version: 66.03
glider: 141
mission: 7
dive: 256
start: 5 30 108 10 36 17
data:
$ID,141
$MISSION,7
$DIVE,256
$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,-10962.938
$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
$GPS1,102838,6145.388,-2635.061,37,1.7,37,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-56.7
$GPS2,103557,6145.389,-2635.004,11,1.6,11,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NWentry
$TGT_LATLONG,6156.130,-2622.980
$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,46.7,22483,-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,21,-1.34,-194.7,0.0,0.0,0,126,0.00,0.00,-102.88,0.000,2,0.000,0.000,570,2030,3793
$GC,129,-1.34,-194.7,3.7,-6.8,14,153,11.12,2.80,-1.35,0.000,4,0.199,0.168,2481,623,3857
$GC,306,-1.34,-194.7,33.8,-14.0,44,313,0.00,2.58,0.00,0.000,6,0.000,0.128,2481,2030,3858
$GC,449,-1.30,-194.7,51.1,-11.6,69,456,0.00,2.65,0.00,0.000,4,0.000,0.150,2481,3442,3858
$GC,564,-1.24,-194.7,66.2,-13.4,89,571,0.12,2.65,0.00,0.000,6,0.118,0.156,2504,2062,3858
$GC,909,-1.24,-194.7,108.0,-11.5,150,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2060,3858
$GC,1254,-1.24,-194.7,146.4,-11.0,211,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2059,3858
$GC,1597,-1.24,-194.7,187.0,-11.9,272,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2059,3858
$GC,1942,-1.24,-194.7,227.5,-10.8,333,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2059,3859
$GC,2285,-1.24,-194.7,263.0,-9.7,394,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2060,3858
$GC,2630,-1.24,-194.7,297.0,-9.5,455,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2060,3858
$GC,2974,-1.24,-194.7,332.9,-10.8,516,2981,0.00,2.62,0.00,0.000,4,0.000,0.153,2504,3447,3858
$GC,3028,-1.24,-194.7,339.0,-11.7,525,3035,0.00,2.65,0.00,0.000,6,0.000,0.150,2504,2070,3858
$GC,3365,-1.24,-194.7,377.1,-11.3,565,3370,0.00,2.85,0.00,0.000,4,0.000,0.163,2504,615,3858
$GC,3427,-1.24,-194.7,384.2,-11.7,570,3431,0.00,2.67,0.00,0.000,6,0.000,0.128,2505,2072,3858
$GC,3754,-1.24,-194.7,419.8,-11.1,600,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2075,3858
$GC,4070,-1.24,-194.7,455.7,-11.2,630,4075,0.00,2.60,0.00,0.000,4,0.000,0.150,2505,3442,3858
$GC,4124,-1.24,-194.7,461.5,-11.4,634,4128,0.00,2.67,0.00,0.000,6,0.000,0.154,2504,2067,3858
$GC,4450,-1.24,-194.7,495.7,-10.0,664,4454,0.00,2.85,0.00,0.000,4,0.000,0.168,2504,616,3857
$GC,4504,-1.24,-194.7,501.5,-9.5,668,4512,0.00,2.67,0.00,0.000,6,0.000,0.136,2504,2070,3858
$GC,4832,-1.24,-194.7,533.3,-10.1,699,4836,0.00,2.65,0.00,0.000,4,0.000,0.156,2505,3447,3858
$GC,4905,-1.24,-194.7,541.0,-10.5,705,4910,0.00,2.67,0.00,0.000,6,0.000,0.157,2504,2069,3858
$GC,5232,-1.24,-194.7,573.3,-10.2,735,5237,0.00,2.90,0.00,0.000,4,0.000,0.174,2504,610,3858
$GC,5283,-1.24,-194.7,578.8,-10.2,739,5287,0.00,2.72,0.00,0.000,6,0.000,0.135,2504,2076,3858
$GC,5607,-1.24,-194.7,611.2,-9.9,764,5611,0.00,2.65,0.00,0.000,4,0.000,0.163,2504,3447,3858
$GC,5661,-1.24,-194.7,617.2,-10.3,766,5669,0.00,2.67,0.00,0.000,6,0.000,0.165,2504,2072,3857
$GC,5978,-1.24,-194.7,647.4,-9.3,782,5982,0.00,2.97,0.00,0.000,4,0.000,0.188,2504,618,3857
$GC,6029,-1.24,-194.7,652.3,-9.7,784,6033,0.00,2.72,0.00,0.000,6,0.000,0.138,2504,2076,3857
$GC,6345,-1.24,-194.7,682.7,-9.7,799,6349,0.00,2.70,0.00,0.000,4,0.000,0.173,2504,3442,3857
$GC,6400,-1.24,-194.7,688.7,-10.9,801,6407,0.00,2.67,0.00,0.000,6,0.000,0.163,2504,2073,3857
$GC,6717,-1.24,-194.7,719.1,-9.2,817,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2073,3857
$GC,7025,-1.24,-194.7,748.5,-10.0,832,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2071,3857
$GC,7335,-1.24,-194.7,779.4,-10.3,847,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2070,3857
$GC,7644,-1.24,-194.7,807.5,-9.2,862,7649,0.00,2.97,0.00,0.000,4,0.000,0.185,2504,613,3857
$GC,7721,-1.24,-194.7,815.6,-11.3,865,7729,0.00,2.78,0.00,0.000,6,0.000,0.146,2504,2089,3857
$GC,8038,-1.24,-194.7,848.8,-10.2,881,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2091,3857
$STATE,8285,end dive,NO_VERTICAL_VELOCITY
$STATE,8285,begin apogee
$GC,8291,-0.37,0.0,853.5,0.0,893,8466,0.85,0.00,166.85,1.185,6,0.061,0.000,2700,1977,3061
$STATE,8466,end apogee,CONTROL_FINISHED_OK
$STATE,8467,begin climb
$GC,8469,1.34,194.7,853.4,0.0,902,8648,1.65,2.90,164.88,1.159,4,0.074,0.169,3067,574,2267
$GC,8695,1.28,199.7,838.0,9.8,912,8705,0.00,2.67,5.32,0.811,6,0.000,0.133,3067,1994,2248
$GC,9023,1.26,222.7,808.3,9.2,928,9047,0.00,0.00,21.62,1.080,6,0.000,0.000,3067,1996,2154
$GC,9351,1.26,222.7,773.5,11.1,944,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1996,2150
$GC,9660,1.26,222.7,740.7,10.7,959,9664,0.00,2.75,0.00,0.000,4,0.000,0.163,3067,3402,2149
$GC,9709,1.26,222.7,735.1,11.4,961,9713,0.00,2.78,0.00,0.000,6,0.000,0.156,3067,1977,2149
$GC,10031,1.26,222.7,699.6,11.4,977,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1975,2149
$GC,10339,1.26,222.7,664.3,11.3,992,10344,0.00,2.72,0.00,0.000,4,0.000,0.148,3067,3402,2149
$GC,10383,1.26,222.7,658.8,12.8,994,10388,0.00,2.75,0.00,0.000,6,0.000,0.154,3067,1986,2148
$GC,10707,1.26,222.7,622.7,11.1,1010,10711,0.00,2.70,0.00,0.000,4,0.000,0.149,3067,3398,2148
$GC,10728,1.26,222.7,619.9,11.2,1011,10732,0.00,2.72,0.00,0.000,6,0.000,0.154,3067,1998,2148
$GC,11054,1.26,222.7,583.7,11.4,1033,11058,0.00,2.67,0.00,0.000,4,0.000,0.148,3067,3399,2148
$GC,11071,1.26,222.7,581.7,11.3,1034,11075,0.00,2.72,0.00,0.000,6,0.000,0.156,3067,1998,2147
$GC,11397,1.26,222.7,546.4,10.4,1064,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1994,2147
$GC,11716,1.26,222.7,511.3,11.2,1094,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1994,2148
$GC,12032,1.26,222.7,476.5,11.1,1124,12036,0.00,2.67,0.00,0.000,4,0.000,0.146,3067,3405,2148
$GC,12071,1.26,222.7,472.0,11.8,1127,12076,0.00,2.72,0.00,0.000,6,0.000,0.154,3067,1999,2147
$GC,12397,1.26,222.7,438.0,10.2,1157,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1997,2148
$GC,12715,1.26,222.7,405.4,10.2,1187,12719,0.00,2.65,0.00,0.000,4,0.000,0.143,3067,3402,2148
$GC,12744,1.26,222.7,402.4,10.5,1189,12749,0.00,2.70,0.00,0.000,6,0.000,0.153,3067,2014,2147
$GC,13071,1.26,222.7,368.7,10.3,1219,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2012,2148
$GC,13394,1.26,222.7,334.9,11.1,1261,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2011,2148
$GC,13738,1.26,222.7,299.9,10.7,1322,13746,0.00,2.62,0.00,0.000,4,0.000,0.141,3067,3408,2148
$GC,13775,1.26,222.7,295.9,11.0,1328,13783,0.00,2.70,0.00,0.000,6,0.000,0.159,3067,2012,2147
$GC,14121,1.26,222.7,258.8,11.2,1389,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2012,2148
$GC,14464,1.26,222.7,223.0,10.1,1450,14472,0.00,2.60,0.00,0.000,4,0.000,0.140,3067,3402,2148
$GC,14484,1.26,222.7,220.9,10.6,1453,14491,0.00,2.67,0.00,0.000,6,0.000,0.153,3067,2020,2147
$GC,14828,1.27,226.6,185.3,9.9,1514,14836,0.00,0.00,4.07,0.544,6,0.000,0.000,3068,2021,2138
$GC,15174,1.27,226.6,151.0,10.0,1575,15180,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2020,2138
$GC,15517,1.27,226.6,116.7,10.4,1636,15524,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2021,2137
$GC,15863,1.27,226.6,79.8,10.9,1697,15870,0.00,2.60,0.00,0.000,4,0.000,0.138,3068,3407,2138
$GC,15882,1.27,226.6,77.7,10.3,1700,15889,0.00,2.67,0.00,0.000,6,0.000,0.155,3067,2023,2138
$GC,16225,1.36,303.9,46.3,7.3,1761,16300,0.00,2.65,66.60,0.689,4,0.000,0.144,3067,3403,1822
$GC,16330,1.43,356.8,38.5,8.2,1777,16386,0.10,2.67,45.42,0.659,6,0.067,0.154,3099,2021,1606
$GC,16522,1.43,356.8,19.1,11.0,1809,16529,0.00,2.85,0.00,0.000,4,0.000,0.170,3100,573,1600
$GC,16536,1.43,356.8,17.4,11.2,1811,16543,0.00,2.72,0.00,0.000,6,0.000,0.133,3099,2049,1600
$STATE,16659,end climb,SURFACE_DEPTH_REACHED
$STATE,16659,begin surface coast
$FINISH,0.1,1.012840
$STATE,16690,end surface coast,CONTROL_FINISHED_OK
$STATE,16690,begin surface
$SM_CCo,16770,0.00,0.000,0,0,1596,359.61
$SM_GC,0.82,10.65,0.00,0.00,0.038,0.000,0.000,568,2029,1596,-10.08,-0.03,359.61
$IRIDIUM_FIX,6121.73,-2637.97,240897,060613
$TT8_MAMPS,0.042185
$HUMID,1682
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,993
$24V_AH,23.4,51.330
$10V_AH,10.6,55.042
$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,24.500,130.600,474.775,0.000,0.000,30.360,36.569,238.659,248.250,0.000,0.000,12.767,3666.922,8893.588,663.693,3295.627,676.012,0.000,2126.228,0.000,3320.297,0.000,0.465
$DEVICE_MAMPS,199.420,187.915,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1272.097,1400.928,716.719,1715.704,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133277,1838
$CAP_FILE_SIZE,156143,0
$CFSIZE,260165632,232071168
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,304.2,1
$GPS,300508,151701,6148.130,-2634.258,38,1.5,38,-18.9