.4,403.5,10.0,1339,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1981,1852
$GC,15743,1.27,305.5,372.2,9.7,1369,15755,0.00,0.00,9.85,0.815,6,0.000,0.000,3052,1981,1816
$GC,16075,1.27,309.1,340.4,9.9,1408,16087,0.00,2.70,4.38,0.617,4,0.000,0.066,3053,569,1802
$GC,16104,1.27,309.1,337.4,10.0,1413,16110,0.00,2.55,0.00,0.000,6,0.000,0.045,3052,1974,1802
$GC,16448,1.27,309.1,302.3,11.4,1474,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1977,1801
$GC,16790,1.27,309.1,265.4,10.9,1535,16796,0.00,2.65,0.00,0.000,4,0.000,0.066,3052,570,1801
$GC,16812,1.27,309.1,262.9,10.8,1539,16819,0.00,2.53,0.00,0.000,6,0.000,0.045,3052,1974,1801
$GC,17156,1.27,309.1,225.7,10.6,1600,17162,0.00,2.62,0.00,0.000,4,0.000,0.061,3052,3387,1800
$GC,17179,1.27,309.1,223.2,10.4,1604,17185,0.00,2.58,0.00,0.000,6,0.000,0.048,3052,1956,1800
$GC,17523,1.27,309.1,187.4,10.8,1665,17529,0.00,2.58,0.00,0.000,4,0.000,0.067,3052,573,1801
$GC,17557,1.27,309.1,183.6,10.7,1671,17563,0.00,2.50,0.00,0.000,6,0.000,0.045,3052,1967,1800
$GC,17902,1.29,322.0,149.5,9.6,1732,17921,0.00,0.00,12.77,0.719,6,0.000,0.000,3052,1969,1747
$GC,18255,1.31,341.9,113.5,9.3,1795,18280,0.00,2.65,18.70,0.716,4,0.000,0.064,3052,575,1667
$GC,18293,1.32,345.5,109.5,9.9,1801,18305,0.00,2.50,4.88,0.548,6,0.000,0.044,3052,1956,1652
$GC,18637,1.32,345.5,73.1,10.7,1863,18644,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1958,1649
$GC,18971,1.38,392.8,36.6,8.4,1924,19016,0.12,0.00,41.40,0.681,6,0.061,0.000,3090,1958,1459
$GC,19144,1.48,474.8,14.8,7.2,1954,19218,0.00,2.78,68.85,0.656,4,0.000,0.058,3091,3395,1125
$STATE,19224,end climb,SURFACE_DEPTH_REACHED
$STATE,19225,begin surface coast
$FINISH,0.2,1.027183
$STATE,19247,end surface coast,CONTROL_FINISHED_OK
$STATE,19247,begin surface
$SM_CCo,19328,0.00,0.000,0,0,1117,477.11
$SM_GC,0.72,10.73,0.00,0.00,0.038,0.000,0.000,571,2015,1117,-10.08,-0.40,477.11
$IRIDIUM_FIX,6037.25,-2321.24,240797,202014
$TT8_MAMPS,0.042185
$HUMID,1605
$INTERNAL_PRESSURE,9.98085
$TCM_TEMP,12.50
$XPDR_PINGS,380
$24V_AH,23.5,24.840
$10V_AH,10.5,33.094
$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,25.125,105.550,598.250,0.000,0.000,31.109,35.937,274.707,95.000,0.000,0.000,15.116,3061.948,11724.208,706.120,3682.601,599.336,0.000,2259.027,0.000,3686.326,0.000,0.465
$DEVICE_MAMPS,201.721,98.176,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1368.199,1430.464,716.512,904.282,843.755,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139117,1969
$CAP_FILE_SIZE,167371,0
$CFSIZE,260165632,244711424
$ERRORS,0,26,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,070431,6104.397,-2333.873,40,1.2,40,-16.9