version: 66.03
glider: 141
mission: 7
dive: 254
start: 5 30 108 0 27 52
data:
$ID,141
$MISSION,7
$DIVE,254
$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,-10931.263
$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,13
$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
$GPS1,001608,6148.207,-2643.486,40,1.2,40,-19.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-52.2
$GPS2,002733,6148.287,-2643.461,9,1.5,9,-19.0
$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,153.2,21020,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.34,-194.7,0.0,0.0,0,132,0.00,0.00,-105.43,0.000,6,0.000,0.000,570,2018,3856
$GC,135,-1.34,-194.7,4.2,-8.1,14,151,11.12,2.72,0.00,0.000,4,0.197,0.138,2483,3446,3858
$GC,164,-0.70,-194.7,15.1,-33.0,18,173,0.68,2.72,0.00,0.000,6,0.104,0.146,2623,2026,3859
$GC,309,-0.84,-194.7,25.4,-6.0,43,316,0.12,0.00,0.00,0.000,6,0.061,0.000,2590,2023,3860
$GC,451,-0.95,-194.7,35.5,-7.1,68,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2023,3860
$GC,594,-1.05,-194.7,44.5,-5.7,93,601,0.15,0.00,0.00,0.000,6,0.064,0.000,2542,2023,3860
$GC,737,-1.05,-194.7,54.4,-6.5,118,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2023,3859
$GC,1081,-1.05,-194.7,74.9,-6.6,179,1088,0.00,2.65,0.00,0.000,4,0.000,0.136,2542,3442,3860
$GC,1129,-1.05,-194.7,78.2,-7.0,187,1136,0.00,2.75,0.00,0.000,6,0.000,0.150,2542,2016,3860
$GC,1473,-1.05,-194.7,103.2,-8.2,248,1480,0.00,2.67,0.00,0.000,4,0.000,0.140,2542,3449,3860
$GC,1504,-1.05,-194.7,105.8,-8.8,253,1512,0.00,2.75,0.00,0.000,6,0.000,0.151,2542,2022,3860
$GC,1849,-1.05,-194.7,135.3,-8.7,314,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2019,3860
$GC,2194,-1.05,-194.7,165.7,-9.6,375,2201,0.00,2.67,0.00,0.000,4,0.000,0.141,2542,3446,3860
$GC,2236,-1.05,-194.7,169.9,-9.9,382,2243,0.00,2.72,0.00,0.000,6,0.000,0.146,2542,2025,3860
$GC,2581,-1.05,-194.7,202.4,-9.4,443,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2023,3860
$GC,2927,-1.09,-194.7,236.5,-10.2,504,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2023,3859
$GC,3271,-1.13,-194.7,274.3,-10.8,565,3278,0.00,2.67,0.00,0.000,4,0.000,0.141,2542,3444,3859
$GC,3296,-1.13,-194.7,277.3,-11.7,569,3303,0.00,2.72,0.00,0.000,6,0.000,0.146,2542,2028,3859
$GC,3642,-1.18,-194.7,315.0,-10.8,630,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2027,3859
$GC,3988,-1.22,-194.7,350.0,-9.5,691,3989,0.12,0.00,0.00,0.000,6,0.061,0.000,2505,2027,3859
$GC,4307,-1.22,-194.7,383.6,-10.5,721,4311,0.00,2.67,0.00,0.000,4,0.000,0.145,2505,3447,3858
$GC,4336,-1.22,-194.7,386.9,-11.3,723,4340,0.00,2.72,0.00,0.000,6,0.000,0.152,2505,2033,3858
$GC,4662,-1.22,-194.7,420.9,-10.0,753,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2031,3858
$GC,4982,-1.22,-194.7,453.0,-10.0,783,4987,0.00,2.67,0.00,0.000,4,0.000,0.150,2505,3441,3858
$GC,5014,-1.22,-194.7,456.8,-10.6,785,5022,0.00,2.72,0.00,0.000,6,0.000,0.156,2505,2034,3858
$GC,5342,-1.22,-194.7,488.9,-9.8,816,5347,0.00,2.67,0.00,0.000,4,0.000,0.149,2505,3439,3858
$GC,5360,-1.22,-194.7,490.9,-10.2,817,5364,0.00,2.70,0.00,0.000,6,0.000,0.155,2505,2046,3858
$GC,5687,-1.22,-194.7,523.8,-9.9,847,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2044,3858
$GC,6007,-1.22,-194.7,555.0,-9.9,877,6011,0.00,2.67,0.00,0.000,4,0.000,0.152,2505,3441,3858
$GC,6039,-1.22,-194.7,558.7,-10.6,879,6046,0.00,2.70,0.00,0.000,6,0.000,0.156,2505,2049,3858
$GC,6366,-1.22,-194.7,589.9,-9.6,910,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2048,3857
$GC,6689,-1.22,-194.7,618.3,-8.4,931,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2047,3857
$GC,6996,-1.22,-194.7,643.7,-8.3,946,7000,0.00,2.75,0.00,0.000,4,0.000,0.163,2505,3446,3857
$GC,7014,-1.22,-194.7,645.2,-8.7,947,7018,0.00,2.75,0.00,0.000,6,0.000,0.160,2505,2046,3857
$GC,7341,-1.22,-194.7,673.5,-8.6,963,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2045,3856
$GC,7651,-1.22,-194.7,700.9,-9.1,978,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2044,3856
$GC,7960,-1.22,-194.7,729.4,-9.2,993,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2043,3856
$GC,8270,-1.22,-194.7,757.5,-9.4,1008,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3856
$GC,8578,-1.22,-194.7,787.3,-9.7,1023,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3856
$GC,8889,-1.22,-194.7,816.9,-9.5,1038,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2042,3855
$GC,9197,-1.22,-194.7,845.2,-9.3,1053,9201,0.00,2.72,0.00,0.000,4,0.000,0.163,2505,3437,3855
$GC,9236,-1.22,-194.7,849.0,-10.3,1055,9241,0.00,2.75,0.00,0.000,6,0.000,0.162,2505,2039,3855
$GC,9564,-1.22,-194.7,879.1,-9.0,1071,9569,0.00,2.72,0.00,0.000,4,0.000,0.162,2505,3437,3855
$GC,9597,-1.22,-194.7,882.5,-9.9,1072,9605,0.00,2.72,0.00,0.000,6,0.000,0.160,2505,2048,3855
$GC,9913,-1.22,-194.7,911.0,-9.3,1088,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2046,3855
$GC,10223,-1.22,-194.7,939.2,-9.2,1103,10228,0.00,2.72,0.00,0.000,4,0.000,0.162,2505,3445,3855
$GC,10245,-1.22,-194.7,941.5,-9.7,1104,10250,0.00,2.75,0.00,0.000,6,0.000,0.161,2505,2048,3855
$GC,10568,-1.33,-194.7,967.7,-5.8,1120,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2047,3854
$STATE,10729,end dive,NO_VERTICAL_VELOCITY
$STATE,10729,begin apogee
$GC,10735,-0.37,0.0,967.6,0.0,1128,10912,0.85,0.00,168.77,1.270,6,0.069,0.000,2698,1981,3062
$STATE,10912,end apogee,CONTROL_FINISHED_OK
$STATE,10913,begin climb
$GC,10915,1.34,194.7,967.4,0.0,1137,11093,1.65,2.88,167.98,1.237,4,0.071,0.153,3066,3398,2266
$GC,11157,1.29,194.7,948.9,10.9,1148,11161,0.00,2.80,0.00,0.000,6,0.000,0.155,3066,1979,2263
$GC,11478,1.25,194.7,916.4,10.5,1164,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1977,2261
$GC,11788,1.21,194.7,884.8,10.2,1179,11793,0.12,2.75,0.00,0.000,4,0.104,0.151,3042,3399,2261
$GC,11844,1.22,200.3,879.1,9.8,1181,11854,0.00,2.78,5.30,0.866,6,0.000,0.156,3042,1982,2245
$GC,12183,1.23,211.9,848.0,9.6,1198,12206,0.00,2.83,12.02,1.075,4,0.000,0.149,3042,3392,2197
$GC,12245,1.23,212.2,841.6,10.0,1200,12252,0.00,2.75,0.00,0.000,6,0.000,0.154,3042,1989,2196
$GC,12561,1.26,237.7,812.5,9.1,1216,12587,0.00,0.00,24.60,1.131,6,0.000,0.000,3042,1987,2093
$GC,12891,1.29,264.5,781.6,9.1,1232,12930,0.00,0.00,27.52,1.052,6,0.000,0.000,3041,1987,1982
$GC,13239,1.34,299.9,749.6,8.8,1249,13286,0.12,2.83,35.45,1.058,4,0.064,0.148,3078,3392,1838
$GC,13320,1.34,299.9,740.7,11.6,1252,13324,0.00,2.75,0.00,0.000,6,0.000,0.153,3078,1998,1836
$GC,13636,1.34,299.9,706.9,10.8,1267,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1996,1833
$GC,13944,1.34,299.9,672.2,11.2,1282,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1996,1832
$GC,14254,1.34,299.9,636.4,11.7,1297,14255,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1832
$GC,14563,1.34,299.9,600.5,11.4,1312,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1832
$GC,14881,1.34,299.9,566.6,10.5,1341,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1993,1831
$GC,15200,1.34,299.9,530.4,11.6,1371,15201,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1831
$GC,15519,1.34,299.9,495.4,11.2,1401,15523,0.00,2.67,0.00,0.000,4,0.000,0.150,3078,3394,1831
$GC,15558,1.34,299.9,490.6,12.1,1404,15563,0.00,2.70,0.00,0.000,6,0.000,0.156,3078,2011,1830
$GC,15883,1.34,299.9,451.7,11.6,1434,15888,0.00,2.85,0.00,0.000,4,0.000,0.171,3078,570,1830
$GC,15925,1.34,299.9,446.8,13.2,1437,15929,0.00,2.67,0.00,0.000,6,0.000,0.130,3078,2016,1831
$GC,16250,1.34,299.9,408.5,11.4,1467,16254,0.00,2.62,0.00,0.000,4,0.000,0.149,3078,3399,1830
$GC,16303,1.34,299.9,402.4,12.0,1471,16307,0.00,2.70,0.00,0.000,6,0.000,0.151,3078,2005,1830
$GC,16628,1.34,299.9,365.5,11.4,1501,16633,0.00,2.85,0.00,0.000,4,0.000,0.169,3078,567,1830
$GC,16667,1.34,299.9,360.8,11.9,1504,16672,0.00,2.67,0.00,0.000,6,0.000,0.129,3078,2016,1831
$GC,17006,1.34,299.9,322.5,10.5,1555,17012,0.00,2.62,0.00,0.000,4,0.000,0.144,3078,3403,1830
$GC,17042,1.34,299.9,318.3,11.2,1561,17049,0.00,2.70,0.00,0.000,6,0.000,0.154,3078,2011,1830
$GC,17387,1.34,299.9,280.1,11.7,1622,17395,0.00,2.83,0.00,0.000,4,0.000,0.168,3078,573,1830
$GC,17430,1.34,299.9,275.2,11.5,1629,17437,0.00,2.65,0.00,0.000,6,0.000,0.128,3078,2013,1831
$GC,17774,1.34,299.9,236.3,11.0,1690,17781,0.00,2.60,0.00,0.000,4,0.000,0.143,3078,3403,1830
$GC,17817,1.34,299.9,231.4,11.7,1697,17824,0.00,2.70,0.00,0.000,6,0.000,0.151,3078,2005,1830
$GC,18161,1.37,325.0,195.1,9.1,1758,18190,0.00,2.88,21.62,0.769,4,0.000,0.162,3078,566,1736
$GC,18225,1.37,325.0,188.2,10.6,1768,18232,0.00,2.65,0.00,0.000,6,0.000,0.127,3078,2004,1735
$GC,18570,1.37,325.0,152.7,11.8,1829,18577,0.00,2.62,0.00,0.000,4,0.000,0.143,3078,3401,1733
$GC,18612,1.37,325.0,147.8,12.3,1836,18619,0.00,2.70,0.00,0.000,6,0.000,0.156,3078,2004,1733
$GC,18955,1.37,325.0,107.9,11.3,1897,18961,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2003,1733
$GC,19299,1.37,325.0,66.0,11.4,1958,19307,0.00,2.83,0.00,0.000,4,0.000,0.173,3078,565,1732
$GC,19342,1.37,325.0,60.7,13.0,1965,19349,0.00,2.65,0.00,0.000,6,0.000,0.128,3078,2005,1733
$GC,19685,1.37,325.0,23.0,10.2,2026,19692,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2008,1732
$GC,19827,1.37,325.0,8.9,10.5,2051,19833,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2008,1732
$STATE,19883,end climb,SURFACE_DEPTH_REACHED
$STATE,19883,begin surface coast
$FINISH,0.2,1.026996
$STATE,19910,end surface coast,CONTROL_FINISHED_OK
$STATE,19910,begin surface
$SM_CCo,19990,0.00,0.000,0,0,1730,326.74
$SM_GC,0.83,10.38,0.00,0.00,0.031,0.000,0.000,568,2011,1730,-10.07,-0.54,326.74
$IRIDIUM_FIX,6121.73,-2648.13,240897,000007
$TT8_MAMPS,0.042185
$HUMID,1687
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,1054
$24V_AH,23.4,50.950
$10V_AH,10.6,54.724
$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,25.325,147.200,463.275,0.000,0.000,59.794,68.303,328.143,263.500,0.000,0.000,10.998,4233.644,11138.849,726.500,3649.359,911.912,0.000,2324.846,0.000,3672.827,0.000,0.465
$DEVICE_MAMPS,197.119,184.080,1270.152,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1451.368,1540.109,831.288,1869.536,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,151706,2066
$CAP_FILE_SIZE,186513,0
$CFSIZE,260165632,232194048
$ERRORS,0,30,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085,  1.3,1
$GPS,300508,060208,6147.000,-2639.168,30,1.0,30,-19.0