version: 66.03
glider: 141
mission: 7
dive: 78
start: 4 21 108 15 47 33
data:
$ID,141
$MISSION,7
$DIVE,78
$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,-7700.1445
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,153155,6026.169,-2200.262,39,0.8,39,-15.7
$_CALLS,2
$_XMS_NAKs,53
$_XMS_TOUTs,6
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-48.1
$GPS2,154715,6026.314,-2159.994,12,1.8,12,-15.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6026.314,-2154.667
$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,105.7,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,144,0.00,0.00,-115.22,0.000,2,0.000,0.000,568,2011,3756
$GC,146,-1.34,-194.7,3.1,-5.9,16,170,11.15,2.67,-2.40,0.000,4,0.197,0.064,2483,3442,3859
$GC,219,-1.34,-194.7,17.4,-12.0,28,227,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,2022,3860
$GC,353,-1.34,-194.7,33.3,-13.3,53,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2017,3860
$GC,487,-1.34,-194.7,50.6,-12.4,78,495,0.00,2.65,0.00,0.000,4,0.000,0.063,2483,3438,3861
$GC,529,-1.34,-194.7,56.0,-13.3,85,536,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2035,3860
$GC,662,-1.34,-194.7,72.0,-12.1,110,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2031,3860
$GC,796,-1.34,-194.7,87.2,-11.7,135,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,930,-1.34,-194.7,102.2,-10.8,160,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,1064,-1.34,-194.7,116.7,-10.6,185,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,1197,-1.34,-194.7,131.1,-10.5,210,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,1330,-1.34,-194.7,146.0,-11.6,235,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3860
$GC,1465,-1.34,-194.7,161.4,-11.5,260,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,1798,-1.34,-194.7,198.7,-11.2,321,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,2126,-1.34,-194.7,235.9,-11.4,382,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,2458,-1.34,-194.7,272.6,-11.1,443,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3860
$GC,2787,-1.34,-194.7,311.1,-12.2,504,2795,0.00,2.62,0.00,0.000,4,0.000,0.060,2483,3433,3860
$GC,2818,-1.34,-194.7,314.8,-13.4,509,2824,0.00,2.53,0.00,0.000,6,0.000,0.043,2483,2024,3860
$GC,3149,-1.34,-194.7,354.2,-11.9,570,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,3488,-1.34,-194.7,393.5,-11.4,631,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,3827,-1.34,-194.7,431.7,-10.8,692,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,4170,-1.34,-194.7,467.9,-9.6,753,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,4509,-1.34,-194.7,501.8,-9.6,814,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,4847,-1.34,-194.7,534.8,-9.9,875,4853,0.00,2.70,0.00,0.000,4,0.000,0.071,2483,3435,3860
$GC,4882,-1.34,-194.7,538.4,-11.1,881,4888,0.00,2.55,0.00,0.000,6,0.000,0.049,2483,2037,3860
$GC,5220,-1.34,-194.7,573.6,-10.9,942,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3860
$GC,5559,-1.34,-194.7,611.1,-11.0,995,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3860
$GC,5878,-1.34,-194.7,646.0,-11.4,1025,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,6197,-1.34,-194.7,680.9,-10.6,1055,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3859
$GC,6517,-1.34,-194.7,713.9,-10.3,1085,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3859
$GC,6834,-1.34,-194.7,745.8,-9.8,1115,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3859
$GC,7153,-1.34,-194.7,776.3,-9.2,1145,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3859
$GC,7472,-1.34,-194.7,805.8,-9.6,1175,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,7790,-1.34,-194.7,836.8,-9.9,1205,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,8108,-1.34,-194.7,869.2,-10.2,1235,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,8427,-1.34,-194.7,900.4,-9.5,1265,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3858
$GC,8746,-1.34,-194.7,931.1,-9.9,1295,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,9065,-1.34,-194.7,961.7,-9.4,1325,9069,0.00,2.72,0.00,0.000,4,0.000,0.085,2483,3438,3857
$GC,9107,-1.34,-194.7,966.3,-10.0,1328,9114,0.00,2.60,0.00,0.000,6,0.000,0.060,2483,2033,3857
$STATE,9356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9356,begin apogee
$GC,9360,-0.37,0.0,990.7,9.8,1352,9533,1.00,0.00,168.93,1.290,6,0.098,0.000,2696,1972,3062
$STATE,9534,end apogee,CONTROL_FINISHED_OK
$STATE,9534,begin climb
$GC,9536,1.34,194.7,995.5,0.0,1369,9713,1.70,0.00,168.25,1.257,6,0.077,0.000,3072,1972,2267
$GC,10031,1.28,194.7,947.1,11.2,1417,10035,0.00,2.72,0.00,0.000,4,0.000,0.069,3073,3390,2262
$GC,10097,1.21,194.7,939.1,13.0,1422,10104,0.15,2.58,0.00,0.000,6,0.107,0.051,3044,1997,2261
$GC,10421,1.22,201.0,907.1,9.8,1453,10431,0.00,0.00,5.70,0.917,6,0.000,0.000,3044,1997,2243
$GC,10750,1.23,208.0,875.1,9.8,1484,10764,0.00,2.70,8.35,1.028,4,0.000,0.068,3044,3392,2213
$GC,10787,1.23,208.0,871.3,10.0,1487,10791,0.00,2.55,0.00,0.000,6,0.000,0.051,3043,2005,2212
$GC,11111,1.26,233.4,841.1,9.1,1517,11142,0.00,2.70,24.02,1.152,4,0.000,0.069,3044,3395,2109
$GC,11169,1.26,233.4,835.3,10.2,1522,11176,0.00,2.55,0.00,0.000,6,0.000,0.051,3044,2024,2108
$GC,11495,1.26,235.0,803.6,9.9,1553,11499,0.00,2.80,0.00,0.000,4,0.000,0.084,3044,572,2106
$GC,11537,1.26,235.0,798.9,10.2,1556,11544,0.00,2.65,0.00,0.000,6,0.000,0.051,3044,2007,2106
$GC,11863,1.26,235.0,766.7,10.1,1587,11868,0.00,2.62,0.00,0.000,4,0.000,0.076,3043,3392,2105
$GC,11930,1.26,235.0,759.7,10.6,1592,11936,0.00,2.50,0.00,0.000,6,0.000,0.050,3043,2018,2105
$GC,12254,1.27,245.5,728.4,9.6,1623,12268,0.00,0.00,11.57,1.034,6,0.000,0.000,3043,2018,2061
$GC,12582,1.30,263.3,696.7,9.4,1654,12606,0.00,2.75,17.30,1.055,4,0.000,0.068,3043,3399,1988
$GC,12636,1.30,263.3,691.3,10.4,1659,12640,0.00,2.53,0.00,0.000,6,0.000,0.049,3043,2031,1987
$GC,12959,1.33,292.6,661.5,9.0,1689,12991,0.12,0.00,27.98,1.060,6,0.064,0.000,3078,2031,1868
$GC,13308,1.33,292.6,621.1,11.1,1722,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2031,1864
$GC,13632,1.33,292.6,585.0,10.5,1764,13641,0.00,2.60,0.00,0.000,4,0.000,0.067,3078,3394,1863
$GC,13674,1.33,292.6,580.3,11.1,1771,13680,0.00,2.47,0.00,0.000,6,0.000,0.049,3078,2029,1863
$GC,14014,1.33,292.6,541.2,11.3,1832,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2028,1863
$GC,14359,1.33,292.6,501.0,11.6,1893,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2028,1863
$GC,14700,1.33,292.6,461.5,11.3,1954,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2028,1863
$GC,15039,1.33,292.6,421.9,11.9,2015,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2028,1863
$GC,15378,1.33,292.6,381.7,11.7,2076,15385,0.00,2.55,0.00,0.000,4,0.000,0.063,3078,3388,1862
$GC,15409,1.33,292.6,378.0,12.3,2081,15415,0.00,2.42,0.00,0.000,6,0.000,0.047,3078,2037,1862
$GC,15746,1.33,292.6,336.9,11.4,2142,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2035,1863
$GC,16079,1.33,292.6,299.0,11.2,2203,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2035,1862
$GC,16408,1.33,292.6,260.9,11.8,2264,16416,0.00,2.53,0.00,0.000,4,0.000,0.065,3078,3392,1862
$GC,16451,1.33,292.6,256.0,13.6,2271,16457,0.00,2.42,0.00,0.000,6,0.000,0.044,3079,2034,1862
$GC,16782,1.33,292.6,219.5,10.7,2332,16789,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2032,1863
$GC,17115,1.33,292.6,183.4,10.7,2393,17121,0.00,2.53,0.00,0.000,4,0.000,0.059,3078,3398,1862
$GC,17150,1.33,292.6,179.3,11.5,2399,17157,0.00,2.40,0.00,0.000,6,0.000,0.044,3078,2053,1863
$GC,17481,1.33,292.6,140.1,13.6,2460,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2052,1863
$GC,17615,1.33,292.6,124.2,10.5,2485,17623,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2051,1863
$GC,17750,1.33,292.6,108.2,11.3,2510,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2051,1863
$GC,17884,1.33,292.6,92.0,11.6,2535,17892,0.00,2.50,0.00,0.000,4,0.000,0.062,3078,3395,1863
$GC,17925,1.33,292.6,86.5,13.0,2542,17933,0.00,2.40,0.00,0.000,6,0.000,0.048,3079,2070,1863
$GC,18060,1.33,292.6,69.9,11.8,2567,18067,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2069,1863
$GC,18194,1.33,292.6,54.0,10.8,2592,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2069,1863
$GC,18327,1.33,292.6,39.8,13.1,2617,18335,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2067,1863
$GC,18461,1.33,292.6,23.8,12.7,2642,18468,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2066,1863
$GC,18595,1.33,292.6,7.1,13.7,2667,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2063,1863
$STATE,18629,end climb,SURFACE_DEPTH_REACHED
$STATE,18629,begin surface coast
$FINISH,0.1,1.027135
$STATE,18651,end surface coast,CONTROL_FINISHED_OK
$STATE,18651,begin surface
$SM_CCo,18730,0.00,0.000,0,0,1861,294.61
$SM_GC,0.72,10.55,0.00,0.00,0.038,0.000,0.000,569,2022,1861,-10.08,-0.23,294.61
$IRIDIUM_FIX,6002.40,-2158.61,160797,151553
$TT8_MAMPS,0.042185
$HUMID,1600
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.50
$XPDR_PINGS,776
$24V_AH,23.5,17.415
$10V_AH,10.5,25.443
$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,24.675,82.825,432.100,0.000,0.000,58.904,66.773,590.065,194.000,0.000,0.000,13.733,4057.325,7787.473,646.470,6080.767,1044.244,0.000,2642.314,0.000,6128.261,0.000,0.465
$DEVICE_MAMPS,197.119,100.477,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1873.647,1930.870,1202.477,1719.550,3367.341,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199425,2677
$CAP_FILE_SIZE,204161,0
$CFSIZE,260165632,248414208
$ERRORS,0,32,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,210056,6028.437,-2147.903,39,1.1,39,-15.6