version: 66.03
glider: 141
mission: 7
dive: 76
start: 4 21 108 4 29 27
data:
$ID,141
$MISSION,7
$DIVE,76
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,-7670.4048
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,042002,6023.597,-2217.715,38,1.6,38,-15.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-54.6
$GPS2,042909,6023.678,-2217.842,12,1.7,12,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6023.678,-2212.507
$TGT_RADIUS,1852.000
$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,105.8,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-101.75,0.000,2,0.000,0.000,571,2015,3752
$GC,132,-1.34,-194.7,3.3,-5.7,14,156,11.12,2.70,-2.38,0.000,4,0.199,0.066,2477,3443,3858
$GC,220,-1.29,-194.7,19.2,-10.6,29,228,0.00,2.58,0.00,0.000,6,0.000,0.046,2477,2027,3859
$GC,355,-1.29,-194.7,34.9,-11.1,54,363,0.10,2.65,0.00,0.000,4,0.122,0.057,2495,3440,3859
$GC,391,-1.29,-194.7,39.1,-11.6,60,399,0.00,2.53,0.00,0.000,6,0.000,0.043,2495,2045,3859
$GC,525,-1.29,-194.7,53.6,-11.4,85,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2041,3859
$GC,658,-1.29,-194.7,68.3,-10.4,110,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,792,-1.29,-194.7,82.6,-11.0,135,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,926,-1.29,-194.7,96.9,-11.1,160,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,1060,-1.29,-194.7,111.3,-10.8,185,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,1193,-1.29,-194.7,125.7,-10.9,210,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2039,3859
$GC,1327,-1.29,-194.7,139.9,-10.4,235,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2039,3859
$GC,1459,-1.29,-194.7,154.5,-11.0,260,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,1791,-1.29,-194.7,189.7,-10.1,321,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2039,3859
$GC,2120,-1.29,-194.7,223.3,-9.9,382,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,2453,-1.29,-194.7,257.3,-10.7,443,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,2781,-1.29,-194.7,291.4,-10.1,504,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,3115,-1.29,-194.7,325.8,-10.5,565,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,3445,-1.29,-194.7,360.8,-10.7,626,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2039,3859
$GC,3784,-1.29,-194.7,396.8,-10.7,687,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,4123,-1.29,-194.7,432.7,-10.5,748,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2040,3859
$GC,4468,-1.29,-194.7,468.2,-10.7,809,4474,0.00,2.65,0.00,0.000,4,0.000,0.066,2495,3446,3859
$GC,4515,-1.29,-194.7,473.7,-12.4,817,4521,0.00,2.53,0.00,0.000,6,0.000,0.046,2495,2050,3859
$GC,4855,-1.29,-194.7,509.1,-10.3,878,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2048,3859
$GC,5194,-1.29,-194.7,543.5,-10.1,939,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2047,3859
$GC,5536,-1.29,-194.7,578.0,-9.5,1000,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2046,3859
$GC,5879,-1.29,-194.7,611.4,-9.7,1051,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2045,3859
$GC,6198,-1.29,-194.7,642.0,-9.6,1081,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2045,3859
$GC,6517,-1.29,-194.7,673.4,-10.0,1111,6522,0.00,2.75,0.00,0.000,4,0.000,0.091,2495,3437,3859
$GC,6578,-1.29,-194.7,679.9,-10.6,1116,6582,0.00,2.60,0.00,0.000,6,0.000,0.063,2495,2043,3859
$GC,6903,-1.29,-194.7,711.9,-9.6,1146,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2043,3858
$GC,7220,-1.29,-194.7,742.8,-10.1,1176,7224,0.00,2.70,0.00,0.000,4,0.000,0.082,2495,3442,3858
$GC,7251,-1.29,-194.7,746.2,-10.3,1178,7258,0.00,2.60,0.00,0.000,6,0.000,0.059,2495,2035,3858
$GC,7577,-1.29,-194.7,778.6,-10.2,1209,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2034,3858
$GC,7895,-1.29,-194.7,811.6,-10.4,1239,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2033,3858
$GC,8214,-1.29,-194.7,843.9,-9.7,1269,8218,0.00,2.70,0.00,0.000,4,0.000,0.078,2495,3437,3857
$GC,8241,-1.29,-194.7,846.7,-10.8,1271,8245,0.00,2.55,0.00,0.000,6,0.000,0.056,2495,2049,3857
$GC,8568,-1.29,-194.7,877.6,-9.4,1301,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2048,3857
$GC,8884,-1.29,-194.7,906.7,-9.2,1331,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2047,3857
$GC,9203,-1.29,-194.7,935.2,-8.7,1361,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2046,3856
$GC,9521,-1.29,-194.7,963.4,-8.9,1391,9526,0.00,2.67,0.00,0.000,4,0.000,0.079,2495,3442,3855
$GC,9571,-1.29,-194.7,968.4,-10.2,1395,9576,0.00,2.55,0.00,0.000,6,0.000,0.057,2495,2056,3855
$STATE,9808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9809,begin apogee
$GC,9813,-0.37,0.0,990.3,9.2,1417,9986,0.95,0.00,168.88,1.292,6,0.099,0.000,2697,1983,3062
$STATE,9986,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9988,1.34,194.7,994.4,0.0,1434,10165,1.67,0.00,168.70,1.261,6,0.076,0.000,3070,1981,2266
$GC,10483,1.28,194.7,947.0,10.7,1482,10488,0.00,2.72,0.00,0.000,4,0.000,0.069,3070,3395,2260
$GC,10537,1.23,194.7,940.6,11.9,1486,10545,0.12,2.58,0.00,0.000,6,0.110,0.051,3046,1999,2260
$GC,10862,1.25,213.8,909.8,9.3,1517,10883,0.00,0.00,17.23,1.151,6,0.000,0.000,3046,1999,2190
$GC,11201,1.28,235.8,877.8,9.2,1549,11224,0.00,0.00,21.00,1.160,6,0.000,0.000,3046,1999,2100
$GC,11539,1.30,253.2,845.9,9.4,1581,11561,0.00,2.78,16.88,1.129,4,0.000,0.068,3046,3392,2029
$GC,11594,1.30,253.2,840.4,10.6,1586,11599,0.00,2.58,0.00,0.000,6,0.000,0.051,3046,2002,2027
$GC,11918,1.31,265.4,808.8,9.6,1616,11932,0.00,0.00,12.00,1.075,6,0.000,0.000,3046,2002,1980
$GC,12246,1.33,282.8,778.0,9.4,1647,12278,0.10,0.00,19.45,1.014,6,0.071,0.000,3077,2002,1907
$GC,12595,1.33,282.8,738.4,11.9,1680,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1905
$GC,12913,1.33,282.8,701.5,11.2,1710,12914,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1904
$GC,13232,1.33,282.8,665.9,11.3,1740,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1904
$GC,13550,1.33,282.8,628.9,11.8,1770,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2001,1903
$GC,13873,1.33,282.8,590.9,11.6,1806,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1903
$GC,14212,1.33,282.8,550.4,11.4,1867,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2000,1903
$GC,14551,1.33,282.8,510.0,11.2,1928,14560,0.00,2.67,0.00,0.000,4,0.000,0.068,3077,3395,1903
$GC,14609,1.33,282.8,503.0,12.8,1938,14615,0.00,2.55,0.00,0.000,6,0.000,0.048,3077,1993,1902
$GC,14950,1.33,282.8,464.3,10.6,1999,14956,0.00,2.67,0.00,0.000,4,0.000,0.067,3077,570,1903
$GC,14986,1.29,282.8,460.6,10.4,2005,14992,0.00,2.60,0.00,0.000,6,0.000,0.046,3077,2007,1903
$GC,15326,1.29,282.8,421.9,11.4,2066,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2011,1903
$GC,15667,1.29,282.8,383.6,10.9,2127,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2011,1903
$GC,16006,1.29,282.8,345.3,10.8,2188,16014,0.00,2.60,0.00,0.000,4,0.000,0.069,3077,3395,1903
$GC,16048,1.29,282.8,340.5,12.3,2195,16054,0.00,2.50,0.00,0.000,6,0.000,0.044,3077,2007,1903
$GC,16380,1.29,282.8,304.3,10.7,2256,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1903
$GC,16714,1.29,282.8,268.2,11.5,2317,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1903
$GC,17042,1.29,282.8,231.6,11.4,2378,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1904
$GC,17376,1.29,282.8,194.4,11.4,2439,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1904
$GC,17703,1.29,282.8,155.8,14.0,2500,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1904
$GC,18025,1.29,282.8,117.8,13.4,2561,18033,0.00,2.70,0.00,0.000,4,0.000,0.067,3077,574,1904
$GC,18061,1.29,282.8,113.4,13.1,2567,18069,0.00,2.62,0.00,0.000,6,0.000,0.045,3077,2016,1904
$GC,18196,1.29,282.8,97.5,12.3,2592,18204,0.00,2.55,0.00,0.000,4,0.000,0.063,3077,3387,1904
$GC,18227,1.29,282.8,93.7,12.2,2597,18235,0.00,2.50,0.00,0.000,6,0.000,0.044,3077,2011,1904
$GC,18361,1.29,282.8,78.0,10.9,2622,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2008,1904
$GC,18494,1.29,282.8,62.5,12.6,2647,18501,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2007,1904
$GC,18628,1.29,282.8,46.5,13.0,2672,18636,0.00,2.70,0.00,0.000,4,0.000,0.063,3077,577,1904
$GC,18659,1.29,282.8,42.6,11.4,2677,18667,0.00,2.62,0.00,0.000,6,0.000,0.044,3077,2020,1904
$GC,18793,1.29,282.8,27.6,11.1,2702,18800,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2022,1904
$GC,18927,1.29,282.8,12.1,12.5,2727,18934,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2022,1904
$STATE,19012,end climb,SURFACE_DEPTH_REACHED
$STATE,19012,begin surface coast
$FINISH,0.2,1.027177
$STATE,19040,end surface coast,CONTROL_FINISHED_OK
$STATE,19040,begin surface
$SM_CCo,19117,0.00,0.000,0,0,1903,284.30
$SM_GC,0.72,10.48,0.00,0.00,0.033,0.000,0.000,566,2022,1903,-10.08,-0.23,284.30
$IRIDIUM_FIX,5958.08,-2222.81,150797,232319
$TT8_MAMPS,0.042185
$HUMID,1608
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.50
$XPDR_PINGS,794
$24V_AH,23.5,16.988
$10V_AH,10.5,24.788
$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,24.550,78.850,424.125,0.000,0.000,33.268,45.810,334.647,198.500,0.000,0.000,13.883,4165.970,7836.435,630.153,6244.155,757.798,0.000,2657.501,0.000,6313.264,0.000,0.466
$DEVICE_MAMPS,198.653,94.341,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1916.629,2000.878,1245.062,1785.133,3495.542,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202251,2748
$CAP_FILE_SIZE,199743,0
$CFSIZE,260165632,248664064
$ERRORS,0,20,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210408,094908,6025.075,-2210.619,30,1.4,30,-15.8