version: 66.03
glider: 141
mission: 7
dive: 108
start: 4 27 108 12 46 3
data:
$ID,141
$MISSION,7
$DIVE,108
$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,628.45856
$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,-8267.127
$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,16
$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
$GPS1,123107,6111.700,-2253.216,41,1.0,52,-16.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-52.9
$GPS2,124545,6111.650,-2253.140,10,1.2,10,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.287,-2249.476
$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,61.6,20000,-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,-101.65,0.000,2,0.000,0.000,561,2004,3850
$GC,132,-1.34,-194.7,4.0,-7.9,14,148,11.27,2.60,0.00,0.000,4,0.202,0.058,2479,612,3853
$GC,233,-1.34,-194.7,23.6,-12.4,32,241,0.00,2.58,0.00,0.000,6,0.000,0.047,2479,2030,3853
$GC,367,-1.34,-194.7,38.9,-11.1,57,374,0.00,2.60,0.00,0.000,4,0.000,0.063,2479,3428,3853
$GC,413,-1.30,-194.7,44.3,-12.2,65,421,0.00,2.55,0.00,0.000,6,0.000,0.045,2479,2027,3853
$GC,550,-1.30,-194.7,59.4,-11.0,90,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2024,3853
$GC,891,-1.30,-194.7,94.5,-10.2,151,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,1228,-1.30,-194.7,129.8,-10.5,212,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,1568,-1.30,-194.7,166.9,-10.5,273,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3854
$GC,1910,-1.30,-194.7,204.6,-11.2,334,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,2251,-1.30,-194.7,242.4,-10.8,395,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,2593,-1.30,-194.7,280.7,-11.4,456,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3854
$GC,2937,-1.30,-194.7,319.4,-11.5,517,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2020,3853
$GC,3275,-1.30,-194.7,357.6,-11.4,572,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,3593,-1.30,-194.7,392.2,-10.4,602,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,3912,-1.30,-194.7,426.5,-10.8,632,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,4231,-1.30,-194.7,459.9,-10.4,662,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,4549,-1.30,-194.7,493.2,-10.4,692,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,4867,-1.30,-194.7,526.4,-10.1,722,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,5186,-1.30,-194.7,559.2,-10.3,752,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,5505,-1.30,-194.7,591.4,-9.9,782,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2021,3853
$GC,5827,-1.30,-194.7,623.9,-10.1,802,5832,0.00,2.75,0.00,0.000,4,0.000,0.080,2479,3437,3853
$GC,5881,-1.30,-194.7,629.8,-11.2,804,5888,0.00,2.60,0.00,0.000,6,0.000,0.055,2479,2046,3853
$GC,6196,-1.30,-194.7,662.5,-10.6,820,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2045,3853
$GC,6506,-1.30,-194.7,694.6,-10.3,835,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2046,3852
$GC,6815,-1.30,-194.7,726.3,-10.3,850,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2045,3853
$GC,7124,-1.30,-194.7,758.4,-10.3,865,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2046,3852
$GC,7434,-1.30,-194.7,790.7,-10.7,880,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2044,3852
$GC,7743,-1.30,-194.7,822.6,-10.1,895,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3852
$GC,8052,-1.30,-194.7,853.7,-10.3,910,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3852
$GC,8362,-1.30,-194.7,886.3,-10.5,925,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2041,3851
$GC,8671,-1.30,-194.7,918.8,-10.5,940,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2041,3851
$GC,8980,-1.30,-194.7,951.3,-10.6,955,8984,0.00,2.70,0.00,0.000,4,0.000,0.079,2479,3436,3851
$GC,9028,-1.30,-194.7,956.8,-11.1,957,9033,0.00,2.62,0.00,0.000,6,0.000,0.060,2479,2037,3850
$GC,9350,-1.30,-194.7,989.9,-10.1,973,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3850
$STATE,9368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9368,begin apogee
$GC,9373,-0.37,0.0,992.0,10.1,974,9545,1.02,0.00,168.05,1.291,6,0.099,0.000,2697,1978,3062
$STATE,9545,end apogee,CONTROL_FINISHED_OK
$STATE,9545,begin climb
$GC,9547,1.34,194.7,996.7,0.0,982,9720,1.67,0.00,168.77,1.259,6,0.084,0.000,3071,1976,2268
$GC,10023,1.28,194.7,950.9,10.8,1006,10028,0.00,2.70,0.00,0.000,4,0.000,0.067,3071,3385,2261
$GC,10072,1.22,194.7,945.1,11.9,1008,10077,0.12,2.58,0.00,0.000,6,0.111,0.051,3047,1996,2261
$GC,10393,1.24,213.8,914.6,9.3,1024,10413,0.00,0.00,17.45,1.149,6,0.000,0.000,3047,1996,2190
$GC,10722,1.26,231.3,884.3,9.4,1040,10742,0.00,0.00,16.90,1.137,6,0.000,0.000,3047,1994,2119
$GC,11051,1.26,231.3,850.9,10.2,1056,11056,0.00,2.65,0.00,0.000,4,0.000,0.066,3047,3394,2116
$GC,11089,1.26,231.3,846.7,11.0,1058,11093,0.00,2.55,0.00,0.000,6,0.000,0.051,3047,2004,2116
$GC,11415,1.27,237.9,814.0,9.8,1074,11424,0.00,0.00,7.32,0.976,6,0.000,0.000,3047,2003,2092
$GC,11724,1.27,237.9,782.8,10.1,1089,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2003,2090
$GC,12034,1.28,243.9,752.0,9.8,1104,12042,0.00,0.00,6.82,0.937,6,0.000,0.000,3047,2002,2067
$GC,12343,1.28,243.9,720.9,10.4,1119,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2003,2066
$GC,12652,1.28,243.9,689.1,10.2,1134,12656,0.00,2.60,0.00,0.000,4,0.000,0.066,3047,3385,2066
$GC,12672,1.28,243.9,686.8,10.5,1135,12677,0.00,2.55,0.00,0.000,6,0.000,0.050,3047,2009,2066
$GC,12999,1.29,251.1,654.1,9.7,1151,13009,0.00,0.00,8.27,0.940,6,0.000,0.000,3047,2009,2038
$GC,13309,1.29,256.1,624.3,9.8,1166,13317,0.00,0.00,6.07,0.844,6,0.000,0.000,3047,2007,2018
$GC,13619,1.29,256.1,592.2,10.5,1184,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2006,2016
$GC,13938,1.29,256.1,558.5,10.2,1214,13942,0.00,2.60,0.00,0.000,4,0.000,0.064,3047,3386,2016
$GC,13958,1.29,256.1,556.2,10.0,1215,13965,0.00,2.55,0.00,0.000,6,0.000,0.049,3047,2008,2015
$GC,14284,1.30,259.7,523.2,9.9,1246,14294,0.00,0.00,4.75,0.720,6,0.000,0.000,3047,2005,2003
$GC,14613,1.30,263.4,491.0,9.9,1277,14622,0.00,0.00,5.10,0.730,6,0.000,0.000,3047,2005,1988
$GC,14941,1.32,272.7,459.0,9.7,1308,14953,0.00,0.00,10.05,0.863,6,0.000,0.000,3047,2005,1950
$GC,15270,1.32,272.7,425.4,10.5,1339,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2005,1948
$GC,15589,1.32,272.7,392.5,10.1,1369,15593,0.00,2.67,0.00,0.000,4,0.000,0.067,3047,575,1948
$GC,15609,1.32,272.7,390.1,10.3,1370,15616,0.00,2.58,0.00,0.000,6,0.000,0.044,3047,2009,1948
$GC,15935,1.32,272.7,357.7,10.0,1401,15936,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2010,1947
$GC,16266,1.32,272.7,323.6,11.1,1453,16272,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2011,1948
$GC,16608,1.33,283.4,287.5,9.6,1514,16625,0.10,0.00,11.00,0.783,6,0.067,0.000,3079,2011,1905
$GC,16963,1.33,283.4,246.0,11.4,1577,16969,0.00,2.70,0.00,0.000,4,0.000,0.063,3079,570,1904
$GC,16986,1.33,283.4,243.1,12.7,1581,16992,0.00,2.60,0.00,0.000,6,0.000,0.044,3078,2016,1904
$GC,17328,1.33,283.4,201.6,11.1,1642,17334,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2018,1904
$GC,17671,1.33,283.4,160.3,11.5,1703,17676,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2018,1904
$GC,18007,1.33,283.4,121.5,11.6,1764,18015,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2018,1904
$GC,18349,1.33,283.4,84.0,10.8,1825,18355,0.00,2.70,0.00,0.000,4,0.000,0.063,3078,574,1904
$GC,18368,1.33,283.4,81.8,11.1,1828,18374,0.00,2.58,0.00,0.000,6,0.000,0.051,3078,2010,1904
$GC,18705,1.33,283.4,44.2,10.9,1889,18713,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2013,1904
$GC,18839,1.33,283.4,29.2,10.1,1914,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1904
$GC,18973,1.33,283.4,14.0,11.6,1939,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2012,1904
$STATE,19068,end climb,SURFACE_DEPTH_REACHED
$STATE,19068,begin surface coast
$FINISH,0.4,1.027168
$STATE,19091,end surface coast,CONTROL_FINISHED_OK
$STATE,19091,begin surface
$SM_CCo,19109,281.10,0.647,0,0,499,628.46
$SM_GC,0.61,0.00,0.00,281.10,0.000,0.000,0.647,567,2014,499,-10.18,-0.42,628.46
$IRIDIUM_FIX,6050.49,-2137.28,220797,121256
$TT8_MAMPS,0.042952
$HUMID,1572
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,11.90
$XPDR_PINGS,346
$24V_AH,23.5,22.668
$10V_AH,10.6,31.214
$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,24.725,57.725,430.575,281.100,0.000,145.591,375.802,0.000,86.500,0.000,0.000,11.845,3037.401,11939.554,877.854,3647.056,754.259,0.000,2328.553,0.000,3653.267,0.000,0.465
$DEVICE_MAMPS,202.488,97.409,1290.861,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1369.949,1413.215,726.816,921.551,900.005,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139006,1961
$CAP_FILE_SIZE,151658,0
$CFSIZE,260165632,245698560
$ERRORS,0,11,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,181032,6114.333,-2247.080,42,1.7,42,-16.6