version: 66.03
glider: 141
mission: 7
dive: 252
start: 5 29 108 14 52 16
data:
$ID,141
$MISSION,7
$DIVE,252
$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,-10905.258
$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,9
$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
$GPS1,144338,6150.377,-2650.434,30,0.8,30,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-57.1
$GPS2,145157,6150.442,-2650.412,12,1.4,12,-19.1
$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,150.4,28218,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.34,-194.7,0.0,0.0,0,113,0.00,0.00,-89.80,0.000,2,0.000,0.000,569,2036,3693
$GC,115,-1.34,-194.7,3.1,-5.4,12,138,11.00,0.00,-3.85,0.000,6,0.195,0.000,2481,2036,3856
$GC,275,-1.29,-194.7,28.1,-12.9,39,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3858
$GC,417,-1.24,-194.7,47.0,-14.1,64,424,0.15,0.00,0.00,0.000,6,0.117,0.000,2514,2037,3858
$GC,560,-1.24,-194.7,65.9,-13.2,89,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2037,3858
$GC,901,-1.24,-194.7,107.5,-11.6,150,908,0.00,2.62,0.00,0.000,4,0.000,0.137,2514,3448,3858
$GC,943,-1.24,-194.7,112.5,-12.1,157,951,0.00,2.75,0.00,0.000,6,0.000,0.148,2513,2019,3858
$GC,1288,-1.24,-194.7,153.0,-11.6,218,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2017,3858
$GC,1632,-1.24,-194.7,193.7,-11.4,279,1639,0.00,2.70,0.00,0.000,4,0.000,0.143,2513,3450,3859
$GC,1697,-1.24,-194.7,201.5,-11.8,290,1704,0.00,2.72,0.00,0.000,6,0.000,0.150,2514,2034,3858
$GC,2041,-1.24,-194.7,241.1,-11.0,351,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2032,3858
$GC,2386,-1.24,-194.7,278.3,-10.8,412,2394,0.00,2.65,0.00,0.000,4,0.000,0.143,2514,3449,3858
$GC,2412,-1.24,-194.7,281.0,-10.9,416,2419,0.00,2.72,0.00,0.000,6,0.000,0.156,2513,2032,3858
$GC,2757,-1.24,-194.7,314.7,-9.1,477,2764,0.00,2.65,0.00,0.000,4,0.000,0.140,2514,3442,3858
$GC,2794,-1.24,-194.7,318.2,-9.6,483,2801,0.00,2.70,0.00,0.000,6,0.000,0.148,2514,2041,3858
$GC,3139,-1.24,-194.7,350.0,-9.1,544,3147,0.00,2.65,0.00,0.000,4,0.000,0.146,2514,3444,3858
$GC,3153,-1.24,-194.7,351.3,-8.9,546,3158,0.00,2.70,0.00,0.000,6,0.000,0.150,2514,2044,3858
$GC,3480,-1.24,-194.7,380.3,-8.9,576,3484,0.00,2.65,0.00,0.000,4,0.000,0.143,2514,3446,3858
$GC,3502,-1.24,-194.7,382.6,-9.3,577,3509,0.00,2.67,0.00,0.000,6,0.000,0.152,2514,2054,3858
$GC,3828,-1.24,-194.7,412.3,-9.3,608,3833,0.00,2.65,0.00,0.000,4,0.000,0.146,2514,3446,3858
$GC,3846,-1.24,-194.7,414.1,-9.1,609,3850,0.00,2.67,0.00,0.000,6,0.000,0.150,2513,2059,3858
$GC,4173,-1.24,-194.7,444.2,-9.5,639,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3858
$GC,4492,-1.24,-194.7,473.8,-9.5,669,4496,0.00,2.65,0.00,0.000,4,0.000,0.151,2514,3441,3858
$GC,4513,-1.24,-194.7,476.3,-9.9,670,4520,0.00,2.67,0.00,0.000,6,0.000,0.154,2513,2056,3858
$GC,4840,-1.24,-194.7,506.3,-9.7,701,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2055,3858
$GC,5158,-1.24,-194.7,536.9,-9.2,731,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2054,3858
$GC,5475,-1.24,-194.7,565.9,-8.9,761,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2053,3857
$GC,5794,-1.24,-194.7,595.1,-9.3,791,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2053,3857
$GC,6115,-1.24,-194.7,627.0,-10.1,809,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2053,3857
$GC,6425,-1.24,-194.7,657.8,-10.1,824,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2052,3857
$GC,6734,-1.24,-194.7,689.2,-9.8,839,6739,0.00,2.75,0.00,0.000,4,0.000,0.170,2513,3439,3856
$GC,6760,-1.24,-194.7,692.3,-11.0,840,6765,0.00,2.72,0.00,0.000,6,0.000,0.162,2514,2059,3856
$GC,7082,-1.24,-194.7,723.6,-9.4,856,7087,0.00,2.70,0.00,0.000,4,0.000,0.162,2514,3440,3856
$GC,7104,-1.24,-194.7,725.7,-9.8,857,7109,0.00,2.70,0.00,0.000,6,0.000,0.162,2514,2067,3855
$GC,7427,-1.24,-194.7,754.7,-8.8,873,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2066,3856
$GC,7734,-1.24,-194.7,781.4,-8.7,888,7739,0.00,2.67,0.00,0.000,4,0.000,0.161,2513,3439,3856
$GC,7797,-1.24,-194.7,787.8,-10.3,891,7802,0.00,2.67,0.00,0.000,6,0.000,0.162,2514,2072,3855
$GC,8125,-1.24,-194.7,818.8,-9.9,907,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2071,3855
$GC,8436,-1.24,-194.7,851.5,-11.7,922,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2070,3855
$GC,8744,-1.24,-194.7,882.0,-10.0,937,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2070,3854
$GC,9052,-1.24,-194.7,920.0,-14.1,952,9056,0.00,2.67,0.00,0.000,4,0.000,0.163,2513,3439,3854
$GC,9101,-1.24,-194.7,927.6,-15.3,954,9105,0.00,2.70,0.00,0.000,6,0.000,0.161,2514,2057,3854
$GC,9418,-1.24,-194.7,954.8,-8.8,969,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3854
$GC,9726,-1.24,-194.7,984.0,-9.6,984,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3854
$STATE,9785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9786,begin apogee
$GC,9791,-0.37,0.0,990.1,9.9,987,9969,0.85,0.00,169.27,1.285,6,0.096,0.000,2696,1976,3062
$STATE,9969,end apogee,CONTROL_FINISHED_OK
$STATE,9969,begin climb
$GC,9972,1.34,194.7,996.8,0.0,996,10146,1.70,0.00,169.15,1.255,6,0.075,0.000,3069,1976,2268
$GC,10445,1.29,194.7,955.3,10.8,1019,10449,0.00,2.78,0.00,0.000,4,0.000,0.153,3069,3403,2262
$GC,10507,1.25,194.7,948.0,11.5,1022,10512,0.00,2.80,0.00,0.000,6,0.000,0.156,3069,1978,2261
$GC,10834,1.20,194.7,912.7,10.5,1038,10836,0.15,0.00,0.00,0.000,6,0.104,0.000,3039,1975,2261
$GC,11144,1.24,228.4,885.1,8.8,1053,11180,0.00,2.83,30.20,1.174,4,0.000,0.150,3040,3399,2130
$GC,11213,1.24,228.4,878.2,10.2,1056,11218,0.00,2.78,0.00,0.000,6,0.000,0.153,3040,1985,2127
$GC,11537,1.26,248.0,848.5,9.3,1072,11564,0.00,0.00,20.92,1.040,6,0.000,0.000,3039,1983,2051
$GC,11865,1.32,289.8,819.8,8.5,1088,11907,0.12,0.00,39.85,1.151,6,0.065,0.000,3076,1983,1879
$GC,12213,1.32,289.8,780.5,11.3,1105,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1983,1875
$GC,12523,1.32,289.8,744.7,11.2,1120,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1983,1873
$GC,12832,1.32,289.8,710.7,10.7,1135,12836,0.00,2.72,0.00,0.000,4,0.000,0.149,3076,3403,1872
$GC,12875,1.32,289.8,705.5,12.1,1137,12880,0.00,2.75,0.00,0.000,6,0.000,0.156,3076,1990,1871
$GC,13203,1.32,289.8,670.3,11.0,1153,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1989,1872
$GC,13511,1.32,289.8,635.6,11.5,1168,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1871
$GC,13821,1.32,289.8,600.1,11.4,1183,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1988,1871
$GC,14139,1.32,289.8,564.1,11.1,1212,14143,0.00,2.70,0.00,0.000,4,0.000,0.144,3076,3403,1871
$GC,14182,1.32,289.8,558.8,11.4,1215,14190,0.00,2.75,0.00,0.000,6,0.000,0.156,3076,1998,1871
$GC,14509,1.32,289.8,524.4,10.4,1246,14514,0.00,2.88,0.00,0.000,4,0.000,0.172,3076,565,1871
$GC,14560,1.32,289.8,518.6,10.9,1250,14564,0.00,2.65,0.00,0.000,6,0.000,0.130,3076,1995,1871
$GC,14884,1.32,289.8,484.8,10.5,1280,14888,0.00,2.65,0.00,0.000,4,0.000,0.149,3077,3395,1871
$GC,14936,1.32,289.8,479.4,11.4,1284,14940,0.00,2.72,0.00,0.000,6,0.000,0.156,3076,1996,1870
$GC,15260,1.32,289.8,446.8,10.1,1314,15261,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1871
$GC,15581,1.32,290.1,415.0,10.0,1344,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1871
$GC,15897,1.32,290.1,380.0,11.1,1374,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1870
$GC,16220,1.32,290.1,343.8,10.9,1408,16226,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1871
$GC,16564,1.32,290.1,303.3,11.9,1469,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1871
$GC,16908,1.32,290.1,261.9,11.4,1530,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1871
$GC,17252,1.32,290.1,221.7,12.2,1591,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1871
$GC,17596,1.32,290.1,182.6,10.9,1652,17603,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1871
$GC,17943,1.33,300.6,145.8,9.6,1713,17958,0.00,2.72,9.65,0.693,4,0.000,0.139,3076,3403,1835
$GC,17993,1.33,300.6,140.2,10.9,1721,18000,0.00,2.75,0.00,0.000,6,0.000,0.154,3076,1989,1834
$GC,18337,1.33,300.6,102.7,10.6,1782,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1987,1834
$GC,18680,1.33,300.6,63.0,11.5,1843,18687,0.00,2.80,0.00,0.000,4,0.000,0.166,3076,571,1833
$GC,18728,1.33,300.6,57.1,11.8,1851,18734,0.00,2.62,0.00,0.000,6,0.000,0.128,3076,1995,1834
$GC,19072,1.33,300.6,20.2,10.2,1912,19080,0.00,2.60,0.00,0.000,4,0.000,0.142,3076,3396,1833
$GC,19132,1.33,301.3,14.3,10.0,1922,19140,0.00,2.67,0.00,0.000,6,0.000,0.151,3076,2007,1833
$STATE,19245,end climb,SURFACE_DEPTH_REACHED
$STATE,19245,begin surface coast
$FINISH,0.2,1.013733
$STATE,19276,end surface coast,CONTROL_FINISHED_OK
$STATE,19276,begin surface
$SM_CCo,19356,0.00,0.000,0,0,1831,301.72
$SM_GC,0.81,10.48,0.00,0.00,0.037,0.000,0.000,567,2039,1831,-10.08,0.25,301.72
$IRIDIUM_FIX,6126.23,-2658.37,230897,090954
$TT8_MAMPS,0.041418
$HUMID,1683
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,14.90
$XPDR_PINGS,1022
$24V_AH,23.4,50.553
$10V_AH,10.6,54.391
$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,24.450,113.875,439.050,0.000,0.000,23.719,33.988,285.266,255.500,0.000,0.000,14.260,3985.039,11032.785,671.145,3397.523,747.582,0.000,2133.665,0.000,3424.690,0.000,0.465
$DEVICE_MAMPS,194.818,171.808,1284.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1368.908,1455.295,702.243,1723.252,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142127,1947
$CAP_FILE_SIZE,167989,0
$CFSIZE,260165632,232398848
$ERRORS,0,28,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,357.4,1
$GPS,290508,201607,6148.939,-2646.076,38,1.3,38,-19.0