version: 66.03
glider: 141
mission: 7
dive: 372
start: 6 22 108 18 5 57
data:
$ID,141
$MISSION,7
$DIVE,372
$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,-13021.236
$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,16
$R_STBD_OVSHOOT,13
$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
$GPS1,175637,6148.450,-2608.901,38,1.7,38,-18.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-54.6
$GPS2,180538,6148.417,-2608.888,8,1.5,13,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-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,145.2,9477,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,140,0.00,0.00,-112.80,0.000,2,0.000,0.000,570,2034,3777
$GC,143,-1.34,-194.7,3.5,-5.9,15,167,11.30,2.55,-1.70,0.000,4,0.202,0.258,2481,3073,3858
$GC,376,-1.29,-194.7,40.1,-12.9,55,383,0.00,2.62,0.00,0.000,6,0.000,0.208,2481,2002,3859
$GC,520,-1.25,-194.7,59.6,-13.7,80,527,0.12,0.00,0.00,0.000,6,0.115,0.000,2505,1999,3859
$GC,865,-1.25,-194.7,103.1,-11.3,141,872,0.00,2.00,0.00,0.000,4,0.000,0.064,2505,3093,3859
$GC,914,-1.25,-194.7,108.5,-10.9,149,921,0.00,2.10,0.00,0.000,6,0.000,0.116,2505,2037,3859
$GC,1260,-1.25,-194.7,142.8,-10.1,210,1267,0.00,1.95,0.00,0.000,4,0.000,0.073,2505,3093,3859
$GC,1281,-1.25,-194.7,144.8,-9.4,213,1288,0.00,2.17,0.00,0.000,6,0.000,0.131,2505,2065,3859
$GC,1627,-1.25,-194.7,179.5,-10.1,274,1635,0.00,1.85,0.00,0.000,4,0.000,0.050,2505,3097,3859
$GC,1664,-1.25,-194.7,183.4,-10.5,280,1672,0.00,2.10,0.00,0.000,6,0.000,0.107,2505,2041,3859
$GC,2011,-1.25,-194.7,217.9,-9.6,341,2018,0.00,1.85,0.00,0.000,4,0.000,0.047,2505,3098,3859
$GC,2041,-1.25,-194.7,221.2,-10.4,346,2048,0.00,1.85,0.00,0.000,6,0.000,0.032,2505,2032,3859
$GC,2388,-1.25,-194.7,254.2,-9.8,407,2395,0.00,1.88,0.00,0.000,4,0.000,0.046,2505,3097,3859
$GC,2448,-1.25,-194.7,260.2,-10.0,417,2455,0.00,1.98,0.00,0.000,6,0.000,0.094,2505,2067,3859
$GC,2793,-1.25,-194.7,294.1,-9.5,478,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3859
$GC,3138,-1.25,-194.7,327.8,-9.7,539,3145,0.00,1.83,0.00,0.000,4,0.000,0.048,2505,3097,3859
$GC,3175,-1.25,-194.7,331.6,-10.8,545,3182,0.00,1.75,0.00,0.000,6,0.000,0.033,2505,2071,3859
$GC,3517,-1.25,-194.7,364.6,-9.5,593,3521,0.00,1.85,0.00,0.000,4,0.000,0.055,2505,3101,3859
$GC,3586,-1.25,-194.7,371.4,-9.7,599,3590,0.00,1.73,0.00,0.000,6,0.000,0.033,2505,2093,3859
$GC,3920,-1.25,-194.7,399.7,-8.0,630,3924,0.00,1.80,0.00,0.000,4,0.000,0.049,2505,3104,3859
$GC,3956,-1.25,-194.7,403.0,-8.6,633,3960,0.00,1.95,0.00,0.000,6,0.000,0.088,2505,2093,3859
$GC,4289,-1.25,-194.7,430.9,-8.7,664,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3858
$GC,4615,-1.25,-194.7,458.4,-8.8,695,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3858
$GC,4937,-1.25,-194.7,487.9,-9.2,725,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3858
$GC,5262,-1.25,-194.7,519.6,-9.9,756,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3858
$GC,5581,-1.25,-194.7,551.6,-10.5,786,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3858
$GC,5899,-1.25,-194.7,585.1,-10.5,816,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3857
$GC,6213,-1.25,-194.7,617.2,-9.9,838,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2087,3857
$GC,6522,-1.25,-194.7,648.4,-10.7,853,6526,0.00,1.85,0.00,0.000,4,0.000,0.071,2505,3088,3857
$GC,6572,-1.25,-194.7,653.9,-10.6,855,6576,0.00,1.77,0.00,0.000,6,0.000,0.048,2505,2107,3856
$GC,6899,-1.25,-194.7,688.5,-10.5,871,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2104,3856
$GC,7210,-1.25,-194.7,719.1,-9.8,886,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2102,3856
$GC,7519,-1.25,-194.7,750.2,-10.3,901,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2101,3856
$GC,7829,-1.25,-194.7,780.3,-9.4,916,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2101,3855
$GC,8138,-1.25,-194.7,810.5,-10.1,931,8141,0.00,2.10,0.00,0.000,4,0.000,0.084,2505,996,3855
$GC,8165,-1.25,-194.7,813.7,-10.8,932,8169,0.00,1.98,0.00,0.000,6,0.000,0.051,2505,2080,3855
$GC,8492,-1.25,-194.7,847.8,-10.7,948,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3855
$GC,8803,-1.25,-194.7,878.4,-10.2,963,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3854
$GC,9111,-1.25,-194.7,910.0,-9.9,978,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3854
$GC,9421,-1.25,-194.7,939.8,-9.5,993,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2083,3854
$GC,9731,-1.25,-194.7,966.6,-8.8,1008,9734,0.00,1.85,0.00,0.000,4,0.000,0.074,2505,3084,3853
$GC,9799,-1.25,-194.7,972.7,-8.8,1011,9803,0.00,1.75,0.00,0.000,6,0.000,0.044,2505,2096,3852
$STATE,10005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10005,begin apogee
$GC,10013,-0.37,0.0,990.5,8.3,1021,10189,0.90,0.00,171.75,1.279,6,0.098,0.000,2695,2004,3062
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10190,begin climb
$GC,10193,1.34,194.7,994.1,0.0,1030,10370,1.75,0.00,171.27,1.252,6,0.077,0.000,3072,2004,2268
$GC,10680,1.29,194.7,945.6,11.4,1054,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2003,2262
$GC,10988,1.24,194.7,912.4,10.1,1069,10990,0.12,0.00,0.00,0.000,6,0.106,0.000,3048,2002,2261
$GC,11297,1.26,214.3,883.4,9.3,1084,11318,0.00,0.00,18.12,1.134,6,0.000,0.000,3048,2002,2188
$GC,11627,1.29,238.6,853.3,9.2,1100,11652,0.00,0.00,23.48,1.141,6,0.000,0.000,3048,2002,2089
$GC,11955,1.34,280.6,824.4,8.5,1116,12005,0.10,0.00,41.80,1.105,6,0.071,0.000,3077,2002,1918
$GC,12305,1.35,288.6,789.8,9.7,1133,12319,0.00,2.22,8.48,0.973,4,0.000,0.107,3077,933,1884
$GC,12373,1.35,288.6,783.1,10.3,1136,12377,0.00,1.98,0.00,0.000,6,0.000,0.061,3077,1996,1884
$GC,12706,1.36,292.1,749.1,9.9,1152,12712,0.00,0.00,4.72,0.782,6,0.000,0.000,3077,1999,1871
$GC,13016,1.37,301.4,719.8,9.7,1167,13031,0.00,2.22,10.40,0.986,4,0.000,0.116,3077,932,1832
$GC,13065,1.38,314.9,714.7,9.5,1168,13083,0.00,1.88,13.68,1.016,6,0.000,0.041,3077,1993,1778
$GC,13405,1.38,314.9,680.1,10.1,1185,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1994,1774
$GC,13716,1.41,331.6,650.2,9.4,1200,13741,0.00,2.25,16.48,1.005,4,0.000,0.124,3077,927,1709
$GC,13774,1.42,346.6,644.2,9.5,1202,13802,0.00,1.88,17.77,0.899,6,0.000,0.040,3077,1987,1648
$GC,14113,1.42,346.6,611.9,10.0,1218,14115,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1988,1644
$GC,14429,1.44,360.3,581.6,9.5,1242,14454,0.00,2.03,15.40,0.848,4,0.000,0.054,3077,917,1593
$GC,14512,1.45,366.5,573.2,9.8,1249,14525,0.00,1.85,7.28,0.833,6,0.000,0.041,3077,1963,1568
$GC,14842,1.45,367.0,540.7,10.0,1280,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1965,1566
$GC,15161,1.45,367.0,508.3,10.4,1310,15165,0.00,1.88,0.00,0.000,4,0.000,0.053,3077,921,1565
$GC,15207,1.45,367.0,503.2,10.9,1314,15211,0.00,1.83,0.00,0.000,6,0.000,0.040,3077,1961,1565
$GC,15538,1.45,367.0,467.0,11.1,1345,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1963,1565
$GC,15858,1.45,367.0,433.4,10.4,1375,15861,0.00,2.15,0.00,0.000,4,0.000,0.122,3077,922,1565
$GC,15890,1.45,367.0,429.6,10.2,1377,15898,0.00,1.80,0.00,0.000,6,0.000,0.038,3077,1954,1565
$GC,16218,1.45,367.0,396.9,10.2,1408,16225,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1957,1565
$GC,16544,1.45,367.0,364.3,10.1,1439,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1956,1565
$GC,16873,1.45,367.0,331.2,10.4,1485,16880,0.00,1.85,0.00,0.000,4,0.000,0.048,3077,917,1565
$GC,16921,1.46,376.7,326.2,9.7,1493,16936,0.00,1.85,10.32,0.776,6,0.000,0.057,3077,1937,1526
$GC,17275,1.46,376.7,291.3,10.2,1555,17281,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1937,1525
$GC,17620,1.46,376.7,257.2,11.0,1616,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1938,1525
$GC,17966,1.46,376.7,221.6,10.2,1677,17973,0.00,1.83,0.00,0.000,4,0.000,0.048,3077,912,1525
$GC,18003,1.46,376.7,217.8,10.6,1683,18010,0.00,1.80,0.00,0.000,6,0.000,0.035,3077,1954,1524
$GC,18348,1.47,380.8,181.9,9.9,1744,18356,0.00,0.00,5.32,0.595,6,0.000,0.000,3077,1957,1509
$GC,18697,1.47,380.8,145.8,10.2,1805,18704,0.00,1.85,0.00,0.000,4,0.000,0.053,3077,919,1508
$GC,18739,1.47,388.1,141.0,9.7,1812,18753,0.00,1.85,8.20,0.650,6,0.000,0.058,3077,1921,1479
$GC,19089,1.48,390.7,105.4,9.9,1874,19097,0.10,0.00,3.80,0.474,6,0.067,0.000,3110,1923,1468
$GC,19435,1.48,390.7,64.9,11.6,1935,19441,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1924,1468
$GC,19780,1.48,390.7,24.4,12.5,1996,19787,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1925,1467
$GC,19922,1.48,390.7,7.1,12.0,2021,19928,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1925,1467
$STATE,19961,end climb,SURFACE_DEPTH_REACHED
$STATE,19961,begin surface coast
$FINISH,0.1,1.022364
$STATE,19995,end surface coast,CONTROL_FINISHED_OK
$STATE,19995,begin surface
$SM_CCo,20077,0.00,0.000,0,0,1467,391.25
$SM_GC,0.96,10.70,0.00,0.00,0.039,0.000,0.000,570,2029,1467,-10.07,-0.03,391.25
$IRIDIUM_FIX,6130.75,-2615.52,160997,121228
$TT8_MAMPS,0.042185
$HUMID,1736
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,17.00
$XPDR_PINGS,1345
$24V_AH,23.1,75.747
$10V_AH,10.5,73.562
$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,25.100,82.450,548.275,0.000,0.000,29.370,30.827,313.209,336.250,0.000,0.000,15.062,4125.787,11312.134,769.935,3540.351,846.174,0.000,2308.462,0.000,3561.350,0.000,0.465
$DEVICE_MAMPS,201.721,258.479,1278.589,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1410.398,1544.985,720.166,1787.375,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148532,2034
$CAP_FILE_SIZE,174750,0
$CFSIZE,260165632,221716480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,3,0
$CURRENT,0.017,237.3,1
$GPS,220608,234137,6146.318,-2604.226,25,1.5,25,-18.6