version: 66.03
glider: 141
mission: 7
dive: 72
start: 4 20 108 6 5 28
data:
$ID,141
$MISSION,7
$DIVE,72
$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,-7608.8042
$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,15
$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
$GPS1,055338,6014.734,-2234.792,35,1.0,35,-15.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-54.0
$GPS2,060509,6014.787,-2234.842,11,1.1,11,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6022.423,-2231.068
$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,60.9,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-101.10,0.000,2,0.000,0.000,568,1998,3784
$GC,130,-1.34,-194.7,3.5,-6.6,14,154,11.10,2.70,-1.58,0.000,4,0.197,0.064,2477,3439,3858
$GC,333,-1.29,-194.7,35.5,-10.9,51,341,0.00,2.55,0.00,0.000,6,0.000,0.046,2477,2023,3858
$GC,467,-1.29,-194.7,50.4,-11.3,76,475,0.10,0.00,0.00,0.000,6,0.123,0.000,2496,2019,3858
$GC,601,-1.29,-194.7,64.2,-10.2,101,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2018,3858
$GC,734,-1.29,-194.7,78.2,-10.1,126,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3858
$GC,868,-1.29,-194.7,91.8,-10.1,151,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2017,3858
$GC,1001,-1.29,-194.7,104.9,-9.9,176,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3858
$GC,1135,-1.29,-194.7,118.8,-10.1,201,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3858
$GC,1269,-1.29,-194.7,132.2,-10.2,226,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3858
$GC,1402,-1.29,-194.7,145.0,-10.0,251,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3858
$GC,1537,-1.29,-194.7,158.2,-9.5,276,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3859
$GC,1870,-1.29,-194.7,191.1,-10.0,337,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2017,3858
$GC,2198,-1.29,-194.7,224.1,-9.8,398,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2016,3858
$GC,2531,-1.29,-194.7,257.9,-10.0,459,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2016,3858
$GC,2858,-1.29,-194.7,291.5,-10.3,520,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2016,3858
$GC,3192,-1.29,-194.7,325.8,-10.4,581,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2016,3859
$GC,3523,-1.29,-194.7,360.1,-9.5,642,3529,0.00,2.65,0.00,0.000,4,0.000,0.059,2495,3435,3859
$GC,3588,-1.29,-194.7,367.2,-10.6,654,3595,0.00,2.53,0.00,0.000,6,0.000,0.041,2495,2030,3858
$GC,3929,-1.29,-194.7,401.0,-9.7,715,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2028,3858
$GC,4268,-1.29,-194.7,433.7,-9.8,776,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,4612,-1.29,-194.7,467.5,-10.2,837,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,4950,-1.29,-194.7,502.8,-10.4,898,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,5290,-1.29,-194.7,536.5,-9.6,959,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,5630,-1.29,-194.7,569.9,-9.9,1020,5637,0.00,2.70,0.00,0.000,4,0.000,0.076,2495,3428,3858
$GC,5675,-1.29,-194.7,574.7,-10.7,1028,5684,0.00,2.55,0.00,0.000,6,0.000,0.054,2495,2042,3858
$GC,6014,-1.29,-194.7,608.8,-10.3,1081,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3858
$GC,6333,-1.29,-194.7,639.5,-9.0,1111,6337,0.00,2.78,0.00,0.000,4,0.000,0.093,2495,620,3858
$GC,6387,-1.29,-194.7,644.6,-9.2,1115,6394,0.00,2.58,0.00,0.000,6,0.000,0.056,2495,2031,3857
$GC,6712,-1.29,-194.7,674.4,-9.3,1146,6717,0.00,2.75,0.00,0.000,4,0.000,0.094,2495,3449,3857
$GC,6784,-1.29,-194.7,681.6,-9.6,1152,6789,0.00,2.60,0.00,0.000,6,0.000,0.061,2495,2037,3857
$GC,7110,-1.29,-194.7,711.9,-9.4,1182,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2037,3857
$GC,7427,-1.29,-194.7,741.8,-9.4,1212,7431,0.00,2.78,0.00,0.000,4,0.000,0.093,2495,613,3857
$GC,7465,-1.29,-194.7,745.5,-10.0,1215,7469,0.00,2.62,0.00,0.000,6,0.000,0.058,2495,2045,3857
$GC,7790,-1.29,-194.7,775.6,-9.1,1245,7794,0.00,2.70,0.00,0.000,4,0.000,0.092,2495,3441,3857
$GC,7833,-1.29,-194.7,779.9,-10.0,1248,7839,0.00,2.58,0.00,0.000,6,0.000,0.054,2495,2028,3857
$GC,8158,-1.29,-194.7,810.2,-9.2,1279,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2028,3857
$GC,8477,-1.29,-194.7,840.0,-9.3,1309,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3856
$GC,8794,-1.29,-194.7,869.8,-9.5,1339,8799,0.00,2.72,0.00,0.000,4,0.000,0.077,2495,3446,3856
$GC,8844,-1.29,-194.7,874.8,-10.4,1343,8849,0.00,2.58,0.00,0.000,6,0.000,0.054,2495,2035,3856
$GC,9169,-1.29,-194.7,905.5,-9.2,1373,9174,0.00,2.75,0.00,0.000,4,0.000,0.091,2496,616,3855
$GC,9212,-1.29,-194.7,909.7,-10.0,1376,9219,0.00,2.62,0.00,0.000,6,0.000,0.057,2496,2052,3855
$GC,9538,-1.29,-194.7,939.1,-9.0,1407,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2052,3855
$GC,9855,-1.29,-194.7,967.7,-8.9,1437,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2052,3854
$STATE,10108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10108,begin apogee
$GC,10113,-0.37,0.0,990.4,8.8,1461,10286,0.95,0.00,168.85,1.295,6,0.100,0.000,2696,1981,3062
$STATE,10287,end apogee,CONTROL_FINISHED_OK
$STATE,10287,begin climb
$GC,10288,1.34,194.7,995.2,0.0,1478,10468,1.67,2.85,167.98,1.264,4,0.076,0.080,3069,3402,2267
$GC,10495,1.28,194.7,978.7,12.3,1498,10502,0.00,2.62,0.00,0.000,6,0.000,0.051,3069,1990,2264
$GC,10821,1.23,194.7,942.6,11.1,1529,10825,0.00,2.67,0.00,0.000,4,0.000,0.068,3069,3396,2261
$GC,10848,1.17,194.7,939.4,11.1,1531,10853,0.17,2.58,0.00,0.000,6,0.104,0.050,3035,1991,2261
$GC,11171,1.19,204.6,907.7,9.7,1561,11182,0.00,0.00,9.02,1.058,6,0.000,0.000,3035,1989,2228
$GC,11501,1.19,207.4,875.3,9.9,1592,11512,0.00,2.70,4.18,0.782,4,0.000,0.069,3035,3401,2216
$GC,11528,1.20,213.2,872.3,9.8,1594,11540,0.00,2.60,7.12,0.992,6,0.000,0.049,3035,1997,2193
$GC,11857,1.20,213.2,838.6,10.2,1625,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1997,2191
$GC,12179,1.22,230.3,807.6,9.4,1655,12201,0.00,2.80,16.58,1.124,4,0.000,0.067,3035,3399,2122
$GC,12223,1.22,234.8,803.0,9.8,1659,12235,0.00,2.58,5.82,0.896,6,0.000,0.048,3035,2008,2104
$GC,12552,1.27,272.1,772.6,8.7,1690,12596,0.00,0.00,37.10,1.095,6,0.000,0.000,3035,2009,1952
$GC,12910,1.30,295.5,740.1,9.2,1724,12935,0.12,0.00,22.45,1.098,6,0.064,0.000,3071,2008,1857
$GC,13248,1.30,295.5,702.3,11.4,1756,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2006,1853
$GC,13568,1.30,295.5,666.1,11.2,1786,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2006,1852
$GC,13885,1.30,295.5,630.3,11.4,1816,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2006,1851
$GC,14207,1.30,295.5,593.8,11.2,1850,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2006,1851
$GC,14546,1.30,295.5,555.8,11.1,1911,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2005,1851
$GC,14885,1.30,295.5,518.3,10.7,1972,14893,0.00,2.72,0.00,0.000,4,0.000,0.068,3071,576,1851
$GC,14898,1.30,295.5,516.7,10.8,1974,14905,0.00,2.60,0.00,0.000,6,0.000,0.047,3071,2007,1851
$GC,15239,1.30,295.5,479.6,11.1,2035,15244,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2009,1851
$GC,15578,1.30,295.5,441.0,11.5,2096,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2009,1850
$GC,15923,1.30,295.5,401.7,11.4,2157,15928,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2009,1850
$GC,16262,1.30,295.5,362.5,11.3,2218,16267,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2009,1851
$GC,16596,1.30,295.5,324.5,12.7,2279,16602,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2009,1851
$GC,16925,1.30,295.5,286.9,12.1,2340,16933,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2010,1851
$GC,17259,1.30,299.1,249.7,9.9,2401,17266,0.00,0.00,4.03,0.568,6,0.000,0.000,3071,2010,1841
$GC,17590,1.30,299.1,212.4,10.1,2462,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2009,1842
$GC,17923,1.30,299.1,175.9,10.1,2523,17928,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2009,1842
$GC,18251,1.30,299.1,140.0,12.1,2584,18259,0.00,2.70,0.00,0.000,4,0.000,0.060,3072,573,1841
$GC,18272,1.30,299.1,137.6,10.9,2587,18280,0.00,2.60,0.00,0.000,6,0.000,0.047,3071,2002,1841
$GC,18405,1.30,299.1,123.0,12.0,2612,18413,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2004,1841
$GC,18539,1.30,299.1,108.2,11.6,2637,18547,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2004,1841
$GC,18672,1.30,299.1,94.1,10.4,2662,18680,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2004,1841
$GC,18806,1.30,299.1,79.8,11.3,2687,18813,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2004,1841
$GC,18940,1.30,301.0,65.3,9.9,2712,18947,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2004,1841
$GC,19073,1.30,301.0,51.1,10.5,2737,19081,0.00,2.58,0.00,0.000,4,0.000,0.064,3071,3389,1841
$GC,19099,1.30,301.0,48.4,11.4,2741,19107,0.00,2.50,0.00,0.000,6,0.000,0.041,3071,2007,1841
$GC,19233,1.30,301.0,33.8,10.3,2766,19241,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2007,1841
$GC,19367,1.32,317.5,19.1,9.4,2791,19390,0.00,0.00,16.98,0.666,6,0.000,0.000,3071,2006,1767
$STATE,19514,end climb,SURFACE_DEPTH_REACHED
$STATE,19515,begin surface coast
$FINISH,0.1,1.013550
$STATE,19548,end surface coast,CONTROL_FINISHED_OK
$STATE,19548,begin surface
$SM_CCo,19626,0.00,0.000,0,0,1763,318.64
$SM_GC,0.93,10.43,0.00,0.00,0.032,0.000,0.000,573,2049,1763,-10.06,0.51,318.64
$IRIDIUM_FIX,5949.48,-2241.19,150797,060632
$TT8_MAMPS,0.042185
$HUMID,1605
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.20
$XPDR_PINGS,811
$24V_AH,23.5,16.139
$10V_AH,10.4,23.484
$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,24.550,85.025,460.100,0.000,0.000,47.224,69.443,378.581,202.750,0.000,0.000,12.544,4284.753,8036.188,634.739,6494.643,837.355,0.000,2759.605,0.000,6547.460,0.000,0.465
$DEVICE_MAMPS,197.119,104.312,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1967.818,2045.595,1285.343,1850.969,3623.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208581,2824
$CAP_FILE_SIZE,209326,0
$CFSIZE,260165632,249126912
$ERRORS,0,15,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200408,113345,6017.840,-2230.523,29,1.1,37,-15.9