version: 66.03
glider: 141
mission: 7
dive: 105
start: 4 26 108 20 21 26
data:
$ID,141
$MISSION,7
$DIVE,105
$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,-8224.7842
$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,24
$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
$GPS1,201108,6105.726,-2307.982,34,1.2,34,-16.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-57.1
$GPS2,202108,6105.707,-2307.894,9,1.6,14,-16.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6113.343,-2304.218
$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,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.57,0.000,2,0.000,0.000,567,2007,3712
$GC,124,-1.34,-194.7,3.0,-5.3,13,148,11.18,2.62,-3.45,0.000,4,0.200,0.068,2481,618,3857
$GC,280,-1.34,-194.7,27.0,-11.1,41,288,0.00,2.58,0.00,0.000,6,0.000,0.043,2481,2031,3858
$GC,414,-1.34,-194.7,42.7,-12.0,66,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3858
$GC,552,-1.34,-194.7,58.7,-11.9,91,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2033,3858
$GC,889,-1.34,-194.7,97.9,-11.3,152,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,1229,-1.34,-194.7,135.8,-11.2,213,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,1572,-1.34,-194.7,174.5,-11.7,274,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,1914,-1.34,-194.7,212.3,-11.1,335,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,2256,-1.34,-194.7,250.0,-11.1,396,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3857
$GC,2599,-1.34,-194.7,287.8,-10.3,457,2605,0.00,2.62,0.00,0.000,4,0.000,0.058,2480,612,3858
$GC,2655,-1.34,-194.7,294.0,-10.8,467,2661,0.00,2.50,0.00,0.000,6,0.000,0.041,2480,2027,3858
$GC,2998,-1.34,-194.7,329.5,-10.3,528,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3858
$GC,3333,-1.34,-194.7,364.6,-10.4,576,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3858
$GC,3652,-1.34,-194.7,397.2,-10.0,606,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3858
$GC,3970,-1.34,-194.7,430.3,-10.7,636,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3858
$GC,4288,-1.34,-194.7,463.2,-10.4,666,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3858
$GC,4607,-1.34,-194.7,497.3,-11.1,696,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3858
$GC,4925,-1.34,-194.7,532.5,-10.9,726,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3858
$GC,5244,-1.34,-194.7,566.7,-10.6,756,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3857
$GC,5562,-1.34,-194.7,600.0,-10.2,786,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3857
$GC,5882,-1.34,-194.7,632.6,-10.2,802,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3857
$GC,6192,-1.34,-194.7,664.0,-10.3,817,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3857
$GC,6501,-1.34,-194.7,695.4,-10.3,832,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2029,3857
$GC,6810,-1.34,-194.7,726.4,-9.9,847,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2029,3856
$GC,7120,-1.34,-194.7,756.2,-9.7,862,7124,0.00,2.83,0.00,0.000,4,0.000,0.105,2481,3426,3856
$GC,7162,-1.34,-194.7,760.9,-10.9,864,7167,0.00,2.80,0.00,0.000,6,0.000,0.091,2481,2005,3856
$GC,7489,-1.34,-194.7,794.2,-10.1,880,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1999,3856
$GC,7799,-1.34,-194.7,826.1,-10.0,895,7803,0.00,2.78,0.00,0.000,4,0.000,0.086,2481,3427,3856
$GC,7864,-1.34,-194.7,833.1,-10.9,898,7869,0.00,2.65,0.00,0.000,6,0.000,0.062,2481,2018,3855
$GC,8191,-1.34,-194.7,866.2,-10.5,914,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3855
$GC,8500,-1.34,-194.7,898.8,-10.5,929,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2015,3855
$GC,8809,-1.34,-194.7,931.4,-10.4,944,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2014,3854
$GC,9119,-1.34,-194.7,961.8,-9.5,959,9123,0.00,2.72,0.00,0.000,4,0.000,0.079,2480,3432,3854
$GC,9173,-1.34,-194.7,967.5,-10.5,961,9180,0.00,2.60,0.00,0.000,6,0.000,0.059,2481,2025,3854
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9425,begin apogee
$GC,9429,-0.37,0.0,991.5,9.3,974,9602,1.00,0.00,168.60,1.289,6,0.098,0.000,2694,1978,3062
$STATE,9602,end apogee,CONTROL_FINISHED_OK
$STATE,9602,begin climb
$GC,9604,1.34,194.7,995.9,0.0,982,9777,1.70,0.00,168.73,1.258,6,0.075,0.000,3073,1978,2268
$GC,10080,1.27,194.7,950.4,11.0,1006,10085,0.00,2.70,0.00,0.000,4,0.000,0.071,3074,3389,2261
$GC,10107,1.21,194.7,947.1,11.0,1007,10112,0.15,2.60,0.00,0.000,6,0.107,0.053,3044,1978,2261
$GC,10428,1.22,201.9,916.0,9.7,1023,10442,0.00,2.75,6.88,0.983,4,0.000,0.067,3044,3384,2238
$GC,10458,1.22,205.7,912.7,9.9,1024,10471,0.00,2.55,5.05,0.862,6,0.000,0.051,3044,1996,2223
$GC,10779,1.26,234.2,883.1,9.0,1040,10808,0.00,0.00,27.23,1.178,6,0.000,0.000,3044,1996,2107
$GC,11108,1.26,234.2,849.6,10.9,1056,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1996,2103
$GC,11418,1.27,242.3,818.7,9.7,1071,11428,0.00,0.00,8.30,1.012,6,0.000,0.000,3044,1996,2074
$GC,11727,1.27,246.2,788.0,9.9,1086,11737,0.00,2.65,5.28,0.866,4,0.000,0.065,3044,3382,2057
$GC,11765,1.27,246.2,784.0,10.3,1088,11770,0.00,2.55,0.00,0.000,6,0.000,0.051,3044,1998,2056
$GC,12091,1.29,260.0,752.4,9.5,1104,12111,0.00,0.00,14.12,1.070,6,0.000,0.000,3044,1998,2000
$GC,12420,1.29,260.0,720.1,10.1,1120,12425,0.00,2.65,0.00,0.000,4,0.000,0.066,3044,3391,1998
$GC,12436,1.29,260.0,718.3,10.1,1121,12441,0.00,2.55,0.00,0.000,6,0.000,0.050,3044,2002,1998
$GC,12763,1.31,275.1,687.0,9.5,1137,12783,0.00,0.00,14.77,1.038,6,0.000,0.000,3044,2002,1940
$GC,13092,1.32,282.9,656.1,9.7,1153,13103,0.10,0.00,8.52,0.940,6,0.070,0.000,3075,2002,1908
$GC,13401,1.32,282.9,621.0,11.4,1168,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2002,1906
$GC,13714,1.32,282.9,584.1,11.4,1189,13718,0.00,2.70,0.00,0.000,4,0.000,0.074,3076,577,1905
$GC,13735,1.28,282.9,581.6,11.6,1190,13741,0.00,2.60,0.00,0.000,6,0.000,0.048,3075,2005,1906
$GC,14060,1.28,282.9,543.2,11.8,1221,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1905
$GC,14378,1.28,282.9,505.6,11.8,1251,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1905
$GC,14696,1.28,282.9,470.3,10.9,1281,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1905
$GC,15015,1.28,282.9,433.0,11.5,1311,15016,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1905
$GC,15334,1.28,282.9,397.7,11.2,1341,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1906
$GC,15652,1.28,282.9,362.3,11.4,1371,15653,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1905
$GC,15983,1.28,282.9,324.4,11.1,1421,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1905
$GC,16325,1.28,282.9,285.7,10.9,1482,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1906
$GC,16666,1.28,282.9,247.2,12.0,1543,16672,0.00,2.70,0.00,0.000,4,0.000,0.063,3075,568,1906
$GC,16683,1.28,282.9,245.2,11.6,1546,16689,0.00,2.58,0.00,0.000,6,0.000,0.043,3075,2005,1906
$GC,17026,1.28,282.9,205.3,11.0,1607,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1906
$GC,17368,1.28,282.9,165.5,12.6,1668,17374,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1906
$GC,17711,1.28,282.9,127.7,12.6,1729,17717,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1906
$GC,18052,1.28,282.9,89.5,10.7,1790,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2007,1906
$GC,18392,1.28,282.9,51.2,10.6,1851,18400,0.00,2.70,0.00,0.000,4,0.000,0.061,3076,580,1907
$GC,18418,1.28,282.9,48.3,12.3,1855,18426,0.00,2.58,0.00,0.000,6,0.000,0.043,3075,1995,1907
$GC,18553,1.28,282.9,33.4,11.8,1880,18560,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1997,1907
$GC,18687,1.28,282.9,18.8,10.7,1905,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1997,1906
$GC,18821,1.28,282.9,4.2,10.2,1930,18828,0.00,2.60,0.00,0.000,4,0.000,0.065,3075,3388,1906
$STATE,18834,end climb,SURFACE_DEPTH_REACHED
$STATE,18834,begin surface coast
$FINISH,0.1,1.027265
$STATE,18861,end surface coast,CONTROL_FINISHED_OK
$STATE,18861,begin surface
$SM_CCo,18942,0.00,0.000,0,0,1905,283.81
$SM_GC,0.76,10.50,0.00,0.00,0.038,0.000,0.000,573,2014,1905,-10.06,-0.45,283.81
$IRIDIUM_FIX,6041.65,-2309.00,210797,202041
$TT8_MAMPS,0.041418
$HUMID,1628
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.40
$XPDR_PINGS,346
$24V_AH,23.5,22.087
$10V_AH,10.6,30.706
$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,24.625,68.775,427.475,0.000,0.000,57.753,70.478,284.819,86.500,0.000,0.000,16.288,3009.218,11621.061,598.742,3623.429,674.660,0.000,2045.102,0.000,3642.265,0.000,0.465
$DEVICE_MAMPS,200.187,105.079,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1348.574,1410.324,719.057,919.495,903.073,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139118,1937
$CAP_FILE_SIZE,156683,0
$CFSIZE,260165632,245993472
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,013828,6107.850,-2303.687,26,99.0,45,-16.7