version: 66.03
glider: 141
mission: 7
dive: 188
start: 5 15 108 17 26 10
data:
$ID,141
$MISSION,7
$DIVE,188
$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,355
$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,-9824.2178
$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,26
$R_STBD_OVSHOOT,13
$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
$GPS1,171855,6107.360,-2627.862,23,1.0,40,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.8
$GPS2,172551,6107.339,-2627.849,13,1.0,13,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.097,-2628.301
$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,13.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,123,0.00,0.00,-93.40,0.000,2,0.000,0.000,562,2017,3692
$GC,125,-1.34,-194.7,3.3,-6.3,17,150,11.18,2.72,-4.00,0.000,4,0.197,0.070,2483,3443,3859
$GC,220,-1.30,-194.7,19.2,-12.8,33,227,0.00,2.55,0.00,0.000,6,0.000,0.053,2483,2034,3859
$GC,362,-1.30,-194.7,37.6,-12.8,58,369,0.00,2.62,0.00,0.000,4,0.000,0.061,2483,619,3860
$GC,433,-1.30,-194.7,46.8,-13.1,70,439,0.00,2.55,0.00,0.000,6,0.000,0.044,2483,2037,3860
$GC,575,-1.30,-194.7,65.5,-12.5,95,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,917,-1.30,-194.7,109.4,-13.4,156,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,1261,-1.30,-194.7,151.2,-11.8,217,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,1603,-1.30,-194.7,192.2,-12.4,278,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,1945,-1.30,-194.7,233.6,-12.0,339,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,2287,-1.30,-194.7,274.2,-11.8,400,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,2631,-1.30,-194.7,313.5,-11.4,461,2637,0.00,2.65,0.00,0.000,4,0.000,0.062,2483,624,3860
$GC,2693,-1.30,-194.7,320.9,-11.7,472,2699,0.00,2.50,0.00,0.000,6,0.000,0.047,2483,2014,3860
$GC,3037,-1.30,-194.7,359.7,-11.1,526,3042,0.00,2.67,0.00,0.000,4,0.000,0.066,2483,3437,3860
$GC,3092,-1.30,-194.7,366.2,-11.9,530,3099,0.00,2.58,0.00,0.000,6,0.000,0.048,2483,2016,3860
$GC,3419,-1.30,-194.7,401.7,-11.0,561,3423,0.00,2.60,0.00,0.000,4,0.000,0.064,2483,617,3860
$GC,3469,-1.30,-194.7,407.6,-11.5,565,3473,0.00,2.53,0.00,0.000,6,0.000,0.046,2483,2030,3860
$GC,3794,-1.30,-194.7,444.6,-11.7,595,3798,0.00,2.65,0.00,0.000,4,0.000,0.072,2483,3441,3860
$GC,3878,-1.30,-194.7,455.0,-12.2,602,3882,0.00,2.58,0.00,0.000,6,0.000,0.052,2483,2025,3860
$GC,4203,-1.30,-194.7,490.4,-10.3,632,4207,0.00,2.62,0.00,0.000,4,0.000,0.071,2483,614,3860
$GC,4279,-1.30,-194.7,498.8,-10.5,638,4286,0.00,2.58,0.00,0.000,6,0.000,0.050,2483,2037,3860
$GC,4607,-1.30,-194.7,531.6,-9.7,669,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3860
$GC,4924,-1.30,-194.7,562.9,-9.7,699,4929,0.00,2.72,0.00,0.000,4,0.000,0.084,2483,3438,3860
$GC,4975,-1.30,-194.7,568.3,-10.1,703,4980,0.00,2.60,0.00,0.000,6,0.000,0.056,2483,2034,3860
$GC,5312,-1.30,-194.7,602.8,-9.9,733,5316,0.00,2.78,0.00,0.000,4,0.000,0.091,2483,615,3860
$GC,5378,-1.30,-194.7,610.2,-10.3,736,5382,0.00,2.62,0.00,0.000,6,0.000,0.057,2483,2032,3860
$GC,5699,-1.30,-194.7,642.5,-10.3,752,5704,0.00,2.78,0.00,0.000,4,0.000,0.097,2483,3448,3860
$GC,5754,-1.30,-194.7,648.5,-10.7,754,5760,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2040,3860
$GC,6070,-1.30,-194.7,680.7,-10.2,770,6074,0.00,2.83,0.00,0.000,4,0.000,0.105,2483,621,3860
$GC,6146,-1.30,-194.7,688.8,-10.2,773,6153,0.00,2.62,0.00,0.000,6,0.000,0.065,2483,2040,3859
$GC,6462,-1.30,-194.7,720.1,-10.1,789,6466,0.00,2.75,0.00,0.000,4,0.000,0.097,2483,3442,3859
$GC,6523,-1.30,-194.7,726.5,-10.7,792,6527,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2040,3859
$GC,6849,-1.30,-194.7,759.5,-10.2,808,6853,0.00,2.80,0.00,0.000,4,0.000,0.100,2483,620,3859
$GC,6965,-1.30,-194.7,771.5,-10.2,813,6969,0.00,2.58,0.00,0.000,6,0.000,0.059,2483,2023,3859
$GC,7286,-1.30,-194.7,804.2,-10.2,829,7291,0.00,2.80,0.00,0.000,4,0.000,0.098,2483,3446,3858
$GC,7335,-1.30,-194.7,809.6,-10.9,831,7339,0.00,2.67,0.00,0.000,6,0.000,0.064,2483,2014,3858
$GC,7656,-1.30,-194.7,843.6,-10.7,847,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,7965,-1.30,-194.7,876.1,-10.2,862,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2012,3857
$GC,8275,-1.30,-194.7,906.4,-9.6,877,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2012,3857
$GC,8584,-1.30,-194.7,935.2,-9.2,892,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2011,3857
$GC,8894,-1.30,-194.7,964.5,-9.3,907,8898,0.00,2.78,0.00,0.000,4,0.000,0.083,2483,3443,3855
$GC,8955,-1.30,-194.7,970.7,-9.6,910,8959,0.00,2.65,0.00,0.000,6,0.000,0.062,2483,2017,3855
$STATE,9175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9175,begin apogee
$GC,9181,-0.37,0.0,991.5,9.4,921,9358,1.00,0.00,169.23,1.304,6,0.100,0.000,2694,1980,3062
$STATE,9358,end apogee,CONTROL_FINISHED_OK
$STATE,9359,begin climb
$GC,9361,1.34,194.7,996.1,0.0,930,9540,1.73,2.83,168.62,1.271,4,0.074,0.076,3069,3404,2267
$GC,9557,1.28,194.7,980.8,11.1,939,9563,0.00,2.67,0.00,0.000,6,0.000,0.059,3069,1981,2264
$GC,9873,1.23,195.7,948.0,10.0,955,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1978,2261
$GC,10181,1.21,218.2,919.3,9.2,970,10205,0.12,0.00,21.45,1.175,6,0.108,0.000,3045,1978,2172
$GC,10511,1.25,257.7,890.7,8.6,986,10553,0.00,2.85,36.92,1.200,4,0.000,0.072,3045,3396,2010
$GC,10569,1.31,301.0,885.3,8.5,988,10617,0.00,2.65,41.20,1.187,6,0.000,0.064,3045,1987,1833
$GC,10925,1.31,301.0,851.4,10.0,1006,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1988,1827
$GC,11234,1.31,301.0,820.4,10.5,1021,11239,0.00,2.70,0.00,0.000,4,0.000,0.071,3045,3397,1825
$GC,11255,1.31,301.0,817.9,11.1,1022,11259,0.00,2.60,0.00,0.000,6,0.000,0.055,3045,1990,1824
$GC,11582,1.31,301.0,783.6,10.4,1038,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1989,1824
$GC,11891,1.31,301.0,752.2,10.0,1053,11896,0.00,2.67,0.00,0.000,4,0.000,0.071,3045,3398,1824
$GC,11908,1.31,301.0,750.4,10.2,1054,11912,0.00,2.58,0.00,0.000,6,0.000,0.057,3045,2000,1823
$GC,12233,1.32,310.5,717.9,9.7,1070,12244,0.10,0.00,7.88,0.965,6,0.073,0.000,3076,1998,1796
$GC,12543,1.32,310.5,683.5,11.1,1085,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1795
$GC,12851,1.32,310.5,650.1,11.1,1100,12856,0.00,2.70,0.00,0.000,4,0.000,0.071,3076,3398,1794
$GC,12883,1.32,310.5,646.2,12.5,1101,12890,0.00,2.58,0.00,0.000,6,0.000,0.055,3076,2010,1794
$GC,13199,1.32,310.5,607.8,13.0,1117,13204,0.00,2.67,0.00,0.000,4,0.000,0.069,3076,3405,1794
$GC,13226,1.32,310.5,603.7,14.3,1118,13230,0.00,2.58,0.00,0.000,6,0.000,0.055,3076,2016,1794
$GC,13557,1.32,310.5,556.2,14.5,1148,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2015,1793
$GC,13874,1.32,310.5,513.5,12.7,1178,13879,0.00,2.62,0.00,0.000,4,0.000,0.068,3076,3401,1794
$GC,13918,1.32,310.5,507.3,13.5,1181,13924,0.00,2.53,0.00,0.000,6,0.000,0.054,3076,2024,1793
$GC,14244,1.32,310.5,466.4,12.1,1212,14249,0.00,2.60,0.00,0.000,4,0.000,0.067,3076,3397,1793
$GC,14261,1.32,310.5,464.1,11.8,1213,14265,0.00,2.47,0.00,0.000,6,0.000,0.051,3076,2039,1793
$GC,14587,1.32,310.5,425.6,11.6,1243,14591,0.00,2.58,0.00,0.000,4,0.000,0.065,3076,3399,1793
$GC,14603,1.32,310.5,423.5,11.5,1244,14607,0.00,2.47,0.00,0.000,6,0.000,0.051,3075,2045,1793
$GC,14928,1.32,310.5,386.9,11.2,1274,14929,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2044,1793
$GC,15245,1.32,310.5,352.0,11.1,1304,15249,0.00,2.55,0.00,0.000,4,0.000,0.063,3075,3397,1793
$GC,15261,1.32,310.5,350.1,10.8,1305,15266,0.00,2.47,0.00,0.000,6,0.000,0.050,3076,2041,1793
$GC,15604,1.32,310.5,312.1,11.3,1365,15611,0.00,2.55,0.00,0.000,4,0.000,0.062,3076,3399,1794
$GC,15622,1.32,310.5,310.0,11.3,1368,15628,0.00,2.45,0.00,0.000,6,0.000,0.049,3076,2047,1794
$GC,15966,1.32,310.5,269.4,11.6,1429,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2045,1794
$GC,16307,1.32,310.5,229.0,11.2,1490,16313,0.00,2.53,0.00,0.000,4,0.000,0.061,3075,3398,1794
$GC,16325,1.32,310.5,226.8,12.4,1493,16331,0.00,2.42,0.00,0.000,6,0.000,0.048,3076,2063,1794
$GC,16668,1.32,310.5,187.6,10.5,1554,16674,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2062,1794
$GC,17010,1.32,314.8,150.6,9.8,1615,17022,0.00,0.00,5.45,0.614,6,0.000,0.000,3076,2062,1777
$GC,17359,1.32,314.8,113.3,10.9,1677,17364,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2061,1777
$GC,17701,1.32,314.8,79.3,10.1,1738,17707,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2061,1777
$GC,18046,1.32,314.8,43.5,10.0,1799,18052,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2061,1777
$GC,18188,1.34,326.8,29.3,9.6,1824,18206,0.00,2.83,11.95,0.653,4,0.000,0.065,3076,577,1728
$GC,18213,1.34,326.8,26.8,10.7,1828,18219,0.00,2.72,0.00,0.000,6,0.000,0.047,3076,2069,1727
$GC,18356,1.37,351.9,12.1,9.1,1853,18385,0.00,0.00,23.55,0.663,6,0.000,0.000,3076,2071,1625
$STATE,18436,end climb,SURFACE_DEPTH_REACHED
$STATE,18436,begin surface coast
$FINISH,0.2,1.027171
$STATE,18463,end surface coast,CONTROL_FINISHED_OK
$STATE,18463,begin surface
$SM_CCo,18543,0.00,0.000,0,0,1620,353.72
$SM_GC,0.97,10.62,0.00,0.00,0.040,0.000,0.000,569,2013,1620,-10.08,-0.48,353.72
$IRIDIUM_FIX,6041.65,-2625.95,090897,111127
$TT8_MAMPS,0.042185
$HUMID,1648
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.80
$XPDR_PINGS,436
$24V_AH,23.4,37.926
$10V_AH,10.6,44.258
$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,24.750,147.675,486.250,0.000,0.000,25.378,32.814,225.043,109.000,0.000,0.000,14.512,2961.444,11453.497,664.769,3263.882,598.704,0.000,2186.573,0.000,3259.622,0.000,0.466
$DEVICE_MAMPS,197.119,112.749,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1311.180,1365.370,707.820,1039.222,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132608,1872
$CAP_FILE_SIZE,168333,0
$CFSIZE,260165632,238325760
$ERRORS,0,60,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,223631,6109.539,-2627.090,36,1.2,42,-18.5