version: 66.03
glider: 141
mission: 7
dive: 337
start: 6 15 108 18 48 27
data:
$ID,141
$MISSION,7
$DIVE,337
$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,-12379.012
$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,30
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,325
$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
$GPS1,183645,6154.516,-2603.147,46,1.8,65,-18.7
$_CALLS,1
$_XMS_NAKs,50
$_XMS_TOUTs,5
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-45.3
$GPS2,184808,6154.514,-2602.852,10,1.0,15,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$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,244.9,24454,-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,-194.7,0.0,0.0,0,136,0.00,0.00,-111.93,0.000,2,0.000,0.000,567,2048,3709
$GC,139,-1.34,-194.7,3.2,-5.9,15,163,11.12,1.95,-3.38,0.000,4,0.196,0.153,2483,3083,3858
$GC,200,-1.30,-194.7,17.0,-15.7,24,207,0.00,2.00,0.00,0.000,6,0.000,0.141,2482,2028,3860
$GC,344,-1.26,-194.7,33.9,-12.3,49,352,0.12,2.67,0.00,0.000,4,0.117,0.272,2506,3080,3860
$GC,432,-1.26,-194.7,43.8,-10.9,64,440,0.00,2.20,0.00,0.000,6,0.000,0.213,2506,2055,3860
$GC,576,-1.26,-194.7,59.9,-11.7,89,582,0.00,2.00,0.00,0.000,4,0.000,0.134,2506,967,3860
$GC,606,-1.26,-194.7,63.7,-12.4,94,613,0.00,2.33,0.00,0.000,6,0.000,0.210,2506,2022,3860
$GC,953,-1.26,-194.7,103.4,-11.1,155,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2022,3860
$GC,1298,-1.26,-194.7,140.8,-10.2,216,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2023,3860
$GC,1643,-1.26,-194.7,176.2,-10.5,277,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2024,3860
$GC,1987,-1.26,-194.7,213.8,-10.8,338,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2024,3860
$GC,2332,-1.26,-194.7,249.3,-10.2,399,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2024,3860
$GC,2677,-1.26,-194.7,283.5,-9.9,460,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2024,3860
$GC,3023,-1.26,-194.7,317.7,-10.1,521,3030,0.00,2.83,0.00,0.000,4,0.000,0.291,2506,3091,3860
$GC,3054,-1.26,-194.7,321.1,-10.9,526,3061,0.00,2.38,0.00,0.000,6,0.000,0.225,2506,2032,3860
$GC,3401,-1.26,-194.7,357.2,-10.9,582,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3860
$GC,3720,-1.26,-194.7,391.3,-10.6,612,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3860
$GC,4039,-1.26,-194.7,424.9,-10.6,642,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2031,3860
$GC,4357,-1.26,-194.7,457.5,-10.2,672,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3859
$GC,4676,-1.26,-194.7,489.1,-9.9,702,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3859
$GC,4994,-1.26,-194.7,521.9,-10.2,732,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3859
$GC,5313,-1.26,-194.7,554.9,-10.6,762,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3858
$GC,5631,-1.26,-194.7,587.9,-10.1,792,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3858
$GC,5947,-1.26,-194.7,619.0,-10.0,813,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3858
$GC,6255,-1.26,-194.7,652.1,-11.0,828,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2032,3858
$GC,6563,-1.26,-194.7,686.4,-11.2,843,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2032,3857
$GC,6874,-1.26,-194.7,721.2,-11.3,858,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2032,3857
$GC,7181,-1.26,-194.7,754.6,-10.5,873,7185,0.00,2.05,0.00,0.000,4,0.000,0.158,2506,3095,3857
$GC,7209,-1.26,-194.7,757.7,-10.9,874,7213,0.00,2.10,0.00,0.000,6,0.000,0.168,2506,2040,3857
$GC,7537,-1.26,-194.7,790.1,-9.9,890,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2038,3857
$GC,7846,-1.26,-194.7,823.1,-10.5,905,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2038,3856
$GC,8154,-1.26,-194.7,854.4,-10.4,920,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2036,3856
$GC,8465,-1.26,-194.7,886.7,-9.7,935,8469,0.00,2.00,0.00,0.000,4,0.000,0.152,2506,3091,3856
$GC,8543,-1.26,-194.7,895.0,-10.7,938,8547,0.00,2.17,0.00,0.000,6,0.000,0.189,2506,2037,3855
$GC,8866,-1.26,-194.7,925.8,-10.2,954,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2037,3855
$GC,9175,-1.61,-194.7,944.8,0.0,969,9180,0.32,2.03,0.00,0.000,4,0.071,0.152,2428,3099,3855
$STATE,9250,end dive,NO_VERTICAL_VELOCITY
$STATE,9250,begin apogee
$GC,9259,-0.37,0.0,944.8,0.0,972,9433,1.12,0.00,169.95,1.246,6,0.055,0.000,2695,1981,3062
$STATE,9433,end apogee,CONTROL_FINISHED_OK
$STATE,9433,begin climb
$GC,9437,1.34,194.7,944.6,0.0,981,9616,1.70,2.42,168.48,1.216,4,0.074,0.210,3070,921,2267
$GC,9644,1.32,220.3,931.9,9.1,990,9675,0.00,2.00,24.02,1.134,6,0.000,0.131,3069,1990,2162
$GC,9993,1.34,236.6,898.6,9.4,1007,10016,0.00,2.05,15.38,1.089,4,0.000,0.153,3069,3043,2096
$GC,10071,1.34,236.6,890.7,10.1,1010,10075,0.00,1.98,0.00,0.000,6,0.000,0.133,3069,1983,2094
$GC,10394,1.34,237.5,858.7,10.0,1026,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1979,2093
$GC,10703,1.35,247.6,829.2,9.6,1041,10723,0.00,0.00,11.07,1.032,6,0.000,0.000,3070,1979,2052
$GC,11032,1.36,254.6,796.6,9.8,1057,11042,0.00,0.00,7.90,0.963,6,0.000,0.000,3069,1979,2024
$GC,11342,1.41,293.6,768.2,8.6,1072,11387,0.00,2.05,37.88,1.114,4,0.000,0.143,3069,3042,1862
$GC,11419,1.42,301.0,760.8,9.7,1075,11433,0.00,2.15,7.85,0.929,6,0.000,0.178,3069,1989,1834
$GC,11742,1.44,320.9,731.7,9.3,1091,11766,0.10,2.22,18.88,1.052,4,0.068,0.173,3100,928,1753
$GC,11791,1.40,320.9,726.3,10.7,1093,11795,0.00,2.03,0.00,0.000,6,0.000,0.130,3101,2010,1753
$GC,12124,1.40,320.9,689.8,11.0,1109,12128,0.00,2.08,0.00,0.000,4,0.000,0.149,3100,925,1749
$GC,12158,1.36,320.9,685.7,11.5,1110,12163,0.12,2.60,0.00,0.000,6,0.107,0.258,3076,1983,1749
$GC,12475,1.36,322.8,654.1,9.9,1125,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1985,1748
$GC,12783,1.36,322.8,621.2,11.1,1140,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1748
$GC,13096,1.36,322.8,589.2,10.1,1160,13100,0.00,2.15,0.00,0.000,4,0.000,0.181,3076,920,1748
$GC,13128,1.36,322.8,585.6,10.1,1162,13136,0.00,2.00,0.00,0.000,6,0.000,0.129,3076,1985,1748
$GC,13458,1.38,335.1,553.9,9.6,1193,13476,0.00,0.00,13.70,0.937,6,0.000,0.000,3076,1987,1695
$GC,13796,1.39,340.1,520.4,9.8,1225,13808,0.00,2.03,6.38,0.789,4,0.000,0.141,3076,924,1674
$GC,13832,1.39,340.1,516.5,10.5,1228,13835,0.00,1.95,0.00,0.000,6,0.000,0.127,3076,1975,1674
$GC,14166,1.40,350.5,484.5,9.6,1259,14186,0.00,0.00,13.25,0.765,6,0.000,0.000,3076,1978,1632
$GC,14501,1.41,356.5,451.5,9.8,1291,14511,0.00,0.00,6.85,0.771,6,0.000,0.000,3076,1978,1608
$GC,14831,1.41,356.5,419.5,10.0,1322,14832,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1979,1606
$GC,15150,1.41,357.6,387.5,10.0,1352,15153,0.00,2.10,0.00,0.000,4,0.000,0.166,3076,918,1606
$GC,15188,1.41,357.6,382.9,11.0,1355,15196,0.00,2.35,0.00,0.000,6,0.000,0.221,3076,1962,1606
$GC,15516,1.41,357.6,349.2,10.4,1386,15522,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1962,1606
$GC,15861,1.41,357.6,312.8,10.4,1447,15867,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1962,1606
$GC,16204,1.41,357.6,277.5,10.1,1508,16211,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1962,1606
$GC,16551,1.41,357.6,242.1,10.7,1569,16558,0.00,2.15,0.00,0.000,4,0.000,0.193,3076,928,1606
$GC,16587,1.41,357.6,238.1,10.3,1575,16594,0.00,2.22,0.00,0.000,6,0.000,0.203,3076,1961,1606
$GC,16933,1.45,396.0,204.3,8.7,1636,16973,0.00,0.00,36.38,0.773,6,0.000,0.000,3076,1961,1447
$GC,17314,1.50,398.1,168.8,9.9,1702,17322,0.12,0.00,0.00,0.000,6,0.061,0.000,3115,1961,1442
$GC,17659,1.50,398.1,129.3,12.9,1763,17666,0.00,2.05,0.00,0.000,4,0.000,0.168,3115,925,1441
$GC,17713,1.50,398.1,122.9,12.7,1772,17721,0.00,2.28,0.00,0.000,6,0.000,0.214,3115,1958,1441
$GC,18060,1.50,398.1,81.9,11.3,1833,18067,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1958,1440
$GC,18404,1.50,398.1,39.5,13.9,1894,18411,0.00,2.05,0.00,0.000,4,0.000,0.170,3115,920,1440
$GC,18453,1.50,398.1,32.7,14.1,1902,18460,0.00,1.92,0.00,0.000,6,0.000,0.126,3115,1952,1440
$GC,18596,1.50,398.1,14.4,12.3,1927,18603,0.00,2.00,0.00,0.000,4,0.000,0.134,3115,3055,1440
$GC,18650,1.50,398.1,7.8,14.0,1936,18657,0.00,2.03,0.00,0.000,6,0.000,0.131,3115,1943,1439
$STATE,18695,end climb,SURFACE_DEPTH_REACHED
$STATE,18695,begin surface coast
$FINISH,0.1,1.026441
$STATE,18718,end surface coast,CONTROL_FINISHED_OK
$STATE,18719,begin surface
$SM_CCo,18800,0.00,0.000,0,0,1438,398.37
$SM_GC,0.66,10.60,0.00,0.00,0.034,0.000,0.000,568,2040,1438,-10.07,0.28,398.37
$IRIDIUM_FIX,6135.28,-2559.10,090997,131312
$TT8_MAMPS,0.041418
$HUMID,1712
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.80
$XPDR_PINGS,1269
$24V_AH,23.2,68.361
$10V_AH,10.5,67.912
$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,25.350,82.150,537.950,0.000,0.000,28.341,39.995,449.857,317.250,0.000,0.000,16.590,3955.834,10396.601,719.758,3451.128,938.703,0.000,2234.309,0.000,3453.367,0.000,0.466
$DEVICE_MAMPS,195.585,291.460,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1349.492,1472.489,705.550,1743.815,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142334,1948
$CAP_FILE_SIZE,169871,0
$CFSIZE,260165632,224882688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$CURRENT,0.089, 85.2,1
$GPS,160608,000322,6152.667,-2605.685,38,2.3,57,-18.7