version: 66.03
glider: 141
mission: 7
dive: 104
start: 4 26 108 14 50 9
data:
$ID,141
$MISSION,7
$DIVE,104
$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,45
$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,-8207.8672
$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,40
$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
$GPS1,144157,6103.126,-2311.914,33,2.3,52,-16.7
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-49.9
$GPS2,144951,6103.126,-2311.894,9,1.8,9,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.763,-2308.212
$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,61.7,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,151,0.00,0.00,-122.35,0.000,2,0.000,0.000,570,2056,3811
$GC,153,-1.34,-194.7,3.5,-6.9,17,177,11.15,2.72,-1.00,0.000,4,0.199,0.067,2482,616,3858
$GC,345,-1.34,-194.7,33.1,-12.1,52,354,0.00,2.53,0.00,0.000,6,0.000,0.048,2482,2009,3858
$GC,479,-1.34,-194.7,48.6,-11.4,77,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3858
$GC,619,-1.34,-194.7,64.5,-11.3,102,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3858
$GC,961,-1.34,-194.7,100.5,-10.8,163,967,0.00,2.62,0.00,0.000,4,0.000,0.056,2482,3434,3859
$GC,1006,-1.30,-194.7,105.9,-11.8,171,1014,0.00,2.55,0.00,0.000,6,0.000,0.043,2482,2028,3858
$GC,1349,-1.30,-194.7,143.8,-11.5,232,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,1691,-1.30,-194.7,182.8,-11.9,293,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2024,3858
$GC,2032,-1.30,-194.7,223.0,-11.6,354,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2024,3858
$GC,2373,-1.30,-194.7,260.7,-12.0,415,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,2715,-1.30,-194.7,299.9,-10.9,476,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,3059,-1.30,-194.7,336.5,-10.7,537,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2024,3858
$GC,3389,-1.30,-194.7,373.1,-11.5,579,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2024,3858
$GC,3710,-1.30,-194.7,407.8,-10.6,609,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,4026,-1.30,-194.7,440.7,-10.2,639,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3858
$GC,4345,-1.30,-194.7,472.0,-9.4,669,4350,0.00,2.67,0.00,0.000,4,0.000,0.067,2482,3439,3858
$GC,4396,-1.30,-194.7,477.3,-10.5,673,4400,0.00,2.55,0.00,0.000,6,0.000,0.048,2482,2032,3858
$GC,4721,-1.30,-194.7,510.4,-10.5,703,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3859
$GC,5038,-1.30,-194.7,545.2,-11.0,733,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,5357,-1.30,-194.7,580.1,-10.3,763,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,5683,-1.30,-194.7,612.1,-9.8,788,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,5991,-1.30,-194.7,643.2,-10.0,803,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,6301,-1.30,-194.7,674.5,-10.4,818,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3858
$GC,6610,-1.30,-194.7,705.2,-9.9,833,6614,0.00,2.80,0.00,0.000,4,0.000,0.094,2482,3431,3858
$GC,6681,-1.30,-194.7,712.9,-11.3,836,6685,0.00,2.67,0.00,0.000,6,0.000,0.074,2482,2046,3857
$GC,7002,-1.30,-194.7,745.4,-10.6,852,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2046,3857
$GC,7311,-1.30,-194.7,775.8,-9.6,867,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2046,3857
$GC,7620,-1.30,-194.7,807.5,-10.5,882,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2042,3857
$GC,7930,-1.30,-194.7,837.3,-9.5,897,7935,0.00,2.65,0.00,0.000,4,0.000,0.079,2482,3429,3856
$GC,7973,-1.30,-194.7,841.9,-10.5,899,7978,0.00,2.60,0.00,0.000,6,0.000,0.061,2482,2041,3856
$GC,8300,-1.30,-194.7,874.0,-9.8,915,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2040,3856
$GC,8610,-1.30,-194.7,902.9,-8.7,930,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2040,3856
$GC,8919,-1.30,-194.7,932.2,-9.6,945,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2039,3855
$GC,9228,-1.30,-194.7,961.4,-9.8,960,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2038,3855
$STATE,9536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9536,begin apogee
$GC,9541,-0.37,0.0,991.9,9.8,975,9713,1.00,0.00,168.68,1.292,6,0.098,0.000,2695,1980,3062
$STATE,9714,end apogee,CONTROL_FINISHED_OK
$STATE,9714,begin climb
$GC,9715,1.34,194.7,997.0,0.0,983,9888,1.70,0.00,167.73,1.260,6,0.076,0.000,3066,1980,2268
$GC,10186,1.28,194.7,952.4,10.9,1006,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1980,2262
$GC,10496,1.23,194.7,919.3,10.7,1021,10500,0.00,2.67,0.00,0.000,4,0.000,0.067,3066,3386,2261
$GC,10539,1.17,194.7,914.4,11.3,1023,10543,0.15,2.60,0.00,0.000,6,0.107,0.052,3038,1978,2260
$GC,10866,1.18,199.2,884.3,9.8,1039,10875,0.00,2.70,4.07,0.767,4,0.000,0.066,3038,3385,2250
$GC,10891,1.18,199.2,881.5,10.2,1040,10896,0.00,2.62,0.00,0.000,6,0.000,0.051,3037,1981,2250
$GC,11219,1.21,225.4,850.8,9.1,1056,11246,0.00,0.00,25.40,1.166,6,0.000,0.000,3038,1981,2142
$GC,11548,1.21,227.8,819.4,9.9,1072,11552,0.00,2.67,0.00,0.000,4,0.000,0.066,3038,3389,2139
$GC,11574,1.22,232.6,816.6,9.8,1073,11586,0.00,2.55,7.75,0.993,6,0.000,0.050,3038,1996,2113
$GC,11894,1.24,249.4,786.4,9.4,1089,11915,0.00,0.00,16.55,1.101,6,0.000,0.000,3038,1996,2045
$GC,12223,1.26,268.4,755.4,9.3,1105,12244,0.00,0.00,18.55,1.092,6,0.000,0.000,3037,1996,1966
$GC,12553,1.27,270.6,723.6,9.9,1121,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1996,1963
$GC,12862,1.29,292.6,694.5,9.2,1136,12888,0.10,0.00,23.27,1.071,6,0.069,0.000,3068,1996,1869
$GC,13191,1.29,292.6,657.5,11.3,1152,13195,0.00,2.67,0.00,0.000,4,0.000,0.064,3068,3394,1864
$GC,13217,1.29,292.6,654.2,11.6,1153,13222,0.00,2.60,0.00,0.000,6,0.000,0.050,3068,2000,1864
$GC,13539,1.29,292.6,618.1,11.5,1169,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1999,1864
$GC,13852,1.29,292.6,582.2,11.3,1191,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1864
$GC,14172,1.29,292.6,546.1,11.3,1221,14173,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1863
$GC,14489,1.29,292.6,510.0,11.4,1251,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1863
$GC,14809,1.29,292.6,474.4,11.1,1281,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1863
$GC,15126,1.29,292.6,438.2,11.4,1311,15127,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1997,1863
$GC,15445,1.29,292.6,403.1,11.1,1341,15446,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1998,1863
$GC,15763,1.29,292.6,366.1,11.3,1371,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1997,1863
$GC,16092,1.29,292.6,329.7,11.5,1417,16097,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1997,1863
$GC,16433,1.29,292.6,290.4,11.4,1478,16439,0.00,2.67,0.00,0.000,4,0.000,0.066,3068,568,1864
$GC,16456,1.29,292.6,287.6,13.2,1482,16462,0.00,2.58,0.00,0.000,6,0.000,0.043,3068,2001,1864
$GC,16799,1.30,295.5,248.8,9.9,1543,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1863
$GC,17141,1.30,295.5,211.4,11.0,1604,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1864
$GC,17485,1.30,295.5,173.4,10.8,1665,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1864
$GC,17827,1.30,295.5,136.7,10.4,1726,17833,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1864
$GC,18167,1.30,295.5,100.6,11.0,1787,18172,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2003,1864
$GC,18504,1.30,295.5,64.5,12.1,1848,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2004,1864
$GC,18835,1.30,295.5,28.8,11.5,1909,18843,0.00,2.70,0.00,0.000,4,0.000,0.062,3068,574,1864
$GC,18856,1.30,295.5,26.5,10.1,1912,18864,0.00,2.60,0.00,0.000,6,0.000,0.047,3068,2002,1864
$GC,18991,1.30,295.5,12.0,11.6,1937,18998,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2005,1864
$STATE,19081,end climb,SURFACE_DEPTH_REACHED
$STATE,19081,begin surface coast
$FINISH,0.1,1.027127
$STATE,19114,end surface coast,CONTROL_FINISHED_OK
$STATE,19114,begin surface
$SM_CCo,19191,0.00,0.000,0,0,1862,294.11
$SM_GC,0.71,10.40,0.00,0.00,0.032,0.000,0.000,567,2009,1862,-10.07,-0.59,294.11
$IRIDIUM_FIX,6032.86,-2313.66,210797,090914
$TT8_MAMPS,0.042185
$HUMID,1611
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.30
$XPDR_PINGS,359
$24V_AH,23.5,21.907
$10V_AH,10.6,30.538
$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,24.500,58.150,432.000,0.000,0.000,29.243,34.524,281.647,89.750,0.000,0.000,11.243,3038.910,11740.300,566.125,3700.834,604.038,0.000,2064.818,0.000,3719.638,0.000,0.465
$DEVICE_MAMPS,199.420,94.341,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1365.281,1423.491,736.413,937.032,934.784,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139127,1960
$CAP_FILE_SIZE,154934,0
$CFSIZE,260165632,246091776
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,201108,6105.726,-2307.982,34,1.2,34,-16.7