version: 66.03
glider: 141
mission: 7
dive: 82
start: 4 22 108 13 52 33
data:
$ID,141
$MISSION,7
$DIVE,82
$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,325
$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,-7762.2495
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,134308,6037.950,-2155.895,33,1.1,33,-15.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-50.5
$GPS2,135215,6037.936,-2156.021,13,1.1,13,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6046.782,-2159.044
$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,340.8,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.43,0.000,2,0.000,0.000,571,2047,3703
$GC,124,-1.34,-194.7,3.5,-7.0,13,148,11.07,2.60,-3.58,0.000,4,0.199,0.067,2481,3431,3856
$GC,384,-1.30,-194.7,39.6,-11.5,61,392,0.00,2.55,0.00,0.000,6,0.000,0.051,2481,2031,3857
$GC,519,-1.30,-194.7,55.4,-11.6,86,527,0.00,2.60,0.00,0.000,4,0.000,0.063,2481,3423,3857
$GC,627,-1.25,-194.7,68.8,-11.8,106,635,0.08,2.53,0.00,0.000,6,0.107,0.047,2499,2034,3858
$GC,762,-1.25,-194.7,83.2,-10.4,131,770,0.00,2.60,0.00,0.000,4,0.000,0.059,2500,624,3858
$GC,824,-1.25,-194.7,89.7,-10.1,142,831,0.00,2.53,0.00,0.000,6,0.000,0.047,2500,2023,3858
$GC,957,-1.25,-194.7,102.2,-9.2,167,965,0.00,2.60,0.00,0.000,4,0.000,0.061,2500,3432,3858
$GC,1025,-1.25,-194.7,109.3,-10.8,179,1033,0.00,2.53,0.00,0.000,6,0.000,0.046,2500,2034,3858
$GC,1159,-1.25,-194.7,122.4,-10.0,204,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2031,3858
$GC,1293,-1.25,-194.7,135.2,-9.3,229,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3858
$GC,1426,-1.25,-194.7,148.2,-10.0,254,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2029,3858
$GC,1565,-1.25,-194.7,161.5,-9.4,279,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3858
$GC,1893,-1.25,-194.7,195.4,-10.7,340,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3858
$GC,2225,-1.25,-194.7,227.4,-9.3,401,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2028,3858
$GC,2553,-1.25,-194.7,259.5,-10.2,462,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3858
$GC,2885,-1.25,-194.7,290.4,-9.5,523,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3858
$GC,3214,-1.25,-194.7,321.1,-9.4,584,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2028,3858
$GC,3547,-1.25,-194.7,353.2,-10.2,645,3553,0.00,2.62,0.00,0.000,4,0.000,0.062,2500,3440,3858
$GC,3602,-1.25,-194.7,359.3,-10.6,655,3608,0.00,2.50,0.00,0.000,6,0.000,0.045,2500,2046,3858
$GC,3939,-1.25,-194.7,393.4,-9.8,716,3948,0.00,2.62,0.00,0.000,4,0.000,0.068,2500,626,3858
$GC,4008,-1.25,-194.7,400.4,-10.4,728,4016,0.00,2.55,0.00,0.000,6,0.000,0.048,2500,2040,3857
$GC,4353,-1.25,-194.7,433.8,-9.6,789,4359,0.00,2.60,0.00,0.000,4,0.000,0.067,2500,3437,3858
$GC,4408,-1.25,-194.7,439.7,-11.0,799,4414,0.00,2.50,0.00,0.000,6,0.000,0.048,2500,2046,3858
$GC,4746,-1.25,-194.7,471.9,-9.4,860,4755,0.00,2.67,0.00,0.000,4,0.000,0.071,2500,621,3857
$GC,4793,-1.25,-194.7,476.5,-9.7,868,4801,0.00,2.58,0.00,0.000,6,0.000,0.049,2500,2038,3858
$GC,5137,-1.25,-194.7,509.1,-9.7,929,5143,0.00,2.62,0.00,0.000,4,0.000,0.074,2500,3435,3858
$GC,5192,-1.25,-194.7,515.0,-10.1,939,5199,0.00,2.53,0.00,0.000,6,0.000,0.051,2500,2043,3857
$GC,5531,-1.25,-194.7,546.6,-9.5,1000,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2043,3858
$GC,5877,-1.25,-194.7,579.3,-9.3,1061,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3857
$GC,6211,-1.25,-194.7,611.3,-9.5,1111,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3858
$GC,6531,-1.25,-194.7,642.3,-9.9,1141,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3857
$GC,6849,-1.25,-194.7,673.1,-9.7,1171,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2042,3857
$GC,7168,-1.25,-194.7,703.2,-9.5,1201,7172,0.00,2.78,0.00,0.000,4,0.000,0.096,2500,3437,3857
$GC,7222,-1.25,-194.7,709.0,-10.6,1205,7229,0.00,2.60,0.00,0.000,6,0.000,0.064,2500,2059,3857
$GC,7547,-1.25,-194.7,740.4,-9.5,1236,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2057,3857
$GC,7866,-1.25,-194.7,771.3,-9.4,1266,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2054,3856
$GC,8185,-1.25,-194.7,800.1,-8.7,1296,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2053,3856
$GC,8503,-1.25,-194.7,828.5,-9.0,1326,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3856
$GC,8822,-1.25,-194.7,857.4,-9.1,1356,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3856
$GC,9142,-1.25,-194.7,886.6,-9.2,1386,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3856
$GC,9458,-1.25,-194.7,914.5,-8.9,1416,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3856
$GC,9776,-1.25,-194.7,942.2,-8.7,1446,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3855
$GC,10096,-1.25,-194.7,970.3,-9.0,1476,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2052,3855
$STATE,10326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10326,begin apogee
$GC,10331,-0.37,0.0,990.8,8.7,1498,10503,0.93,0.00,168.23,1.292,6,0.100,0.000,2695,1981,3062
$STATE,10503,end apogee,CONTROL_FINISHED_OK
$STATE,10504,begin climb
$GC,10505,1.34,194.7,994.6,0.0,1515,10682,1.67,0.00,168.32,1.262,6,0.077,0.000,3069,1981,2267
$GC,11000,1.29,194.7,946.0,11.1,1563,11005,0.00,2.70,0.00,0.000,4,0.000,0.071,3068,3392,2262
$GC,11032,1.23,194.7,942.2,11.2,1565,11038,0.00,2.60,0.00,0.000,6,0.000,0.054,3068,1985,2261
$GC,11357,1.17,194.7,906.7,10.7,1596,11362,0.15,2.67,0.00,0.000,4,0.104,0.069,3036,3389,2261
$GC,11390,1.21,225.4,903.2,8.9,1598,11426,0.00,2.58,27.67,1.182,6,0.000,0.053,3035,1987,2141
$GC,11744,1.24,244.9,870.9,9.3,1632,11765,0.00,0.00,18.77,1.144,6,0.000,0.000,3035,1987,2063
$GC,12083,1.26,260.3,839.0,9.5,1664,12103,0.00,0.00,15.25,1.111,6,0.000,0.000,3035,1986,1999
$GC,12422,1.27,269.6,807.0,9.7,1696,12437,0.00,2.75,9.52,1.029,4,0.000,0.069,3035,3395,1961
$GC,12464,1.28,284.1,802.6,9.5,1699,12492,0.10,2.60,16.88,0.982,6,0.072,0.052,3065,1996,1903
$GC,12808,1.28,284.1,764.0,11.5,1732,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1994,1900
$GC,13127,1.28,284.1,728.1,11.2,1762,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1993,1899
$GC,13445,1.28,284.1,690.9,11.8,1792,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1994,1898
$GC,13766,1.28,284.1,653.1,11.9,1822,13770,0.00,2.65,0.00,0.000,4,0.000,0.067,3065,3397,1898
$GC,13799,1.28,284.1,648.8,12.7,1824,13805,0.00,2.53,0.00,0.000,6,0.000,0.051,3065,2011,1897
$GC,14125,1.28,284.1,611.2,11.2,1855,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2010,1898
$GC,14455,1.28,284.1,573.8,11.9,1905,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2009,1897
$GC,14793,1.28,284.1,534.8,11.5,1966,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2008,1897
$GC,15134,1.28,284.1,496.0,11.5,2027,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2007,1897
$GC,15474,1.28,284.1,457.3,11.3,2088,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2007,1898
$GC,15818,1.28,284.1,418.6,11.2,2149,15824,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2007,1897
$GC,16159,1.28,284.1,380.6,11.2,2210,16164,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2007,1898
$GC,16500,1.28,284.1,344.5,11.2,2271,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2007,1898
$GC,16828,1.28,284.1,309.3,10.6,2332,16835,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2007,1898
$GC,17161,1.28,284.1,272.9,11.9,2393,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2008,1898
$GC,17489,1.31,301.3,237.2,9.4,2454,17509,0.00,0.00,16.20,0.783,6,0.000,0.000,3065,2007,1833
$GC,17835,1.31,301.3,200.3,10.5,2517,17841,0.00,2.70,0.00,0.000,4,0.000,0.064,3065,573,1830
$GC,17848,1.31,301.3,198.7,10.6,2519,17854,0.00,2.60,0.00,0.000,6,0.000,0.044,3065,2009,1830
$GC,18177,1.31,301.3,163.2,10.6,2580,18185,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2011,1830
$GC,18503,1.31,301.3,127.8,12.2,2641,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2011,1830
$GC,18637,1.31,301.3,112.7,11.8,2666,18645,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2011,1829
$GC,18771,1.31,301.3,97.9,11.0,2691,18779,0.00,2.72,0.00,0.000,4,0.000,0.062,3065,570,1829
$GC,18788,1.31,301.3,96.0,11.3,2693,18795,0.00,2.60,0.00,0.000,6,0.000,0.051,3065,1996,1829
$GC,18921,1.31,301.3,81.0,12.0,2718,18929,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1998,1830
$GC,19055,1.31,301.3,65.2,13.3,2743,19062,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1999,1829
$GC,19189,1.31,301.3,48.2,13.5,2768,19196,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1998,1829
$GC,19322,1.31,301.3,32.3,12.0,2793,19330,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1999,1829
$GC,19456,1.31,301.3,16.3,11.5,2818,19463,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1999,1829
$STATE,19562,end climb,SURFACE_DEPTH_REACHED
$STATE,19562,begin surface coast
$FINISH,0.1,1.027139
$STATE,19590,end surface coast,CONTROL_FINISHED_OK
$STATE,19590,begin surface
$SM_CCo,19668,0.00,0.000,0,0,1826,303.19
$SM_GC,0.72,10.50,0.00,0.00,0.039,0.000,0.000,572,2000,1826,-10.07,-0.76,303.19
$IRIDIUM_FIX,6011.05,-2149.71,170797,080830
$TT8_MAMPS,0.042185
$HUMID,1615
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.70
$XPDR_PINGS,852
$24V_AH,23.5,18.208
$10V_AH,10.5,26.767
$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,24.500,83.550,440.850,0.000,0.000,26.341,31.887,346.939,213.000,0.000,0.000,15.230,4313.500,8031.052,632.482,6453.053,751.454,0.000,2718.636,0.000,6506.764,0.000,0.466
$DEVICE_MAMPS,199.420,95.875,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1972.853,2069.688,1282.389,1845.212,3613.324,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,212042,2843
$CAP_FILE_SIZE,207441,0
$CFSIZE,260165632,247910400
$ERRORS,0,28,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220408,192137,6040.250,-2201.360,42,1.8,42,-15.8