version: 66.03
glider: 141
mission: 7
dive: 309
start: 6 9 108 22 1 34
data:
$ID,141
$MISSION,7
$DIVE,309
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-11907.55
$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,8
$R_STBD_OVSHOOT,14
$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
$GPS1,215008,6145.506,-2600.561,28,1.8,28,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-58.4
$GPS2,220117,6145.354,-2600.699,11,2.3,30,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$TGT_RADIUS,2000.000
$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,19.8,19962,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,92,0.00,0.00,-68.18,0.000,2,0.000,0.000,569,2037,3656
$GC,95,-1.34,-194.7,3.0,-5.0,9,119,10.98,2.72,-4.75,0.000,4,0.191,0.164,2482,617,3857
$GC,155,-1.30,-194.7,14.5,-12.2,18,162,0.00,3.03,0.00,0.000,6,0.000,0.209,2482,2023,3857
$GC,302,-1.25,-194.7,31.3,-11.0,43,309,0.12,2.70,0.00,0.000,4,0.116,0.155,2506,3446,3858
$GC,362,-1.25,-194.7,38.1,-10.9,53,369,0.00,2.72,0.00,0.000,6,0.000,0.154,2506,2009,3858
$GC,505,-1.25,-194.7,53.3,-10.5,78,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2006,3858
$GC,849,-1.25,-194.7,87.5,-9.0,139,856,0.00,2.72,0.00,0.000,4,0.000,0.148,2506,3453,3858
$GC,924,-1.25,-194.7,94.7,-9.6,152,932,0.00,2.72,0.00,0.000,6,0.000,0.151,2506,2016,3858
$GC,1269,-1.25,-194.7,128.4,-10.2,213,1276,0.00,2.72,0.00,0.000,4,0.000,0.174,2506,614,3859
$GC,1322,-1.25,-194.7,133.8,-9.9,222,1329,0.00,2.62,0.00,0.000,6,0.000,0.142,2506,2030,3859
$GC,1669,-1.25,-194.7,169.1,-10.6,283,1676,0.00,2.70,0.00,0.000,4,0.000,0.164,2506,3449,3859
$GC,1739,-1.25,-194.7,176.8,-10.9,295,1746,0.00,2.72,0.00,0.000,6,0.000,0.150,2506,2023,3859
$GC,2083,-1.25,-194.7,212.5,-10.3,356,2091,0.00,2.70,0.00,0.000,4,0.000,0.163,2506,621,3859
$GC,2143,-1.25,-194.7,218.5,-10.2,366,2150,0.00,2.97,0.00,0.000,6,0.000,0.203,2506,2028,3859
$GC,2489,-1.25,-194.7,252.8,-9.5,427,2496,0.00,2.67,0.00,0.000,4,0.000,0.146,2506,3447,3859
$GC,2542,-1.25,-194.7,258.2,-9.9,436,2549,0.00,2.70,0.00,0.000,6,0.000,0.158,2506,2024,3859
$GC,2888,-1.25,-194.7,292.1,-10.1,497,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2020,3859
$GC,3231,-1.25,-194.7,329.0,-10.4,558,3239,0.00,2.70,0.00,0.000,4,0.000,0.148,2506,3452,3859
$GC,3285,-1.25,-194.7,335.1,-11.3,567,3292,0.00,2.72,0.00,0.000,6,0.000,0.153,2506,2029,3859
$GC,3625,-1.25,-194.7,372.1,-10.9,610,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3859
$GC,3943,-1.25,-194.7,404.3,-9.6,640,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2027,3859
$GC,4262,-1.25,-194.7,435.2,-9.5,670,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3859
$GC,4580,-1.25,-194.7,463.6,-8.7,700,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2027,3859
$GC,4899,-1.25,-194.7,491.5,-8.5,730,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2028,3859
$GC,5217,-1.25,-194.7,518.9,-8.3,760,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2027,3858
$GC,5536,-1.25,-194.7,546.4,-9.0,790,5541,0.00,2.75,0.00,0.000,4,0.000,0.160,2506,3452,3858
$GC,5591,-1.25,-194.7,551.8,-9.8,794,5599,0.00,2.72,0.00,0.000,6,0.000,0.159,2506,2039,3858
$GC,5919,-1.25,-194.7,580.7,-9.2,825,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2038,3858
$GC,6244,-1.25,-194.7,610.8,-9.7,851,6248,0.00,2.90,0.00,0.000,4,0.000,0.188,2506,616,3857
$GC,6338,-1.25,-194.7,621.3,-11.3,855,6342,0.00,2.70,0.00,0.000,6,0.000,0.141,2506,2055,3858
$GC,6660,-1.25,-194.7,657.1,-10.6,871,6664,0.00,2.78,0.00,0.000,4,0.000,0.182,2506,3441,3857
$GC,6766,-1.25,-194.7,669.1,-11.5,876,6771,0.00,2.72,0.00,0.000,6,0.000,0.163,2506,2051,3857
$GC,7095,-1.25,-194.7,703.0,-9.9,892,7100,0.00,3.00,0.00,0.000,4,0.000,0.211,2506,618,3857
$GC,7162,-1.25,-194.7,709.9,-9.9,895,7166,0.00,2.70,0.00,0.000,6,0.000,0.145,2506,2050,3857
$GC,7485,-1.25,-194.7,740.4,-9.3,911,7490,0.00,2.78,0.00,0.000,4,0.000,0.178,2506,3444,3857
$GC,7580,-1.25,-194.7,750.4,-10.3,915,7584,0.00,2.67,0.00,0.000,6,0.000,0.155,2506,2050,3856
$GC,7896,-1.25,-194.7,781.1,-9.8,930,7900,0.00,2.90,0.00,0.000,4,0.000,0.183,2506,612,3856
$GC,7951,-1.25,-194.7,786.6,-9.7,932,7958,0.00,2.70,0.00,0.000,6,0.000,0.141,2506,2057,3856
$GC,8267,-1.25,-194.7,816.0,-8.8,948,8272,0.00,2.75,0.00,0.000,4,0.000,0.179,2506,3442,3856
$GC,8322,-1.25,-194.7,821.7,-10.7,950,8329,0.00,2.70,0.00,0.000,6,0.000,0.160,2506,2048,3856
$GC,8638,-1.25,-194.7,852.6,-9.8,966,8643,0.00,2.90,0.00,0.000,4,0.000,0.184,2506,613,3856
$GC,8710,-1.25,-194.7,860.0,-10.4,969,8715,0.00,2.70,0.00,0.000,6,0.000,0.140,2506,2057,3856
$GC,9026,-1.25,-194.7,891.1,-10.3,984,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2058,3855
$GC,9335,-1.25,-194.7,923.4,-10.7,999,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2059,3854
$GC,9645,-1.25,-194.7,954.4,-9.6,1014,9650,0.00,2.75,0.00,0.000,4,0.000,0.179,2506,3441,3854
$GC,9700,-1.25,-194.7,960.3,-11.1,1016,9708,0.00,2.70,0.00,0.000,6,0.000,0.157,2506,2040,3854
$GC,10017,-1.25,-194.7,987.1,-8.5,1032,10022,0.00,2.88,0.00,0.000,4,0.000,0.184,2506,613,3854
$STATE,10047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10047,begin apogee
$GC,10056,-0.37,0.0,990.1,9.0,1033,10230,0.88,0.00,170.25,1.284,6,0.110,0.000,2693,1990,3062
$STATE,10231,end apogee,CONTROL_FINISHED_OK
$STATE,10231,begin climb
$GC,10233,1.34,194.7,993.4,0.0,1042,10407,1.73,0.00,169.80,1.254,6,0.074,0.000,3069,1990,2268
$GC,10715,1.30,194.7,946.3,10.8,1066,10719,0.00,2.78,0.00,0.000,4,0.000,0.166,3069,3399,2262
$GC,10736,1.25,194.7,943.6,10.7,1067,10741,0.00,2.75,0.00,0.000,6,0.000,0.153,3069,1977,2262
$GC,11058,1.21,194.7,908.2,11.5,1083,11060,0.12,0.00,0.00,0.000,6,0.106,0.000,3045,1974,2261
$GC,11367,1.21,196.3,875.6,9.9,1098,11372,0.00,2.75,0.00,0.000,4,0.000,0.158,3045,3396,2260
$GC,11385,1.21,196.3,873.8,10.1,1099,11390,0.00,2.72,0.00,0.000,6,0.000,0.156,3045,1990,2260
$GC,11712,1.27,245.8,844.5,8.3,1115,11760,0.00,0.00,46.35,1.176,6,0.000,0.000,3045,1988,2060
$GC,12061,1.32,284.3,815.2,8.7,1132,12101,0.00,0.00,36.05,1.144,6,0.000,0.000,3045,1988,1901
$GC,12411,1.37,325.3,784.5,8.6,1149,12458,0.15,0.00,39.70,1.083,6,0.060,0.000,3087,1987,1736
$GC,12760,1.37,328.0,749.3,9.9,1166,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1987,1730
$GC,13069,1.37,328.0,714.2,11.9,1181,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1987,1729
$GC,13378,1.37,328.0,675.5,12.5,1196,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1987,1729
$GC,13688,1.37,328.0,641.7,10.3,1211,13693,0.00,2.83,0.00,0.000,4,0.000,0.176,3087,572,1728
$GC,13705,1.37,328.0,639.8,10.8,1212,13709,0.00,2.65,0.00,0.000,6,0.000,0.135,3087,1994,1728
$GC,14032,1.40,353.8,607.6,9.1,1228,14079,0.00,2.92,30.40,0.921,4,0.000,0.168,3087,570,1618
$GC,14091,1.45,396.5,602.2,8.5,1230,14137,0.00,2.70,40.22,1.023,6,0.000,0.148,3086,1982,1445
$GC,14457,1.49,422.2,569.9,9.1,1263,14493,0.00,2.92,25.38,0.922,4,0.000,0.167,3087,567,1340
$GC,14511,1.51,438.1,564.9,9.4,1267,14532,0.00,2.65,16.35,0.939,6,0.000,0.141,3087,1978,1274
$GC,14859,1.55,476.7,533.7,8.7,1300,14900,0.12,2.83,35.17,0.971,4,0.061,0.161,3126,571,1117
$GC,14917,1.55,476.7,527.2,11.1,1304,14925,0.00,2.60,0.00,0.000,6,0.000,0.137,3126,1961,1116
$GC,15245,1.55,476.7,488.5,12.5,1335,15249,0.00,2.78,0.00,0.000,4,0.000,0.170,3126,570,1111
$GC,15273,1.55,476.7,484.6,12.5,1337,15277,0.00,2.58,0.00,0.000,6,0.000,0.133,3126,1953,1111
$GC,15600,1.55,476.7,442.3,13.6,1367,15605,0.00,2.75,0.00,0.000,4,0.000,0.166,3126,568,1110
$GC,15633,1.55,476.7,437.2,14.1,1369,15640,0.00,2.53,0.00,0.000,6,0.000,0.136,3126,1934,1110
$GC,15960,1.55,476.7,395.2,12.4,1400,15965,0.00,2.72,0.00,0.000,4,0.000,0.168,3126,566,1110
$GC,15982,1.55,476.7,391.8,13.8,1401,15989,0.00,2.50,0.00,0.000,6,0.000,0.134,3126,1919,1110
$GC,16309,1.55,476.7,351.6,12.8,1432,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1922,1109
$GC,16642,1.55,476.7,308.3,12.5,1490,16649,0.00,2.62,0.00,0.000,4,0.000,0.159,3126,567,1109
$GC,16679,1.55,476.7,303.1,13.9,1496,16686,0.00,2.50,0.00,0.000,6,0.000,0.140,3126,1917,1109
$GC,17025,1.55,476.7,256.1,13.7,1557,17032,0.00,2.62,0.00,0.000,4,0.000,0.161,3126,572,1109
$GC,17044,1.55,476.7,253.2,14.1,1560,17051,0.00,2.45,0.00,0.000,6,0.000,0.139,3126,1902,1109
$GC,17389,1.55,476.7,207.2,13.0,1621,17395,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1906,1109
$GC,17733,1.55,476.7,163.1,14.1,1682,17740,0.00,2.62,0.00,0.000,4,0.000,0.168,3126,570,1109
$GC,17753,1.55,476.7,160.5,13.3,1685,17760,0.00,2.45,0.00,0.000,6,0.000,0.130,3126,1904,1109
$GC,18099,1.55,476.7,118.5,11.9,1746,18106,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1907,1108
$GC,18444,1.55,476.7,79.8,11.5,1807,18451,0.00,2.58,0.00,0.000,4,0.000,0.157,3126,571,1108
$GC,18463,1.55,476.7,77.6,11.7,1810,18470,0.00,2.58,0.00,0.000,6,0.000,0.166,3127,1887,1109
$GC,18809,1.55,476.7,41.0,12.2,1871,18817,0.00,2.58,0.00,0.000,4,0.000,0.171,3126,569,1108
$GC,18824,1.55,476.7,39.1,12.5,1873,18831,0.00,2.38,0.00,0.000,6,0.000,0.130,3126,1871,1108
$GC,18968,1.55,476.7,21.3,11.4,1898,18975,0.00,2.85,0.00,0.000,4,0.000,0.146,3126,3404,1108
$GC,18988,1.55,476.7,18.7,12.3,1901,18996,0.00,2.95,0.00,0.000,6,0.000,0.150,3126,1871,1108
$STATE,19117,end climb,SURFACE_DEPTH_REACHED
$STATE,19117,begin surface coast
$FINISH,0.2,1.026998
$STATE,19143,end surface coast,CONTROL_FINISHED_OK
$STATE,19143,begin surface
$SM_CCo,19223,0.00,0.000,0,0,1106,479.56
$SM_GC,0.71,10.73,0.00,0.00,0.038,0.000,0.000,569,2037,1106,-10.08,0.20,479.56
$IRIDIUM_FIX,6121.73,-2547.15,030997,222200
$TT8_MAMPS,0.042185
$HUMID,1695
$INTERNAL_PRESSURE,9.99062
$TCM_TEMP,16.70
$XPDR_PINGS,1189
$24V_AH,23.2,62.195
$10V_AH,10.6,63.360
$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,24.825,179.650,609.675,0.000,0.000,49.406,82.419,321.626,297.250,0.000,0.000,32.456,3901.448,10778.135,852.011,3469.000,879.134,0.000,2393.430,0.000,3464.381,0.000,0.466
$DEVICE_MAMPS,190.983,210.925,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1346.025,1464.534,716.960,1699.068,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142236,1928
$CAP_FILE_SIZE,179476,0
$CFSIZE,260165632,227418112
$ERRORS,0,5,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.139,273.7,1
$GPS,100608,032308,6148.435,-2603.164,34,1.2,34,-18.7