version: 66.03
glider: 141
mission: 7
dive: 83
start: 4 22 108 19 31 31
data:
$ID,141
$MISSION,7
$DIVE,83
$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,-7798.6851
$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,15
$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
$GPS1,192137,6040.250,-2201.360,42,1.8,42,-15.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-48.3
$GPS2,193114,6040.303,-2201.581,28,1.4,34,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6049.149,-2204.601
$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,340.9,20000,-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,24,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,122,0.00,0.00,-93.97,0.000,2,0.000,0.000,572,2002,3675
$GC,124,-1.34,-194.7,3.1,-5.8,13,148,11.12,2.70,-4.35,0.000,4,0.199,0.066,2483,3436,3855
$GC,383,-1.29,-194.7,38.2,-11.7,61,391,0.00,2.58,0.00,0.000,6,0.000,0.050,2482,2025,3856
$GC,517,-1.29,-194.7,53.5,-11.2,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3856
$GC,650,-1.29,-194.7,71.1,-14.1,111,658,0.00,2.65,0.00,0.000,4,0.000,0.064,2483,3430,3856
$GC,712,-1.25,-194.7,79.1,-13.0,122,720,0.08,2.55,0.00,0.000,6,0.108,0.044,2502,2037,3856
$GC,847,-1.25,-194.7,94.2,-11.0,147,855,0.00,2.62,0.00,0.000,4,0.000,0.065,2502,628,3856
$GC,909,-1.25,-194.7,101.0,-10.4,158,917,0.00,2.55,0.00,0.000,6,0.000,0.050,2502,2036,3856
$GC,1043,-1.25,-194.7,114.6,-10.2,183,1051,0.00,2.60,0.00,0.000,4,0.000,0.065,2502,3434,3856
$GC,1100,-1.25,-194.7,120.4,-9.9,193,1108,0.00,2.53,0.00,0.000,6,0.000,0.051,2502,2042,3856
$GC,1234,-1.25,-194.7,133.6,-10.0,218,1242,0.00,2.60,0.00,0.000,4,0.000,0.060,2502,628,3856
$GC,1291,-1.25,-194.7,139.5,-10.8,228,1299,0.00,2.55,0.00,0.000,6,0.000,0.047,2502,2041,3856
$GC,1426,-1.25,-194.7,153.3,-10.4,253,1432,0.00,2.55,0.00,0.000,4,0.000,0.061,2502,3435,3856
$GC,1475,-1.25,-194.7,158.9,-10.9,262,1484,0.00,2.53,0.00,0.000,6,0.000,0.045,2502,2040,3856
$GC,1809,-1.25,-194.7,192.4,-10.5,323,1815,0.00,2.60,0.00,0.000,4,0.000,0.058,2501,616,3856
$GC,1858,-1.25,-194.7,197.7,-10.5,332,1866,0.00,2.58,0.00,0.000,6,0.000,0.050,2501,2039,3856
$GC,2192,-1.25,-194.7,231.3,-9.8,393,2198,0.00,2.58,0.00,0.000,4,0.000,0.061,2502,3442,3856
$GC,2248,-1.25,-194.7,237.4,-10.7,403,2255,0.00,2.50,0.00,0.000,6,0.000,0.044,2502,2039,3856
$GC,2578,-1.25,-194.7,269.9,-9.7,464,2586,0.00,2.60,0.00,0.000,4,0.000,0.060,2502,627,3856
$GC,2653,-1.25,-194.7,277.5,-10.3,477,2659,0.00,2.53,0.00,0.000,6,0.000,0.044,2502,2048,3856
$GC,2982,-1.25,-194.7,309.7,-9.6,538,2990,0.00,2.58,0.00,0.000,4,0.000,0.069,2502,3428,3856
$GC,3035,-1.25,-194.7,315.0,-10.3,547,3041,0.00,2.50,0.00,0.000,6,0.000,0.045,2501,2033,3856
$GC,3363,-1.25,-194.7,347.6,-10.1,608,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2028,3856
$GC,3707,-1.25,-194.7,381.2,-9.7,669,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2027,3856
$GC,4045,-1.25,-194.7,415.1,-9.9,730,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2027,3856
$GC,4385,-1.25,-194.7,449.5,-10.4,791,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2027,3856
$GC,4725,-1.25,-194.7,484.5,-10.4,852,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2026,3856
$GC,5070,-1.25,-194.7,521.1,-10.7,913,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2026,3856
$GC,5408,-1.25,-194.7,557.5,-10.4,974,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2026,3856
$GC,5747,-1.25,-194.7,591.8,-10.0,1035,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2026,3856
$GC,6074,-1.25,-194.7,624.2,-9.6,1073,6078,0.00,2.75,0.00,0.000,4,0.000,0.081,2501,3437,3856
$GC,6123,-1.25,-194.7,629.1,-9.9,1077,6128,0.00,2.55,0.00,0.000,6,0.000,0.055,2502,2050,3856
$GC,6448,-1.25,-194.7,659.2,-9.6,1107,6453,0.00,2.83,0.00,0.000,4,0.000,0.100,2502,623,3855
$GC,6514,-1.25,-194.7,665.6,-9.5,1112,6521,0.00,2.60,0.00,0.000,6,0.000,0.060,2502,2035,3855
$GC,6841,-1.25,-194.7,694.7,-9.0,1143,6845,0.00,2.75,0.00,0.000,4,0.000,0.097,2502,3439,3855
$GC,6918,-1.25,-194.7,702.2,-9.6,1149,6924,0.00,2.60,0.00,0.000,6,0.000,0.067,2502,2046,3855
$GC,7243,-1.25,-194.7,731.2,-8.8,1180,7247,0.00,2.78,0.00,0.000,4,0.000,0.095,2501,623,3855
$GC,7327,-1.25,-194.7,739.0,-9.6,1187,7331,0.00,2.60,0.00,0.000,6,0.000,0.059,2502,2040,3855
$GC,7651,-1.25,-194.7,768.1,-9.2,1217,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2040,3855
$GC,7970,-1.25,-194.7,796.8,-8.7,1247,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2042,3855
$GC,8288,-1.25,-194.7,824.4,-8.6,1277,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2042,3855
$GC,8607,-1.25,-194.7,851.4,-8.7,1307,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2042,3854
$GC,8925,-1.25,-194.7,880.0,-9.5,1337,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2042,3854
$GC,9243,-1.25,-194.7,909.7,-9.3,1367,9248,0.00,2.72,0.00,0.000,4,0.000,0.091,2502,3442,3853
$GC,9316,-1.25,-194.7,916.9,-10.2,1373,9320,0.00,2.60,0.00,0.000,6,0.000,0.059,2502,2032,3852
$GC,9643,-1.25,-194.7,946.7,-9.0,1403,9647,0.00,2.72,0.00,0.000,4,0.000,0.091,2502,620,3852
$GC,9708,-1.25,-194.7,953.4,-9.5,1408,9715,0.00,2.60,0.00,0.000,6,0.000,0.057,2501,2040,3852
$GC,10034,-1.25,-194.7,981.9,-8.5,1439,10038,0.00,2.70,0.00,0.000,4,0.000,0.091,2501,3441,3852
$GC,10099,-1.25,-194.7,988.2,-9.1,1444,10106,0.00,2.58,0.00,0.000,6,0.000,0.058,2502,2039,3851
$STATE,10125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10125,begin apogee
$GC,10129,-0.37,0.0,990.7,9.1,1447,10301,0.93,0.00,167.70,1.290,6,0.099,0.000,2697,1978,3062
$STATE,10301,end apogee,CONTROL_FINISHED_OK
$STATE,10302,begin climb
$GC,10303,1.34,194.7,995.3,0.0,1464,10481,1.67,2.80,168.43,1.259,4,0.077,0.073,3071,3398,2267
$GC,10494,1.28,194.7,981.1,10.3,1483,10498,0.00,2.65,0.00,0.000,6,0.000,0.055,3071,1983,2265
$GC,10818,1.22,194.7,944.8,11.2,1513,10823,0.12,2.67,0.00,0.000,4,0.111,0.070,3048,3395,2261
$GC,10861,1.22,194.7,939.8,11.0,1516,10868,0.00,2.58,0.00,0.000,6,0.000,0.053,3048,1997,2261
$GC,11189,1.24,212.0,908.4,9.4,1547,11207,0.00,0.00,15.90,1.144,6,0.000,0.000,3048,1997,2197
$GC,11526,1.26,230.1,875.7,9.4,1579,11550,0.00,2.80,17.35,1.144,4,0.000,0.070,3048,3405,2122
$GC,11562,1.28,249.1,871.9,9.3,1582,11593,0.00,2.60,20.77,1.050,6,0.000,0.053,3047,2004,2046
$GC,11911,1.28,249.1,836.3,10.3,1615,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2004,2042
$GC,12232,1.28,249.1,803.5,10.3,1645,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2002,2041
$GC,12549,1.29,254.4,770.9,9.8,1675,12561,0.00,2.67,5.35,0.867,4,0.000,0.067,3047,3403,2025
$GC,12583,1.29,254.4,767.1,10.2,1678,12588,0.00,2.58,0.00,0.000,6,0.000,0.052,3048,2012,2024
$GC,12908,1.29,254.4,733.9,10.4,1708,12912,0.00,2.78,0.00,0.000,4,0.000,0.079,3047,572,2024
$GC,12924,1.29,254.4,732.1,11.2,1709,12928,0.00,2.67,0.00,0.000,6,0.000,0.051,3047,2029,2023
$GC,13247,1.29,254.8,698.8,10.0,1739,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2030,2024
$GC,13566,1.29,254.8,666.9,10.1,1769,13570,0.00,2.75,0.00,0.000,4,0.000,0.071,3047,574,2023
$GC,13586,1.29,254.8,664.7,10.5,1770,13593,0.00,2.67,0.00,0.000,6,0.000,0.051,3047,2021,2023
$GC,13912,1.30,260.9,632.9,9.8,1801,13922,0.00,0.00,7.45,0.910,6,0.000,0.000,3047,2022,1998
$GC,14241,1.31,271.2,601.0,9.6,1832,14255,0.00,0.00,10.70,0.953,6,0.000,0.000,3047,2024,1956
$GC,14589,1.31,271.2,565.4,10.0,1894,14595,0.00,2.75,0.00,0.000,4,0.000,0.069,3047,574,1954
$GC,14608,1.31,271.2,563.5,10.6,1897,14614,0.00,2.67,0.00,0.000,6,0.000,0.051,3047,2033,1954
$GC,14950,1.31,271.2,528.8,10.2,1958,14956,0.00,2.78,0.00,0.000,4,0.000,0.069,3047,573,1954
$GC,14961,1.31,271.2,527.6,10.4,1960,14969,0.00,2.67,0.00,0.000,6,0.000,0.055,3047,2016,1954
$GC,15307,1.33,286.6,493.8,9.5,2021,15330,0.00,0.00,15.43,0.928,6,0.000,0.000,3047,2018,1893
$GC,15668,1.34,294.0,457.7,9.7,2085,15685,0.10,2.80,8.05,0.826,4,0.067,0.067,3078,576,1863
$GC,15706,1.34,294.0,452.9,11.8,2092,15713,0.00,2.65,0.00,0.000,6,0.000,0.054,3079,2012,1863
$GC,16050,1.34,294.0,413.5,11.8,2153,16056,0.00,2.72,0.00,0.000,4,0.000,0.067,3079,567,1862
$GC,16061,1.34,294.0,411.8,11.7,2155,16067,0.00,2.62,0.00,0.000,6,0.000,0.046,3078,2012,1862
$GC,16401,1.34,294.0,372.8,12.4,2216,16409,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2014,1862
$GC,16741,1.34,294.0,333.7,12.5,2277,16746,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2015,1862
$GC,17069,1.34,294.0,295.3,11.2,2338,17077,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2015,1862
$GC,17404,1.34,294.0,256.5,12.1,2399,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2015,1862
$GC,17734,1.34,294.0,217.5,11.5,2460,17742,0.00,2.75,0.00,0.000,4,0.000,0.066,3078,576,1862
$GC,17755,1.34,294.0,215.3,13.0,2463,17761,0.00,2.58,0.00,0.000,6,0.000,0.044,3079,2006,1861
$GC,18086,1.34,294.0,175.8,11.3,2524,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1861
$GC,18416,1.34,294.0,138.8,11.9,2585,18423,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2010,1862
$GC,18549,1.34,294.0,123.8,12.1,2610,18557,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2010,1861
$GC,18683,1.34,294.0,109.4,11.7,2635,18691,0.00,2.72,0.00,0.000,4,0.000,0.063,3079,574,1862
$GC,18698,1.34,294.0,107.7,11.5,2637,18706,0.00,2.60,0.00,0.000,6,0.000,0.044,3079,1996,1862
$GC,18833,1.34,294.0,94.0,10.4,2662,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1998,1862
$GC,18966,1.34,294.0,78.4,13.5,2687,18974,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1999,1862
$GC,19102,1.31,301.5,66.5,9.7,2712,19117,0.00,0.00,8.18,0.636,6,0.000,0.000,3079,1998,1832
$GC,19244,1.42,398.0,53.0,6.7,2738,19332,0.00,0.00,82.62,0.683,6,0.000,0.000,3079,1998,1438
$GC,19459,1.42,398.0,26.7,13.7,2774,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1998,1432
$GC,19593,1.42,398.0,12.0,11.0,2799,19600,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1998,1430
$STATE,19667,end climb,SURFACE_DEPTH_REACHED
$STATE,19668,begin surface coast
$FINISH,0.0,1.005308
$STATE,19695,end surface coast,CONTROL_FINISHED_OK
$STATE,19695,begin surface
$SM_CCo,19773,0.00,0.000,0,0,1426,401.31
$SM_GC,0.59,10.57,0.00,0.00,0.038,0.000,0.000,572,2048,1426,-10.07,0.51,401.31
$IRIDIUM_FIX,6015.40,-2152.97,170797,131304
$TT8_MAMPS,0.041418
$HUMID,1606
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,12.70
$XPDR_PINGS,833
$24V_AH,23.5,18.425
$10V_AH,10.5,27.100
$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,24.600,153.550,527.925,0.000,0.000,28.476,47.005,340.020,208.250,0.000,0.000,35.807,4298.393,8055.316,714.409,6472.078,776.862,0.000,2890.063,0.000,6500.479,0.000,0.465
$DEVICE_MAMPS,199.420,109.681,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1949.649,2055.608,1266.255,1809.269,3542.257,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,208784,2818
$CAP_FILE_SIZE,221481,0
$CFSIZE,260165632,247775232
$ERRORS,0,24,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230408,010208,6044.000,-2207.170,30,1.3,30,-15.9