version: 66.03
glider: 141
mission: 7
dive: 73
start: 4 20 108 11 48 57
data:
$ID,141
$MISSION,7
$DIVE,73
$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,-7623.9297
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,113345,6017.840,-2230.523,29,1.1,37,-15.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.4
$GPS2,114839,6017.874,-2230.570,12,1.0,12,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6025.510,-2226.801
$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,-194.7,0.0,0.0,0,129,0.00,0.00,-101.80,0.000,2,0.000,0.000,573,2047,3825
$GC,132,-1.34,-194.7,3.6,-5.9,14,149,11.20,2.60,-0.65,0.000,4,0.202,0.065,2477,3426,3858
$GC,385,-1.29,-194.7,40.3,-12.2,61,392,0.00,2.50,0.00,0.000,6,0.000,0.045,2477,2034,3859
$GC,518,-1.29,-194.7,55.8,-11.1,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2031,3859
$GC,651,-1.29,-194.7,70.5,-11.2,111,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2029,3859
$GC,785,-1.29,-194.7,84.9,-10.6,136,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2029,3859
$GC,918,-1.29,-194.7,99.7,-10.9,161,925,0.10,0.00,0.00,0.000,6,0.123,0.000,2495,2029,3859
$GC,1051,-1.29,-194.7,113.9,-10.3,186,1059,0.00,2.58,0.00,0.000,4,0.000,0.058,2495,3419,3859
$GC,1098,-1.29,-194.7,119.0,-11.1,194,1105,0.00,2.50,0.00,0.000,6,0.000,0.047,2495,2027,3859
$GC,1231,-1.29,-194.7,133.0,-10.3,219,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2022,3859
$GC,1364,-1.29,-194.7,147.3,-10.7,244,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2020,3859
$GC,1502,-1.29,-194.7,162.0,-10.7,269,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2020,3859
$GC,1829,-1.29,-194.7,197.0,-11.2,330,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2020,3859
$GC,2162,-1.29,-194.7,231.7,-10.7,391,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2020,3859
$GC,2490,-1.29,-194.7,266.0,-10.2,452,2497,0.00,2.60,0.00,0.000,4,0.000,0.059,2495,3420,3859
$GC,2554,-1.29,-194.7,272.7,-10.9,463,2560,0.00,2.47,0.00,0.000,6,0.000,0.041,2495,2033,3859
$GC,2883,-1.29,-194.7,307.3,-10.1,524,2891,0.00,2.60,0.00,0.000,4,0.000,0.057,2495,620,3859
$GC,2939,-1.29,-194.7,313.6,-10.7,534,2947,0.00,2.50,0.00,0.000,6,0.000,0.047,2495,2016,3859
$GC,3273,-1.29,-194.7,348.4,-10.4,595,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2018,3858
$GC,3611,-1.29,-194.7,384.3,-10.0,656,3619,0.00,2.65,0.00,0.000,4,0.000,0.064,2495,3430,3859
$GC,3687,-1.29,-194.7,392.1,-11.1,669,3693,0.00,2.50,0.00,0.000,6,0.000,0.043,2495,2027,3858
$GC,4027,-1.29,-194.7,425.5,-9.7,730,4033,0.00,2.58,0.00,0.000,4,0.000,0.059,2495,620,3859
$GC,4077,-1.29,-194.7,430.7,-10.2,739,4083,0.00,2.53,0.00,0.000,6,0.000,0.044,2495,2034,3859
$GC,4416,-1.29,-194.7,465.6,-10.3,800,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2037,3859
$GC,4760,-1.29,-194.7,500.3,-10.3,861,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2038,3858
$GC,5101,-1.29,-194.7,535.5,-10.3,922,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2039,3859
$GC,5441,-1.29,-194.7,569.1,-9.8,983,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2038,3858
$GC,5780,-1.29,-194.7,602.1,-9.7,1042,5785,0.00,2.65,0.00,0.000,4,0.000,0.079,2495,3433,3859
$GC,5830,-1.29,-194.7,607.1,-9.8,1046,5835,0.00,2.55,0.00,0.000,6,0.000,0.051,2495,2031,3858
$GC,6155,-1.29,-194.7,638.6,-9.5,1076,6160,0.00,2.78,0.00,0.000,4,0.000,0.094,2495,616,3859
$GC,6205,-1.29,-194.7,643.7,-10.0,1080,6209,0.00,2.58,0.00,0.000,6,0.000,0.056,2495,2024,3859
$GC,6529,-1.29,-194.7,675.7,-10.2,1110,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,6847,-1.29,-194.7,708.0,-10.2,1140,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,7167,-1.29,-194.7,738.3,-9.7,1170,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2026,3858
$GC,7484,-1.29,-194.7,769.1,-9.7,1200,7489,0.00,2.75,0.00,0.000,4,0.000,0.092,2495,3439,3858
$GC,7545,-1.29,-194.7,775.3,-10.3,1205,7549,0.00,2.60,0.00,0.000,6,0.000,0.057,2495,2023,3858
$GC,7869,-1.29,-194.7,806.1,-9.2,1235,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2023,3858
$GC,8188,-1.29,-194.7,835.4,-9.5,1265,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2021,3857
$GC,8506,-1.29,-194.7,865.5,-9.4,1295,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2020,3857
$GC,8825,-1.29,-194.7,895.0,-9.4,1325,8829,0.00,2.72,0.00,0.000,4,0.000,0.078,2495,3442,3857
$GC,8890,-1.29,-194.7,901.8,-10.4,1330,8897,0.00,2.62,0.00,0.000,6,0.000,0.055,2495,2026,3857
$GC,9216,-1.29,-194.7,932.3,-9.0,1361,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2023,3856
$GC,9533,-1.29,-194.7,961.4,-9.2,1391,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2023,3856
$GC,9852,-1.29,-194.7,990.0,-8.6,1421,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2022,3855
$STATE,9861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9861,begin apogee
$GC,9865,-0.37,0.0,990.9,8.9,1422,10038,0.95,0.00,169.25,1.298,6,0.100,0.000,2696,1983,3062
$STATE,10039,end apogee,CONTROL_FINISHED_OK
$STATE,10039,begin climb
$GC,10040,1.34,194.7,995.0,0.0,1439,10217,1.67,0.00,168.68,1.264,6,0.076,0.000,3069,1984,2267
$GC,10535,1.28,194.7,945.9,11.3,1487,10540,0.00,2.70,0.00,0.000,4,0.000,0.069,3069,3395,2261
$GC,10567,1.23,194.7,942.0,11.5,1489,10574,0.10,2.60,0.00,0.000,6,0.112,0.049,3050,1983,2260
$GC,10891,1.23,194.7,908.9,10.1,1520,10896,0.00,2.70,0.00,0.000,4,0.000,0.069,3050,3396,2259
$GC,10913,1.23,194.7,906.6,10.7,1521,10919,0.00,2.60,0.00,0.000,6,0.000,0.049,3050,1978,2259
$GC,11238,1.24,206.2,874.9,9.6,1552,11250,0.00,0.00,10.23,1.080,6,0.000,0.000,3050,1975,2221
$GC,11567,1.25,212.6,842.7,9.8,1583,11581,0.00,2.80,7.32,0.996,4,0.000,0.068,3050,3401,2195
$GC,11621,1.25,212.6,836.8,11.0,1588,11626,0.00,2.60,0.00,0.000,6,0.000,0.049,3050,1985,2194
$GC,11945,1.25,212.6,804.7,10.1,1618,11949,0.00,2.67,0.00,0.000,4,0.000,0.068,3050,3395,2194
$GC,11976,1.25,212.6,801.3,10.4,1620,11983,0.00,2.58,0.00,0.000,6,0.000,0.048,3050,2002,2194
$GC,12302,1.27,225.8,770.2,9.5,1651,12321,0.00,0.00,13.15,1.078,6,0.000,0.000,3050,2001,2141
$GC,12640,1.27,232.2,738.0,9.8,1683,12650,0.00,0.00,7.40,0.959,6,0.000,0.000,3050,2000,2115
$GC,12968,1.27,232.2,705.2,10.1,1714,12972,0.00,2.65,0.00,0.000,4,0.000,0.067,3050,3395,2113
$GC,12999,1.27,232.2,701.7,10.2,1716,13006,0.00,2.55,0.00,0.000,6,0.000,0.048,3050,2011,2113
$GC,13325,1.30,252.8,670.4,9.3,1747,13347,0.00,0.00,20.02,1.058,6,0.000,0.000,3050,2011,2031
$GC,13663,1.30,256.0,638.1,9.9,1779,13673,0.00,0.00,4.10,0.707,6,0.000,0.000,3050,2011,2018
$GC,13991,1.30,256.0,605.4,10.0,1810,13996,0.00,2.62,0.00,0.000,4,0.000,0.067,3050,3394,2017
$GC,14019,1.30,256.0,602.5,10.1,1812,14023,0.00,2.50,0.00,0.000,6,0.000,0.047,3050,2020,2016
$GC,14358,1.31,262.0,568.7,9.8,1870,14370,0.00,2.70,7.10,0.868,4,0.000,0.067,3050,3404,1993
$GC,14391,1.31,262.0,565.1,10.1,1876,14399,0.00,2.53,0.00,0.000,6,0.000,0.048,3050,2037,1991
$GC,14737,1.31,263.9,530.9,9.9,1937,14743,0.00,2.75,0.00,0.000,4,0.000,0.068,3050,570,1991
$GC,14754,1.31,263.9,528.9,10.0,1940,14762,0.00,2.70,0.00,0.000,6,0.000,0.048,3050,2039,1991
$GC,15098,1.34,281.5,496.2,9.4,2001,15121,0.00,0.00,18.33,0.946,6,0.000,0.000,3050,2041,1915
$GC,15459,1.35,294.1,461.0,9.6,2065,15483,0.10,0.00,15.18,0.806,6,0.071,0.000,3081,2041,1862
$GC,15821,1.35,294.1,418.4,11.9,2129,15827,0.00,2.75,0.00,0.000,4,0.000,0.061,3081,569,1860
$GC,15845,1.35,294.1,415.2,11.7,2133,15851,0.00,2.67,0.00,0.000,6,0.000,0.045,3081,2050,1860
$GC,16186,1.35,294.1,373.6,11.7,2194,16192,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2052,1860
$GC,16522,1.35,294.1,333.2,12.4,2255,16528,0.00,2.75,0.00,0.000,4,0.000,0.061,3081,576,1860
$GC,16558,1.31,294.1,328.9,11.9,2261,16564,0.00,2.65,0.00,0.000,6,0.000,0.044,3081,2045,1860
$GC,16889,1.31,294.1,289.2,10.0,2322,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2049,1860
$GC,17223,1.31,294.1,250.5,11.5,2383,17228,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2049,1860
$GC,17552,1.31,294.1,212.3,11.7,2444,17559,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2050,1860
$GC,17885,1.31,294.1,173.4,10.5,2505,17891,0.00,2.75,0.00,0.000,4,0.000,0.059,3081,569,1860
$GC,17909,1.31,294.1,170.5,10.8,2509,17916,0.00,2.62,0.00,0.000,6,0.000,0.043,3081,2037,1860
$GC,18235,1.31,294.1,132.8,11.8,2570,18242,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2040,1860
$GC,18370,1.31,294.1,116.8,11.1,2595,18377,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2041,1860
$GC,18503,1.31,294.1,100.5,11.9,2620,18510,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2041,1860
$GC,18636,1.31,294.1,84.4,11.7,2645,18644,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2041,1860
$GC,18770,1.31,294.1,68.8,12.4,2670,18778,0.00,2.55,0.00,0.000,4,0.000,0.065,3081,3399,1860
$GC,18795,1.31,294.1,65.7,12.9,2674,18803,0.00,2.53,0.00,0.000,6,0.000,0.041,3081,2011,1860
$GC,18929,1.31,294.1,49.6,11.9,2699,18937,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2009,1860
$GC,19063,1.31,294.1,33.9,11.1,2724,19070,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2010,1860
$GC,19196,1.31,294.1,18.6,10.6,2749,19203,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2010,1860
$GC,19330,1.31,294.1,3.0,12.1,2774,19338,0.00,2.60,0.00,0.000,4,0.000,0.061,3081,3399,1860
$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19344,begin surface coast
$FINISH,0.2,1.027148
$STATE,19356,end surface coast,CONTROL_FINISHED_OK
$STATE,19356,begin surface
$SM_CCo,19376,272.88,0.648,0,0,500,628.46
$SM_GC,0.56,0.00,0.00,272.88,0.000,0.000,0.648,572,2015,500,-10.16,-0.48,628.46
$IRIDIUM_FIX,5953.78,-2229.18,150797,111155
$TT8_MAMPS,0.042952
$HUMID,1558
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,12.50
$XPDR_PINGS,793
$24V_AH,23.5,16.384
$10V_AH,10.6,23.812
$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,24.650,120.550,440.750,272.875,0.000,127.128,324.951,55.930,198.250,0.000,0.000,14.496,4224.747,8197.403,933.364,6296.645,862.107,0.000,3006.983,0.000,6355.265,0.000,0.466
$DEVICE_MAMPS,201.721,102.011,1297.764,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1935.416,2018.261,1240.526,1770.401,3462.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205405,2778
$CAP_FILE_SIZE,206343,0
$CFSIZE,260165632,248950784
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200408,171737,6021.157,-2227.639,35,1.0,35,-15.9