version: 66.03
glider: 141
mission: 7
dive: 251
start: 5 29 108 9 2 51
data:
$ID,141
$MISSION,7
$DIVE,251
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-10890.369
$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,10
$R_STBD_OVSHOOT,11
$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
$GPS1,085456,6151.483,-2654.932,37,1.1,37,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.2
$GPS2,090233,6151.535,-2654.958,14,0.9,14,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NWentry
$TGT_LATLONG,6140.380,-2626.300
$TGT_RADIUS,2000.000
$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,148.6,32573,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.34,-194.7,0.0,0.0,0,120,0.00,0.00,-97.45,0.000,2,0.000,0.000,565,2008,3698
$GC,123,-1.34,-194.7,3.2,-5.2,13,146,11.07,0.00,-3.75,0.000,6,0.197,0.000,2481,2006,3858
$GC,284,-1.29,-194.7,27.1,-11.0,40,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2006,3859
$GC,426,-1.24,-194.7,41.2,-9.8,65,434,0.15,2.67,0.00,0.000,4,0.114,0.137,2514,3448,3859
$GC,446,-1.24,-194.7,43.1,-9.3,68,454,0.00,2.72,0.00,0.000,6,0.000,0.153,2514,2019,3859
$GC,590,-1.24,-194.7,54.6,-7.8,93,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2017,3859
$GC,934,-1.24,-194.7,83.0,-8.8,154,942,0.00,2.67,0.00,0.000,4,0.000,0.141,2514,3452,3859
$GC,965,-1.24,-194.7,86.0,-9.5,159,973,0.00,2.70,0.00,0.000,6,0.000,0.149,2514,2046,3860
$GC,1309,-1.24,-194.7,120.0,-10.6,220,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2043,3860
$GC,1654,-1.24,-194.7,152.8,-9.4,281,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2043,3860
$GC,1999,-1.24,-194.7,185.8,-9.9,342,2006,0.00,2.62,0.00,0.000,4,0.000,0.141,2514,3446,3860
$GC,2019,-1.24,-194.7,187.9,-10.1,345,2026,0.00,2.70,0.00,0.000,6,0.000,0.147,2514,2045,3860
$GC,2363,-1.24,-194.7,222.7,-10.3,406,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2043,3860
$GC,2707,-1.24,-194.7,260.5,-10.6,467,2714,0.00,2.62,0.00,0.000,4,0.000,0.140,2514,3446,3860
$GC,2732,-1.24,-194.7,263.3,-11.5,471,2740,0.00,2.67,0.00,0.000,6,0.000,0.149,2514,2051,3860
$GC,3077,-1.24,-194.7,303.0,-11.1,532,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2049,3860
$GC,3421,-1.24,-194.7,341.9,-11.5,593,3428,0.00,2.65,0.00,0.000,4,0.000,0.144,2514,3448,3860
$GC,3439,-1.24,-194.7,344.1,-11.3,596,3447,0.00,2.67,0.00,0.000,6,0.000,0.150,2514,2057,3860
$GC,3769,-1.24,-194.7,379.3,-10.1,631,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3860
$GC,4088,-1.24,-194.7,411.3,-10.0,661,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3859
$GC,4407,-1.24,-194.7,443.2,-9.9,691,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3859
$GC,4725,-1.24,-194.7,474.4,-9.5,721,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3859
$GC,5044,-1.24,-194.7,506.8,-10.9,751,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3859
$GC,5363,-1.24,-194.7,538.3,-9.5,781,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3859
$GC,5681,-1.24,-194.7,570.2,-11.1,811,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3859
$GC,6008,-1.24,-194.7,603.9,-9.2,840,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3858
$GC,6318,-1.24,-194.7,631.2,-9.1,855,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3858
$GC,6627,-1.24,-194.7,658.5,-8.5,870,6631,0.00,2.75,0.00,0.000,4,0.000,0.169,2514,3439,3858
$GC,6644,-1.24,-194.7,660.0,-8.5,871,6649,0.00,2.70,0.00,0.000,6,0.000,0.158,2514,2068,3858
$GC,6972,-1.24,-194.7,687.8,-8.3,887,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2067,3858
$GC,7281,-1.24,-194.7,714.0,-8.6,902,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2066,3858
$GC,7590,-1.24,-194.7,738.8,-7.7,917,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2064,3858
$GC,7900,-1.24,-194.7,762.3,-7.2,932,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2064,3857
$GC,8208,-1.24,-194.7,785.8,-7.6,947,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2062,3857
$GC,8519,-1.24,-194.7,812.6,-9.1,962,8523,0.00,2.70,0.00,0.000,4,0.000,0.165,2514,3440,3856
$GC,8551,-1.24,-194.7,816.5,-11.3,963,8558,0.00,2.72,0.00,0.000,6,0.000,0.162,2514,2056,3856
$GC,8868,-1.24,-194.7,847.1,-9.5,979,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3856
$GC,9176,-1.24,-194.7,876.1,-9.1,994,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3856
$GC,9486,-1.24,-194.7,902.6,-7.7,1009,9491,0.00,2.72,0.00,0.000,4,0.000,0.162,2514,3446,3855
$GC,9519,-1.24,-194.7,904.9,-6.9,1010,9527,0.00,2.72,0.00,0.000,6,0.000,0.159,2514,2061,3855
$GC,9835,-1.24,-194.7,929.1,-8.5,1026,9840,0.00,2.67,0.00,0.000,4,0.000,0.159,2514,3440,3855
$GC,9869,-1.24,-194.7,932.2,-9.6,1027,9876,0.00,2.67,0.00,0.000,6,0.000,0.160,2514,2068,3855
$GC,10184,-1.24,-194.7,959.2,-8.0,1043,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2067,3855
$GC,10494,-1.24,-194.7,986.6,-8.7,1058,10499,0.00,2.67,0.00,0.000,4,0.000,0.158,2514,3445,3854
$GC,10516,-1.24,-194.7,988.8,-9.0,1059,10521,0.00,2.67,0.00,0.000,6,0.000,0.159,2514,2071,3854
$STATE,10548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10548,begin apogee
$GC,10554,-0.37,0.0,991.5,8.9,1061,10730,0.85,0.00,169.75,1.291,6,0.097,0.000,2695,1979,3061
$STATE,10730,end apogee,CONTROL_FINISHED_OK
$STATE,10730,begin climb
$GC,10733,1.34,194.7,997.1,0.0,1070,10910,1.73,0.00,169.23,1.260,6,0.077,0.000,3071,1978,2267
$GC,11221,1.34,234.0,956.3,8.6,1094,11265,0.00,2.83,35.40,1.196,4,0.000,0.148,3070,3403,2106
$GC,11333,1.34,234.0,943.9,12.4,1099,11338,0.00,2.78,0.00,0.000,6,0.000,0.154,3070,1993,2104
$GC,11661,1.30,234.0,905.4,13.2,1115,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1991,2104
$GC,11969,1.30,234.0,871.9,10.4,1130,11974,0.00,2.70,0.00,0.000,4,0.000,0.150,3070,3395,2102
$GC,12025,1.30,234.0,865.7,10.7,1132,12032,0.00,2.72,0.00,0.000,6,0.000,0.159,3070,1996,2102
$GC,12340,1.30,234.0,828.2,12.3,1148,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1993,2102
$GC,12650,1.30,234.0,792.2,11.9,1163,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1993,2102
$GC,12959,1.30,234.0,757.6,10.8,1178,12963,0.00,2.70,0.00,0.000,4,0.000,0.152,3070,3395,2101
$GC,13002,1.30,234.0,752.5,10.6,1180,13007,0.00,2.72,0.00,0.000,6,0.000,0.156,3070,2000,2100
$GC,13329,1.30,234.0,716.2,11.8,1196,13330,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1997,2101
$GC,13640,1.30,234.0,681.3,10.8,1211,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1997,2100
$GC,13948,1.30,234.0,647.9,10.9,1226,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1997,2101
$GC,14258,1.31,237.8,616.5,9.9,1241,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1997,2101
$GC,14572,1.31,237.8,584.6,10.0,1263,14584,0.00,2.70,3.80,0.643,4,0.000,0.146,3070,3396,2092
$GC,14645,1.31,237.8,576.2,10.9,1269,14653,0.00,2.72,0.00,0.000,6,0.000,0.157,3070,2006,2091
$GC,14973,1.31,237.8,540.1,11.0,1300,14977,0.00,2.88,0.00,0.000,4,0.000,0.172,3070,568,2092
$GC,15023,1.26,237.8,534.0,11.7,1304,15028,0.00,2.67,0.00,0.000,6,0.000,0.133,3070,2007,2092
$GC,15349,1.26,239.9,499.3,9.9,1334,15354,0.00,2.65,0.00,0.000,4,0.000,0.149,3070,3405,2091
$GC,15404,1.26,239.9,493.4,10.2,1338,15412,0.00,2.72,0.00,0.000,6,0.000,0.154,3070,2003,2091
$GC,15732,1.29,261.4,463.1,9.3,1369,15756,0.00,0.00,22.55,0.931,6,0.000,0.000,3070,2001,1996
$GC,16072,1.29,265.6,429.3,9.9,1401,16082,0.00,0.00,4.85,0.680,6,0.000,0.000,3070,2001,1979
$GC,16402,1.29,267.0,396.8,10.0,1432,16403,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1977
$GC,16718,1.29,267.0,363.4,10.8,1462,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1977
$GC,17048,1.31,276.8,329.5,9.7,1509,17062,0.00,0.00,11.73,0.806,6,0.000,0.000,3070,2001,1933
$GC,17400,1.31,276.8,291.3,11.1,1571,17406,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1931
$GC,17744,1.31,276.8,253.4,10.3,1632,17750,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1931
$GC,18088,1.31,276.8,219.0,10.0,1693,18094,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1931
$GC,18431,1.31,276.8,184.7,10.7,1754,18438,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1931
$GC,18776,1.31,276.8,149.3,10.9,1815,18782,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1931
$GC,19117,1.31,276.8,113.6,11.1,1876,19123,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1930
$GC,19459,1.31,276.8,80.4,10.3,1937,19465,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,1931
$GC,19803,1.31,281.0,50.1,9.9,1998,19811,0.00,0.00,5.12,0.553,6,0.000,0.000,3070,2001,1915
$GC,20145,1.32,287.3,15.4,9.8,2059,20159,0.00,0.00,7.53,0.592,6,0.000,0.000,3070,2001,1888
$STATE,20269,end climb,SURFACE_DEPTH_REACHED
$STATE,20269,begin surface coast
$FINISH,0.1,1.026323
$STATE,20300,end surface coast,CONTROL_FINISHED_OK
$STATE,20300,begin surface
$SM_CCo,20380,0.00,0.000,0,0,1886,288.47
$SM_GC,0.86,10.43,0.00,0.00,0.036,0.000,0.000,569,2038,1886,-10.06,0.23,288.47
$IRIDIUM_FIX,6126.23,-2704.51,230897,040405
$TT8_MAMPS,0.041418
$HUMID,1693
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,17.00
$XPDR_PINGS,1044
$24V_AH,23.4,50.348
$10V_AH,10.6,54.222
$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,24.225,86.825,429.950,0.000,0.000,26.416,31.432,255.396,261.000,0.000,0.000,15.614,4221.864,11594.009,667.788,3619.967,716.021,0.000,2203.166,0.000,3647.569,0.000,0.466
$DEVICE_MAMPS,197.119,181.779,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1464.529,1551.559,804.359,1848.306,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,151872,2086
$CAP_FILE_SIZE,171919,0
$CFSIZE,260165632,232488960
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,349.1,1
$GPS,290508,144338,6150.377,-2650.434,30,0.8,30,-19.1