version: 66.03
glider: 141
mission: 7
dive: 144
start: 5 5 108 19 51 15
data:
$ID,141
$MISSION,7
$DIVE,144
$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,300
$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,-8979.041
$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,32
$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
$GPS1,194338,6051.806,-2618.881,25,1.1,25,-18.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-54.7
$GPS2,195057,6051.806,-2619.055,9,1.8,9,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.205,-2623.595
$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,318.2,20000,-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,26,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-100.90,0.000,2,0.000,0.000,570,2041,3716
$GC,132,-1.34,-194.7,3.2,-5.5,14,156,11.25,2.72,-3.30,0.000,4,0.202,0.074,2478,620,3859
$GC,392,-1.34,-194.7,40.9,-12.2,62,400,0.00,2.55,0.00,0.000,6,0.000,0.046,2478,2019,3860
$GC,528,-1.34,-194.7,57.2,-11.4,87,536,0.00,2.67,0.00,0.000,4,0.000,0.070,2478,619,3860
$GC,629,-1.34,-194.7,70.3,-13.5,105,638,0.00,2.60,0.00,0.000,6,0.000,0.052,2479,2046,3860
$GC,973,-1.34,-194.7,111.8,-13.0,166,980,0.00,2.58,0.00,0.000,4,0.000,0.064,2479,3444,3860
$GC,1027,-1.29,-194.7,118.4,-13.2,175,1034,0.00,2.53,0.00,0.000,6,0.000,0.050,2478,2043,3860
$GC,1371,-1.29,-194.7,159.4,-11.7,236,1378,0.00,2.60,0.00,0.000,4,0.000,0.064,2479,3446,3860
$GC,1430,-1.25,-194.7,166.8,-12.1,246,1436,0.15,2.50,0.00,0.000,6,0.114,0.048,2508,2059,3860
$GC,1774,-1.25,-194.7,200.9,-9.8,307,1780,0.00,2.67,0.00,0.000,4,0.000,0.062,2508,617,3860
$GC,1842,-1.25,-194.7,207.8,-9.7,319,1848,0.00,2.58,0.00,0.000,6,0.000,0.045,2508,2056,3860
$GC,2186,-1.25,-194.7,240.7,-9.9,380,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,2529,-1.25,-194.7,272.2,-8.8,441,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,2871,-1.25,-194.7,304.8,-10.7,502,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,3213,-1.25,-194.7,341.2,-11.0,563,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,3548,-1.25,-194.7,380.2,-11.7,601,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,3865,-1.25,-194.7,415.1,-10.6,631,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,4184,-1.25,-194.7,447.5,-9.4,661,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2058,3860
$GC,4505,-1.25,-194.7,475.0,-8.4,691,4509,0.00,2.70,0.00,0.000,4,0.000,0.069,2508,626,3860
$GC,4555,-1.25,-194.7,479.5,-8.5,695,4560,0.00,2.55,0.00,0.000,6,0.000,0.048,2508,2038,3859
$GC,4881,-1.25,-194.7,506.7,-8.4,725,4885,0.00,2.65,0.00,0.000,4,0.000,0.077,2508,3440,3859
$GC,4935,-1.25,-194.7,511.9,-8.9,729,4942,0.00,2.55,0.00,0.000,6,0.000,0.054,2508,2040,3859
$GC,5261,-1.25,-194.7,541.7,-9.7,760,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2040,3859
$GC,5578,-1.25,-194.7,573.4,-9.7,790,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2040,3860
$GC,5896,-1.25,-194.7,605.1,-10.0,818,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2039,3860
$GC,6206,-1.25,-194.7,635.2,-9.3,833,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2039,3859
$GC,6514,-1.25,-194.7,662.2,-8.4,848,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2039,3860
$GC,6824,-1.25,-194.7,686.9,-8.0,863,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2039,3859
$GC,7133,-1.25,-194.7,711.0,-7.7,878,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2039,3859
$GC,7442,-1.25,-194.7,736.3,-8.0,893,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2036,3859
$GC,7752,-1.25,-194.7,762.7,-8.6,908,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2035,3859
$GC,8060,-1.25,-194.7,788.7,-8.4,923,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3859
$GC,8370,-1.25,-194.7,817.0,-9.8,938,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3858
$GC,8679,-1.25,-194.7,848.6,-10.3,953,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3858
$GC,8988,-1.25,-194.7,878.7,-9.2,968,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2035,3858
$GC,9297,-1.25,-194.7,905.5,-8.3,983,9302,0.00,2.78,0.00,0.000,4,0.000,0.089,2508,3436,3858
$GC,9369,-1.25,-194.7,911.7,-8.2,986,9374,0.00,2.60,0.00,0.000,6,0.000,0.065,2508,2051,3857
$GC,9684,-1.25,-194.7,936.3,-8.0,1001,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2051,3857
$GC,9994,-1.25,-194.7,962.1,-8.5,1016,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2050,3857
$GC,10303,-1.25,-194.7,989.0,-8.4,1031,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2049,3856
$STATE,10321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10321,begin apogee
$GC,10326,-0.37,0.0,990.9,8.6,1032,10498,0.88,0.00,168.75,1.302,6,0.099,0.000,2695,1979,3062
$STATE,10499,end apogee,CONTROL_FINISHED_OK
$STATE,10499,begin climb
$GC,10501,1.34,194.7,995.4,0.0,1040,10674,1.70,0.00,168.43,1.269,6,0.077,0.000,3073,1979,2268
$GC,10977,1.28,194.7,949.7,10.8,1064,10982,0.00,2.75,0.00,0.000,4,0.000,0.071,3073,3392,2262
$GC,10998,1.21,194.7,947.1,11.1,1065,11003,0.15,2.67,0.00,0.000,6,0.106,0.058,3043,1976,2261
$GC,11319,1.27,242.7,918.9,8.3,1081,11368,0.00,2.83,43.00,1.212,4,0.000,0.071,3043,3391,2071
$GC,11404,1.29,256.4,911.3,9.5,1085,11425,0.00,2.65,13.77,1.118,6,0.000,0.058,3043,1983,2016
$GC,11733,1.29,256.4,877.2,11.1,1101,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1983,2011
$GC,12043,1.29,256.4,843.3,10.3,1116,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1981,2010
$GC,12352,1.30,268.8,812.4,9.6,1131,12365,0.00,0.00,11.57,1.078,6,0.000,0.000,3043,1981,1966
$GC,12661,1.33,294.4,783.4,9.1,1146,12689,0.12,0.00,25.17,1.134,6,0.064,0.000,3078,1981,1861
$GC,12991,1.33,294.4,747.2,11.0,1162,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1981,1857
$GC,13301,1.33,294.4,711.1,12.1,1177,13305,0.00,2.72,0.00,0.000,4,0.000,0.069,3078,3395,1857
$GC,13321,1.33,294.4,708.5,11.8,1178,13325,0.00,2.62,0.00,0.000,6,0.000,0.056,3078,1994,1856
$GC,13647,1.33,294.4,668.0,12.4,1194,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1992,1856
$GC,13957,1.33,294.4,627.3,13.2,1209,13961,0.00,2.70,0.00,0.000,4,0.000,0.069,3078,3401,1856
$GC,13973,1.33,294.4,625.2,13.0,1210,13977,0.00,2.62,0.00,0.000,6,0.000,0.058,3078,1996,1855
$GC,14291,1.33,294.4,584.0,13.0,1231,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1996,1856
$GC,14609,1.33,294.4,544.7,11.5,1261,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1994,1856
$GC,14928,1.33,294.4,509.2,11.0,1291,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1993,1855
$GC,15249,1.33,294.4,472.9,12.0,1321,15250,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1993,1855
$GC,15565,1.33,294.4,430.5,14.2,1351,15570,0.00,2.65,0.00,0.000,4,0.000,0.065,3078,3398,1856
$GC,15581,1.33,294.4,428.2,14.8,1352,15586,0.00,2.58,0.00,0.000,6,0.000,0.054,3079,1998,1855
$GC,15905,1.33,294.4,380.3,14.7,1382,15909,0.00,2.70,0.00,0.000,4,0.000,0.072,3078,574,1856
$GC,15921,1.33,294.4,378.0,14.5,1383,15925,0.00,2.60,0.00,0.000,6,0.000,0.048,3078,2007,1856
$GC,16251,1.33,294.4,335.6,11.7,1423,16256,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1856
$GC,16593,1.33,294.4,299.1,10.3,1484,16599,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2009,1856
$GC,16937,1.35,310.8,265.8,9.4,1545,16959,0.00,2.65,15.18,0.805,4,0.000,0.064,3078,3394,1792
$GC,16970,1.35,310.8,262.2,10.8,1551,16976,0.00,2.58,0.00,0.000,6,0.000,0.051,3078,2008,1791
$GC,17315,1.35,310.8,224.9,11.6,1612,17322,0.00,2.70,0.00,0.000,4,0.000,0.071,3078,576,1790
$GC,17338,1.35,310.8,221.9,13.2,1616,17345,0.00,2.60,0.00,0.000,6,0.000,0.047,3078,2005,1790
$GC,17683,1.35,310.8,178.9,12.6,1677,17688,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2008,1789
$GC,18027,1.35,310.8,133.5,15.0,1738,18033,0.00,2.70,0.00,0.000,4,0.000,0.067,3078,571,1790
$GC,18071,1.35,310.8,127.1,15.2,1746,18079,0.00,2.60,0.00,0.000,6,0.000,0.054,3078,1988,1789
$GC,18415,1.35,310.8,83.9,13.2,1807,18420,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1990,1790
$GC,18752,1.35,310.8,43.7,11.0,1868,18760,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1991,1790
$GC,18887,1.35,310.8,28.6,11.0,1893,18894,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1991,1790
$GC,19021,1.35,310.8,12.6,12.5,1918,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1991,1789
$STATE,19107,end climb,SURFACE_DEPTH_REACHED
$STATE,19107,begin surface coast
$FINISH,0.0,1.027198
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19135,begin surface
$SM_CCo,19213,0.00,0.000,0,0,1787,312.51
$SM_GC,0.79,10.50,0.00,0.00,0.036,0.000,0.000,574,2054,1787,-10.06,0.68,312.51
$IRIDIUM_FIX,6028.48,-2651.66,300797,141423
$TT8_MAMPS,0.042185
$HUMID,1636
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,12.00
$XPDR_PINGS,400
$24V_AH,23.5,29.566
$10V_AH,10.6,37.362
$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,24.750,89.975,445.875,0.000,0.000,24.358,33.535,255.945,100.000,0.000,0.000,10.942,3040.687,11792.713,599.070,3601.170,601.191,0.000,2076.324,0.000,3618.257,0.000,0.465
$DEVICE_MAMPS,202.488,92.807,1301.599,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1354.173,1407.378,693.701,896.893,854.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139265,1939
$CAP_FILE_SIZE,162796,0
$CFSIZE,260165632,242376704
$ERRORS,0,16,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060508,011238,6052.290,-2629.034,36,0.8,36,-18.3