version: 66.03
glider: 141
mission: 7
dive: 70
start: 4 19 108 18 53 35
data:
$ID,141
$MISSION,7
$DIVE,70
$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,45
$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,-7563.7246
$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,21
$R_STBD_OVSHOOT,12
$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
$GPS1,184446,6008.240,-2244.034,40,2.2,59,-15.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.9
$GPS2,185317,6008.291,-2244.056,10,1.2,12,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6015.927,-2240.268
$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,60.9,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.75,0.000,2,0.000,0.000,571,2013,3735
$GC,124,-1.34,-194.7,3.3,-6.2,13,148,11.20,2.67,-2.90,0.000,4,0.202,0.067,2483,3441,3859
$GC,255,-1.30,-194.7,22.9,-9.9,36,263,0.00,2.55,0.00,0.000,6,0.000,0.043,2483,2023,3859
$GC,389,-1.30,-194.7,38.2,-11.3,61,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2021,3860
$GC,523,-1.30,-194.7,53.8,-11.4,86,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,656,-1.30,-194.7,69.9,-12.8,111,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3859
$GC,789,-1.30,-194.7,85.7,-11.8,136,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2018,3860
$GC,922,-1.30,-194.7,100.8,-10.8,161,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2017,3860
$GC,1057,-1.30,-194.7,115.6,-10.6,186,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2017,3860
$GC,1190,-1.30,-194.7,130.0,-10.6,211,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2017,3859
$GC,1323,-1.30,-194.7,143.7,-11.1,236,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2017,3860
$GC,1459,-1.30,-194.7,158.3,-11.0,261,1465,0.00,2.62,0.00,0.000,4,0.000,0.056,2483,3446,3860
$GC,1507,-1.30,-194.7,163.6,-11.2,269,1513,0.00,2.47,0.00,0.000,6,0.000,0.039,2483,2051,3859
$GC,1835,-1.30,-194.7,200.7,-11.4,330,1843,0.00,2.62,0.00,0.000,4,0.000,0.061,2483,630,3860
$GC,1891,-1.30,-194.7,207.1,-11.3,340,1899,0.00,2.58,0.00,0.000,6,0.000,0.045,2483,2059,3860
$GC,2226,-1.30,-194.7,243.7,-10.8,401,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2062,3860
$GC,2554,-1.30,-194.7,279.7,-11.2,462,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2062,3860
$GC,2887,-1.30,-194.7,317.2,-11.5,523,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2062,3860
$GC,3216,-1.30,-194.7,354.7,-10.7,584,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2062,3859
$GC,3560,-1.30,-194.7,392.5,-11.1,645,3566,0.00,2.65,0.00,0.000,4,0.000,0.055,2483,626,3860
$GC,3599,-1.30,-194.7,397.1,-11.1,652,3607,0.00,2.58,0.00,0.000,6,0.000,0.044,2483,2045,3860
$GC,3945,-1.30,-194.7,435.3,-10.9,713,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3860
$GC,4285,-1.30,-194.7,473.0,-11.1,774,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,4625,-1.30,-194.7,510.6,-11.4,835,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2049,3860
$GC,4964,-1.30,-194.7,546.7,-10.8,896,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3860
$GC,5310,-1.30,-194.7,583.6,-10.4,957,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3860
$GC,5647,-1.30,-194.7,619.0,-10.9,1002,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3860
$GC,5965,-1.30,-194.7,652.0,-10.1,1032,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2050,3859
$GC,6284,-1.30,-194.7,683.5,-9.9,1062,6288,0.00,2.72,0.00,0.000,4,0.000,0.091,2483,3439,3860
$GC,6326,-1.30,-194.7,687.9,-10.6,1065,6334,0.00,2.60,0.00,0.000,6,0.000,0.064,2483,2060,3859
$GC,6652,-1.30,-194.7,718.1,-9.7,1096,6657,0.00,2.88,0.00,0.000,4,0.000,0.105,2483,615,3859
$GC,6695,-1.30,-194.7,722.6,-10.1,1099,6702,0.00,2.60,0.00,0.000,6,0.000,0.058,2483,2020,3859
$GC,7021,-1.30,-194.7,753.9,-9.8,1130,7025,0.00,2.75,0.00,0.000,4,0.000,0.095,2483,3440,3859
$GC,7070,-1.30,-194.7,759.1,-10.7,1134,7075,0.00,2.58,0.00,0.000,6,0.000,0.057,2483,2030,3859
$GC,7395,-1.30,-194.7,790.3,-9.3,1164,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2029,3859
$GC,7713,-1.30,-194.7,820.1,-9.3,1194,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2028,3858
$GC,8032,-1.30,-194.7,851.3,-10.0,1224,8036,0.00,2.72,0.00,0.000,4,0.000,0.077,2483,3445,3858
$GC,8085,-1.30,-194.7,857.2,-11.0,1228,8092,0.00,2.60,0.00,0.000,6,0.000,0.054,2483,2040,3857
$GC,8411,-1.30,-194.7,889.9,-10.5,1259,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2039,3857
$GC,8729,-1.30,-194.7,922.8,-10.5,1289,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2038,3857
$GC,9047,-1.30,-194.7,956.0,-10.4,1319,9052,0.00,2.70,0.00,0.000,4,0.000,0.077,2483,3444,3857
$GC,9131,-1.30,-194.7,965.4,-11.4,1326,9136,0.00,2.58,0.00,0.000,6,0.000,0.055,2483,2042,3856
$STATE,9368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9368,begin apogee
$GC,9372,-0.37,0.0,990.7,10.6,1348,9545,1.00,0.00,169.02,1.298,6,0.103,0.000,2694,1982,3062
$STATE,9546,end apogee,CONTROL_FINISHED_OK
$STATE,9546,begin climb
$GC,9548,1.34,194.7,996.7,0.0,1365,9725,1.70,0.00,168.90,1.266,6,0.077,0.000,3070,1982,2267
$GC,10043,1.28,194.7,952.6,10.4,1413,10048,0.00,2.70,0.00,0.000,4,0.000,0.070,3070,3397,2261
$GC,10071,1.22,194.7,949.4,11.5,1415,10076,0.12,2.58,0.00,0.000,6,0.109,0.050,3046,1993,2261
$GC,10395,1.23,204.8,917.7,9.6,1445,10406,0.00,0.00,9.15,1.065,6,0.000,0.000,3046,1991,2227
$GC,10724,1.24,205.5,885.2,10.0,1476,10728,0.00,2.67,0.00,0.000,4,0.000,0.069,3046,3405,2225
$GC,10755,1.24,205.5,881.8,10.3,1478,10762,0.00,2.58,0.00,0.000,6,0.000,0.049,3046,2008,2225
$GC,11081,1.24,210.8,850.3,9.8,1509,11091,0.00,0.00,7.07,0.996,6,0.000,0.000,3046,2006,2202
$GC,11410,1.26,227.6,818.9,9.4,1540,11429,0.00,0.00,16.48,1.129,6,0.000,0.000,3046,2006,2134
$GC,11748,1.31,263.7,788.3,8.7,1572,11788,0.00,0.00,33.80,1.154,6,0.000,0.000,3046,2006,1986
$GC,12105,1.32,277.3,755.0,9.5,1606,12121,0.10,0.00,13.40,1.065,6,0.071,0.000,3076,2006,1931
$GC,12434,1.32,277.3,717.2,11.8,1637,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1928
$GC,12753,1.32,277.3,680.0,11.4,1667,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1927
$GC,13072,1.32,277.3,645.4,10.3,1697,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1927
$GC,13390,1.32,277.3,611.3,11.3,1727,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1926
$GC,13718,1.32,277.3,573.4,11.5,1777,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1926
$GC,14058,1.32,277.3,536.0,10.4,1838,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1926
$GC,14397,1.32,277.3,500.2,10.3,1899,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1926
$GC,14736,1.32,277.3,463.5,10.9,1960,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1927
$GC,15080,1.32,277.3,425.7,10.8,2021,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2005,1926
$GC,15420,1.32,277.3,386.9,11.9,2082,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1927
$GC,15764,1.32,277.3,348.8,10.8,2143,15769,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1926
$GC,16092,1.32,277.3,310.1,12.2,2204,16099,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2005,1926
$GC,16424,1.32,277.3,271.7,12.3,2265,16430,0.00,2.60,0.00,0.000,4,0.000,0.059,3076,3399,1927
$GC,16452,1.32,277.3,268.1,11.9,2270,16460,0.00,2.55,0.00,0.000,6,0.000,0.049,3077,1998,1927
$GC,16788,1.32,277.3,231.9,10.6,2331,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1995,1927
$GC,17117,1.32,277.3,197.0,12.2,2392,17124,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,1927
$GC,17450,1.32,277.3,160.0,13.4,2453,17456,0.00,2.60,0.00,0.000,4,0.000,0.056,3076,3399,1927
$GC,17474,1.32,277.3,157.1,12.7,2457,17480,0.00,2.50,0.00,0.000,6,0.000,0.041,3076,2006,1927
$GC,17795,1.32,277.3,122.5,10.3,2518,17802,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1927
$GC,17929,1.32,277.3,107.7,12.2,2543,17936,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2004,1927
$GC,18062,1.32,277.3,92.8,10.9,2568,18069,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1927
$GC,18195,1.32,277.3,78.3,10.9,2593,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1927
$GC,18329,1.32,277.3,63.8,10.6,2618,18336,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2004,1927
$GC,18462,1.32,277.3,49.1,11.7,2643,18470,0.00,2.60,0.00,0.000,4,0.000,0.058,3076,3394,1927
$GC,18483,1.32,277.3,46.8,10.9,2646,18489,0.00,2.50,0.00,0.000,6,0.000,0.041,3076,2016,1927
$GC,18617,1.34,288.9,31.6,9.6,2671,18632,0.00,0.00,11.25,0.651,6,0.000,0.000,3077,2014,1883
$GC,18758,1.34,288.9,15.0,11.6,2697,18765,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2014,1882
$STATE,18859,end climb,SURFACE_DEPTH_REACHED
$STATE,18860,begin surface coast
$FINISH,0.2,1.014870
$STATE,18887,end surface coast,CONTROL_FINISHED_OK
$STATE,18887,begin surface
$SM_CCo,18964,0.00,0.000,0,0,1880,289.94
$SM_GC,0.91,10.55,0.00,0.00,0.038,0.000,0.000,569,2008,1880,-10.07,-0.62,289.94
$IRIDIUM_FIX,5940.92,-2240.83,140797,131357
$TT8_MAMPS,0.042185
$HUMID,1602
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,12.60
$XPDR_PINGS,770
$24V_AH,23.5,15.723
$10V_AH,10.4,22.816
$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,24.675,73.475,429.075,0.000,0.000,29.800,32.603,311.193,192.500,0.000,0.000,13.860,4118.681,7788.856,627.414,6203.153,704.233,0.000,2629.960,0.000,6270.177,0.000,0.465
$DEVICE_MAMPS,201.721,105.079,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1892.911,1980.352,1235.488,1773.759,3473.108,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202359,2721
$CAP_FILE_SIZE,195292,0
$CFSIZE,260165632,249376768
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,001055,6011.434,-2239.517,25,1.5,42,-15.9