version: 66.03
glider: 141
mission: 7
dive: 107
start: 4 27 108 7 12 21
data:
$ID,141
$MISSION,7
$DIVE,107
$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,45
$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,-8254.6533
$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,16
$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
$GPS1,070523,6109.843,-2258.211,27,1.5,42,-16.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-53.5
$GPS2,071202,6109.805,-2258.229,13,1.3,13,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6117.441,-2254.561
$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,61.6,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-93.60,0.000,2,0.000,0.000,563,2025,3704
$GC,125,-1.34,-194.7,3.1,-6.3,13,149,11.18,2.67,-3.65,0.000,4,0.199,0.070,2481,613,3856
$GC,223,-1.34,-194.7,18.6,-11.1,30,232,0.00,2.58,0.00,0.000,6,0.000,0.048,2482,2030,3857
$GC,358,-1.34,-194.7,33.5,-10.5,55,366,0.00,2.62,0.00,0.000,4,0.000,0.059,2482,3439,3857
$GC,414,-1.34,-194.7,40.0,-11.4,65,423,0.00,2.53,0.00,0.000,6,0.000,0.043,2481,2048,3857
$GC,549,-1.34,-194.7,55.0,-11.0,90,557,0.00,2.62,0.00,0.000,4,0.000,0.060,2481,631,3857
$GC,595,-1.34,-194.7,60.3,-11.5,98,602,0.00,2.55,0.00,0.000,6,0.000,0.048,2481,2063,3857
$GC,932,-1.34,-194.7,97.6,-10.9,159,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2066,3857
$GC,1275,-1.34,-194.7,135.4,-10.9,220,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2065,3857
$GC,1615,-1.34,-194.7,171.3,-10.4,281,1621,0.00,2.67,0.00,0.000,4,0.000,0.057,2481,626,3857
$GC,1666,-1.34,-194.7,177.0,-11.1,290,1672,0.00,2.55,0.00,0.000,6,0.000,0.042,2481,2050,3857
$GC,2009,-1.34,-194.7,213.6,-10.9,351,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2052,3857
$GC,2352,-1.34,-194.7,251.0,-10.8,412,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2053,3857
$GC,2695,-1.34,-194.7,288.0,-11.1,473,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2054,3857
$GC,3037,-1.34,-194.7,324.7,-10.4,534,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2054,3857
$GC,3378,-1.34,-194.7,360.4,-10.8,587,3382,0.00,2.62,0.00,0.000,4,0.000,0.058,2481,625,3857
$GC,3433,-1.34,-194.7,366.2,-10.6,591,3440,0.00,2.55,0.00,0.000,6,0.000,0.043,2481,2053,3857
$GC,3759,-1.34,-194.7,398.4,-9.9,622,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2056,3856
$GC,4076,-1.34,-194.7,431.8,-10.6,652,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,4394,-1.34,-194.7,465.0,-10.2,682,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2056,3857
$GC,4713,-1.34,-194.7,498.0,-10.4,712,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,5032,-1.34,-194.7,531.5,-10.6,742,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2055,3857
$GC,5350,-1.34,-194.7,565.9,-10.6,772,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,5669,-1.34,-194.7,599.1,-10.1,802,5673,0.00,2.72,0.00,0.000,4,0.000,0.078,2481,630,3857
$GC,5717,-1.34,-194.7,604.3,-10.5,804,5722,0.00,2.58,0.00,0.000,6,0.000,0.051,2481,2055,3857
$GC,6039,-1.34,-194.7,636.2,-9.8,820,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,6347,-1.34,-194.7,667.3,-10.2,835,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,6656,-1.34,-194.7,699.7,-10.5,850,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,6966,-1.34,-194.7,732.5,-10.8,865,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3857
$GC,7275,-1.34,-194.7,765.8,-10.7,880,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3856
$GC,7584,-1.34,-194.7,798.5,-10.4,895,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2055,3856
$GC,7894,-1.34,-194.7,830.6,-10.4,910,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2056,3856
$GC,8203,-1.34,-194.7,861.9,-9.7,925,8208,0.00,2.78,0.00,0.000,4,0.000,0.085,2481,624,3856
$GC,8264,-1.34,-194.7,867.8,-10.1,928,8268,0.00,2.58,0.00,0.000,6,0.000,0.057,2481,2042,3856
$GC,8590,-1.34,-194.7,897.8,-9.2,944,8594,0.00,2.70,0.00,0.000,4,0.000,0.090,2481,3448,3855
$GC,8633,-1.34,-194.7,902.1,-9.6,946,8637,0.00,2.58,0.00,0.000,6,0.000,0.058,2481,2049,3855
$GC,8954,-1.34,-194.7,931.9,-9.0,962,8958,0.00,2.78,0.00,0.000,4,0.000,0.091,2481,614,3855
$GC,9008,-1.34,-194.7,937.2,-9.8,964,9015,0.00,2.60,0.00,0.000,6,0.000,0.054,2481,2040,3855
$GC,9323,-1.34,-194.7,966.1,-9.5,980,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2040,3855
$STATE,9569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9569,begin apogee
$GC,9574,-0.37,0.0,990.2,9.7,992,9746,1.00,0.00,168.62,1.293,6,0.099,0.000,2694,1969,3062
$STATE,9746,end apogee,CONTROL_FINISHED_OK
$STATE,9747,begin climb
$GC,9748,1.34,194.7,994.8,0.0,1000,9922,1.70,0.00,167.93,1.260,6,0.074,0.000,3068,1969,2268
$GC,10220,1.28,194.7,950.2,10.9,1023,10225,0.00,2.78,0.00,0.000,4,0.000,0.075,3068,3403,2262
$GC,10269,1.23,194.7,944.5,12.1,1025,10273,0.00,2.58,0.00,0.000,6,0.000,0.051,3068,2008,2262
$GC,10590,1.17,194.7,909.8,11.0,1041,10592,0.15,0.00,0.00,0.000,6,0.105,0.000,3038,2008,2261
$GC,10900,1.19,209.7,880.1,9.5,1056,10919,0.00,0.00,13.60,1.119,6,0.000,0.000,3038,2009,2207
$GC,11228,1.21,227.0,849.0,9.4,1072,11250,0.00,2.75,16.98,1.132,4,0.000,0.066,3038,3401,2136
$GC,11266,1.24,249.3,845.3,9.2,1073,11294,0.00,2.60,21.90,1.138,6,0.000,0.051,3038,1996,2045
$GC,11602,1.25,262.9,813.4,9.5,1090,11617,0.00,0.00,13.05,1.081,6,0.000,0.000,3038,1996,1990
$GC,11911,1.25,262.9,782.9,10.2,1105,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1996,1987
$GC,12220,1.25,262.9,750.7,10.4,1120,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1996,1986
$GC,12529,1.25,262.9,718.6,10.4,1135,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1994,1986
$GC,12839,1.25,262.9,687.0,10.3,1150,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1993,1985
$GC,13148,1.26,264.6,655.6,9.9,1165,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1993,1985
$GC,13457,1.26,264.6,624.5,10.2,1180,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1993,1985
$GC,13768,1.29,289.6,594.8,9.1,1197,13799,0.00,0.00,25.15,1.022,6,0.000,0.000,3038,1993,1880
$GC,14116,1.31,308.3,561.8,9.3,1230,14142,0.12,2.75,18.12,0.974,4,0.061,0.062,3076,3398,1803
$GC,14152,1.31,308.3,557.8,12.1,1233,14158,0.00,2.60,0.00,0.000,6,0.000,0.049,3076,2014,1802
$GC,14478,1.31,308.3,518.4,12.2,1264,14479,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1800
$GC,14795,1.31,308.3,478.9,12.6,1294,14796,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1799
$GC,15114,1.31,308.3,440.7,11.7,1324,15118,0.00,2.72,0.00,0.000,4,0.000,0.067,3076,569,1799
$GC,15134,1.31,308.3,438.1,12.3,1325,15141,0.00,2.65,0.00,0.000,6,0.000,0.044,3076,2013,1799
$GC,15459,1.31,308.3,399.3,12.3,1356,15461,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1798
$GC,15777,1.31,308.3,361.8,11.6,1386,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1799
$GC,16108,1.31,308.3,323.9,11.6,1436,16114,0.00,2.70,0.00,0.000,4,0.000,0.063,3076,574,1799
$GC,16131,1.31,308.3,321.0,12.2,1440,16138,0.00,2.60,0.00,0.000,6,0.000,0.044,3076,2014,1798
$GC,16476,1.31,308.3,280.3,11.1,1501,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2017,1799
$GC,16817,1.31,308.3,242.2,11.2,1562,16823,0.00,2.72,0.00,0.000,4,0.000,0.063,3076,567,1799
$GC,16835,1.31,308.3,240.2,11.7,1565,16841,0.00,2.58,0.00,0.000,6,0.000,0.043,3075,1998,1799
$GC,17178,1.31,308.3,202.9,10.4,1626,17183,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,1799
$GC,17520,1.31,308.3,164.9,11.1,1687,17525,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,1799
$GC,17862,1.31,308.3,125.7,11.7,1748,17867,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,1799
$GC,18201,1.31,308.3,86.2,11.2,1809,18209,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,1799
$GC,18544,1.31,308.3,46.9,10.1,1870,18551,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2001,1799
$GC,18678,1.31,308.3,31.9,11.2,1895,18685,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,1799
$GC,18812,1.31,308.3,17.1,10.2,1920,18819,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,1799
$STATE,18934,end climb,SURFACE_DEPTH_REACHED
$STATE,18934,begin surface coast
$FINISH,0.2,1.003373
$STATE,18962,end surface coast,CONTROL_FINISHED_OK
$STATE,18963,begin surface
$SM_CCo,19040,0.00,0.000,0,0,1797,310.30
$SM_GC,0.79,10.45,0.00,0.00,0.033,0.000,0.000,561,2006,1797,-10.08,-0.68,310.30
$IRIDIUM_FIX,6046.07,-2428.11,220797,010113
$TT8_MAMPS,0.041418
$HUMID,1619
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.40
$XPDR_PINGS,346
$24V_AH,23.5,22.441
$10V_AH,10.6,31.041
$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,24.600,79.450,445.350,0.000,0.000,30.372,31.006,220.053,86.500,0.000,0.000,14.991,3026.563,11583.853,578.776,3690.625,546.114,0.000,2089.298,0.000,3709.017,0.000,0.465
$DEVICE_MAMPS,199.420,90.506,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1362.761,1409.248,724.785,928.610,910.322,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139059,1948
$CAP_FILE_SIZE,156674,0
$CFSIZE,260165632,245817344
$ERRORS,0,19,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,123107,6111.700,-2253.216,41,1.0,52,-16.6