version: 66.03
glider: 141
mission: 7
dive: 2
start: 4 4 108 11 49 17
data:
$ID,141
$MISSION,7
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$D_NO_BLEED,200
$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,150
$T_MISSION,180
$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,150
$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,-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,225
$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,-6135.6592
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,581
$PITCH_MAX,3865
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,1944
$C_ROLL_CLIMB,1944
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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
$GPS1,114504,5900.664,-2030.034,8,2.3,27,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-40.5
$GPS2,114857,5900.682,-2030.038,13,1.2,13,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,187.6,1551,-27.2,-10.000
$D_GRID,450
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.78,-63.0,0.0,0.0,0,162,0.00,0.00,-137.52,0.000,6,0.000,0.000,575,1937,3318
$GC,164,-1.84,-109.0,1.9,-5.1,20,189,10.32,2.65,-8.00,0.000,4,0.180,0.067,2411,536,3507
$GC,424,-1.93,-114.0,18.2,-9.5,68,432,0.00,2.53,-0.32,0.000,6,0.000,0.044,2411,1950,3527
$GC,496,-2.05,-121.3,25.1,-9.2,81,505,0.15,2.62,-0.43,0.000,4,0.064,0.071,2367,536,3558
$GC,704,-2.11,-121.3,51.4,-12.8,120,711,0.00,2.53,0.00,0.000,6,0.000,0.045,2367,1946,3558
$GC,837,-2.17,-121.3,68.5,-11.8,145,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1948,3558
$GC,970,-2.24,-121.3,84.0,-11.7,170,978,0.15,0.00,0.00,0.000,6,0.064,0.000,2325,1948,3558
$GC,1104,-2.24,-121.3,101.6,-13.9,195,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1948,3558
$GC,1238,-2.24,-121.3,120.5,-14.3,220,1245,0.00,2.55,0.00,0.000,4,0.000,0.052,2324,3347,3558
$GC,1479,-2.24,-121.3,157.7,-14.5,266,1488,0.00,2.50,0.00,0.000,6,0.000,0.046,2324,1940,3558
$GC,1619,-2.24,-121.3,175.6,-12.6,291,1625,0.00,2.53,0.00,0.000,4,0.000,0.054,2324,542,3558
$GC,1764,-2.24,-121.3,194.5,-13.5,318,1773,0.00,2.50,0.00,0.000,6,0.000,0.039,2324,1945,3558
$GC,1904,-2.24,-121.3,212.9,-14.0,343,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1947,3558
$GC,2037,-2.24,-121.3,231.7,-13.6,368,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1947,3558
$GC,2175,-2.24,-121.3,251.4,-14.4,393,2181,0.00,2.53,0.00,0.000,4,0.000,0.053,2324,3347,3558
$GC,2199,-2.24,-121.3,254.9,-14.9,397,2205,0.00,2.47,0.00,0.000,6,0.000,0.039,2324,1941,3558
$GC,2333,-2.24,-121.3,273.7,-13.2,422,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1939,3558
$GC,2471,-2.24,-121.3,292.2,-13.9,447,2477,0.00,2.58,0.00,0.000,4,0.000,0.054,2324,3347,3558
$GC,2498,-2.24,-121.3,296.3,-14.7,452,2507,0.00,2.50,0.00,0.000,6,0.000,0.041,2324,1945,3558
$GC,2638,-2.24,-121.3,315.7,-14.2,477,2644,0.00,2.58,0.00,0.000,4,0.000,0.055,2324,3354,3558
$GC,2653,-2.24,-121.3,317.6,-14.1,479,2659,0.00,2.47,0.00,0.000,6,0.000,0.039,2324,1947,3558
$GC,2787,-2.24,-121.3,337.5,-14.1,504,2794,0.00,2.58,0.00,0.000,4,0.000,0.057,2324,3341,3558
$GC,2818,-2.24,-121.3,341.5,-15.0,509,2824,0.00,2.47,0.00,0.000,6,0.000,0.040,2324,1936,3558
$GC,2954,-2.24,-121.3,360.9,-14.1,534,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1933,3557
$GC,3091,-2.24,-121.3,379.9,-13.8,559,3097,0.00,2.58,0.00,0.000,4,0.000,0.057,2324,3345,3558
$GC,3104,-2.24,-121.3,381.5,-13.7,561,3110,0.00,2.47,0.00,0.000,6,0.000,0.041,2324,1944,3558
$GC,3242,-2.24,-121.3,400.8,-13.9,586,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1942,3558
$GC,3380,-2.24,-121.3,419.9,-13.4,611,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1942,3558
$GC,3518,-2.24,-121.3,438.5,-13.4,636,3526,0.00,2.60,0.00,0.000,4,0.000,0.061,2324,3336,3558
$GC,3537,-2.24,-121.3,441.2,-14.1,639,3543,0.00,2.47,0.00,0.000,6,0.000,0.043,2324,1945,3557
$STATE,3601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3602,begin apogee
$GC,3605,-0.31,0.0,450.2,13.6,651,3713,2.10,0.00,101.38,0.918,6,0.133,0.000,2749,1945,3062
$STATE,3714,end apogee,CONTROL_FINISHED_OK
$STATE,3714,begin climb
$GC,3715,1.85,121.3,452.3,0.0,670,3824,2.10,0.00,101.43,0.892,6,0.069,0.000,3224,1945,2567
$GC,3959,1.85,121.3,421.9,15.5,713,3965,0.00,2.62,0.00,0.000,4,0.000,0.060,3224,3350,2563
$GC,4027,1.85,121.3,410.3,17.0,725,4034,0.00,2.53,0.00,0.000,6,0.000,0.042,3224,1946,2563
$GC,4166,1.85,121.3,388.3,15.6,750,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1944,2563
$GC,4303,1.85,121.3,367.3,14.9,775,4310,0.00,2.58,0.00,0.000,4,0.000,0.056,3224,3345,2562
$GC,4385,1.85,121.3,354.4,15.7,790,4392,0.00,2.50,0.00,0.000,6,0.000,0.041,3224,1943,2561
$GC,4523,1.85,121.3,334.4,14.8,815,4529,0.00,2.58,0.00,0.000,4,0.000,0.055,3224,3345,2561
$GC,4582,1.85,121.3,324.9,15.2,826,4589,0.00,2.53,0.00,0.000,6,0.000,0.041,3224,1944,2562
$GC,4721,1.85,121.3,305.0,14.5,851,4727,0.00,2.58,0.00,0.000,4,0.000,0.055,3224,3348,2562
$GC,4769,1.85,121.3,297.1,16.4,860,4777,0.00,2.53,0.00,0.000,6,0.000,0.046,3224,1948,2562
$GC,4909,1.85,121.3,276.4,15.4,885,4915,0.00,2.58,0.00,0.000,4,0.000,0.054,3224,3349,2561
$GC,4965,1.85,121.3,267.8,16.0,895,4971,0.00,2.50,0.00,0.000,6,0.000,0.041,3224,1942,2562
$GC,5100,1.85,121.3,248.0,14.2,920,5108,0.00,2.60,0.00,0.000,4,0.000,0.059,3224,3345,2561
$GC,5179,1.85,121.3,236.4,15.7,934,5187,0.00,2.53,0.00,0.000,6,0.000,0.046,3224,1944,2561
$GC,5318,1.85,121.3,216.6,13.8,959,5324,0.00,2.58,0.00,0.000,4,0.000,0.054,3224,3355,2561
$GC,5385,1.85,121.3,206.8,15.1,971,5391,0.00,2.50,0.00,0.000,6,0.000,0.040,3224,1943,2561
$GC,5519,1.85,121.3,186.9,14.3,996,5528,0.00,2.60,0.00,0.000,4,0.000,0.055,3224,3348,2561
$GC,5605,1.85,121.3,173.9,15.5,1011,5611,0.00,2.50,0.00,0.000,6,0.000,0.041,3224,1940,2561
$GC,5741,1.85,121.3,153.9,15.8,1036,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1937,2561
$GC,5876,1.85,121.3,133.9,14.0,1061,5884,0.00,2.60,0.00,0.000,4,0.000,0.054,3224,3342,2561
$GC,5953,1.85,121.3,122.7,14.5,1075,5961,0.00,2.50,0.00,0.000,6,0.000,0.040,3224,1945,2561
$GC,6087,1.85,121.3,102.3,15.0,1100,6094,0.00,2.60,0.00,0.000,4,0.000,0.060,3224,3349,2561
$GC,6143,1.85,121.3,93.2,17.4,1110,6151,0.00,2.53,0.00,0.000,6,0.000,0.045,3224,1940,2561
$GC,6276,1.85,121.3,71.7,16.8,1135,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1938,2561
$GC,6409,1.85,121.3,50.2,17.8,1160,6417,0.00,2.60,0.00,0.000,4,0.000,0.059,3223,3346,2561
$GC,6496,1.85,121.3,35.9,16.8,1176,6503,0.00,2.50,0.00,0.000,6,0.000,0.043,3224,1946,2561
$GC,6567,1.85,121.3,25.0,15.2,1189,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1943,2561
$GC,6638,1.85,121.3,14.2,16.2,1202,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1944,2561
$STATE,6708,end climb,SURFACE_DEPTH_REACHED
$STATE,6708,begin surface coast
$FINISH,0.2,1.027130
$STATE,6725,end surface coast,CONTROL_FINISHED_OK
$STATE,6725,begin surface
$SM_CCo,6743,83.35,0.642,0,0,2144,225.19
$SM_GC,0.94,0.00,0.00,83.35,0.000,0.000,0.642,576,1937,2144,-10.32,-0.20,225.19
$IRIDIUM_FIX,5837.82,-2032.87,290697,111113
$TT8_MAMPS,0.042185
$HUMID,1566
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,12.90
$XPDR_PINGS,448
$24V_AH,23.6,1.844
$10V_AH,10.7,1.154
$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,26.050,106.825,202.800,83.350,0.000,0.000,0.000,0.000,112.000,0.000,0.000,15.388,1856.545,1053.623,487.578,3372.742,127.808,0.000,1558.525,0.000,3405.531,0.000,0.465
$DEVICE_MAMPS,180.245,71.331,918.099,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,836.090,879.433,774.959,1302.287,2544.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,92001,1218
$CAP_FILE_SIZE,111526,0
$CFSIZE,260165632,257695744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040408,134345,5900.627,-2029.731,7,1.8,8,-14.2