version: 66.03
glider: 141
mission: 7
dive: 109
start: 4 27 108 18 59 52
data:
$ID,141
$MISSION,7
$DIVE,109
$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,-8399.6602
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,185517,6114.359,-2246.608,10,3.3,29,-16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-44.9
$GPS2,185935,6114.360,-2246.566,14,2.7,33,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.960,-2251.079
$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,-194.7,0.0,0.0,0,194,0.00,0.00,-165.55,0.000,2,0.000,0.000,576,2015,3852
$GC,197,-1.34,-194.7,3.7,-7.1,23,213,11.00,2.67,0.00,0.000,4,0.198,0.054,2482,3441,3854
$GC,392,-1.30,-194.7,34.2,-11.6,59,400,0.00,2.58,0.00,0.000,6,0.000,0.045,2482,2024,3855
$GC,527,-1.30,-194.7,49.9,-12.2,84,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3855
$GC,669,-1.30,-194.7,66.0,-11.1,109,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2020,3855
$GC,1006,-1.30,-194.7,104.3,-11.4,170,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3855
$GC,1346,-1.30,-194.7,143.0,-11.1,231,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2018,3855
$GC,1689,-1.30,-194.7,180.9,-10.8,292,1696,0.00,2.62,0.00,0.000,4,0.000,0.063,2482,3438,3855
$GC,1724,-1.30,-194.7,184.9,-11.8,298,1730,0.00,2.53,0.00,0.000,6,0.000,0.043,2482,2033,3855
$GC,2068,-1.30,-194.7,221.2,-10.4,359,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2031,3854
$GC,2410,-1.30,-194.7,256.4,-10.3,420,2416,0.00,2.58,0.00,0.000,4,0.000,0.064,2482,621,3854
$GC,2439,-1.30,-194.7,259.5,-10.6,425,2445,0.00,2.50,0.00,0.000,6,0.000,0.042,2482,2032,3854
$GC,2782,-1.30,-194.7,295.9,-11.2,486,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,3124,-1.30,-194.7,335.5,-11.6,547,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,3460,-1.30,-194.7,372.2,-11.0,590,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,3779,-1.30,-194.7,407.2,-10.9,620,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,4097,-1.30,-194.7,441.9,-11.1,650,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,4416,-1.30,-194.7,477.5,-11.4,680,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,4734,-1.30,-194.7,512.5,-10.8,710,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,5053,-1.30,-194.7,545.8,-10.7,740,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3853
$GC,5371,-1.30,-194.7,579.3,-10.3,770,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3853
$GC,5697,-1.30,-194.7,612.7,-10.4,795,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3854
$GC,6006,-1.30,-194.7,644.0,-10.2,810,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3853
$GC,6316,-1.30,-194.7,674.8,-10.0,825,6320,0.00,2.72,0.00,0.000,4,0.000,0.087,2482,3431,3853
$GC,6341,-1.30,-194.7,677.7,-11.3,826,6346,0.00,2.62,0.00,0.000,6,0.000,0.064,2482,2041,3853
$GC,6663,-1.30,-194.7,710.6,-10.3,842,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2041,3853
$GC,6972,-1.30,-194.7,742.1,-10.2,857,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2042,3852
$GC,7281,-1.30,-194.7,771.8,-9.9,872,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3852
$GC,7591,-1.30,-194.7,801.7,-9.3,887,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3852
$GC,7900,-1.30,-194.7,830.7,-9.3,902,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3852
$GC,8209,-1.30,-194.7,861.3,-10.3,917,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2036,3852
$GC,8519,-1.30,-194.7,891.2,-9.2,932,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3851
$GC,8828,-1.30,-194.7,918.3,-8.9,947,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2035,3851
$GC,9137,-1.30,-194.7,947.5,-9.9,962,9142,0.00,2.70,0.00,0.000,4,0.000,0.079,2482,3428,3851
$GC,9163,-1.30,-194.7,950.4,-11.7,963,9168,0.00,2.62,0.00,0.000,6,0.000,0.061,2482,2019,3851
$GC,9485,-1.30,-194.7,981.8,-9.6,979,9489,0.00,2.70,0.00,0.000,4,0.000,0.077,2482,3428,3849
$GC,9523,-1.30,-194.7,985.6,-10.4,981,9527,0.00,2.60,0.00,0.000,6,0.000,0.060,2482,2025,3850
$STATE,9578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9578,begin apogee
$GC,9583,-0.37,0.0,991.0,9.7,984,9755,1.00,0.00,167.80,1.291,6,0.097,0.000,2695,1978,3062
$STATE,9755,end apogee,CONTROL_FINISHED_OK
$STATE,9755,begin climb
$GC,9757,1.34,194.7,995.7,0.0,992,9930,1.67,0.00,168.75,1.261,6,0.074,0.000,3069,1976,2268
$GC,10234,1.29,194.7,951.2,10.9,1016,10238,0.00,2.70,0.00,0.000,4,0.000,0.070,3069,3385,2262
$GC,10305,1.23,194.7,942.5,11.9,1019,10310,0.00,2.58,0.00,0.000,6,0.000,0.051,3069,1989,2261
$GC,10621,1.18,194.7,908.2,10.7,1034,10622,0.15,0.00,0.00,0.000,6,0.106,0.000,3039,1988,2261
$GC,10930,1.21,225.2,879.8,8.9,1049,10964,0.00,2.75,27.15,1.179,4,0.000,0.067,3039,3384,2143
$GC,10993,1.23,237.6,873.8,9.6,1052,11014,0.00,2.55,12.65,1.091,6,0.000,0.051,3039,1998,2093
$GC,11323,1.23,237.6,840.4,10.5,1068,11327,0.00,2.75,0.00,0.000,4,0.000,0.084,3038,569,2089
$GC,11354,1.23,237.6,836.8,10.5,1069,11361,0.00,2.62,0.00,0.000,6,0.000,0.050,3038,1991,2089
$GC,11670,1.23,237.6,805.2,10.2,1085,11674,0.00,2.67,0.00,0.000,4,0.000,0.078,3038,3396,2088
$GC,11724,1.23,237.6,799.1,10.8,1087,11731,0.00,2.55,0.00,0.000,6,0.000,0.051,3039,2012,2088
$GC,12040,1.24,244.4,767.5,9.8,1103,12049,0.00,0.00,7.18,0.957,6,0.000,0.000,3038,2012,2065
$GC,12349,1.24,244.4,735.9,10.5,1118,12353,0.00,2.72,0.00,0.000,4,0.000,0.077,3038,569,2063
$GC,12375,1.25,257.4,733.2,9.6,1119,12395,0.00,2.65,13.35,1.052,6,0.000,0.049,3039,2031,2011
$GC,12716,1.25,257.4,698.5,10.2,1136,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2031,2009
$GC,13025,1.25,257.4,666.3,10.3,1151,13030,0.00,2.58,0.00,0.000,4,0.000,0.074,3039,3394,2008
$GC,13059,1.25,257.4,662.8,10.1,1152,13065,0.00,2.50,0.00,0.000,6,0.000,0.050,3038,2012,2008
$GC,13374,1.27,268.4,631.9,9.6,1168,13387,0.00,0.00,10.82,0.972,6,0.000,0.000,3038,2011,1967
$GC,13683,1.29,288.9,602.8,9.3,1183,13709,0.10,2.78,19.95,1.009,4,0.069,0.074,3069,576,1884
$GC,13732,1.29,288.9,597.7,11.3,1186,13736,0.00,2.62,0.00,0.000,6,0.000,0.048,3069,2009,1883
$GC,14056,1.29,288.9,561.6,10.7,1216,14060,0.00,2.62,0.00,0.000,4,0.000,0.070,3069,3394,1880
$GC,14087,1.29,288.9,557.8,11.3,1218,14094,0.00,2.55,0.00,0.000,6,0.000,0.050,3069,1996,1880
$GC,14415,1.29,288.9,521.1,11.4,1249,14420,0.00,2.70,0.00,0.000,4,0.000,0.071,3069,567,1880
$GC,14443,1.29,288.9,517.4,11.7,1251,14447,0.00,2.60,0.00,0.000,6,0.000,0.047,3069,2010,1880
$GC,14767,1.29,288.9,480.3,11.4,1281,14771,0.00,2.60,0.00,0.000,4,0.000,0.067,3069,3392,1880
$GC,14794,1.29,288.9,477.2,11.5,1283,14798,0.00,2.55,0.00,0.000,6,0.000,0.049,3069,1998,1879
$GC,15118,1.29,288.9,441.4,10.6,1313,15122,0.00,2.67,0.00,0.000,4,0.000,0.068,3069,572,1879
$GC,15145,1.29,288.9,438.3,11.1,1315,15149,0.00,2.60,0.00,0.000,6,0.000,0.045,3069,2011,1880
$GC,15469,1.29,288.9,404.7,10.7,1345,15473,0.00,2.58,0.00,0.000,4,0.000,0.066,3069,3392,1880
$GC,15495,1.29,288.9,401.6,10.9,1347,15502,0.00,2.53,0.00,0.000,6,0.000,0.048,3069,2011,1879
$GC,15821,1.29,288.9,365.7,10.8,1378,15822,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2008,1879
$GC,16148,1.29,288.9,329.7,11.0,1424,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2008,1879
$GC,16492,1.29,288.9,292.9,10.6,1485,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2008,1879
$GC,16834,1.29,288.9,255.3,11.3,1546,16839,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2007,1880
$GC,17176,1.29,288.9,217.6,12.0,1607,17181,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2007,1880
$GC,17517,1.29,288.9,181.6,10.6,1668,17524,0.00,2.67,0.00,0.000,4,0.000,0.064,3069,574,1880
$GC,17547,1.29,288.9,178.4,11.2,1673,17553,0.00,2.60,0.00,0.000,6,0.000,0.044,3069,2017,1880
$GC,17888,1.32,312.1,143.4,9.2,1734,17915,0.00,0.00,20.90,0.740,6,0.000,0.000,3069,2019,1788
$GC,18253,1.32,312.1,101.5,11.9,1798,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2019,1785
$GC,18594,1.32,312.1,62.5,11.4,1859,18600,0.00,2.70,0.00,0.000,4,0.000,0.062,3069,575,1785
$GC,18624,1.32,312.1,59.1,11.3,1864,18630,0.00,2.58,0.00,0.000,6,0.000,0.050,3069,2002,1785
$GC,18951,1.32,312.1,21.1,10.8,1925,18959,0.00,2.60,0.00,0.000,4,0.000,0.060,3069,3389,1784
$GC,18992,1.37,349.3,16.5,8.7,1932,19030,0.00,2.55,32.42,0.670,6,0.000,0.051,3069,2004,1638
$STATE,19114,end climb,SURFACE_DEPTH_REACHED
$STATE,19115,begin surface coast
$FINISH,0.1,1.027218
$STATE,19143,end surface coast,CONTROL_FINISHED_OK
$STATE,19143,begin surface
$SM_CCo,19222,0.00,0.000,0,0,1631,351.02
$SM_GC,0.78,10.52,0.00,0.00,0.037,0.000,0.000,570,2039,1631,-10.08,0.28,351.02
$IRIDIUM_FIX,6050.49,-2253.71,220797,191920
$TT8_MAMPS,0.042185
$HUMID,1622
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,11.90
$XPDR_PINGS,351
$24V_AH,23.5,22.925
$10V_AH,10.5,31.406
$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,24.450,110.325,480.975,0.000,0.000,0.000,0.000,0.000,87.750,0.000,0.000,35.463,3053.678,11612.015,660.894,3732.901,248.923,0.000,2217.324,0.000,3731.072,0.000,0.466
$DEVICE_MAMPS,197.886,106.613,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1366.163,1424.274,723.566,928.603,907.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139350,1958
$CAP_FILE_SIZE,197692,0
$CFSIZE,260165632,245559296
$ERRORS,0,25,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,002132,6113.873,-2250.498,38,1.9,44,-16.6