version: 66.03
glider: 141
mission: 7
dive: 279
start: 6 3 108 20 58 46
data:
$ID,141
$MISSION,7
$DIVE,279
$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,-11353.839
$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,10
$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
$GPS1,205008,6151.998,-2625.596,36,1.2,36,-18.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-53.0
$GPS2,205827,6151.967,-2625.601,15,1.3,15,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$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,35.4,8041,-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,-194.7,0.0,0.0,0,121,0.00,0.00,-98.22,0.000,2,0.000,0.000,569,2041,3812
$GC,124,-1.34,-194.7,3.8,-7.5,13,142,11.05,2.67,-0.95,0.000,4,0.196,0.146,2481,3447,3858
$GC,178,-1.27,-194.7,18.6,-15.0,21,186,0.10,2.70,0.00,0.000,6,0.125,0.150,2499,2019,3859
$GC,324,-1.23,-194.7,33.8,-11.4,46,332,0.00,2.70,0.00,0.000,4,0.000,0.159,2499,615,3859
$GC,377,-1.23,-194.7,40.3,-11.1,55,385,0.00,2.55,0.00,0.000,6,0.000,0.124,2499,2016,3859
$GC,522,-1.23,-194.7,56.8,-11.7,80,530,0.00,2.62,0.00,0.000,4,0.000,0.140,2499,3441,3859
$GC,678,-1.18,-194.7,72.0,-9.2,107,685,0.10,2.62,0.00,0.000,6,0.121,0.140,2518,2048,3859
$GC,1023,-1.18,-194.7,104.2,-9.8,168,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2045,3859
$GC,1369,-1.18,-194.7,142.5,-12.2,229,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2045,3859
$GC,1712,-1.18,-194.7,184.4,-12.2,290,1719,0.00,2.60,0.00,0.000,4,0.000,0.143,2518,3446,3859
$GC,1766,-1.18,-194.7,190.8,-12.3,299,1772,0.00,2.65,0.00,0.000,6,0.000,0.144,2517,2045,3859
$GC,2109,-1.18,-194.7,231.3,-11.7,360,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2043,3859
$GC,2454,-1.18,-194.7,271.0,-11.2,421,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2043,3859
$GC,2797,-1.18,-194.7,310.0,-11.2,482,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2043,3859
$GC,3143,-1.18,-194.7,350.2,-11.2,543,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2042,3859
$GC,3462,-1.18,-194.7,385.2,-11.0,573,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2043,3859
$GC,3780,-1.18,-194.7,419.2,-10.8,603,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2043,3859
$GC,4099,-1.18,-194.7,454.8,-11.3,633,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2043,3859
$GC,4417,-1.18,-194.7,492.0,-11.5,663,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2043,3859
$GC,4738,-1.18,-194.7,530.5,-12.1,693,4742,0.00,2.65,0.00,0.000,4,0.000,0.151,2517,3438,3859
$GC,4793,-1.18,-194.7,537.9,-12.4,697,4800,0.00,2.65,0.00,0.000,6,0.000,0.153,2518,2060,3858
$GC,5119,-1.18,-194.7,577.3,-11.7,728,5124,0.00,2.88,0.00,0.000,4,0.000,0.175,2517,614,3859
$GC,5181,-1.18,-194.7,584.8,-11.9,733,5186,0.00,2.67,0.00,0.000,6,0.000,0.131,2518,2059,3859
$GC,5512,-1.18,-194.7,620.4,-9.8,755,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2062,3859
$GC,5821,-1.18,-194.7,653.2,-11.5,770,5826,0.00,2.92,0.00,0.000,4,0.000,0.179,2517,612,3859
$GC,5883,-1.18,-194.7,660.6,-12.4,773,5888,0.00,2.67,0.00,0.000,6,0.000,0.137,2517,2049,3859
$GC,6211,-1.18,-194.7,695.6,-10.4,789,6215,0.00,2.75,0.00,0.000,4,0.000,0.171,2518,3447,3859
$GC,6260,-1.18,-194.7,701.3,-11.0,791,6265,0.00,2.72,0.00,0.000,6,0.000,0.156,2518,2044,3858
$GC,6576,-1.18,-194.7,736.8,-11.9,806,6580,0.00,2.90,0.00,0.000,4,0.000,0.183,2517,614,3858
$GC,6660,-1.18,-194.7,747.5,-12.5,810,6664,0.00,2.67,0.00,0.000,6,0.000,0.135,2518,2049,3858
$GC,6987,-1.18,-194.7,785.6,-11.1,826,6991,0.00,2.75,0.00,0.000,4,0.000,0.171,2518,3448,3858
$GC,7041,-1.18,-194.7,792.2,-13.0,828,7049,0.00,2.70,0.00,0.000,6,0.000,0.156,2517,2045,3858
$GC,7357,-1.18,-194.7,824.9,-10.1,844,7362,0.00,2.88,0.00,0.000,4,0.000,0.183,2517,618,3858
$GC,7424,-1.18,-194.7,832.0,-10.1,847,7428,0.00,2.67,0.00,0.000,6,0.000,0.137,2517,2053,3857
$GC,7746,-1.18,-194.7,859.4,-8.5,863,7751,0.00,2.72,0.00,0.000,4,0.000,0.170,2517,3441,3858
$GC,7801,-1.18,-194.7,864.4,-8.2,865,7808,0.00,2.70,0.00,0.000,6,0.000,0.156,2517,2046,3858
$GC,8118,-1.18,-194.7,890.2,-8.4,881,8123,0.00,2.88,0.00,0.000,4,0.000,0.183,2518,613,3858
$GC,8173,-1.18,-194.7,895.0,-8.5,883,8180,0.00,2.67,0.00,0.000,6,0.000,0.142,2517,2049,3858
$GC,8490,-1.23,-194.7,920.4,-5.2,899,8494,0.00,2.72,0.00,0.000,4,0.000,0.170,2517,3441,3857
$STATE,8621,end dive,NO_VERTICAL_VELOCITY
$STATE,8621,begin apogee
$GC,8629,-0.37,0.0,920.4,0.0,905,8806,0.80,0.00,168.65,1.238,6,0.091,0.000,2694,1974,3062
$STATE,8807,end apogee,CONTROL_FINISHED_OK
$STATE,8807,begin climb
$GC,8809,1.34,194.7,920.1,0.0,914,8988,1.70,2.95,166.70,1.206,4,0.078,0.176,3067,572,2267
$GC,9128,1.34,194.7,892.0,12.0,928,9132,0.00,2.65,0.00,0.000,6,0.000,0.130,3067,1991,2263
$GC,9452,1.34,194.7,857.5,10.4,944,9456,0.00,2.72,0.00,0.000,4,0.000,0.158,3067,3398,2261
$GC,9491,1.34,194.7,853.2,10.3,946,9495,0.00,2.72,0.00,0.000,6,0.000,0.150,3067,1987,2261
$GC,9817,1.37,217.2,823.8,9.2,962,9843,0.00,2.80,20.27,1.106,4,0.000,0.147,3067,3396,2175
$GC,9873,1.37,219.3,818.2,9.9,964,9877,0.00,2.70,0.00,0.000,6,0.000,0.153,3067,2003,2173
$GC,10189,1.37,219.3,786.7,10.2,979,10193,0.00,2.67,0.00,0.000,4,0.000,0.150,3067,3396,2172
$GC,10210,1.37,220.2,784.3,10.0,980,10214,0.00,2.70,0.00,0.000,6,0.000,0.150,3067,2002,2171
$GC,10531,1.37,220.2,751.5,10.5,996,10536,0.00,2.67,0.00,0.000,4,0.000,0.150,3067,3398,2171
$GC,10549,1.37,220.2,749.6,10.1,997,10553,0.00,2.67,0.00,0.000,6,0.000,0.150,3067,2015,2171
$GC,10876,1.42,258.1,720.5,8.7,1013,10922,0.10,2.72,37.35,1.095,4,0.069,0.147,3099,3403,2008
$GC,10946,1.42,258.1,713.2,10.9,1016,10951,0.00,2.70,0.00,0.000,6,0.000,0.151,3099,2019,2006
$GC,11274,1.38,258.1,677.4,11.0,1032,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2017,2004
$GC,11584,1.34,258.1,643.7,10.6,1047,11586,0.15,0.00,0.00,0.000,6,0.103,0.000,3069,2017,2004
$GC,11893,1.37,282.6,615.2,9.1,1062,11918,0.00,0.00,22.73,1.012,6,0.000,0.000,3069,2017,1909
$GC,12226,1.37,282.6,583.2,10.0,1086,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2017,1905
$GC,12545,1.37,282.6,548.4,11.6,1116,12549,0.00,2.88,0.00,0.000,4,0.000,0.170,3068,564,1905
$GC,12562,1.37,282.6,546.4,12.0,1117,12567,0.00,2.70,0.00,0.000,6,0.000,0.129,3068,2025,1905
$GC,12887,1.37,282.6,508.5,11.7,1147,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2027,1904
$GC,13206,1.37,282.6,472.0,11.2,1177,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2027,1904
$GC,13525,1.37,282.6,438.1,10.2,1207,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2027,1905
$GC,13843,1.37,282.6,405.8,10.1,1237,13847,0.00,2.85,0.00,0.000,4,0.000,0.165,3068,574,1904
$GC,13860,1.37,282.6,404.0,10.0,1238,13864,0.00,2.65,0.00,0.000,6,0.000,0.129,3068,2011,1904
$GC,14187,1.37,283.9,372.0,10.0,1268,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2014,1904
$GC,14509,1.37,283.9,337.8,10.5,1307,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2014,1904
$GC,14851,1.37,283.9,300.0,10.6,1368,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2014,1904
$GC,15196,1.37,283.9,262.5,10.8,1429,15203,0.00,2.83,0.00,0.000,4,0.000,0.160,3068,569,1905
$GC,15211,1.37,283.9,260.9,10.6,1431,15218,0.00,2.65,0.00,0.000,6,0.000,0.127,3068,2013,1905
$GC,15556,1.38,295.7,225.2,9.6,1492,15576,0.00,0.00,12.57,0.754,6,0.000,0.000,3068,2015,1855
$GC,15914,1.38,295.7,187.1,10.3,1555,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2015,1854
$GC,16259,1.41,319.0,153.1,9.2,1616,16285,0.00,0.00,21.08,0.742,6,0.000,0.000,3068,2016,1760
$GC,16623,1.44,339.4,120.1,9.3,1680,16651,0.10,2.88,18.77,0.714,4,0.069,0.159,3099,572,1677
$GC,16658,1.44,339.4,116.4,10.6,1685,16665,0.00,2.65,0.00,0.000,6,0.000,0.126,3100,2001,1677
$GC,17002,1.49,379.6,79.0,8.6,1746,17043,0.00,2.90,35.75,0.703,4,0.000,0.157,3099,573,1514
$GC,17073,1.53,411.8,73.0,8.9,1757,17108,0.00,2.60,28.85,0.683,6,0.000,0.123,3099,1985,1382
$GC,17448,1.53,411.8,36.2,10.5,1822,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1987,1374
$GC,17589,1.53,411.8,20.8,10.8,1847,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1986,1374
$GC,17732,1.53,411.8,5.3,10.1,1872,17739,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1987,1373
$STATE,17755,end climb,SURFACE_DEPTH_REACHED
$STATE,17755,begin surface coast
$FINISH,0.1,1.026975
$STATE,17783,end surface coast,CONTROL_FINISHED_OK
$STATE,17783,begin surface
$SM_CCo,17863,0.00,0.000,0,0,1371,414.80
$SM_GC,0.63,10.60,0.00,0.00,0.037,0.000,0.000,569,2033,1371,-10.08,0.08,414.80
$IRIDIUM_FIX,6126.23,-2615.57,280897,161625
$TT8_MAMPS,0.042185
$HUMID,1689
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.80
$XPDR_PINGS,1100
$24V_AH,23.4,55.897
$10V_AH,10.6,58.575
$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,24.700,136.575,532.725,0.000,0.000,27.824,39.107,280.495,275.000,0.000,0.000,16.486,3784.690,9665.493,709.056,3459.583,725.746,0.000,2238.121,0.000,3456.887,0.000,0.465
$DEVICE_MAMPS,196.352,183.313,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1305.437,1413.369,736.876,1717.951,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139107,1881
$CAP_FILE_SIZE,166408,0
$CFSIZE,260165632,230092800
$ERRORS,0,14,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,152.3,1
$GPS,040608,015757,6154.096,-2623.167,32,2.1,51,-18.9