version: 66.03
glider: 141
mission: 7
dive: 71
start: 4 20 108 0 23 58
data:
$ID,141
$MISSION,7
$DIVE,71
$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,-7595.6333
$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,22
$R_STBD_OVSHOOT,12
$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
$GPS1,001055,6011.434,-2239.517,25,1.5,42,-15.9
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-55.7
$GPS2,002341,6011.472,-2239.558,9,99.0,28,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6019.108,-2235.776
$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,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,-94.43,0.000,2,0.000,0.000,569,2007,3791
$GC,124,-1.34,-194.7,3.5,-6.4,13,148,11.18,2.70,-1.45,0.000,4,0.199,0.064,2482,3445,3857
$GC,228,-1.30,-194.7,22.3,-11.6,31,235,0.00,2.55,0.00,0.000,6,0.000,0.047,2482,2031,3858
$GC,362,-1.30,-194.7,37.1,-10.5,56,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2027,3858
$GC,495,-1.30,-194.7,51.7,-10.6,81,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3858
$GC,628,-1.30,-194.7,66.2,-11.0,106,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3858
$GC,762,-1.30,-194.7,80.3,-10.1,131,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2026,3858
$GC,897,-1.30,-194.7,94.5,-10.8,156,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,1031,-1.30,-194.7,109.6,-11.6,181,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,1164,-1.30,-194.7,125.1,-11.4,206,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2025,3858
$GC,1297,-1.30,-194.7,140.7,-11.5,231,1305,0.00,2.65,0.00,0.000,4,0.000,0.061,2481,3448,3858
$GC,1354,-1.25,-194.7,147.5,-11.9,241,1362,0.08,2.55,0.00,0.000,6,0.106,0.046,2501,2035,3858
$GC,1491,-1.25,-194.7,162.4,-10.4,266,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2031,3857
$GC,1823,-1.25,-194.7,197.4,-10.6,327,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2030,3858
$GC,2151,-1.25,-194.7,233.2,-11.3,388,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2029,3858
$GC,2483,-1.25,-194.7,269.6,-11.2,449,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2029,3858
$GC,2811,-1.25,-194.7,305.3,-10.5,510,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2028,3858
$GC,3146,-1.25,-194.7,340.4,-10.9,571,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2028,3858
$GC,3479,-1.25,-194.7,375.3,-9.8,632,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2029,3858
$GC,3823,-1.25,-194.7,409.4,-10.1,693,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2028,3858
$GC,4162,-1.25,-194.7,443.3,-9.8,754,4168,0.00,2.65,0.00,0.000,4,0.000,0.064,2501,3443,3858
$GC,4217,-1.25,-194.7,449.0,-10.6,764,4225,0.00,2.55,0.00,0.000,6,0.000,0.044,2501,2040,3857
$GC,4562,-1.25,-194.7,484.1,-10.3,825,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3858
$GC,4901,-1.25,-194.7,518.4,-9.6,886,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3858
$GC,5241,-1.25,-194.7,551.3,-10.1,947,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2037,3857
$GC,5580,-1.25,-194.7,583.0,-9.2,1008,5588,0.00,2.70,0.00,0.000,4,0.000,0.078,2501,3437,3858
$GC,5621,-1.25,-194.7,586.8,-9.8,1015,5627,0.00,2.55,0.00,0.000,6,0.000,0.048,2501,2035,3858
$GC,5959,-1.25,-194.7,616.5,-8.9,1060,5964,0.00,2.72,0.00,0.000,4,0.000,0.086,2501,620,3858
$GC,6025,-1.25,-194.7,622.7,-8.8,1065,6032,0.00,2.58,0.00,0.000,6,0.000,0.054,2501,2036,3857
$GC,6351,-1.25,-194.7,650.8,-8.9,1096,6356,0.00,2.72,0.00,0.000,4,0.000,0.091,2501,3446,3857
$GC,6401,-1.25,-194.7,655.6,-9.8,1100,6406,0.00,2.60,0.00,0.000,6,0.000,0.055,2501,2025,3857
$GC,6726,-1.25,-194.7,684.9,-9.2,1130,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3857
$GC,7044,-1.25,-194.7,712.8,-8.3,1160,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2025,3857
$GC,7362,-1.25,-194.7,739.4,-8.1,1190,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2021,3857
$GC,7681,-1.25,-194.7,766.1,-8.8,1220,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2020,3857
$GC,8000,-1.25,-194.7,795.9,-9.6,1250,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2020,3856
$GC,8319,-1.25,-194.7,826.3,-9.9,1280,8323,0.00,2.72,0.00,0.000,4,0.000,0.078,2501,3438,3856
$GC,8384,-1.25,-194.7,833.5,-11.0,1285,8390,0.00,2.60,0.00,0.000,6,0.000,0.054,2501,2034,3856
$GC,8712,-1.25,-194.7,865.2,-9.5,1316,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2034,3856
$GC,9027,-1.25,-194.7,894.4,-9.1,1346,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2033,3855
$GC,9348,-1.25,-194.7,922.3,-8.6,1376,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2032,3855
$GC,9664,-1.25,-194.7,949.1,-8.4,1406,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2031,3855
$GC,9983,-1.25,-194.7,977.8,-9.0,1436,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2030,3854
$STATE,10119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10119,begin apogee
$GC,10123,-0.37,0.0,990.4,9.2,1449,10296,0.93,0.00,168.82,1.297,6,0.099,0.000,2697,1984,3062
$STATE,10297,end apogee,CONTROL_FINISHED_OK
$STATE,10297,begin climb
$GC,10299,1.34,194.7,996.3,0.0,1466,10472,1.67,0.00,168.80,1.267,6,0.074,0.000,3065,1984,2268
$GC,10788,1.29,194.7,951.8,10.9,1513,10792,0.00,2.70,0.00,0.000,4,0.000,0.067,3066,3402,2262
$GC,10809,1.24,194.7,949.4,11.0,1514,10815,0.00,2.62,0.00,0.000,6,0.000,0.050,3065,1979,2262
$GC,11134,1.19,194.7,914.9,10.5,1545,11139,0.15,2.70,0.00,0.000,4,0.103,0.067,3036,3399,2261
$GC,11184,1.19,194.7,909.6,10.7,1549,11188,0.00,2.58,0.00,0.000,6,0.000,0.050,3036,1996,2261
$GC,11508,1.22,220.1,879.6,9.1,1579,11533,0.00,0.00,22.92,1.174,6,0.000,0.000,3036,1993,2164
$GC,11846,1.25,246.8,848.1,9.1,1611,11877,0.00,0.00,25.52,1.167,6,0.000,0.000,3036,1993,2055
$GC,12195,1.26,257.3,815.1,9.6,1644,12211,0.00,2.72,10.52,1.060,4,0.000,0.067,3036,3405,2012
$GC,12238,1.26,257.3,810.6,11.0,1647,12244,0.00,2.60,0.00,0.000,6,0.000,0.048,3036,2011,2011
$GC,12563,1.29,276.5,778.7,9.3,1678,12585,0.10,0.00,18.83,1.111,6,0.071,0.000,3066,2011,1934
$GC,12901,1.29,276.5,741.9,11.1,1710,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2011,1931
$GC,13219,1.29,276.5,705.2,11.7,1740,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2010,1930
$GC,13538,1.29,276.5,669.0,10.7,1770,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2009,1930
$GC,13858,1.29,276.5,635.1,10.1,1800,13862,0.00,2.65,0.00,0.000,4,0.000,0.066,3066,3402,1929
$GC,13885,1.29,276.5,632.0,10.2,1802,13889,0.00,2.53,0.00,0.000,6,0.000,0.047,3066,2011,1929
$GC,14211,1.29,276.5,597.7,11.1,1833,14217,0.00,2.72,0.00,0.000,4,0.000,0.071,3066,573,1929
$GC,14236,1.29,276.5,594.9,10.9,1837,14242,0.00,2.62,0.00,0.000,6,0.000,0.048,3066,2016,1929
$GC,14576,1.29,276.5,556.5,11.2,1898,14582,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2016,1929
$GC,14916,1.29,276.5,518.2,11.0,1959,14921,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2018,1929
$GC,15255,1.29,281.6,482.5,9.8,2020,15264,0.00,0.00,5.38,0.760,6,0.000,0.000,3066,2019,1913
$GC,15601,1.29,281.6,445.0,11.6,2081,15606,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2019,1913
$GC,15942,1.29,281.6,405.6,11.2,2142,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2020,1912
$GC,16282,1.29,281.6,367.5,11.2,2203,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2020,1913
$GC,16616,1.29,281.6,330.0,11.9,2264,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2020,1913
$GC,16949,1.29,281.6,292.9,11.5,2325,16954,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2020,1913
$GC,17278,1.29,283.5,256.5,9.9,2386,17287,0.00,2.72,0.00,0.000,4,0.000,0.061,3066,577,1913
$GC,17300,1.29,283.5,254.3,11.4,2389,17306,0.00,2.58,0.00,0.000,6,0.000,0.044,3066,2011,1913
$GC,17629,1.29,283.5,218.8,10.3,2450,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2013,1913
$GC,17963,1.29,283.5,183.1,10.1,2511,17968,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2014,1913
$GC,18293,1.33,311.4,147.3,9.0,2572,18323,0.00,0.00,27.77,0.750,6,0.000,0.000,3066,2014,1792
$GC,18450,1.33,311.4,130.8,10.6,2600,18457,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2014,1788
$GC,18583,1.33,311.4,116.5,10.4,2625,18591,0.00,2.72,0.00,0.000,4,0.000,0.062,3066,573,1788
$GC,18609,1.33,311.4,113.6,11.0,2629,18617,0.00,2.60,0.00,0.000,6,0.000,0.044,3066,1996,1787
$GC,18743,1.34,322.5,99.6,9.6,2654,18758,0.00,0.00,10.10,0.670,6,0.000,0.000,3066,1996,1747
$GC,18884,1.34,322.5,84.6,10.1,2680,18892,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1997,1745
$GC,19018,1.34,322.5,69.8,12.9,2705,19025,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1745
$GC,19151,1.34,322.5,54.7,12.2,2730,19159,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1997,1744
$GC,19284,1.34,322.5,39.4,12.4,2755,19292,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1744
$GC,19418,1.34,322.5,24.2,11.8,2780,19426,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1744
$GC,19552,1.34,322.5,9.8,10.3,2805,19559,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1996,1744
$STATE,19611,end climb,SURFACE_DEPTH_REACHED
$STATE,19611,begin surface coast
$FINISH,0.2,1.027188
$STATE,19634,end surface coast,CONTROL_FINISHED_OK
$STATE,19634,begin surface
$SM_CCo,19711,0.00,0.000,0,0,1742,323.80
$SM_GC,0.86,10.48,0.00,0.00,0.037,0.000,0.000,568,1998,1742,-10.07,-0.82,323.80
$IRIDIUM_FIX,5949.48,-2322.15,150797,000049
$TT8_MAMPS,0.042185
$HUMID,1590
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.80
$XPDR_PINGS,796
$24V_AH,23.5,15.932
$10V_AH,10.4,23.148
$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,24.575,74.025,458.675,0.000,0.000,58.359,127.307,370.023,199.000,0.000,0.000,31.282,4272.411,8238.639,634.259,6411.042,891.310,0.000,2722.139,0.000,6450.978,0.000,0.467
$DEVICE_MAMPS,199.420,90.506,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1967.510,2045.948,1264.943,1808.069,3540.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208777,2820
$CAP_FILE_SIZE,206037,0
$CFSIZE,260165632,249245696
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,055338,6014.734,-2234.792,35,1.0,35,-15.9