version: 66.03
glider: 141
mission: 7
dive: 175
start: 5 12 108 18 47 46
data:
$ID,141
$MISSION,7
$DIVE,175
$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,230
$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,-9601.0371
$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,30
$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
$GPS1,184037,6120.376,-2545.299,40,1.0,40,-18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.1
$GPS2,184726,6120.311,-2545.335,11,1.3,11,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6113.369,-2549.317
$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,248.2,20000,-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,25,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-99.35,0.000,2,0.000,0.000,572,2056,3783
$GC,130,-1.34,-194.7,3.7,-7.8,18,150,11.20,2.70,-1.62,0.000,4,0.202,0.074,2483,614,3856
$GC,312,-1.34,-194.7,30.8,-11.3,50,319,0.00,2.55,0.00,0.000,6,0.000,0.051,2483,2031,3857
$GC,454,-1.34,-194.7,47.0,-11.1,75,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,595,-1.34,-194.7,63.5,-11.6,100,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2032,3857
$GC,937,-1.34,-194.7,104.4,-11.6,161,943,0.00,2.65,0.00,0.000,4,0.000,0.064,2483,3439,3857
$GC,967,-1.34,-194.7,108.0,-12.7,166,974,0.00,2.55,0.00,0.000,6,0.000,0.055,2483,2033,3857
$GC,1313,-1.34,-194.7,146.6,-11.3,227,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3858
$GC,1656,-1.34,-194.7,184.8,-10.7,288,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3857
$GC,1999,-1.34,-194.7,222.8,-11.0,349,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3857
$GC,2342,-1.34,-194.7,262.7,-11.6,410,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3857
$GC,2685,-1.34,-194.7,305.4,-13.4,471,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2029,3857
$GC,3026,-1.34,-194.7,348.3,-11.9,532,3032,0.00,2.62,0.00,0.000,4,0.000,0.071,2483,621,3857
$GC,3049,-1.34,-194.7,351.1,-12.1,536,3053,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2034,3857
$GC,3374,-1.34,-194.7,386.3,-10.2,566,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,3692,-1.34,-194.7,417.0,-9.3,596,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,4012,-1.34,-194.7,446.0,-8.9,626,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,4331,-1.34,-194.7,475.6,-9.5,656,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,4648,-1.34,-194.7,505.7,-9.4,686,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,4966,-1.34,-194.7,538.1,-10.9,716,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,5286,-1.34,-194.7,574.4,-11.8,746,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,5601,-1.34,-194.7,608.8,-10.5,772,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,5910,-1.34,-194.7,640.2,-9.9,787,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2035,3857
$GC,6219,-1.34,-194.7,670.8,-10.1,802,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,6530,-1.34,-194.7,699.0,-9.1,817,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,6838,-1.34,-194.7,727.0,-9.2,832,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,7147,-1.34,-194.7,757.1,-9.6,847,7152,0.00,2.80,0.00,0.000,4,0.000,0.096,2483,3433,3856
$GC,7179,-1.34,-194.7,760.4,-10.4,848,7186,0.00,2.65,0.00,0.000,6,0.000,0.069,2483,2049,3856
$GC,7495,-1.34,-194.7,788.2,-8.8,864,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3856
$GC,7804,-1.34,-194.7,812.3,-7.8,879,7809,0.00,2.88,0.00,0.000,4,0.000,0.104,2483,614,3856
$GC,7876,-1.34,-194.7,818.6,-9.1,882,7880,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2010,3856
$GC,8191,-1.34,-194.7,849.2,-10.7,897,8196,0.00,2.83,0.00,0.000,4,0.000,0.099,2483,3444,3855
$GC,8223,-1.34,-194.7,852.9,-11.7,898,8229,0.00,2.67,0.00,0.000,6,0.000,0.065,2483,2016,3855
$GC,8539,-1.34,-194.7,887.9,-11.3,914,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2015,3855
$GC,8848,-1.34,-194.7,919.1,-9.3,929,8852,0.00,2.80,0.00,0.000,4,0.000,0.082,2483,3448,3855
$GC,8874,-1.34,-194.7,921.8,-10.7,930,8878,0.00,2.70,0.00,0.000,6,0.000,0.064,2483,2010,3855
$GC,9196,-1.34,-194.7,951.4,-9.0,946,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2009,3854
$GC,9505,-1.34,-194.7,979.5,-9.3,961,9509,0.00,2.72,0.00,0.000,4,0.000,0.097,2483,616,3854
$GC,9532,-1.34,-194.7,982.2,-10.9,962,9537,0.00,2.58,0.00,0.000,6,0.000,0.061,2483,2009,3854
$STATE,9618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9618,begin apogee
$GC,9624,-0.37,0.0,990.6,9.7,966,9800,1.00,0.00,169.10,1.295,6,0.100,0.000,2695,1976,3061
$STATE,9801,end apogee,CONTROL_FINISHED_OK
$STATE,9801,begin climb
$GC,9804,1.34,194.7,994.9,0.0,975,9977,1.70,0.00,168.60,1.265,6,0.075,0.000,3068,1976,2268
$GC,10275,1.29,194.7,953.1,10.0,998,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1976,2263
$GC,10585,1.26,210.9,922.5,9.4,1013,10606,0.00,2.85,15.05,1.141,4,0.000,0.080,3068,3402,2201
$GC,10640,1.21,214.0,917.0,9.9,1015,10652,0.12,2.65,4.28,0.782,6,0.110,0.058,3044,1989,2189
$GC,10960,1.27,258.2,889.9,8.5,1031,11009,0.00,2.88,41.30,1.203,4,0.000,0.086,3044,572,2009
$GC,11026,1.29,282.0,883.9,9.2,1034,11056,0.00,2.65,23.05,1.155,6,0.000,0.055,3044,1995,1911
$GC,11372,1.29,282.0,846.2,11.1,1051,11376,0.00,2.70,0.00,0.000,4,0.000,0.083,3044,3392,1905
$GC,11410,1.29,282.0,841.6,12.5,1053,11415,0.00,2.60,0.00,0.000,6,0.000,0.056,3044,1983,1905
$GC,11736,1.29,282.0,805.4,10.8,1069,11740,0.00,2.72,0.00,0.000,4,0.000,0.083,3044,576,1904
$GC,11767,1.29,282.0,801.9,10.4,1070,11774,0.00,2.58,0.00,0.000,6,0.000,0.059,3043,1986,1904
$GC,12084,1.31,297.2,770.6,9.5,1086,12107,0.00,0.00,16.35,0.978,6,0.000,0.000,3044,1988,1850
$GC,12412,1.31,297.2,736.4,10.9,1102,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1988,1847
$GC,12721,1.31,297.2,703.3,10.3,1117,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1989,1846
$GC,13031,1.31,297.2,668.7,11.5,1132,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1990,1846
$GC,13340,1.34,321.6,635.9,9.2,1147,13373,0.12,0.00,24.98,0.983,6,0.065,0.000,3080,1990,1750
$GC,13669,1.34,321.6,602.5,10.1,1163,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1991,1747
$GC,13986,1.34,321.6,564.9,12.2,1191,13991,0.00,2.72,0.00,0.000,4,0.000,0.077,3080,3399,1746
$GC,14025,1.34,321.6,559.8,13.1,1194,14029,0.00,2.65,0.00,0.000,6,0.000,0.057,3080,1973,1745
$GC,14349,1.34,321.6,516.0,13.3,1224,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1972,1745
$GC,14667,1.34,321.6,476.1,11.8,1254,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1970,1745
$GC,14986,1.34,321.6,438.5,11.8,1284,14991,0.00,2.70,0.00,0.000,4,0.000,0.067,3080,3398,1745
$GC,15019,1.34,321.6,434.3,12.7,1286,15025,0.00,2.60,0.00,0.000,6,0.000,0.053,3080,1984,1744
$GC,15345,1.34,321.6,398.7,10.6,1317,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1982,1745
$GC,15662,1.34,321.6,365.6,10.3,1347,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1981,1745
$GC,15990,1.34,321.6,330.1,10.9,1393,15996,0.00,2.67,0.00,0.000,4,0.000,0.063,3080,3399,1745
$GC,16036,1.34,321.6,324.7,11.5,1401,16042,0.00,2.58,0.00,0.000,6,0.000,0.052,3080,1991,1744
$GC,16379,1.34,321.6,285.8,12.1,1462,16385,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1987,1745
$GC,16721,1.34,321.6,246.2,11.4,1523,16727,0.00,2.67,0.00,0.000,4,0.000,0.061,3080,3401,1745
$GC,16755,1.34,321.6,242.1,12.3,1529,16761,0.00,2.58,0.00,0.000,6,0.000,0.051,3080,1999,1744
$GC,17097,1.34,321.6,204.0,11.9,1590,17102,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1997,1744
$GC,17439,1.34,321.6,163.1,13.0,1651,17445,0.00,2.65,0.00,0.000,4,0.000,0.061,3080,3399,1745
$GC,17474,1.34,321.6,158.4,15.1,1657,17480,0.00,2.55,0.00,0.000,6,0.000,0.051,3080,2006,1745
$GC,17816,1.34,321.6,112.0,14.4,1718,17823,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2005,1745
$GC,18160,1.34,321.6,69.3,10.9,1779,18165,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2005,1745
$GC,18503,1.34,321.6,27.0,12.5,1840,18509,0.00,2.62,0.00,0.000,4,0.000,0.061,3080,3395,1745
$GC,18543,1.34,321.6,21.6,13.7,1847,18550,0.00,2.53,0.00,0.000,6,0.000,0.053,3080,2015,1745
$GC,18685,1.34,321.6,4.9,10.2,1872,18691,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2014,1745
$STATE,18700,end climb,SURFACE_DEPTH_REACHED
$STATE,18701,begin surface coast
$FINISH,0.3,1.027118
$STATE,18725,end surface coast,CONTROL_FINISHED_OK
$STATE,18725,begin surface
$SM_CCo,18804,0.00,0.000,0,0,1744,323.31
$SM_GC,0.96,10.57,0.00,0.00,0.039,0.000,0.000,573,2013,1744,-10.07,-0.45,323.31
$IRIDIUM_FIX,6059.36,-2553.70,060897,131300
$TT8_MAMPS,0.041418
$HUMID,1656
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.10
$XPDR_PINGS,374
$24V_AH,23.4,35.531
$10V_AH,10.6,42.417
$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,24.725,96.050,462.700,0.000,0.000,31.210,31.641,221.628,93.500,0.000,0.000,13.009,2945.874,11883.199,645.088,3136.125,589.077,0.000,2074.554,0.000,3151.688,0.000,0.467
$DEVICE_MAMPS,201.721,104.312,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1318.525,1367.026,679.927,1020.826,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132780,1879
$CAP_FILE_SIZE,158581,0
$CFSIZE,260165632,239542272
$ERRORS,0,17,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130508,000225,6116.233,-2553.005,23,1.1,40,-18.3