version: 66.03
glider: 141
mission: 7
dive: 58
start: 4 17 108 0 17 20
data:
$ID,141
$MISSION,7
$DIVE,58
$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,215
$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,-7336.8975
$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,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,38
$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
$GPS1,235931,5934.965,-2217.418,36,1.0,41,-15.4
$_CALLS,3
$_XMS_NAKs,44
$_XMS_TOUTs,3
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-42.2
$GPS2,001702,5934.998,-2217.874,11,1.8,16,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5926.151,-2221.024
$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,230.4,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.34,-194.7,0.0,0.0,0,143,0.00,0.00,-115.90,0.000,2,0.000,0.000,566,2057,3829
$GC,145,-1.34,-194.7,3.6,-7.2,16,162,11.18,2.72,-0.60,0.000,4,0.199,0.061,2483,616,3857
$GC,309,-1.34,-194.7,32.6,-14.9,46,317,0.00,2.53,0.00,0.000,6,0.000,0.041,2483,2012,3859
$GC,443,-1.34,-194.7,50.1,-12.7,71,452,0.00,2.55,0.00,0.000,4,0.000,0.048,2483,621,3859
$GC,490,-1.34,-194.7,56.7,-12.4,79,498,0.00,2.50,0.00,0.000,6,0.000,0.041,2483,2012,3858
$GC,624,-1.34,-194.7,70.9,-8.4,104,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2012,3859
$GC,758,-1.34,-194.7,84.0,-9.6,129,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,891,-1.34,-194.7,99.5,-11.7,154,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,1025,-1.34,-194.7,113.7,-10.9,179,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,1158,-1.34,-194.7,129.4,-11.9,204,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,1292,-1.34,-194.7,143.6,-11.2,229,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,1425,-1.34,-194.7,159.4,-11.4,254,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,1758,-1.34,-194.7,198.5,-10.8,315,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,2086,-1.34,-194.7,236.4,-13.2,376,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,2418,-1.34,-194.7,274.2,-10.6,437,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3858
$GC,2747,-1.34,-194.7,308.0,-10.6,498,2755,0.00,2.65,0.00,0.000,4,0.000,0.063,2483,3427,3858
$GC,2778,-1.34,-194.7,311.3,-11.4,503,2784,0.00,2.55,0.00,0.000,6,0.000,0.038,2483,1996,3858
$GC,3107,-1.34,-194.7,346.2,-10.3,564,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1992,3858
$GC,3449,-1.34,-194.7,381.2,-10.6,625,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1991,3858
$GC,3787,-1.34,-194.7,416.3,-10.3,686,3793,0.00,2.70,0.00,0.000,4,0.000,0.061,2483,3434,3858
$GC,3814,-1.34,-194.7,419.4,-11.4,691,3821,0.00,2.55,0.00,0.000,6,0.000,0.040,2483,2003,3858
$GC,4154,-1.34,-194.7,454.1,-10.0,752,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2002,3858
$GC,4499,-1.34,-194.7,487.7,-10.7,813,4505,0.00,2.70,0.00,0.000,4,0.000,0.064,2483,3435,3858
$GC,4532,-1.34,-194.7,491.7,-12.0,819,4538,0.00,2.58,0.00,0.000,6,0.000,0.042,2483,2001,3858
$GC,4872,-1.34,-194.7,528.5,-10.3,880,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1999,3858
$GC,5217,-1.34,-194.7,563.9,-11.0,941,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1998,3858
$GC,5556,-1.34,-194.7,601.4,-11.1,1001,5560,0.00,2.72,0.00,0.000,4,0.000,0.071,2483,3435,3858
$GC,5583,-1.34,-194.7,604.5,-12.3,1003,5587,0.00,2.58,0.00,0.000,6,0.000,0.047,2483,2010,3858
$GC,5907,-1.34,-194.7,639.8,-10.5,1033,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2010,3858
$GC,6226,-1.34,-194.7,671.1,-9.9,1063,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2010,3858
$GC,6545,-1.34,-194.7,702.5,-9.6,1093,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2007,3858
$GC,6863,-1.34,-194.7,733.3,-9.6,1123,6868,0.00,2.75,0.00,0.000,4,0.000,0.084,2483,3427,3858
$GC,6895,-1.34,-194.7,736.6,-10.4,1125,6902,0.00,2.62,0.00,0.000,6,0.000,0.057,2483,2001,3857
$GC,7220,-1.34,-194.7,767.3,-9.9,1156,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2000,3857
$GC,7539,-1.34,-194.7,798.9,-10.0,1186,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1999,3857
$GC,7857,-1.34,-194.7,830.3,-9.6,1216,7862,0.00,2.72,0.00,0.000,4,0.000,0.077,2483,3431,3857
$GC,7874,-1.34,-194.7,832.0,-9.8,1217,7878,0.00,2.58,0.00,0.000,6,0.000,0.054,2483,2017,3857
$GC,8198,-1.34,-194.7,863.8,-10.0,1247,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2016,3856
$GC,8517,-1.34,-194.7,894.8,-10.0,1277,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2015,3856
$GC,8835,-1.34,-194.7,926.2,-9.7,1307,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2015,3855
$GC,9154,-1.34,-194.7,956.9,-10.0,1337,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2014,3854
$GC,9472,-1.34,-194.7,988.3,-9.7,1367,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2013,3854
$STATE,9491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9491,begin apogee
$GC,9495,-0.37,0.0,990.4,9.8,1369,9668,1.00,0.00,168.95,1.286,6,0.097,0.000,2696,1978,3062
$STATE,9669,end apogee,CONTROL_FINISHED_OK
$STATE,9669,begin climb
$GC,9671,1.34,194.7,995.4,0.0,1386,9849,1.70,2.83,168.48,1.253,4,0.075,0.090,3068,572,2267
$GC,9876,1.28,194.7,980.4,11.6,1405,9883,0.00,2.60,0.00,0.000,6,0.000,0.049,3068,1977,2264
$GC,10201,1.22,194.7,945.3,11.2,1436,10206,0.00,2.72,0.00,0.000,4,0.000,0.075,3068,3399,2261
$GC,10279,1.17,194.7,936.0,12.0,1442,10286,0.15,2.55,0.00,0.000,6,0.106,0.045,3038,1995,2260
$GC,10603,1.22,229.1,905.6,8.8,1473,10639,0.00,2.75,30.52,1.185,4,0.000,0.075,3038,571,2129
$GC,10673,1.23,242.1,899.1,9.5,1479,10694,0.00,2.62,13.65,1.104,6,0.000,0.048,3038,2004,2073
$GC,11011,1.27,270.6,868.1,9.0,1511,11053,0.00,2.72,28.40,1.096,4,0.000,0.077,3039,3387,1957
$GC,11098,1.27,270.6,859.8,10.1,1519,11102,0.00,2.53,0.00,0.000,6,0.000,0.046,3038,1994,1954
$GC,11422,1.28,283.0,829.2,9.6,1549,11446,0.00,2.72,14.00,0.946,4,0.000,0.072,3038,571,1908
$GC,11486,1.28,283.0,822.6,10.6,1555,11490,0.00,2.60,0.00,0.000,6,0.000,0.048,3038,1996,1908
$GC,11809,1.28,283.0,788.6,11.2,1585,11814,0.00,2.65,0.00,0.000,4,0.000,0.076,3038,3393,1906
$GC,11848,1.28,283.0,784.0,11.3,1588,11852,0.00,2.55,0.00,0.000,6,0.000,0.046,3038,1982,1905
$GC,12171,1.28,283.0,747.5,11.0,1618,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1982,1905
$GC,12491,1.30,298.6,715.2,9.5,1648,12514,0.10,2.72,15.82,1.058,4,0.066,0.071,3071,576,1843
$GC,12540,1.30,298.6,709.6,11.2,1652,12547,0.00,2.60,0.00,0.000,6,0.000,0.046,3071,1978,1842
$GC,12865,1.30,298.6,674.7,11.0,1683,12870,0.00,2.70,0.00,0.000,4,0.000,0.073,3070,3402,1841
$GC,12919,1.30,298.6,668.1,11.5,1687,12926,0.00,2.60,0.00,0.000,6,0.000,0.046,3070,1982,1840
$GC,13245,1.30,298.6,631.4,11.1,1718,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1982,1840
$GC,13565,1.30,298.6,594.4,12.1,1752,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1980,1840
$GC,13910,1.30,298.6,553.4,10.9,1813,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1979,1839
$GC,14249,1.30,298.6,516.8,11.3,1874,14255,0.00,2.67,0.00,0.000,4,0.000,0.063,3070,3406,1839
$GC,14290,1.30,298.6,512.3,11.1,1881,14296,0.00,2.58,0.00,0.000,6,0.000,0.044,3070,1983,1839
$GC,14631,1.30,298.6,474.0,11.6,1942,14637,0.00,2.60,0.00,0.000,4,0.000,0.064,3071,571,1839
$GC,14659,1.30,298.6,470.8,11.9,1947,14665,0.00,2.58,0.00,0.000,6,0.000,0.044,3070,2003,1840
$GC,14998,1.30,298.6,428.5,12.4,2008,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2005,1839
$GC,15343,1.30,298.6,387.2,12.1,2069,15349,0.00,2.58,0.00,0.000,4,0.000,0.062,3070,3401,1840
$GC,15376,1.30,298.6,382.9,11.6,2075,15382,0.00,2.55,0.00,0.000,6,0.000,0.041,3070,1971,1839
$GC,15714,1.30,298.6,344.1,10.3,2136,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1969,1839
$GC,16048,1.30,298.6,305.6,10.8,2197,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1969,1840
$GC,16376,1.30,298.6,267.6,10.7,2258,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1969,1841
$GC,16709,1.30,298.6,229.7,12.0,2319,16715,0.00,2.60,0.00,0.000,4,0.000,0.054,3070,3388,1841
$GC,16744,1.30,298.6,225.4,11.3,2325,16751,0.00,2.50,0.00,0.000,6,0.000,0.038,3070,1979,1841
$GC,17074,1.30,298.6,188.8,10.4,2386,17082,0.00,2.60,0.00,0.000,4,0.000,0.063,3070,578,1841
$GC,17116,1.30,298.6,184.3,10.4,2393,17122,0.00,2.53,0.00,0.000,6,0.000,0.040,3070,1998,1841
$GC,17448,1.30,298.6,148.8,11.3,2454,17456,0.00,2.58,0.00,0.000,4,0.000,0.061,3070,3385,1841
$GC,17510,1.30,298.6,141.7,11.3,2465,17517,0.00,2.50,0.00,0.000,6,0.000,0.044,3070,1993,1841
$GC,17644,1.30,298.6,123.8,15.2,2490,17652,0.00,2.62,0.00,0.000,4,0.000,0.060,3070,575,1841
$GC,17685,1.30,298.6,117.9,14.9,2497,17692,0.00,2.50,0.00,0.000,6,0.000,0.043,3070,1968,1841
$GC,17820,1.30,298.6,101.3,12.1,2522,17828,0.00,2.62,0.00,0.000,4,0.000,0.058,3070,3386,1841
$GC,17876,1.30,298.6,93.6,15.3,2532,17884,0.00,2.50,0.00,0.000,6,0.000,0.046,3071,1993,1841
$GC,18010,1.48,445.0,80.5,4.9,2557,18142,0.12,2.62,124.12,0.692,4,0.060,0.056,3110,579,1246
$GC,18171,1.48,445.0,60.4,13.1,2580,18179,0.00,2.58,0.00,0.000,6,0.000,0.046,3110,1993,1243
$GC,18305,1.48,445.0,38.6,15.6,2605,18313,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1996,1239
$GC,18439,1.48,445.0,18.2,12.2,2630,18447,0.00,2.65,0.00,0.000,4,0.000,0.063,3110,580,1237
$GC,18490,1.48,445.0,13.0,10.9,2639,18498,0.00,2.50,0.00,0.000,6,0.000,0.041,3110,1964,1237
$STATE,18561,end climb,SURFACE_DEPTH_REACHED
$STATE,18561,begin surface coast
$FINISH,0.4,1.027130
$STATE,18583,end surface coast,CONTROL_FINISHED_OK
$STATE,18584,begin surface
$SM_CCo,18662,0.00,0.000,0,0,1233,448.65
$SM_GC,0.48,10.62,0.00,0.00,0.033,0.000,0.000,570,2042,1233,-10.07,0.34,448.65
$IRIDIUM_FIX,5911.23,-2221.19,120797,000024
$TT8_MAMPS,0.042185
$HUMID,1582
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,12.80
$XPDR_PINGS,746
$24V_AH,23.5,13.249
$10V_AH,10.5,18.886
$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,24.875,136.100,563.950,0.000,0.000,86.570,162.434,542.617,186.500,0.000,0.000,18.303,4029.961,7767.467,703.651,6052.728,1129.798,0.000,2802.295,0.000,6103.962,0.000,0.466
$DEVICE_MAMPS,198.653,98.176,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1835.278,1939.165,1177.953,1677.712,3281.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199221,2656
$CAP_FILE_SIZE,213589,0
$CFSIZE,260165632,250818560
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170408,052953,5932.002,-2225.460,37,99.0,56,-15.5