version: 66.03
glider: 141
mission: 7
dive: 259
start: 5 31 108 1 52 3
data:
$ID,141
$MISSION,7
$DIVE,259
$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,-11028.091
$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,9
$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
$GPS1,014342,6153.106,-2627.926,37,1.6,41,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-51.1
$GPS2,015144,6153.125,-2627.920,10,1.3,15,-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,56.6,7036,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,132,0.00,0.00,-108.38,0.000,2,0.000,0.000,571,2014,3724
$GC,135,-1.34,-194.7,3.4,-6.0,14,159,11.12,2.70,-3.05,0.000,4,0.198,0.166,2481,618,3859
$GC,305,-1.34,-194.7,30.9,-11.9,43,313,0.00,2.58,0.00,0.000,6,0.000,0.126,2482,2035,3860
$GC,449,-1.29,-194.7,49.5,-13.8,68,456,0.00,2.60,0.00,0.000,4,0.000,0.137,2482,3444,3860
$GC,519,-1.23,-194.7,59.2,-13.7,80,527,0.15,2.67,0.00,0.000,6,0.114,0.142,2510,2025,3860
$GC,864,-1.23,-194.7,97.6,-10.8,141,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2021,3860
$GC,1208,-1.23,-194.7,133.9,-10.1,202,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2021,3860
$GC,1553,-1.23,-194.7,167.8,-9.8,263,1560,0.00,2.65,0.00,0.000,4,0.000,0.139,2511,3445,3860
$GC,1613,-1.23,-194.7,173.9,-10.6,273,1620,0.00,2.67,0.00,0.000,6,0.000,0.146,2510,2037,3860
$GC,1958,-1.23,-194.7,206.6,-9.6,334,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2035,3860
$GC,2303,-1.23,-194.7,239.2,-10.0,395,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2035,3860
$GC,2646,-1.23,-194.7,272.5,-10.0,456,2654,0.00,2.62,0.00,0.000,4,0.000,0.146,2511,3449,3860
$GC,2700,-1.23,-194.7,278.2,-10.8,465,2706,0.00,2.67,0.00,0.000,6,0.000,0.145,2511,2041,3860
$GC,3044,-1.23,-194.7,313.1,-9.9,526,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2039,3860
$GC,3388,-1.23,-194.7,348.3,-10.5,587,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2039,3860
$GC,3715,-1.23,-194.7,382.2,-10.3,619,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2039,3860
$GC,4034,-1.23,-194.7,414.2,-10.0,649,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2039,3860
$GC,4352,-1.23,-194.7,446.1,-9.9,679,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2039,3859
$GC,4671,-1.23,-194.7,477.5,-10.2,709,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2039,3859
$GC,4991,-1.23,-194.7,510.1,-10.5,739,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2039,3860
$GC,5316,-1.23,-194.7,544.3,-10.4,770,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2039,3859
$GC,5635,-1.23,-194.7,577.2,-10.3,800,5639,0.00,2.70,0.00,0.000,4,0.000,0.156,2510,3441,3859
$GC,5689,-1.23,-194.7,583.4,-11.1,804,5697,0.00,2.67,0.00,0.000,6,0.000,0.157,2510,2050,3859
$GC,6020,-1.23,-194.7,618.6,-10.6,828,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2050,3859
$GC,6330,-1.23,-194.7,650.1,-9.5,843,6335,0.00,2.92,0.00,0.000,4,0.000,0.186,2510,611,3859
$GC,6379,-1.23,-194.7,655.1,-9.8,845,6384,0.00,2.67,0.00,0.000,6,0.000,0.137,2510,2057,3858
$GC,6695,-1.23,-194.7,684.9,-9.6,860,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2059,3858
$GC,7005,-1.23,-194.7,713.3,-9.3,875,7010,0.00,2.72,0.00,0.000,4,0.000,0.170,2510,3447,3858
$GC,7054,-1.23,-194.7,718.5,-10.2,877,7059,0.00,2.70,0.00,0.000,6,0.000,0.156,2510,2057,3857
$GC,7371,-1.23,-194.7,749.0,-9.3,892,7376,0.00,2.92,0.00,0.000,4,0.000,0.186,2510,615,3858
$GC,7448,-1.23,-194.7,756.4,-9.1,895,7455,0.00,2.67,0.00,0.000,6,0.000,0.140,2510,2050,3857
$GC,7765,-1.23,-194.7,785.0,-9.9,911,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2052,3857
$GC,8073,-1.23,-194.7,815.2,-9.7,926,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2052,3857
$GC,8383,-1.23,-194.7,844.1,-9.5,941,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2052,3857
$GC,8692,-1.23,-194.7,871.8,-8.7,956,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2053,3857
$GC,9002,-1.23,-194.7,897.7,-8.3,971,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2052,3856
$STATE,9308,end dive,NO_VERTICAL_VELOCITY
$STATE,9308,begin apogee
$GC,9314,-0.37,0.0,906.2,0.0,986,9485,0.85,0.00,167.55,1.233,6,0.083,0.000,2698,1978,3062
$STATE,9486,end apogee,CONTROL_FINISHED_OK
$STATE,9486,begin climb
$GC,9488,1.34,194.7,905.9,0.0,994,9667,1.67,2.85,166.38,1.199,4,0.073,0.166,3068,574,2266
$GC,9723,1.28,194.7,886.7,12.1,1004,9727,0.00,2.65,0.00,0.000,6,0.000,0.133,3068,1985,2264
$GC,10040,1.23,194.7,852.0,10.7,1019,10044,0.00,2.78,0.00,0.000,4,0.000,0.162,3068,3405,2261
$GC,10061,1.19,194.7,849.2,11.6,1020,10066,0.15,2.75,0.00,0.000,6,0.106,0.152,3039,1990,2260
$GC,10384,1.22,217.6,819.4,9.2,1036,10410,0.00,2.78,20.50,1.102,4,0.000,0.149,3039,3405,2173
$GC,10438,1.23,222.8,813.7,9.8,1038,10452,0.00,2.75,6.12,0.878,6,0.000,0.152,3039,1995,2153
$GC,10759,1.28,263.8,784.8,8.6,1054,10800,0.00,0.00,38.20,1.122,6,0.000,0.000,3039,1993,1985
$GC,11109,1.28,263.8,751.9,10.0,1071,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1993,1981
$GC,11418,1.28,267.2,721.4,9.9,1086,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1993,1980
$GC,11728,1.32,299.2,692.8,8.9,1101,11768,0.12,0.00,32.90,1.077,6,0.065,0.000,3076,1992,1842
$GC,12077,1.32,299.2,652.2,11.8,1118,12081,0.00,2.70,0.00,0.000,4,0.000,0.149,3076,3402,1837
$GC,12103,1.32,299.2,648.8,11.1,1119,12107,0.00,2.72,0.00,0.000,6,0.000,0.150,3076,2002,1836
$GC,12419,1.32,299.2,614.3,10.8,1134,12423,0.00,2.67,0.00,0.000,4,0.000,0.148,3076,3402,1836
$GC,12440,1.32,299.2,611.8,10.3,1135,12445,0.00,2.70,0.00,0.000,6,0.000,0.152,3076,2013,1835
$GC,12769,1.32,299.2,575.1,11.4,1161,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2011,1836
$GC,13087,1.32,299.2,540.3,10.8,1191,13092,0.00,2.62,0.00,0.000,4,0.000,0.147,3076,3397,1835
$GC,13109,1.32,299.2,537.4,10.8,1192,13117,0.00,2.70,0.00,0.000,6,0.000,0.150,3076,2015,1835
$GC,13437,1.32,299.2,500.2,11.9,1223,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2013,1835
$GC,13761,1.32,299.2,462.7,11.3,1254,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2012,1835
$GC,14081,1.32,299.2,427.2,11.0,1284,14082,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2012,1835
$GC,14400,1.32,299.2,392.5,10.8,1314,14401,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2012,1835
$GC,14718,1.32,299.2,357.9,10.9,1344,14722,0.00,2.62,0.00,0.000,4,0.000,0.142,3076,3406,1835
$GC,14735,1.32,299.2,355.9,11.1,1345,14739,0.00,2.67,0.00,0.000,6,0.000,0.146,3076,2017,1834
$GC,15075,1.32,299.2,319.2,11.1,1400,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2016,1835
$GC,15419,1.32,299.2,283.0,10.4,1461,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2016,1835
$GC,15762,1.32,299.2,245.6,11.4,1522,15770,0.00,2.60,0.00,0.000,4,0.000,0.140,3076,3404,1835
$GC,15783,1.32,299.2,243.4,11.2,1525,15790,0.00,2.65,0.00,0.000,6,0.000,0.146,3076,2018,1835
$GC,16127,1.32,299.2,205.1,11.2,1586,16134,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2018,1835
$GC,16472,1.32,299.2,167.5,10.5,1647,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1835
$GC,16815,1.32,299.2,130.4,10.3,1708,16822,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1835
$GC,17160,1.32,302.0,94.8,9.9,1769,17167,0.00,2.60,0.00,0.000,4,0.000,0.139,3076,3405,1835
$GC,17192,1.33,309.1,91.8,9.8,1774,17207,0.00,2.62,9.10,0.656,6,0.000,0.155,3076,2031,1801
$GC,17546,1.33,309.1,54.9,10.6,1836,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2030,1799
$GC,17889,1.33,309.1,19.8,11.0,1897,17896,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2030,1799
$GC,18032,1.36,331.2,5.9,9.2,1922,18054,0.00,0.00,19.73,0.651,6,0.000,0.000,3076,2030,1711
$STATE,18059,end climb,SURFACE_DEPTH_REACHED
$STATE,18059,begin surface coast
$FINISH,0.2,1.012833
$STATE,18094,end surface coast,CONTROL_FINISHED_OK
$STATE,18094,begin surface
$SM_CCo,18174,0.00,0.000,0,0,1706,332.63
$SM_GC,0.82,10.57,0.00,0.00,0.039,0.000,0.000,569,2027,1706,-10.08,-0.08,332.63
$IRIDIUM_FIX,6126.23,-2631.87,240897,202014
$TT8_MAMPS,0.042185
$HUMID,1681
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.90
$XPDR_PINGS,1019
$24V_AH,23.4,51.951
$10V_AH,10.6,55.543
$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,24.650,91.800,460.475,0.000,0.000,30.266,34.880,267.789,254.750,0.000,0.000,16.598,3858.435,10024.524,661.053,3406.866,687.084,0.000,2131.417,0.000,3414.799,0.000,0.465
$DEVICE_MAMPS,197.886,185.614,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1342.625,1454.963,734.104,1776.543,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142426,1932
$CAP_FILE_SIZE,157767,0
$CFSIZE,260165632,231792640
$ERRORS,0,26,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,248.6,1
$GPS,310508,065608,6155.300,-2624.664,35,1.2,35,-18.9