version: 66.03
glider: 141
mission: 7
dive: 229
start: 5 24 108 21 55 39
data:
$ID,141
$MISSION,7
$DIVE,229
$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,-10543.173
$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,9
$R_STBD_OVSHOOT,16
$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
$GPS1,214737,6145.839,-2638.317,35,1.1,41,-18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-54.6
$GPS2,215521,6145.893,-2638.403,13,1.2,13,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6138.952,-2642.331
$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,248.9,20000,-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,27,-1.34,-194.7,0.0,0.0,0,139,0.00,0.00,-109.70,0.000,2,0.000,0.000,569,2041,3721
$GC,142,-1.34,-194.7,3.6,-7.0,20,162,10.95,2.83,-3.10,0.000,4,0.191,0.163,2481,611,3858
$GC,301,-1.34,-194.7,30.8,-15.3,47,307,0.00,2.58,0.00,0.000,6,0.000,0.131,2481,2027,3860
$GC,443,-1.34,-194.7,52.1,-13.9,72,449,0.00,2.62,0.00,0.000,4,0.000,0.139,2481,3449,3860
$GC,472,-1.29,-194.7,56.3,-15.0,77,479,0.00,2.65,0.00,0.000,6,0.000,0.142,2481,2040,3860
$GC,816,-1.29,-194.7,92.2,-7.7,138,822,0.00,2.60,0.00,0.000,4,0.000,0.136,2481,3441,3860
$GC,882,-1.25,-194.7,97.6,-8.7,149,889,0.12,2.65,0.00,0.000,6,0.112,0.145,2505,2037,3860
$GC,1226,-1.25,-194.7,129.6,-10.2,210,1233,0.00,2.62,0.00,0.000,4,0.000,0.139,2505,3442,3860
$GC,1257,-1.25,-194.7,132.9,-11.5,215,1263,0.00,2.62,0.00,0.000,6,0.000,0.140,2505,2050,3860
$GC,1600,-1.25,-194.7,171.5,-11.8,276,1606,0.00,2.60,0.00,0.000,4,0.000,0.144,2505,3448,3860
$GC,1629,-1.25,-194.7,175.0,-12.4,281,1635,0.00,2.62,0.00,0.000,6,0.000,0.142,2505,2064,3861
$GC,1973,-1.25,-194.7,213.5,-10.7,342,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3860
$GC,2317,-1.25,-194.7,249.2,-10.3,403,2323,0.00,2.58,0.00,0.000,4,0.000,0.138,2505,3442,3860
$GC,2363,-1.25,-194.7,254.2,-11.0,411,2369,0.00,2.62,0.00,0.000,6,0.000,0.143,2505,2061,3860
$GC,2706,-1.25,-194.7,287.0,-9.3,472,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2060,3860
$GC,3050,-1.25,-194.7,318.5,-8.8,533,3056,0.00,2.60,0.00,0.000,4,0.000,0.142,2505,3444,3860
$GC,3085,-1.25,-194.7,322.0,-10.3,539,3091,0.00,2.60,0.00,0.000,6,0.000,0.143,2505,2075,3860
$GC,3431,-1.25,-194.7,356.8,-10.7,595,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2071,3860
$GC,3749,-1.25,-194.7,392.3,-11.4,625,3754,0.00,2.58,0.00,0.000,4,0.000,0.145,2505,3439,3860
$GC,3778,-1.25,-194.7,395.8,-13.0,627,3782,0.00,2.60,0.00,0.000,6,0.000,0.146,2505,2073,3860
$GC,4104,-1.25,-194.7,435.0,-12.2,657,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2071,3860
$GC,4420,-1.25,-194.7,473.1,-11.6,687,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3860
$GC,4740,-1.25,-194.7,505.2,-9.1,717,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3860
$GC,5058,-1.25,-194.7,533.0,-8.7,747,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3860
$GC,5379,-1.25,-194.7,557.0,-6.9,777,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3860
$GC,5694,-1.25,-194.7,578.6,-6.7,807,5699,0.00,2.90,0.00,0.000,4,0.000,0.176,2505,622,3860
$GC,5745,-1.25,-194.7,582.2,-7.0,811,5750,0.00,2.67,0.00,0.000,6,0.000,0.133,2505,2069,3859
$GC,6069,-1.25,-194.7,608.0,-8.7,837,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2071,3859
$GC,6377,-1.25,-194.7,633.8,-8.4,852,6382,0.00,2.92,0.00,0.000,4,0.000,0.177,2505,618,3859
$GC,6404,-1.25,-194.7,636.2,-9.2,853,6408,0.00,2.70,0.00,0.000,6,0.000,0.136,2505,2065,3859
$GC,6719,-1.25,-194.7,665.3,-9.7,868,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2066,3859
$GC,7029,-1.25,-194.7,692.3,-8.0,883,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2066,3858
$GC,7338,-1.25,-194.7,721.0,-9.1,898,7342,0.00,2.92,0.00,0.000,4,0.000,0.179,2505,616,3858
$GC,7364,-1.25,-194.7,723.6,-10.0,899,7368,0.00,2.72,0.00,0.000,6,0.000,0.143,2504,2063,3858
$GC,7686,-1.25,-194.7,750.1,-8.3,915,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2064,3858
$GC,7995,-1.25,-194.7,778.2,-9.6,930,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2064,3858
$GC,8304,-1.25,-194.7,807.3,-9.5,945,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2064,3857
$GC,8614,-1.25,-194.7,836.9,-9.9,960,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2064,3856
$GC,8923,-1.25,-194.7,865.8,-9.8,975,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2064,3856
$GC,9232,-1.25,-194.7,894.2,-9.1,990,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2064,3855
$GC,9542,-1.62,-194.7,907.6,-0.0,1005,9547,0.32,2.72,0.00,0.000,4,0.072,0.170,2427,3445,3855
$STATE,9579,end dive,NO_VERTICAL_VELOCITY
$STATE,9579,begin apogee
$GC,9587,-0.37,0.0,907.5,0.0,1007,9762,1.17,0.00,168.23,1.237,6,0.061,0.000,2698,1985,3061
$STATE,9763,end apogee,CONTROL_FINISHED_OK
$STATE,9763,begin climb
$GC,9765,1.34,194.7,907.3,0.0,1016,9943,1.67,2.97,166.35,1.204,4,0.074,0.176,3068,569,2267
$GC,10033,1.28,194.7,885.9,11.3,1028,10040,0.00,2.65,0.00,0.000,6,0.000,0.133,3068,1987,2264
$GC,10349,1.23,194.7,852.8,11.1,1044,10353,0.00,2.75,0.00,0.000,4,0.000,0.160,3069,3397,2261
$GC,10411,1.18,194.7,846.4,10.1,1047,10416,0.15,2.72,0.00,0.000,6,0.107,0.149,3040,1996,2260
$GC,10738,1.22,225.9,816.1,8.9,1063,10772,0.00,2.92,27.85,1.129,4,0.000,0.170,3039,578,2140
$GC,10802,1.23,236.1,810.1,9.6,1066,10817,0.00,2.67,10.65,1.016,6,0.000,0.130,3039,2006,2099
$GC,11127,1.28,279.1,780.4,8.5,1081,11172,0.00,2.78,39.58,1.125,4,0.000,0.157,3039,3397,1924
$GC,11200,1.34,327.9,774.3,8.3,1084,11260,0.15,2.72,46.90,1.076,6,0.061,0.150,3080,1991,1724
$GC,11582,1.34,327.9,732.3,10.9,1103,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1989,1718
$GC,11891,1.34,327.9,698.6,11.0,1118,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1989,1716
$GC,12201,1.34,329.5,664.6,9.9,1133,12205,0.00,2.72,0.00,0.000,4,0.000,0.148,3080,3406,1715
$GC,12244,1.34,329.5,659.8,10.7,1135,12248,0.00,2.72,0.00,0.000,6,0.000,0.153,3080,2001,1715
$GC,12572,1.34,329.5,621.1,13.5,1151,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1999,1714
$GC,12884,1.34,329.5,579.1,12.4,1173,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1999,1714
$GC,13204,1.34,329.5,541.9,10.8,1203,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1998,1714
$GC,13522,1.34,329.5,508.9,10.3,1233,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1998,1714
$GC,13841,1.34,329.5,473.6,12.2,1263,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1998,1713
$GC,14159,1.34,329.5,432.7,13.0,1293,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1998,1713
$GC,14478,1.34,329.5,395.2,10.9,1323,14482,0.00,2.78,0.00,0.000,4,0.000,0.165,3080,572,1713
$GC,14510,1.34,329.5,391.4,11.2,1325,14516,0.00,2.67,0.00,0.000,6,0.000,0.128,3080,2021,1713
$GC,14836,1.34,329.5,355.5,11.9,1356,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2023,1713
$GC,15168,1.34,329.5,315.8,11.4,1411,15174,0.00,2.85,0.00,0.000,4,0.000,0.162,3080,568,1713
$GC,15208,1.34,329.5,310.8,11.9,1418,15214,0.00,2.65,0.00,0.000,6,0.000,0.128,3080,2013,1713
$GC,15552,1.34,329.5,268.0,11.9,1479,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2016,1713
$GC,15894,1.34,329.5,226.3,12.4,1540,15900,0.00,2.83,0.00,0.000,4,0.000,0.161,3080,569,1713
$GC,15934,1.34,329.5,220.9,13.1,1547,15941,0.00,2.62,0.00,0.000,6,0.000,0.125,3080,2005,1713
$GC,16278,1.34,329.5,175.6,12.8,1608,16283,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2007,1714
$GC,16620,1.34,329.5,132.1,11.7,1669,16626,0.00,2.80,0.00,0.000,4,0.000,0.158,3080,567,1713
$GC,16660,1.34,329.5,127.2,12.2,1676,16667,0.00,2.60,0.00,0.000,6,0.000,0.126,3080,1994,1714
$GC,17005,1.36,345.2,89.0,9.5,1737,17022,0.00,0.00,14.90,0.694,6,0.000,0.000,3080,1996,1654
$GC,17359,1.39,365.3,57.0,9.3,1800,17387,0.00,2.88,19.05,0.681,4,0.000,0.163,3080,570,1571
$GC,17416,1.39,365.3,51.7,10.3,1810,17423,0.00,2.58,0.00,0.000,6,0.000,0.128,3080,1976,1570
$GC,17760,1.39,365.3,11.2,11.5,1871,17766,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1979,1568
$STATE,17833,end climb,SURFACE_DEPTH_REACHED
$STATE,17833,begin surface coast
$FINISH,0.3,1.027045
$STATE,17868,end surface coast,CONTROL_FINISHED_OK
$STATE,17868,begin surface
$SM_CCo,17948,0.00,0.000,0,0,1566,366.97
$SM_GC,1.01,10.57,0.00,0.00,0.040,0.000,0.000,570,2031,1566,-10.06,0.03,366.97
$IRIDIUM_FIX,6121.73,-2637.97,180897,161654
$TT8_MAMPS,0.042185
$HUMID,1666
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.20
$XPDR_PINGS,656
$24V_AH,23.4,46.025
$10V_AH,10.6,50.722
$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,25.125,119.425,493.500,0.000,0.000,29.564,35.840,254.476,164.000,0.000,0.000,15.208,2960.995,10771.679,621.659,3377.583,660.911,0.000,2117.789,0.000,3382.497,0.000,0.465
$DEVICE_MAMPS,190.983,178.711,1237.171,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1318.533,1390.632,726.918,1730.342,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139153,1890
$CAP_FILE_SIZE,163128,0
$CFSIZE,260165632,234504192
$ERRORS,0,39,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250508,025602,6145.270,-2643.635,39,1.5,39,-19.0