version: 66.03
glider: 141
mission: 7
dive: 377
start: 6 23 108 21 1 16
data:
$ID,141
$MISSION,7
$DIVE,377
$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,-13103.558
$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,14
$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
$GPS1,205155,6151.168,-2559.586,25,1.2,42,-18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.6
$GPS2,210057,6151.158,-2559.563,10,1.8,10,-18.7
$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,15.3,9224,-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,-194.7,0.0,0.0,0,121,0.00,0.00,-96.30,0.000,2,0.000,0.000,575,2038,3812
$GC,125,-1.34,-194.7,4.1,-7.7,13,142,11.15,1.98,-0.93,0.000,4,0.197,0.119,2482,3091,3859
$GC,397,-1.29,-194.7,43.2,-9.8,60,405,0.00,2.72,0.00,0.000,6,0.000,0.268,2482,2024,3860
$GC,541,-1.25,-194.7,58.9,-11.9,85,548,0.12,1.95,0.00,0.000,4,0.117,0.106,2505,3093,3861
$GC,730,-1.25,-194.7,82.4,-12.2,118,737,0.00,2.10,0.00,0.000,6,0.000,0.162,2505,2042,3861
$GC,1076,-1.25,-194.7,120.2,-10.4,179,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2037,3861
$GC,1421,-1.25,-194.7,158.5,-12.3,240,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2037,3861
$GC,1769,-1.25,-194.7,197.3,-10.3,301,1776,0.00,1.92,0.00,0.000,4,0.000,0.114,2505,3094,3861
$GC,1846,-1.25,-194.7,206.0,-11.0,314,1853,0.00,1.88,0.00,0.000,6,0.000,0.097,2505,2058,3861
$GC,2193,-1.25,-194.7,241.6,-9.8,375,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2052,3861
$GC,2536,-1.25,-194.7,276.1,-10.1,436,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2052,3861
$GC,2881,-1.25,-194.7,311.7,-10.1,497,2888,0.00,2.38,0.00,0.000,4,0.000,0.232,2505,3083,3861
$GC,2946,-1.25,-194.7,318.5,-10.6,508,2953,0.00,2.00,0.00,0.000,6,0.000,0.146,2505,2045,3861
$GC,3289,-1.25,-194.7,353.6,-10.4,566,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3861
$GC,3609,-1.25,-194.7,385.9,-9.9,596,3613,0.00,2.47,0.00,0.000,4,0.000,0.255,2505,3080,3860
$GC,3694,-1.25,-194.7,394.7,-10.3,603,3698,0.00,2.00,0.00,0.000,6,0.000,0.143,2505,2059,3860
$GC,4028,-1.25,-194.7,427.9,-10.2,634,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2053,3859
$GC,4354,-1.25,-194.7,461.5,-9.8,665,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2052,3860
$GC,4673,-1.25,-194.7,491.8,-9.8,695,4677,0.00,1.90,0.00,0.000,4,0.000,0.114,2505,3087,3859
$GC,4741,-1.25,-194.7,499.0,-10.1,701,4746,0.00,2.33,0.00,0.000,6,0.000,0.218,2505,2064,3859
$GC,5070,-1.25,-194.7,531.9,-10.4,731,5074,0.00,2.03,0.00,0.000,4,0.000,0.118,2505,971,3859
$GC,5154,-1.25,-194.7,541.2,-10.4,738,5162,0.00,2.00,0.00,0.000,6,0.000,0.104,2505,2072,3859
$GC,5482,-1.25,-194.7,575.9,-11.3,769,5485,0.00,1.98,0.00,0.000,4,0.000,0.144,2505,3090,3859
$GC,5567,-1.25,-194.7,586.5,-11.9,776,5574,0.00,1.90,0.00,0.000,6,0.000,0.112,2505,2062,3859
$GC,5898,-1.25,-194.7,621.6,-9.8,798,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3859
$GC,6207,-1.25,-194.7,650.7,-9.4,813,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3859
$GC,6517,-1.25,-194.7,680.3,-10.0,828,6521,0.00,2.40,0.00,0.000,4,0.000,0.235,2506,3079,3858
$GC,6595,-1.25,-194.7,688.5,-9.9,831,6601,0.00,1.85,0.00,0.000,6,0.000,0.107,2505,2072,3858
$GC,6912,-1.25,-194.7,719.6,-10.2,847,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3858
$GC,7220,-1.25,-194.7,750.6,-10.0,862,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2069,3857
$GC,7530,-1.25,-194.7,780.4,-9.5,877,7533,0.00,1.98,0.00,0.000,4,0.000,0.145,2505,3080,3857
$GC,7609,-1.25,-194.7,788.2,-9.8,880,7612,0.00,1.98,0.00,0.000,6,0.000,0.144,2505,2072,3857
$GC,7932,-1.25,-194.7,817.2,-8.6,896,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2071,3857
$GC,8241,-1.25,-194.7,842.5,-8.3,911,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2070,3856
$GC,8552,-1.25,-194.7,868.0,-8.3,926,8556,0.00,2.22,0.00,0.000,4,0.000,0.203,2505,3080,3856
$GC,8624,-1.25,-194.7,874.7,-8.8,929,8627,0.00,1.83,0.00,0.000,6,0.000,0.105,2505,2082,3856
$GC,8947,-1.25,-194.7,901.5,-7.0,945,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2080,3856
$GC,9256,-1.25,-194.7,930.4,-9.2,960,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2079,3855
$GC,9564,-1.25,-194.7,955.2,-8.4,975,9568,0.00,1.90,0.00,0.000,4,0.000,0.123,2505,3085,3854
$STATE,9770,end dive,NO_VERTICAL_VELOCITY
$STATE,9770,begin apogee
$GC,9778,-0.37,0.0,961.3,0.0,984,9955,0.85,0.00,172.07,1.256,6,0.076,0.000,2696,1976,3062
$STATE,9956,end apogee,CONTROL_FINISHED_OK
$STATE,9956,begin climb
$GC,9959,1.34,194.7,961.1,0.0,993,10142,1.73,2.15,170.70,1.227,4,0.077,0.129,3069,3041,2267
$GC,10176,1.30,194.7,945.0,10.5,1003,10180,0.00,2.05,0.00,0.000,6,0.000,0.138,3069,1984,2264
$GC,10498,1.25,194.7,909.8,10.2,1019,10502,0.00,2.47,0.00,0.000,4,0.000,0.224,3069,923,2262
$GC,10516,1.20,195.4,908.0,10.0,1020,10521,0.12,2.28,0.00,0.000,6,0.107,0.181,3044,1973,2262
$GC,10844,1.23,218.0,878.9,9.2,1036,10870,0.00,2.17,21.62,1.131,4,0.000,0.141,3044,3055,2172
$GC,10882,1.28,255.2,875.6,8.7,1037,10924,0.00,2.50,35.80,1.150,6,0.000,0.215,3044,1973,2019
$GC,11247,1.35,315.2,845.2,7.9,1055,11343,0.12,0.00,65.18,1.016,6,0.065,0.000,3079,1973,1776
$GC,11652,1.35,315.2,802.4,11.1,1075,11656,0.00,1.98,0.00,0.000,4,0.000,0.123,3079,924,1771
$GC,11668,1.35,315.2,800.5,10.8,1075,11675,0.00,1.95,0.00,0.000,6,0.000,0.102,3079,1984,1771
$GC,11985,1.35,315.2,764.9,11.9,1091,11989,0.00,2.17,0.00,0.000,4,0.000,0.163,3079,933,1769
$GC,12018,1.35,315.2,760.6,12.3,1092,12022,0.00,2.17,0.00,0.000,6,0.000,0.173,3079,1961,1769
$GC,12340,1.35,315.2,721.5,12.1,1108,12343,0.00,1.95,0.00,0.000,4,0.000,0.117,3079,925,1768
$GC,12372,1.35,315.2,717.1,11.9,1109,12377,0.00,2.55,0.00,0.000,6,0.000,0.246,3079,1961,1768
$GC,12688,1.35,315.2,681.8,11.0,1124,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1961,1768
$GC,12999,1.35,315.2,647.9,11.0,1139,13002,0.00,1.95,0.00,0.000,4,0.000,0.115,3079,919,1767
$GC,13032,1.35,315.2,643.7,11.4,1140,13036,0.00,2.42,0.00,0.000,6,0.000,0.242,3079,1950,1767
$GC,13348,1.35,315.2,609.6,10.7,1155,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1951,1767
$GC,13664,1.35,315.2,576.0,11.0,1180,13668,0.00,2.05,0.00,0.000,4,0.000,0.153,3079,929,1767
$GC,13691,1.35,315.2,572.7,11.3,1182,13699,0.00,2.10,0.00,0.000,6,0.000,0.163,3079,1943,1767
$GC,14017,1.35,315.2,537.0,11.4,1213,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1945,1767
$GC,14338,1.35,315.2,502.4,10.9,1243,14342,0.00,1.92,0.00,0.000,4,0.000,0.110,3079,922,1767
$GC,14377,1.35,315.2,497.6,11.2,1246,14384,0.00,1.98,0.00,0.000,6,0.000,0.134,3079,1945,1767
$GC,14706,1.37,329.0,465.1,9.5,1277,14723,0.00,1.90,12.55,0.879,4,0.000,0.108,3078,929,1719
$GC,14736,1.37,333.5,461.9,9.8,1279,14749,0.00,1.88,6.05,0.739,6,0.000,0.098,3079,1948,1700
$GC,15066,1.39,343.3,429.6,9.7,1310,15078,0.00,0.00,10.40,0.834,6,0.000,0.000,3079,1950,1662
$GC,15397,1.41,360.2,397.5,9.4,1341,15431,0.00,2.38,19.00,0.793,4,0.000,0.198,3079,925,1592
$GC,15449,1.44,384.9,392.5,9.1,1345,15480,0.00,1.83,24.08,0.867,6,0.000,0.096,3079,1931,1492
$GC,15797,1.44,384.9,358.3,10.1,1378,15798,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1932,1487
$GC,16130,1.48,422.2,326.8,8.7,1430,16171,0.10,1.95,34.12,0.843,4,0.067,0.107,3111,925,1339
$GC,16190,1.48,422.2,320.5,11.0,1439,16197,0.00,2.00,0.00,0.000,6,0.000,0.144,3111,1917,1338
$GC,16535,1.48,422.2,281.4,11.2,1500,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1917,1334
$GC,16881,1.48,422.2,241.9,10.8,1561,16887,0.00,1.83,0.00,0.000,4,0.000,0.119,3111,927,1333
$GC,16911,1.48,422.2,238.2,12.0,1566,16918,0.00,2.22,0.00,0.000,6,0.000,0.207,3111,1913,1334
$GC,17256,1.48,422.2,197.5,12.5,1627,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1915,1333
$GC,17602,1.48,422.2,155.6,12.4,1688,17609,0.00,1.85,0.00,0.000,4,0.000,0.116,3112,925,1333
$GC,17616,1.48,422.2,153.8,13.5,1690,17624,0.00,2.25,0.00,0.000,6,0.000,0.212,3112,1908,1332
$GC,17961,1.48,422.2,111.7,11.8,1751,17968,0.00,1.95,0.00,0.000,4,0.000,0.146,3112,922,1332
$GC,17981,1.48,422.2,109.2,12.1,1754,17988,0.00,1.83,0.00,0.000,6,0.000,0.104,3111,1915,1332
$GC,18328,1.48,422.2,68.0,11.0,1815,18334,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1919,1333
$GC,18670,1.48,422.2,30.8,10.3,1876,18677,0.00,1.85,0.00,0.000,4,0.000,0.116,3112,928,1332
$GC,18703,1.48,422.2,27.4,10.8,1881,18710,0.00,2.03,0.00,0.000,6,0.000,0.161,3112,1914,1332
$GC,18849,1.48,422.3,12.8,10.0,1906,18856,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1915,1332
$STATE,18938,end climb,SURFACE_DEPTH_REACHED
$STATE,18938,begin surface coast
$FINISH,0.2,1.014554
$STATE,18966,end surface coast,CONTROL_FINISHED_OK
$STATE,18966,begin surface
$SM_CCo,19048,0.00,0.000,0,0,1329,425.10
$SM_GC,0.90,10.70,0.00,0.00,0.038,0.000,0.000,569,2035,1329,-10.09,0.14,425.10
$IRIDIUM_FIX,6126.23,-2605.39,170997,151508
$TT8_MAMPS,0.042185
$HUMID,1749
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.90
$XPDR_PINGS,1246
$24V_AH,23.0,76.845
$10V_AH,10.5,74.387
$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,24.900,116.550,571.575,0.000,0.000,24.286,41.171,306.076,311.500,0.000,0.000,12.367,3883.469,10563.835,770.395,3490.429,859.919,0.000,2336.844,0.000,3509.090,0.000,0.466
$DEVICE_MAMPS,197.119,267.683,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1346.849,1462.129,708.353,1724.007,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142629,1927
$CAP_FILE_SIZE,172281,0
$CFSIZE,260165632,221261824
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,22,6,0
$CURRENT,0.024,243.4,1
$GPS,240608,022007,6153.918,-2559.512,39,1.7,44,-18.7