version: 66.03
glider: 141
mission: 7
dive: 106
start: 4 27 108 1 45 34
data:
$ID,141
$MISSION,7
$DIVE,106
$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,-8239.0352
$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
$GPS1,013828,6107.850,-2303.687,26,99.0,45,-16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-55.0
$GPS2,014515,6107.820,-2303.562,12,1.4,12,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.457,-2259.889
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-94.55,0.000,2,0.000,0.000,574,2012,3818
$GC,124,-1.34,-194.7,3.9,-8.2,13,142,11.02,2.67,-0.82,0.000,4,0.197,0.071,2477,612,3857
$GC,247,-1.34,-194.7,25.8,-11.7,35,255,0.00,2.58,0.00,0.000,6,0.000,0.048,2477,2030,3858
$GC,381,-1.34,-194.7,40.8,-10.7,60,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2032,3858
$GC,519,-1.34,-194.7,55.8,-11.2,85,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2033,3858
$GC,857,-1.34,-194.7,94.1,-11.4,146,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2033,3858
$GC,1196,-1.34,-194.7,133.6,-11.7,207,1205,0.00,2.65,0.00,0.000,4,0.000,0.061,2477,621,3858
$GC,1243,-1.34,-194.7,139.0,-11.7,215,1249,0.00,2.55,0.00,0.000,6,0.000,0.042,2477,2041,3859
$GC,1586,-1.34,-194.7,177.0,-10.8,276,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2043,3858
$GC,1928,-1.34,-194.7,214.6,-10.5,337,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2043,3858
$GC,2270,-1.34,-194.7,251.6,-11.1,398,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2043,3858
$GC,2612,-1.34,-194.7,289.0,-10.8,459,2618,0.00,2.62,0.00,0.000,4,0.000,0.058,2477,620,3858
$GC,2680,-1.34,-194.7,296.7,-11.4,471,2686,0.00,2.53,0.00,0.000,6,0.000,0.042,2477,2034,3858
$GC,3023,-1.34,-194.7,334.0,-10.7,532,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3858
$GC,3363,-1.34,-194.7,369.3,-10.7,577,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2037,3858
$GC,3680,-1.34,-194.7,404.3,-11.2,607,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,3998,-1.34,-194.7,440.9,-11.5,637,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3858
$GC,4317,-1.34,-194.7,475.9,-10.6,667,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3858
$GC,4635,-1.34,-194.7,509.6,-10.4,697,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,4954,-1.34,-194.7,541.7,-10.0,727,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3858
$GC,5272,-1.34,-194.7,573.9,-10.2,757,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2037,3858
$GC,5589,-1.34,-194.7,606.9,-10.9,784,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3858
$GC,5898,-1.34,-194.7,639.3,-10.3,799,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,6208,-1.34,-194.7,670.1,-9.7,814,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3859
$GC,6517,-1.34,-194.7,701.3,-10.6,829,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,6827,-1.34,-194.7,735.4,-11.0,844,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,7135,-1.34,-194.7,767.7,-10.5,859,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,7444,-1.34,-194.7,799.2,-10.1,874,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2037,3858
$GC,7754,-1.34,-194.7,830.4,-10.1,889,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2036,3858
$GC,8063,-1.34,-194.7,861.9,-10.0,904,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2038,3858
$GC,8372,-1.34,-194.7,893.5,-10.3,919,8377,0.00,2.70,0.00,0.000,4,0.000,0.087,2478,3428,3857
$GC,8416,-1.34,-194.7,898.2,-11.2,921,8421,0.00,2.58,0.00,0.000,6,0.000,0.059,2477,2039,3857
$GC,8737,-1.34,-194.7,930.8,-10.3,937,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2039,3857
$GC,9046,-1.34,-194.7,962.0,-9.9,952,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2037,3857
$STATE,9333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9333,begin apogee
$GC,9338,-0.37,0.0,990.8,10.0,966,9510,1.02,0.00,168.95,1.292,6,0.100,0.000,2695,1978,3062
$STATE,9511,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9513,1.34,194.7,996.0,0.0,974,9686,1.70,0.00,168.80,1.262,6,0.076,0.000,3074,1978,2268
$GC,9989,1.28,194.7,952.4,10.7,998,9993,0.00,2.72,0.00,0.000,4,0.000,0.071,3074,3393,2261
$GC,10038,1.21,194.7,946.6,11.3,1000,10042,0.15,2.60,0.00,0.000,6,0.106,0.052,3045,1985,2261
$GC,10359,1.25,221.7,917.0,9.1,1016,10385,0.00,0.00,24.35,1.180,6,0.000,0.000,3045,1983,2158
$GC,10688,1.26,229.7,885.9,9.7,1032,10702,0.00,2.75,8.32,1.030,4,0.000,0.067,3044,3385,2125
$GC,10725,1.27,241.7,882.0,9.6,1033,10745,0.00,2.60,12.90,1.101,6,0.000,0.051,3045,1982,2075
$GC,11061,1.28,251.1,849.2,9.7,1050,11075,0.00,2.72,9.70,1.052,4,0.000,0.067,3045,3390,2037
$GC,11091,1.30,265.0,846.1,9.5,1050,11111,0.00,2.58,14.38,1.099,6,0.000,0.051,3045,1994,1981
$GC,11427,1.30,265.0,812.7,10.1,1067,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1993,1977
$GC,11736,1.30,265.0,780.6,10.5,1082,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1993,1976
$GC,12045,1.30,265.0,748.9,10.1,1097,12049,0.00,2.65,0.00,0.000,4,0.000,0.066,3044,3388,1976
$GC,12084,1.30,265.0,744.7,11.6,1099,12088,0.00,2.53,0.00,0.000,6,0.000,0.051,3045,2009,1976
$GC,12409,1.30,265.0,711.0,10.4,1115,12413,0.00,2.72,0.00,0.000,4,0.000,0.079,3045,577,1976
$GC,12429,1.30,265.0,708.7,10.8,1116,12434,0.00,2.62,0.00,0.000,6,0.000,0.048,3044,2006,1975
$GC,12756,1.30,265.0,674.6,10.9,1132,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2007,1975
$GC,13065,1.30,265.0,643.1,10.1,1147,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2010,1975
$GC,13375,1.30,267.5,611.9,9.9,1162,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2010,1975
$GC,13689,1.30,267.5,580.7,10.3,1186,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2010,1975
$GC,14008,1.30,267.5,548.4,10.4,1216,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2012,1975
$GC,14327,1.30,267.5,515.8,10.2,1246,14328,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2012,1975
$GC,14645,1.30,267.5,482.8,10.7,1276,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2012,1975
$GC,14965,1.30,267.5,449.6,10.2,1306,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2013,1975
$GC,15283,1.32,279.2,418.7,9.6,1336,15303,0.10,0.00,13.35,0.874,6,0.070,0.000,3076,2012,1923
$GC,15620,1.32,279.2,381.0,11.0,1368,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2012,1921
$GC,15942,1.32,279.2,345.7,11.2,1401,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2012,1921
$GC,16284,1.32,279.2,307.7,11.9,1462,16289,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2012,1921
$GC,16626,1.32,279.2,269.4,10.7,1523,16631,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2012,1921
$GC,16968,1.32,279.2,230.4,12.5,1584,16974,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2012,1921
$GC,17311,1.32,279.2,191.9,11.9,1645,17317,0.00,2.70,0.00,0.000,4,0.000,0.062,3077,567,1921
$GC,17328,1.32,279.2,189.8,12.6,1648,17336,0.00,2.60,0.00,0.000,6,0.000,0.044,3077,2018,1921
$GC,17673,1.32,279.2,150.7,11.8,1709,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2020,1921
$GC,18010,1.32,279.2,112.8,11.2,1770,18018,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2021,1921
$GC,18353,1.32,279.2,74.2,11.8,1831,18358,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2022,1921
$GC,18687,1.32,279.2,37.6,11.2,1892,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2022,1921
$GC,18821,1.32,279.2,22.9,10.5,1917,18829,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2022,1921
$GC,18955,1.33,289.1,8.4,9.7,1942,18971,0.00,0.00,10.20,0.633,6,0.000,0.000,3077,2022,1882
$STATE,19003,end climb,SURFACE_DEPTH_REACHED
$STATE,19003,begin surface coast
$FINISH,0.1,1.015824
$STATE,19035,end surface coast,CONTROL_FINISHED_OK
$STATE,19036,begin surface
$SM_CCo,19113,0.00,0.000,0,0,1879,290.19
$SM_GC,0.80,10.50,0.00,0.00,0.034,0.000,0.000,563,2027,1879,-10.07,-0.08,290.19
$IRIDIUM_FIX,6041.65,-2306.65,210797,202025
$TT8_MAMPS,0.042185
$HUMID,1619
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,11.90
$XPDR_PINGS,329
$24V_AH,23.5,22.261
$10V_AH,10.5,30.873
$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,24.500,52.800,430.950,0.000,0.000,28.837,42.535,219.570,82.250,0.000,0.000,13.621,3029.416,11737.592,566.956,3642.016,530.350,0.000,2020.645,0.000,3654.210,0.000,0.467
$DEVICE_MAMPS,197.119,92.807,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1366.898,1409.798,721.693,924.866,897.288,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139201,1956
$CAP_FILE_SIZE,151301,0
$CFSIZE,260165632,245911552
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,070523,6109.843,-2258.211,27,1.5,42,-16.6