version: 66.03
glider: 141
mission: 7
dive: 110
start: 4 28 108 0 44 19
data:
$ID,141
$MISSION,7
$DIVE,110
$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,628.45856
$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,-8431.6543
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,002132,6113.873,-2250.498,38,1.9,44,-16.6
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-51.8
$GPS2,004402,6113.833,-2250.265,12,1.7,29,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6108.433,-2254.779
$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,256.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,137,0.00,0.00,-108.20,0.000,2,0.000,0.000,569,2041,3739
$GC,139,-1.34,-194.7,3.2,-6.0,15,163,11.15,2.62,-2.80,0.000,4,0.199,0.067,2482,3431,3859
$GC,399,-1.30,-194.7,39.5,-11.7,63,407,0.00,2.55,0.00,0.000,6,0.000,0.048,2482,2028,3860
$GC,536,-1.30,-194.7,54.4,-10.6,88,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2026,3860
$GC,872,-1.30,-194.7,89.2,-11.2,149,878,0.00,2.60,0.00,0.000,4,0.000,0.056,2482,3431,3860
$GC,902,-1.30,-194.7,92.4,-12.0,154,909,0.00,2.53,0.00,0.000,6,0.000,0.049,2482,2028,3860
$GC,1242,-1.30,-194.7,131.0,-10.9,215,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,1583,-1.30,-194.7,168.7,-10.8,276,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,1925,-1.30,-194.7,206.1,-11.3,337,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,2267,-1.30,-194.7,244.6,-11.0,398,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,2609,-1.30,-194.7,281.2,-9.9,459,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2022,3860
$GC,2953,-1.30,-194.7,314.7,-9.8,520,2960,0.00,2.60,0.00,0.000,4,0.000,0.064,2482,3430,3860
$GC,2977,-1.30,-194.7,317.3,-9.9,524,2983,0.00,2.53,0.00,0.000,6,0.000,0.044,2482,2021,3860
$GC,3320,-1.30,-194.7,351.6,-10.7,584,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2019,3860
$GC,3638,-1.30,-194.7,386.3,-11.3,614,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2019,3860
$GC,3957,-1.30,-194.7,420.9,-10.3,644,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2019,3860
$GC,4275,-1.30,-194.7,453.4,-10.5,674,4279,0.00,2.67,0.00,0.000,4,0.000,0.064,2481,3437,3860
$GC,4306,-1.30,-194.7,456.9,-10.6,676,4313,0.00,2.58,0.00,0.000,6,0.000,0.048,2482,2037,3860
$GC,4631,-1.30,-194.7,491.5,-11.0,707,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3860
$GC,4950,-1.30,-194.7,526.0,-10.6,737,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3860
$GC,5268,-1.30,-194.7,559.3,-10.5,767,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3860
$GC,5587,-1.30,-194.7,592.4,-10.1,797,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3860
$GC,5909,-1.30,-194.7,627.2,-10.7,816,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3860
$GC,6218,-1.30,-194.7,657.4,-9.6,831,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3860
$GC,6527,-1.30,-194.7,687.9,-10.1,846,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3859
$GC,6836,-1.30,-194.7,719.0,-10.2,861,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2037,3859
$GC,7146,-1.30,-194.7,749.6,-9.9,876,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3859
$GC,7455,-1.30,-194.7,780.4,-10.0,891,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3859
$GC,7765,-1.30,-194.7,810.1,-9.5,906,7769,0.00,2.75,0.00,0.000,4,0.000,0.087,2482,3431,3859
$GC,7790,-1.30,-194.7,813.0,-11.5,907,7795,0.00,2.65,0.00,0.000,6,0.000,0.062,2482,2031,3858
$GC,8112,-1.30,-194.7,843.7,-9.3,923,8117,0.00,2.70,0.00,0.000,4,0.000,0.080,2482,3431,3859
$GC,8144,-1.30,-194.7,847.0,-10.8,924,8150,0.00,2.60,0.00,0.000,6,0.000,0.061,2482,2028,3859
$GC,8459,-1.30,-194.7,877.0,-9.6,940,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2028,3858
$GC,8769,-1.30,-194.7,906.0,-9.3,955,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2028,3858
$GC,9078,-1.30,-194.7,935.5,-9.8,970,9083,0.00,2.70,0.00,0.000,4,0.000,0.077,2482,3423,3858
$GC,9105,-1.30,-194.7,938.4,-11.3,971,9109,0.00,2.62,0.00,0.000,6,0.000,0.060,2482,2029,3857
$GC,9426,-1.30,-194.7,971.1,-9.9,987,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2030,3857
$STATE,9630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9631,begin apogee
$GC,9635,-0.37,0.0,991.3,9.8,997,9813,1.00,0.00,169.38,1.292,6,0.100,0.000,2694,1983,3061
$STATE,9813,end apogee,CONTROL_FINISHED_OK
$STATE,9813,begin climb
$GC,9815,1.34,194.7,995.6,0.0,1006,9988,1.70,0.00,168.27,1.262,6,0.074,0.000,3068,1983,2268
$GC,10286,1.29,194.7,949.4,11.3,1029,10290,0.00,2.70,0.00,0.000,4,0.000,0.069,3068,3388,2261
$GC,10329,1.24,194.7,944.1,12.0,1031,10333,0.00,2.60,0.00,0.000,6,0.000,0.052,3068,1983,2260
$GC,10656,1.18,194.7,908.3,10.7,1047,10657,0.15,0.00,0.00,0.000,6,0.107,0.000,3038,1981,2260
$GC,10965,1.19,198.5,878.4,9.9,1062,10969,0.00,2.67,0.00,0.000,4,0.000,0.066,3038,3389,2259
$GC,10996,1.19,198.5,875.0,10.7,1063,11003,0.00,2.60,0.00,0.000,6,0.000,0.051,3038,1993,2259
$GC,11312,1.20,204.0,844.1,9.8,1079,11322,0.00,0.00,8.25,1.025,6,0.000,0.000,3039,1993,2230
$GC,11621,1.22,225.8,814.7,9.2,1094,11644,0.00,0.00,21.20,1.136,6,0.000,0.000,3038,1993,2141
$GC,11951,1.24,240.6,783.7,9.5,1110,11972,0.00,2.70,14.35,1.083,4,0.000,0.066,3038,3381,2080
$GC,12010,1.24,240.6,777.6,10.6,1112,12018,0.00,2.58,0.00,0.000,6,0.000,0.051,3038,1989,2079
$GC,12326,1.25,245.8,746.8,9.8,1128,12339,0.00,2.78,6.35,0.910,4,0.000,0.082,3038,570,2059
$GC,12369,1.27,262.7,742.5,9.4,1130,12391,0.00,2.60,16.60,1.069,6,0.000,0.049,3038,1989,1991
$GC,12698,1.28,275.8,710.4,9.5,1146,12720,0.00,2.78,13.12,1.032,4,0.000,0.074,3038,3395,1937
$GC,12752,1.28,275.8,704.8,10.1,1148,12757,0.00,2.60,0.00,0.000,6,0.000,0.051,3038,1998,1935
$GC,13074,1.33,311.3,676.5,8.8,1164,13116,0.12,2.80,33.35,1.075,4,0.063,0.077,3076,580,1791
$GC,13138,1.33,311.3,669.4,10.2,1167,13143,0.00,2.62,0.00,0.000,6,0.000,0.048,3076,2010,1791
$GC,13464,1.33,311.3,630.5,12.6,1183,13468,0.00,2.62,0.00,0.000,4,0.000,0.071,3076,3399,1786
$GC,13490,1.33,311.3,627.0,12.4,1184,13494,0.00,2.58,0.00,0.000,6,0.000,0.051,3076,1994,1785
$GC,13813,1.33,311.3,587.3,12.1,1204,13818,0.00,2.67,0.00,0.000,4,0.000,0.076,3076,576,1785
$GC,13845,1.33,311.3,583.2,12.3,1206,13852,0.00,2.62,0.00,0.000,6,0.000,0.048,3076,2003,1785
$GC,14172,1.33,311.3,544.7,11.6,1237,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1785
$GC,14488,1.33,311.3,507.0,11.9,1267,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1785
$GC,14807,1.33,311.3,468.4,12.0,1297,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2006,1785
$GC,15125,1.33,311.3,430.7,11.8,1327,15130,0.00,2.70,0.00,0.000,4,0.000,0.066,3076,569,1785
$GC,15157,1.33,311.3,426.7,11.9,1329,15164,0.00,2.58,0.00,0.000,6,0.000,0.046,3076,1998,1785
$GC,15483,1.33,311.3,388.3,11.5,1360,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1999,1785
$GC,15801,1.33,311.3,351.1,11.7,1390,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1999,1785
$GC,16138,1.33,311.3,311.7,11.7,1449,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2000,1785
$GC,16480,1.33,311.3,272.0,11.0,1510,16486,0.00,2.67,0.00,0.000,4,0.000,0.064,3076,568,1785
$GC,16508,1.33,311.3,268.7,12.1,1515,16514,0.00,2.55,0.00,0.000,6,0.000,0.044,3076,1988,1785
$GC,16851,1.33,311.3,229.6,12.8,1576,16857,0.00,2.60,0.00,0.000,4,0.000,0.061,3076,3399,1785
$GC,16880,1.33,311.3,226.1,12.2,1581,16886,0.00,2.55,0.00,0.000,6,0.000,0.047,3076,1985,1784
$GC,17223,1.33,311.3,186.0,12.5,1642,17229,0.00,2.62,0.00,0.000,4,0.000,0.071,3076,573,1785
$GC,17251,1.33,311.3,182.6,12.5,1647,17257,0.00,2.55,0.00,0.000,6,0.000,0.044,3075,1991,1785
$GC,17595,1.33,311.3,142.5,13.2,1708,17600,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1784
$GC,17931,1.33,311.3,102.6,12.2,1769,17936,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1784
$GC,18266,1.33,311.3,62.9,11.2,1830,18274,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1785
$GC,18595,1.33,311.3,26.1,10.9,1891,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1785
$GC,18729,1.33,311.3,11.0,10.4,1916,18737,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1993,1785
$STATE,18789,end climb,SURFACE_DEPTH_REACHED
$STATE,18789,begin surface coast
$FINISH,0.8,1.027212
$STATE,18811,end surface coast,CONTROL_FINISHED_OK
$STATE,18811,begin surface
$SM_CCo,18829,258.15,0.652,0,0,499,628.46
$SM_GC,0.56,0.00,0.00,258.15,0.000,0.000,0.652,573,2045,499,-10.15,0.48,628.46
$IRIDIUM_FIX,6050.49,-2251.97,230797,000000
$TT8_MAMPS,0.042952
$HUMID,1577
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,12.30
$XPDR_PINGS,374
$24V_AH,23.5,23.186
$10V_AH,10.6,31.585
$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,24.625,100.200,450.875,258.150,0.000,149.109,250.795,517.179,93.500,0.000,0.000,31.367,3027.924,11604.235,872.790,3697.493,1218.387,0.000,2378.809,0.000,3683.937,0.000,0.465
$DEVICE_MAMPS,198.653,104.312,1292.395,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1350.873,1392.884,719.594,917.939,900.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135940,1931
$CAP_FILE_SIZE,177832,0
$CFSIZE,260165632,245510144
$ERRORS,0,13,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,060338,6113.269,-2253.270,34,1.1,34,-16.6