version: 66.03
glider: 141
mission: 7
dive: 113
start: 4 28 108 17 10 34
data:
$ID,141
$MISSION,7
$DIVE,113
$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,-8471.3916
$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,27
$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
$GPS1,170337,6110.805,-2257.023,32,1.2,32,-16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-54.0
$GPS2,171015,6110.733,-2256.938,11,1.2,11,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6105.334,-2301.459
$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,-194.7,0.0,0.0,0,136,0.00,0.00,-108.62,0.000,2,0.000,0.000,575,2048,3826
$GC,139,-1.34,-194.7,3.7,-7.2,15,156,11.07,2.65,-0.68,0.000,4,0.200,0.066,2481,3433,3857
$GC,392,-1.30,-194.7,42.4,-12.6,62,400,0.00,2.58,0.00,0.000,6,0.000,0.051,2481,2030,3858
$GC,529,-1.30,-194.7,58.6,-11.7,87,536,0.00,2.65,0.00,0.000,4,0.000,0.059,2481,3431,3858
$GC,575,-1.30,-194.7,64.1,-12.4,95,580,0.00,2.55,0.00,0.000,6,0.000,0.051,2481,2023,3858
$GC,914,-1.30,-194.7,104.0,-11.7,156,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3858
$GC,1257,-1.30,-194.7,141.4,-10.9,217,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2018,3858
$GC,1598,-1.30,-194.7,179.4,-11.2,278,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3859
$GC,1940,-1.30,-194.7,219.1,-11.5,339,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3858
$GC,2282,-1.30,-194.7,257.9,-11.5,400,2288,0.00,2.62,0.00,0.000,4,0.000,0.065,2481,3435,3858
$GC,2316,-1.30,-194.7,262.1,-12.2,406,2323,0.00,2.55,0.00,0.000,6,0.000,0.045,2481,2020,3858
$GC,2660,-1.30,-194.7,302.4,-11.6,467,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2017,3858
$GC,3002,-1.30,-194.7,342.1,-11.7,528,3009,0.00,2.62,0.00,0.000,4,0.000,0.061,2480,3435,3858
$GC,3032,-1.30,-194.7,345.6,-12.3,533,3038,0.00,2.53,0.00,0.000,6,0.000,0.046,2481,2035,3858
$GC,3358,-1.30,-194.7,381.6,-10.7,567,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,3677,-1.30,-194.7,415.5,-10.5,597,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2034,3858
$GC,3995,-1.30,-194.7,448.9,-10.5,627,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,4315,-1.30,-194.7,481.7,-10.1,657,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,4632,-1.30,-194.7,514.2,-10.2,687,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,4951,-1.30,-194.7,547.1,-10.7,717,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3858
$GC,5269,-1.30,-194.7,581.2,-10.9,747,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3858
$GC,5584,-1.30,-194.7,616.3,-11.2,770,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,5893,-1.30,-194.7,651.1,-11.2,785,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,6202,-1.30,-194.7,684.7,-10.6,800,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,6512,-1.30,-194.7,716.1,-10.0,815,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3858
$GC,6821,-1.30,-194.7,746.5,-9.6,830,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3858
$GC,7130,-1.30,-194.7,775.7,-9.4,845,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2030,3858
$GC,7440,-1.30,-194.7,805.4,-9.9,860,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2030,3858
$GC,7749,-1.30,-194.7,834.9,-9.2,875,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2030,3858
$GC,8058,-1.30,-194.7,862.2,-8.7,890,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2030,3858
$GC,8368,-1.30,-194.7,890.2,-9.3,905,8372,0.00,2.75,0.00,0.000,4,0.000,0.090,2481,3425,3857
$GC,8399,-1.30,-194.7,893.5,-10.1,906,8406,0.00,2.60,0.00,0.000,6,0.000,0.063,2481,2035,3857
$GC,8715,-1.30,-194.7,923.5,-9.8,922,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3857
$GC,9024,-1.30,-194.7,954.5,-10.2,937,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3857
$GC,9334,-1.30,-194.7,985.9,-10.1,952,9338,0.00,2.70,0.00,0.000,4,0.000,0.080,2481,3424,3857
$STATE,9370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9370,begin apogee
$GC,9377,-0.37,0.0,990.0,11.0,954,9553,1.02,0.00,169.10,1.295,6,0.102,0.000,2697,1978,3061
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9556,1.34,194.7,996.2,0.0,963,9733,1.73,0.00,168.52,1.266,6,0.074,0.000,3072,1978,2267
$GC,10043,1.28,194.7,950.7,10.7,987,10047,0.00,2.72,0.00,0.000,4,0.000,0.070,3072,3389,2261
$GC,10119,1.22,194.7,941.8,12.0,990,10127,0.15,2.62,0.00,0.000,6,0.108,0.053,3043,1974,2261
$GC,10435,1.25,218.3,913.2,9.2,1006,10463,0.00,2.75,21.27,1.169,4,0.000,0.067,3043,3387,2171
$GC,10498,1.25,218.3,906.7,10.6,1009,10503,0.00,2.60,0.00,0.000,6,0.000,0.053,3043,1988,2169
$GC,10824,1.26,232.0,875.5,9.5,1025,10846,0.00,2.85,13.30,1.114,4,0.000,0.088,3043,576,2116
$GC,10873,1.26,232.0,870.7,10.2,1027,10878,0.00,2.62,0.00,0.000,6,0.000,0.051,3043,1980,2115
$GC,11200,1.27,236.7,839.4,9.8,1043,11211,0.00,2.78,5.70,0.910,4,0.000,0.077,3043,3399,2096
$GC,11272,1.27,236.7,831.7,11.2,1046,11277,0.00,2.58,0.00,0.000,6,0.000,0.052,3043,2002,2095
$GC,11587,1.28,246.6,801.1,9.7,1061,11603,0.00,2.80,10.77,1.057,4,0.000,0.079,3043,573,2056
$GC,11631,1.30,259.7,796.6,9.5,1062,11651,0.00,2.67,13.18,1.072,6,0.000,0.050,3043,2015,2004
$GC,11978,1.30,259.7,761.8,10.0,1079,11982,0.00,2.65,0.00,0.000,4,0.000,0.077,3043,3399,2001
$GC,12009,1.30,259.7,758.3,10.7,1080,12016,0.00,2.58,0.00,0.000,6,0.000,0.051,3043,2015,2000
$GC,12325,1.30,259.7,725.5,10.5,1096,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2015,2000
$GC,12634,1.30,259.7,691.6,11.0,1111,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2014,1999
$GC,12943,1.30,259.7,656.7,11.3,1126,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2014,1998
$GC,13253,1.30,259.7,622.7,10.8,1141,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2013,2000
$GC,13564,1.30,259.7,590.6,10.4,1160,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2012,1999
$GC,13883,1.30,259.7,557.7,10.2,1190,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2012,1999
$GC,14201,1.30,259.7,524.5,10.6,1220,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2012,1999
$GC,14521,1.30,264.5,492.0,9.8,1250,14530,0.00,0.00,5.43,0.755,6,0.000,0.000,3043,2012,1982
$GC,14852,1.31,272.9,459.5,9.7,1281,14863,0.10,0.00,9.02,0.853,6,0.069,0.000,3075,2012,1949
$GC,15176,1.31,272.9,421.9,11.5,1312,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1948
$GC,15495,1.31,272.9,384.6,11.8,1342,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1947
$GC,15816,1.31,272.9,347.2,11.2,1374,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1947
$GC,16158,1.31,272.9,307.4,11.8,1435,16163,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1947
$GC,16500,1.31,272.9,267.5,12.0,1496,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1947
$GC,16844,1.31,272.9,227.1,12.0,1557,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2011,1947
$GC,17186,1.31,272.9,187.0,11.4,1618,17192,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2012,1947
$GC,17528,1.31,272.9,148.0,13.0,1679,17533,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2011,1947
$GC,17867,1.31,272.9,108.4,11.7,1740,17875,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2011,1947
$GC,18211,1.31,272.9,70.5,10.3,1801,18216,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2010,1947
$GC,18545,1.33,282.9,35.7,9.7,1862,18560,0.00,0.00,10.55,0.649,6,0.000,0.000,3075,2010,1907
$GC,18687,1.33,282.9,21.3,11.1,1888,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2011,1905
$GC,18821,1.34,294.4,6.5,9.6,1913,18838,0.00,2.67,11.35,0.635,4,0.000,0.058,3075,3395,1861
$STATE,18859,end climb,SURFACE_DEPTH_REACHED
$STATE,18859,begin surface coast
$FINISH,1.3,1.027222
$STATE,18871,end surface coast,CONTROL_FINISHED_OK
$STATE,18871,begin surface
$SM_CCo,18952,0.00,0.000,0,0,1855,295.83
$SM_GC,0.79,10.62,0.00,0.00,0.040,0.000,0.000,571,2010,1855,-10.08,-0.54,295.83
$IRIDIUM_FIX,6050.49,-2251.97,230797,111156
$TT8_MAMPS,0.042185
$HUMID,1622
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.00
$XPDR_PINGS,357
$24V_AH,23.5,23.738
$10V_AH,10.5,32.094
$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,24.700,69.000,438.200,0.000,0.000,24.736,34.311,220.888,89.250,0.000,0.000,12.756,2989.773,11591.131,589.375,3615.589,548.838,0.000,2047.676,0.000,3638.008,0.000,0.465
$DEVICE_MAMPS,200.187,89.739,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1340.141,1394.280,713.711,907.589,893.214,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135984,1921
$CAP_FILE_SIZE,154592,0
$CFSIZE,260165632,245272576
$ERRORS,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,222737,6107.863,-2259.237,37,1.3,37,-16.6