version: 66.03
glider: 141
mission: 7
dive: 96
start: 4 24 108 18 25 3
data:
$ID,141
$MISSION,7
$DIVE,96
$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,240
$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,-8069.834
$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,22
$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
$GPS1,181908,6055.944,-2238.890,32,1.2,32,-16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-54.8
$GPS2,182445,6055.970,-2238.923,12,1.2,12,-16.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6050.570,-2243.479
$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,256.3,20000,-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,-94.68,0.000,2,0.000,0.000,570,1993,3758
$GC,124,-1.34,-194.7,3.2,-6.2,13,148,11.10,2.60,-2.33,0.000,4,0.198,0.067,2482,627,3859
$GC,280,-1.34,-194.7,26.5,-11.2,41,288,0.00,2.55,0.00,0.000,6,0.000,0.044,2483,2031,3859
$GC,415,-1.34,-194.7,41.6,-11.6,66,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,551,-1.34,-194.7,56.7,-11.2,91,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,887,-1.34,-194.7,95.6,-11.5,152,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,1225,-1.34,-194.7,134.2,-11.1,213,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,1567,-1.34,-194.7,173.7,-11.3,274,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,1909,-1.34,-194.7,210.7,-10.7,335,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,2251,-1.34,-194.7,246.9,-10.5,396,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2033,3859
$GC,2594,-1.34,-194.7,284.6,-11.3,457,2600,0.00,2.62,0.00,0.000,4,0.000,0.059,2482,3440,3859
$GC,2617,-1.34,-194.7,287.3,-11.4,461,2623,0.00,2.55,0.00,0.000,6,0.000,0.043,2483,2024,3859
$GC,2960,-1.34,-194.7,323.5,-10.5,522,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2019,3860
$GC,3303,-1.34,-194.7,359.4,-10.9,576,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,3621,-1.34,-194.7,393.0,-10.1,606,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,3940,-1.34,-194.7,426.6,-10.9,636,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,4258,-1.34,-194.7,461.3,-10.7,666,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,4577,-1.34,-194.7,495.5,-10.6,696,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,4896,-1.34,-194.7,527.8,-10.0,726,4900,0.00,2.70,0.00,0.000,4,0.000,0.072,2483,3433,3859
$GC,4927,-1.34,-194.7,531.3,-10.5,728,4934,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2051,3859
$GC,5255,-1.34,-194.7,563.6,-9.9,759,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3859
$GC,5570,-1.34,-194.7,595.3,-10.0,789,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3859
$GC,5892,-1.34,-194.7,627.2,-9.9,807,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3858
$GC,6200,-1.34,-194.7,658.1,-10.1,822,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3858
$GC,6510,-1.34,-194.7,690.2,-10.5,837,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2051,3858
$GC,6819,-1.34,-194.7,722.2,-10.5,852,6824,0.00,2.88,0.00,0.000,4,0.000,0.110,2483,621,3858
$GC,6851,-1.34,-194.7,725.7,-11.4,853,6858,0.00,2.62,0.00,0.000,6,0.000,0.062,2483,2026,3858
$GC,7166,-1.34,-194.7,757.4,-9.9,869,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3858
$GC,7476,-1.34,-194.7,787.6,-9.7,884,7481,0.00,2.78,0.00,0.000,4,0.000,0.094,2483,3448,3857
$GC,7507,-1.34,-194.7,791.1,-10.4,885,7516,0.00,2.60,0.00,0.000,6,0.000,0.059,2483,2050,3857
$GC,7823,-1.34,-194.7,821.2,-9.5,901,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3857
$GC,8133,-1.34,-194.7,851.2,-9.7,916,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3857
$GC,8442,-1.34,-194.7,881.4,-9.9,931,8446,0.00,2.67,0.00,0.000,4,0.000,0.078,2483,3446,3856
$GC,8467,-1.34,-194.7,884.3,-10.9,932,8473,0.00,2.60,0.00,0.000,6,0.000,0.058,2483,2049,3856
$GC,8790,-1.34,-194.7,915.6,-9.8,948,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3855
$GC,9098,-1.34,-194.7,946.2,-9.8,963,9103,0.00,2.65,0.00,0.000,4,0.000,0.077,2483,3442,3855
$GC,9137,-1.34,-194.7,950.3,-11.0,965,9141,0.00,2.55,0.00,0.000,6,0.000,0.058,2482,2048,3854
$GC,9463,-1.34,-194.7,982.0,-9.7,981,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3854
$STATE,9543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9543,begin apogee
$GC,9547,-0.37,0.0,990.0,9.7,985,9719,1.00,0.00,168.35,1.295,6,0.103,0.000,2694,1975,3062
$STATE,9720,end apogee,CONTROL_FINISHED_OK
$STATE,9720,begin climb
$GC,9722,1.34,194.7,994.5,0.0,993,9894,1.70,0.00,168.27,1.261,6,0.077,0.000,3071,1974,2268
$GC,10198,1.28,194.7,948.7,11.1,1017,10202,0.00,2.70,0.00,0.000,4,0.000,0.069,3071,3397,2262
$GC,10246,1.21,194.7,942.8,11.8,1019,10252,0.15,2.60,0.00,0.000,6,0.113,0.053,3042,1984,2261
$GC,10568,1.23,206.2,911.8,9.6,1035,10580,0.00,0.00,10.57,1.088,6,0.000,0.000,3043,1984,2221
$GC,10877,1.26,230.5,882.7,9.2,1050,10912,0.00,2.72,25.15,1.100,4,0.000,0.067,3042,3398,2121
$GC,10962,1.26,230.5,874.1,10.9,1053,10966,0.00,2.60,0.00,0.000,6,0.000,0.051,3042,1996,2119
$GC,11289,1.26,237.3,842.4,9.8,1069,11298,0.00,0.00,7.25,0.987,6,0.000,0.000,3043,1996,2095
$GC,11598,1.26,237.3,811.3,10.2,1084,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1996,2092
$GC,11907,1.28,249.3,781.2,9.6,1099,11929,0.00,2.75,12.38,1.075,4,0.000,0.067,3043,3397,2045
$GC,11956,1.28,249.3,776.2,10.4,1101,11960,0.00,2.58,0.00,0.000,6,0.000,0.051,3042,2014,2044
$GC,12282,1.28,249.3,743.6,10.3,1117,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2014,2043
$GC,12592,1.30,264.2,713.0,9.5,1132,12614,0.00,2.83,14.35,1.058,4,0.000,0.077,3042,571,1985
$GC,12637,1.31,276.3,708.6,9.6,1134,12659,0.10,2.65,12.93,1.027,6,0.069,0.050,3074,2010,1935
$GC,12966,1.31,276.3,671.4,11.3,1150,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2010,1932
$GC,13276,1.31,276.3,636.5,11.4,1165,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2011,1931
$GC,13585,1.31,276.3,600.5,11.6,1180,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2013,1930
$GC,13903,1.31,276.3,564.1,11.2,1209,13908,0.00,2.62,0.00,0.000,4,0.000,0.071,3073,3399,1930
$GC,13931,1.31,276.3,560.7,11.8,1211,13935,0.00,2.55,0.00,0.000,6,0.000,0.050,3073,2001,1930
$GC,14255,1.31,276.3,523.2,11.5,1241,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2000,1930
$GC,14574,1.31,276.3,486.9,11.6,1271,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2000,1930
$GC,14892,1.31,276.3,450.0,11.4,1301,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1999,1930
$GC,15210,1.31,276.3,413.9,10.9,1331,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2000,1930
$GC,15529,1.31,276.3,377.8,11.3,1361,15533,0.00,2.62,0.00,0.000,4,0.000,0.061,3074,3399,1930
$GC,15567,1.31,276.3,373.2,11.7,1364,15572,0.00,2.53,0.00,0.000,6,0.000,0.046,3073,2004,1930
$GC,15898,1.31,276.3,335.7,11.4,1405,15904,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2001,1930
$GC,16240,1.31,276.3,297.2,10.7,1466,16246,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2001,1930
$GC,16582,1.31,276.3,257.9,11.4,1527,16587,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2001,1930
$GC,16923,1.31,276.3,218.9,10.2,1588,16930,0.00,2.60,0.00,0.000,4,0.000,0.058,3073,3396,1931
$GC,16958,1.31,276.3,214.8,11.1,1594,16964,0.00,2.50,0.00,0.000,6,0.000,0.044,3074,2012,1931
$GC,17301,1.31,276.3,175.2,11.8,1655,17307,0.00,2.65,0.00,0.000,4,0.000,0.063,3073,576,1931
$GC,17329,1.31,276.3,171.8,12.0,1660,17336,0.00,2.60,0.00,0.000,6,0.000,0.044,3074,2027,1931
$GC,17671,1.31,276.3,132.7,11.3,1721,17676,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2030,1931
$GC,18009,1.31,276.3,94.4,12.2,1782,18017,0.00,2.55,0.00,0.000,4,0.000,0.065,3073,3388,1931
$GC,18036,1.31,276.3,91.6,11.7,1786,18043,0.00,2.47,0.00,0.000,6,0.000,0.051,3074,2003,1931
$GC,18375,1.32,279.8,54.0,9.9,1847,18382,0.00,0.00,4.20,0.505,6,0.000,0.000,3074,2001,1921
$GC,18697,1.32,279.8,21.0,12.3,1908,18705,0.00,2.60,0.00,0.000,4,0.000,0.062,3073,3392,1921
$GC,18723,1.32,279.8,18.1,10.2,1912,18731,0.00,2.47,0.00,0.000,6,0.000,0.044,3074,2033,1921
$GC,18858,1.32,279.8,3.4,13.2,1937,18866,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2033,1921
$STATE,18871,end climb,SURFACE_DEPTH_REACHED
$STATE,18872,begin surface coast
$FINISH,0.0,1.027047
$STATE,18894,end surface coast,CONTROL_FINISHED_OK
$STATE,18894,begin surface
$SM_CCo,18971,0.00,0.000,0,0,1919,280.38
$SM_GC,0.74,10.50,0.00,0.00,0.038,0.000,0.000,572,2029,1919,-10.06,-0.03,280.38
$IRIDIUM_FIX,6032.86,-2239.92,190797,151523
$TT8_MAMPS,0.042185
$HUMID,1627
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.80
$XPDR_PINGS,347
$24V_AH,23.5,20.420
$10V_AH,10.5,29.172
$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,24.550,89.275,423.450,0.000,0.000,25.080,32.076,179.600,86.750,0.000,0.000,14.375,3044.869,11489.348,596.446,3680.885,492.642,0.000,2080.045,0.000,3698.482,0.000,0.466
$DEVICE_MAMPS,197.886,110.448,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1359.911,1407.885,766.561,933.127,928.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139130,1943
$CAP_FILE_SIZE,159308,0
$CFSIZE,260165632,246849536
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240408,234231,6055.059,-2246.420,38,1.1,43,-16.4