version: 66.03
glider: 141
mission: 7
dive: 14
start: 4 6 108 19 29 13
data:
$ID,141
$MISSION,7
$DIVE,14
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,30
$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,-6402.6748
$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,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,20
$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
$GPS1,192107,5934.081,-1955.891,40,1.9,40,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-51.9
$GPS2,192855,5934.085,-1955.826,10,1.7,14,-14.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5943.438,-1953.104
$TGT_RADIUS,1852.000
$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,44.2,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.34,-194.7,0.0,0.0,0,129,0.00,0.00,-101.65,0.000,2,0.000,0.000,571,2004,3797
$GC,131,-1.34,-194.7,3.3,-5.7,14,155,10.93,2.70,-1.35,0.000,4,0.192,0.062,2479,3440,3859
$GC,276,-1.30,-194.7,26.6,-13.8,40,284,0.00,2.53,0.00,0.000,6,0.000,0.044,2478,2031,3859
$GC,410,-1.30,-194.7,41.0,-9.8,65,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2026,3859
$GC,543,-1.30,-194.7,56.4,-13.9,90,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,676,-1.30,-194.7,71.6,-10.8,115,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,810,-1.30,-194.7,86.4,-10.6,140,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,943,-1.30,-194.7,101.5,-12.0,165,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2026,3859
$GC,1076,-1.30,-194.7,116.4,-10.9,190,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3859
$GC,1209,-1.30,-194.7,131.3,-11.3,215,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,1342,-1.30,-194.7,145.8,-10.4,240,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3859
$GC,1479,-1.30,-194.7,161.0,-11.7,265,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,1806,-1.30,-194.7,199.3,-12.2,326,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,2138,-1.30,-194.7,237.6,-11.3,387,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,2466,-1.30,-194.7,275.4,-11.6,448,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,2798,-1.30,-194.7,314.0,-11.3,509,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,3125,-1.30,-194.7,351.6,-11.6,570,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3860
$GC,3464,-1.30,-194.7,389.8,-11.4,631,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2025,3859
$GC,3802,-1.30,-194.7,427.4,-11.2,692,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,4145,-1.30,-194.7,462.8,-9.9,753,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2025,3859
$GC,4483,-1.30,-194.7,494.4,-8.4,814,4489,0.00,2.62,0.00,0.000,4,0.000,0.062,2479,3439,3859
$GC,4524,-1.26,-194.7,497.9,-9.3,821,4531,0.12,2.47,0.00,0.000,6,0.123,0.043,2502,2057,3859
$GC,4863,-1.26,-194.7,523.9,-7.9,882,4869,0.00,2.65,0.00,0.000,4,0.000,0.064,2502,620,3859
$GC,4926,-1.26,-194.7,529.0,-8.4,893,4933,0.00,2.55,0.00,0.000,6,0.000,0.044,2502,2045,3859
$GC,5265,-1.26,-194.7,561.7,-10.7,945,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2048,3859
$GC,5584,-1.26,-194.7,600.0,-12.8,975,5588,0.00,2.67,0.00,0.000,4,0.000,0.071,2502,625,3859
$GC,5622,-1.26,-194.7,605.0,-12.9,978,5626,0.00,2.55,0.00,0.000,6,0.000,0.049,2502,2039,3859
$GC,5948,-1.26,-194.7,643.4,-11.0,1008,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3859
$GC,6265,-1.26,-194.7,674.0,-8.4,1038,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3859
$GC,6585,-1.26,-194.7,699.3,-8.2,1068,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3859
$GC,6902,-1.26,-194.7,729.8,-10.9,1098,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3859
$GC,7220,-1.26,-194.7,765.5,-10.9,1128,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3859
$GC,7539,-1.26,-194.7,797.2,-9.6,1158,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3859
$GC,7859,-1.26,-194.7,826.8,-9.5,1188,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3858
$GC,8176,-1.26,-194.7,860.2,-10.8,1218,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3858
$GC,8496,-1.26,-194.7,889.9,-8.2,1248,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3858
$GC,8813,-1.26,-194.7,916.9,-9.1,1278,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3858
$GC,9131,-1.26,-194.7,949.2,-10.2,1308,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2039,3857
$GC,9450,-1.26,-194.7,977.1,-7.9,1338,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2039,3857
$STATE,9597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9597,begin apogee
$GC,9601,-0.37,0.0,990.1,9.1,1352,9774,0.93,0.00,169.40,1.289,6,0.102,0.000,2697,2039,3062
$STATE,9775,end apogee,CONTROL_FINISHED_OK
$STATE,9775,begin climb
$GC,9776,1.34,194.7,995.9,0.0,1369,9955,1.70,2.85,168.80,1.256,4,0.079,0.081,3066,620,2267
$GC,9966,1.32,230.1,983.9,8.8,1387,10008,0.00,2.62,32.15,1.197,6,0.000,0.050,3066,2024,2123
$GC,10325,1.27,230.1,944.8,12.2,1421,10329,0.00,2.70,0.00,0.000,4,0.000,0.076,3066,3435,2118
$GC,10334,1.23,230.1,943.6,12.3,1421,10341,0.00,2.60,0.00,0.000,6,0.000,0.044,3066,2025,2117
$GC,10659,1.19,230.1,906.0,11.4,1452,10661,0.12,0.00,0.00,0.000,6,0.105,0.000,3042,2025,2117
$GC,10979,1.19,230.1,872.2,11.2,1482,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2025,2116
$GC,11295,1.19,230.1,839.9,10.0,1512,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2025,2116
$GC,11615,1.19,230.1,807.4,10.2,1542,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2025,2115
$GC,11933,1.19,230.1,774.7,10.4,1572,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2025,2114
$GC,12251,1.19,230.1,741.9,10.1,1602,12255,0.00,2.65,0.00,0.000,4,0.000,0.071,3042,620,2114
$GC,12272,1.19,230.1,739.7,10.3,1603,12279,0.00,2.58,0.00,0.000,6,0.000,0.046,3041,2021,2114
$GC,12599,1.19,230.1,707.1,10.4,1634,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2021,2114
$GC,12916,1.24,268.4,676.2,8.7,1664,12958,0.00,2.75,33.85,1.076,4,0.000,0.071,3042,3440,1966
$GC,12973,1.26,285.3,670.7,9.4,1669,12995,0.00,2.62,16.38,1.009,6,0.000,0.044,3041,2019,1899
$GC,13313,1.26,285.3,636.3,10.8,1701,13317,0.00,2.65,0.00,0.000,4,0.000,0.068,3041,611,1894
$GC,13344,1.26,285.3,632.6,10.9,1703,13351,0.00,2.58,0.00,0.000,6,0.000,0.044,3042,2011,1894
$GC,13670,1.26,285.3,598.6,10.8,1734,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2011,1893
$GC,13988,1.27,298.9,566.2,9.5,1764,14014,0.00,2.62,15.27,0.852,4,0.000,0.061,3042,620,1843
$GC,14025,1.28,304.4,562.7,9.8,1767,14036,0.00,2.53,6.45,0.812,6,0.000,0.044,3041,2009,1821
$GC,14360,1.28,306.7,529.2,9.9,1816,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2010,1819
$GC,14705,1.30,316.8,494.3,9.6,1877,14722,0.00,2.67,12.07,0.902,4,0.000,0.061,3042,619,1770
$GC,14756,1.30,323.4,489.2,9.8,1886,14775,0.00,2.50,7.53,0.814,6,0.000,0.042,3042,2001,1743
$GC,15112,1.33,344.1,455.3,9.3,1949,15141,0.12,2.67,19.80,0.912,4,0.062,0.063,3080,615,1659
$GC,15152,1.33,344.1,450.4,12.1,1956,15159,0.00,2.50,0.00,0.000,6,0.000,0.041,3080,1983,1659
$GC,15495,1.33,344.1,407.9,11.9,2017,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1985,1655
$GC,15836,1.33,344.1,367.2,12.0,2078,15842,0.00,2.55,0.00,0.000,4,0.000,0.061,3079,614,1656
$GC,15855,1.33,344.1,365.1,11.7,2081,15860,0.00,2.47,0.00,0.000,6,0.000,0.041,3080,1990,1656
$GC,16187,1.33,344.1,324.7,13.3,2142,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1655
$GC,16520,1.33,344.1,284.0,11.5,2203,16526,0.00,2.55,0.00,0.000,4,0.000,0.058,3080,611,1655
$GC,16535,1.33,344.1,282.3,11.1,2205,16541,0.00,2.47,0.00,0.000,6,0.000,0.040,3080,1990,1655
$GC,16864,1.33,344.1,244.3,10.5,2266,16872,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1655
$GC,17197,1.33,344.1,207.0,12.0,2327,17202,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1991,1655
$GC,17525,1.33,344.1,167.2,12.0,2388,17533,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1992,1655
$GC,17851,1.33,344.1,128.5,12.7,2449,17859,0.00,2.58,0.00,0.000,4,0.000,0.064,3080,618,1655
$GC,17867,1.33,344.1,126.7,12.7,2451,17875,0.00,2.47,0.00,0.000,6,0.000,0.039,3080,1983,1655
$GC,18002,1.33,344.1,109.9,13.2,2476,18009,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1985,1655
$GC,18135,1.33,344.1,93.1,11.6,2501,18142,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1985,1655
$GC,18268,1.33,344.1,75.9,12.7,2526,18275,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1985,1655
$GC,18401,1.33,344.1,59.0,12.7,2551,18409,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1985,1655
$GC,18535,1.35,362.2,44.5,9.4,2576,18558,0.00,2.67,16.98,0.675,4,0.000,0.057,3079,3431,1583
$GC,18565,1.35,362.2,40.9,11.0,2580,18573,0.00,2.65,0.00,0.000,6,0.000,0.041,3080,1975,1583
$GC,18699,1.35,362.2,23.3,11.5,2605,18707,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1974,1582
$GC,18833,1.35,362.2,6.4,12.6,2630,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1970,1581
$STATE,18861,end climb,SURFACE_DEPTH_REACHED
$STATE,18861,begin surface coast
$FINISH,0.3,1.027333
$STATE,18884,end surface coast,CONTROL_FINISHED_OK
$STATE,18884,begin surface
$SM_CCo,18962,0.00,0.000,0,0,1579,363.78
$SM_GC,0.99,10.60,0.00,0.00,0.040,0.000,0.000,571,2045,1579,-10.08,0.42,363.78
$IRIDIUM_FIX,5911.23,-2009.51,010797,141433
$TT8_MAMPS,0.042185
$HUMID,1593
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,13.20
$XPDR_PINGS,621
$24V_AH,23.5,3.936
$10V_AH,10.5,4.657
$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,24.525,83.400,498.675,0.000,0.000,28.250,36.117,276.048,155.250,0.000,0.000,15.696,3999.094,8203.872,640.514,5954.854,602.586,0.000,2646.667,0.000,5987.210,0.000,0.465
$DEVICE_MAMPS,191.750,81.302,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1822.055,1913.618,1184.286,1651.943,3232.128,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,195960,2639
$CAP_FILE_SIZE,195606,0
$CFSIZE,260165632,256192512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070408,004631,5936.699,-1948.007,37,1.2,43,-14.1