version: 66.03
glider: 141
mission: 7
dive: 66
start: 4 18 108 20 22 38
data:
$ID,141
$MISSION,7
$DIVE,66
$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,359
$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,-7491.2646
$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,18
$R_STBD_OVSHOOT,13
$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
$GPS1,200438,5947.364,-2244.082,34,1.2,34,-15.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-55.8
$GPS2,202220,5947.592,-2243.992,8,1.2,13,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5958.390,-2244.086
$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,14.8,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,137,0.00,0.00,-108.32,0.000,2,0.000,0.000,566,2016,3809
$GC,139,-1.34,-194.7,3.6,-6.7,15,163,11.10,2.70,-1.02,0.000,4,0.198,0.063,2484,3447,3858
$GC,398,-1.30,-194.7,41.3,-11.9,63,406,0.00,2.58,0.00,0.000,6,0.000,0.041,2484,2019,3858
$GC,533,-1.30,-194.7,56.3,-10.9,88,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2015,3858
$GC,665,-1.30,-194.7,70.6,-10.6,113,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2014,3858
$GC,799,-1.30,-194.7,85.1,-10.7,138,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2013,3858
$GC,932,-1.30,-194.7,100.6,-11.7,163,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,1065,-1.30,-194.7,116.2,-11.6,188,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,1199,-1.30,-194.7,130.8,-10.4,213,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,1332,-1.30,-194.7,145.0,-10.3,238,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,1468,-1.30,-194.7,159.2,-10.4,263,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,1797,-1.30,-194.7,194.6,-11.1,324,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,2130,-1.30,-194.7,230.6,-10.1,385,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,2457,-1.30,-194.7,263.9,-10.5,446,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2012,3858
$GC,2791,-1.30,-194.7,298.7,-9.7,507,2797,0.00,2.65,0.00,0.000,4,0.000,0.056,2484,3443,3858
$GC,2839,-1.30,-194.7,303.9,-10.2,516,2848,0.00,2.55,0.00,0.000,6,0.000,0.047,2484,2033,3858
$GC,3175,-1.30,-194.7,336.3,-9.6,577,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2027,3858
$GC,3509,-1.30,-194.7,367.9,-10.1,638,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2027,3858
$GC,3849,-1.30,-194.7,403.2,-10.6,699,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2028,3858
$GC,4188,-1.30,-194.7,439.6,-11.1,760,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2028,3858
$GC,4533,-1.30,-194.7,476.8,-10.8,821,4539,0.00,2.60,0.00,0.000,4,0.000,0.061,2484,630,3858
$GC,4588,-1.30,-194.7,483.0,-10.8,831,4595,0.00,2.55,0.00,0.000,6,0.000,0.045,2484,2043,3858
$GC,4929,-1.30,-194.7,518.0,-10.6,892,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2045,3858
$GC,5274,-1.30,-194.7,552.6,-10.3,953,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2046,3859
$GC,5614,-1.30,-194.7,586.6,-9.9,1014,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2047,3858
$GC,5945,-1.30,-194.7,618.6,-9.6,1057,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3858
$GC,6263,-1.30,-194.7,649.8,-10.5,1087,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3858
$GC,6583,-1.30,-194.7,684.4,-10.9,1117,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3858
$GC,6900,-1.30,-194.7,718.1,-10.8,1147,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2047,3858
$GC,7218,-1.30,-194.7,752.2,-10.1,1177,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3857
$GC,7537,-1.30,-194.7,784.0,-9.7,1207,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3857
$GC,7856,-1.30,-194.7,813.4,-9.4,1237,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3857
$GC,8175,-1.30,-194.7,844.0,-9.4,1267,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2047,3857
$GC,8495,-1.30,-194.7,874.7,-9.7,1297,8500,0.00,2.78,0.00,0.000,4,0.000,0.091,2484,635,3857
$GC,8568,-1.30,-194.7,881.9,-10.3,1303,8572,0.00,2.55,0.00,0.000,6,0.000,0.056,2484,2030,3857
$GC,8893,-1.30,-194.7,910.9,-9.0,1333,8897,0.00,2.72,0.00,0.000,4,0.000,0.090,2485,3438,3856
$GC,8965,-1.30,-194.7,918.2,-9.8,1339,8969,0.00,2.55,0.00,0.000,6,0.000,0.053,2484,2050,3856
$GC,9290,-1.30,-194.7,950.1,-10.0,1369,9294,0.00,2.72,0.00,0.000,4,0.000,0.086,2484,619,3856
$GC,9350,-1.30,-194.7,956.5,-10.7,1374,9355,0.00,2.58,0.00,0.000,6,0.000,0.055,2484,2030,3856
$GC,9675,-1.30,-194.7,987.4,-9.3,1404,9679,0.00,2.70,0.00,0.000,4,0.000,0.087,2484,3440,3855
$STATE,9702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9702,begin apogee
$GC,9709,-0.37,0.0,990.1,9.6,1406,9886,0.98,0.00,169.00,1.289,6,0.102,0.000,2693,1982,3062
$STATE,9887,end apogee,CONTROL_FINISHED_OK
$STATE,9887,begin climb
$GC,9888,1.34,194.7,993.4,0.0,1424,10062,1.70,0.00,168.62,1.257,6,0.074,0.000,3067,1982,2268
$GC,10375,1.29,194.7,944.7,10.4,1471,10380,0.00,2.67,0.00,0.000,4,0.000,0.067,3067,3394,2262
$GC,10419,1.23,194.7,939.9,10.9,1474,10425,0.00,2.58,0.00,0.000,6,0.000,0.048,3067,1983,2261
$GC,10744,1.17,194.7,905.9,10.7,1505,10750,0.15,2.67,0.00,0.000,4,0.105,0.066,3033,3402,2261
$GC,10776,1.17,194.7,902.1,10.9,1507,10783,0.00,2.58,0.00,0.000,6,0.000,0.048,3033,1999,2260
$GC,11102,1.17,194.7,868.7,10.7,1538,11106,0.00,2.65,0.00,0.000,4,0.000,0.067,3033,3399,2260
$GC,11128,1.17,194.7,865.6,11.3,1540,11133,0.00,2.50,0.00,0.000,6,0.000,0.047,3033,2011,2260
$GC,11459,1.17,195.9,832.4,10.0,1571,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2011,2260
$GC,11777,1.21,227.5,802.3,8.9,1601,11808,0.00,0.00,29.10,1.149,6,0.000,0.000,3033,2011,2134
$GC,12125,1.24,250.8,770.2,9.2,1634,12150,0.00,0.00,22.33,1.109,6,0.000,0.000,3033,2011,2039
$GC,12464,1.27,271.7,739.1,9.3,1666,12486,0.10,0.00,19.67,1.080,6,0.070,0.000,3064,2009,1954
$GC,12802,1.27,271.7,702.3,10.7,1698,12807,0.00,2.65,0.00,0.000,4,0.000,0.065,3064,3400,1950
$GC,12823,1.27,271.7,699.9,11.2,1699,12830,0.00,2.55,0.00,0.000,6,0.000,0.045,3064,2018,1949
$GC,13150,1.27,271.7,665.2,10.8,1730,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2017,1950
$GC,13466,1.27,271.7,631.6,10.6,1760,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2017,1949
$GC,13788,1.27,271.7,597.9,10.4,1791,13793,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2017,1949
$GC,14128,1.27,271.7,561.8,10.5,1852,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2017,1948
$GC,14472,1.27,271.7,525.2,10.3,1913,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2017,1949
$GC,14813,1.27,279.1,490.0,9.7,1974,14824,0.00,0.00,7.53,0.834,6,0.000,0.000,3064,2017,1924
$GC,15157,1.27,279.1,453.7,10.7,2036,15165,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2016,1923
$GC,15501,1.27,279.1,417.0,10.3,2097,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2016,1923
$GC,15841,1.27,279.1,381.7,10.5,2158,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2015,1923
$GC,16181,1.27,279.1,346.5,10.6,2219,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2016,1922
$GC,16512,1.29,292.8,313.1,9.5,2280,16532,0.00,0.00,14.05,0.817,6,0.000,0.000,3064,2016,1867
$GC,16859,1.30,303.6,278.0,9.6,2343,16873,0.00,0.00,11.02,0.774,6,0.000,0.000,3064,2016,1823
$GC,17199,1.30,303.6,244.4,11.4,2405,17204,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2016,1821
$GC,17528,1.30,303.6,211.6,10.6,2466,17535,0.00,2.70,0.00,0.000,4,0.000,0.062,3064,581,1821
$GC,17549,1.30,303.6,209.7,10.3,2469,17555,0.00,2.60,0.00,0.000,6,0.000,0.041,3064,2028,1821
$GC,17878,1.31,304.2,175.9,10.0,2530,17886,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2030,1820
$GC,18208,1.31,304.2,140.0,10.4,2591,18217,0.00,2.75,0.00,0.000,4,0.000,0.058,3064,574,1821
$GC,18229,1.31,304.2,137.8,10.5,2594,18237,0.00,2.60,0.00,0.000,6,0.000,0.042,3064,2004,1821
$GC,18363,1.31,304.2,123.4,10.4,2619,18371,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2007,1820
$GC,18496,1.31,304.2,109.2,11.1,2644,18504,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2007,1820
$GC,18630,1.31,304.2,95.4,10.2,2669,18638,0.00,2.60,0.00,0.000,4,0.000,0.060,3064,3388,1820
$GC,18661,1.31,304.2,92.0,11.3,2674,18669,0.00,2.50,0.00,0.000,6,0.000,0.043,3064,2008,1820
$GC,18794,1.31,304.2,78.0,11.6,2699,18802,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2006,1820
$GC,18928,1.31,304.2,63.8,10.1,2724,18936,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2006,1820
$GC,19062,1.31,304.2,48.3,10.5,2749,19069,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2007,1820
$GC,19196,1.33,325.3,34.6,9.3,2774,19218,0.00,0.00,18.98,0.673,6,0.000,0.000,3063,2007,1736
$GC,19344,1.33,325.3,18.2,10.3,2801,19352,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2007,1734
$GC,19477,1.33,325.3,4.2,12.4,2826,19485,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2007,1733
$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19491,begin surface coast
$FINISH,0.2,1.025629
$STATE,19524,end surface coast,CONTROL_FINISHED_OK
$STATE,19524,begin surface
$SM_CCo,19601,0.00,0.000,0,0,1731,326.49
$SM_GC,0.87,10.45,0.00,0.00,0.036,0.000,0.000,572,2000,1731,-10.06,-0.85,326.49
$IRIDIUM_FIX,5923.90,-2248.36,130797,202055
$TT8_MAMPS,0.042185
$HUMID,1581
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.60
$XPDR_PINGS,823
$24V_AH,23.5,14.900
$10V_AH,10.4,21.495
$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,24.475,73.525,460.300,0.000,0.000,77.786,107.293,609.179,205.750,0.000,0.000,14.641,4283.701,8071.242,641.580,6478.344,1157.657,0.000,2745.269,0.000,6548.299,0.000,0.466
$DEVICE_MAMPS,197.886,90.506,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1986.165,2046.664,1287.110,1858.048,3639.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,211605,2834
$CAP_FILE_SIZE,210764,0
$CFSIZE,260165632,249847808
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,015037,5952.171,-2242.646,39,1.1,44,-15.8