version: 66.03
glider: 141
mission: 7
dive: 115
start: 4 29 108 4 0 32
data:
$ID,141
$MISSION,7
$DIVE,115
$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,240
$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,-8500.0381
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,035038,6105.568,-2303.691,38,1.7,38,-16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-50.5
$GPS2,040014,6105.475,-2303.598,9,1.6,13,-16.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6100.076,-2308.132
$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,256.6,20000,-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,-194.7,0.0,0.0,0,130,0.00,0.00,-101.60,0.000,2,0.000,0.000,570,2003,3844
$GC,132,-1.34,-194.7,3.6,-6.0,14,149,11.12,2.65,0.00,0.000,4,0.199,0.055,2480,3440,3846
$GC,385,-1.29,-194.7,41.2,-11.7,61,394,0.00,2.58,-0.12,0.000,6,0.000,0.046,2480,2029,3858
$GC,520,-1.29,-194.7,56.7,-11.5,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2028,3858
$GC,859,-1.29,-194.7,95.8,-11.5,147,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2024,3859
$GC,1203,-1.29,-194.7,131.9,-10.8,208,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2024,3859
$GC,1543,-1.29,-194.7,169.1,-11.2,269,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2024,3858
$GC,1884,-1.29,-194.7,206.6,-10.8,330,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2024,3858
$GC,2227,-1.29,-194.7,244.3,-11.4,391,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2024,3858
$GC,2570,-1.29,-194.7,282.3,-10.6,452,2577,0.00,2.67,0.00,0.000,4,0.000,0.059,2479,3446,3858
$GC,2599,-1.29,-194.7,285.8,-12.0,457,2605,0.00,2.58,0.00,0.000,6,0.000,0.045,2480,2026,3858
$GC,2943,-1.29,-194.7,324.8,-10.9,518,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3858
$GC,3284,-1.29,-194.7,363.5,-11.2,569,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3858
$GC,3602,-1.29,-194.7,399.4,-11.0,599,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3858
$GC,3920,-1.29,-194.7,433.6,-10.5,629,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3858
$GC,4239,-1.29,-194.7,469.0,-11.1,659,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2021,3859
$GC,4559,-1.29,-194.7,505.9,-11.3,689,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2022,3858
$GC,4876,-1.29,-194.7,541.9,-11.5,719,4881,0.00,2.72,0.00,0.000,4,0.000,0.072,2480,3442,3858
$GC,4920,-1.29,-194.7,547.1,-12.2,722,4927,0.00,2.62,0.00,0.000,6,0.000,0.051,2479,2031,3859
$GC,5246,-1.29,-194.7,582.3,-10.4,753,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2030,3858
$GC,5559,-1.29,-194.7,616.0,-10.9,776,5563,0.00,2.70,0.00,0.000,4,0.000,0.077,2480,3435,3858
$GC,5590,-1.29,-194.7,619.8,-11.8,777,5597,0.00,2.60,0.00,0.000,6,0.000,0.054,2480,2039,3858
$GC,5906,-1.29,-194.7,653.8,-10.9,793,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,6215,-1.29,-194.7,687.1,-10.9,808,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2039,3858
$GC,6524,-1.29,-194.7,720.4,-10.6,823,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3858
$GC,6834,-1.29,-194.7,753.8,-10.9,838,6838,0.00,2.75,0.00,0.000,4,0.000,0.086,2480,3439,3858
$GC,6860,-1.29,-194.7,756.8,-12.4,839,6864,0.00,2.62,0.00,0.000,6,0.000,0.063,2480,2035,3858
$GC,7181,-1.29,-194.7,791.3,-10.6,855,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2032,3858
$GC,7490,-1.29,-194.7,823.3,-10.4,870,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2032,3858
$GC,7799,-1.29,-194.7,854.2,-10.0,885,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2031,3857
$GC,8108,-1.29,-194.7,885.5,-10.3,900,8113,0.00,2.70,0.00,0.000,4,0.000,0.080,2480,3433,3858
$GC,8140,-1.29,-194.7,889.1,-10.8,901,8147,0.00,2.62,0.00,0.000,6,0.000,0.064,2480,2034,3857
$GC,8456,-1.29,-194.7,922.0,-10.5,917,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2033,3857
$GC,8765,-1.29,-194.7,954.4,-10.7,932,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2032,3858
$GC,9075,-1.29,-194.7,985.3,-9.5,947,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2032,3857
$STATE,9136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9136,begin apogee
$GC,9141,-0.37,0.0,991.2,9.6,950,9318,1.02,0.00,169.30,1.289,6,0.101,0.000,2696,1975,3062
$STATE,9318,end apogee,CONTROL_FINISHED_OK
$STATE,9319,begin climb
$GC,9320,1.34,194.7,996.0,0.0,959,9497,1.73,0.00,168.70,1.260,6,0.074,0.000,3072,1974,2267
$GC,9807,1.28,194.7,951.5,10.6,983,9811,0.00,2.72,0.00,0.000,4,0.000,0.071,3072,3394,2261
$GC,9856,1.22,194.7,945.8,11.4,985,9861,0.12,2.62,0.00,0.000,6,0.110,0.054,3048,1975,2261
$GC,10171,1.24,204.9,915.7,9.6,1000,10185,0.00,2.78,9.45,1.065,4,0.000,0.070,3048,3395,2226
$GC,10218,1.24,204.9,910.6,10.8,1001,10222,0.00,2.62,0.00,0.000,6,0.000,0.053,3048,1998,2224
$GC,10540,1.24,205.7,878.3,10.0,1017,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1996,2224
$GC,10848,1.24,205.7,846.8,10.5,1032,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1996,2223
$GC,11158,1.24,205.7,814.4,10.6,1047,11162,0.00,2.65,0.00,0.000,4,0.000,0.069,3048,3389,2223
$GC,11196,1.24,205.7,810.0,11.5,1049,11200,0.00,2.55,0.00,0.000,6,0.000,0.051,3048,2009,2222
$GC,11521,1.24,205.7,776.0,10.5,1065,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2009,2223
$GC,11831,1.26,222.2,745.8,9.4,1080,11853,0.00,2.75,16.42,1.085,4,0.000,0.067,3048,3395,2154
$GC,11880,1.26,222.2,740.8,10.1,1082,11884,0.00,2.58,0.00,0.000,6,0.000,0.051,3048,2018,2153
$GC,12207,1.26,227.5,708.7,9.8,1098,12215,0.00,0.00,6.10,0.883,6,0.000,0.000,3048,2018,2134
$GC,12517,1.26,227.5,677.0,10.4,1113,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2018,2133
$GC,12825,1.26,227.5,644.5,10.3,1128,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2018,2133
$GC,13134,1.26,227.5,613.0,10.2,1143,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2017,2132
$GC,13450,1.26,227.5,579.4,10.4,1167,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2017,2133
$GC,13769,1.28,240.7,547.6,9.5,1197,13790,0.00,2.70,13.23,0.944,4,0.000,0.064,3048,3390,2079
$GC,13829,1.28,240.7,541.0,10.4,1202,13835,0.00,2.53,0.00,0.000,6,0.000,0.051,3048,2026,2079
$GC,14154,1.28,240.7,507.9,10.4,1233,14159,0.00,2.75,0.00,0.000,4,0.000,0.072,3048,573,2078
$GC,14193,1.28,240.7,503.6,10.5,1236,14197,0.00,2.65,0.00,0.000,6,0.000,0.048,3048,2029,2078
$GC,14516,1.28,240.7,469.5,10.6,1266,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2031,2078
$GC,14835,1.28,240.7,435.6,10.6,1296,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2030,2078
$GC,15153,1.28,240.7,402.7,10.3,1326,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2031,2078
$GC,15472,1.28,240.7,370.5,10.0,1356,15473,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2031,2078
$GC,15796,1.28,240.7,337.9,10.3,1396,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2031,2078
$GC,16139,1.30,252.7,304.0,9.6,1457,16157,0.00,2.85,11.95,0.799,4,0.000,0.064,3048,568,2031
$GC,16179,1.30,254.3,300.0,9.9,1464,16186,0.00,2.67,0.00,0.000,6,0.000,0.045,3047,2039,2030
$GC,16523,1.30,254.3,265.7,10.1,1525,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2041,2029
$GC,16865,1.30,254.3,230.3,10.1,1586,16870,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2041,2029
$GC,17206,1.30,254.3,195.3,10.7,1647,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2041,2029
$GC,17548,1.34,292.9,161.7,8.7,1708,17587,0.10,0.00,35.58,0.762,6,0.069,0.000,3080,2041,1868
$GC,17922,1.34,292.9,118.8,11.2,1775,17929,0.00,2.75,0.00,0.000,4,0.000,0.064,3080,576,1863
$GC,17952,1.34,292.9,115.3,11.5,1780,17959,0.00,2.62,0.00,0.000,6,0.000,0.051,3080,2031,1863
$GC,18292,1.34,292.9,76.8,10.2,1841,18298,0.00,2.55,0.00,0.000,4,0.000,0.060,3080,3397,1862
$GC,18327,1.34,292.9,73.0,10.9,1847,18333,0.00,2.53,0.00,0.000,6,0.000,0.046,3080,2013,1862
$GC,18663,1.34,292.9,36.0,13.0,1908,18672,0.00,2.72,0.00,0.000,4,0.000,0.070,3080,577,1862
$GC,18684,1.34,292.9,33.5,11.5,1911,18692,0.00,2.62,0.00,0.000,6,0.000,0.051,3080,2016,1862
$GC,18819,1.34,292.9,17.1,10.5,1936,18827,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2018,1862
$STATE,18937,end climb,SURFACE_DEPTH_REACHED
$STATE,18937,begin surface coast
$FINISH,0.2,1.027244
$STATE,18966,end surface coast,CONTROL_FINISHED_OK
$STATE,18966,begin surface
$SM_CCo,19043,0.00,0.000,0,0,1860,294.85
$SM_GC,0.72,10.50,0.00,0.00,0.035,0.000,0.000,571,2020,1860,-10.07,-0.28,294.85
$IRIDIUM_FIX,6041.65,-2303.17,240797,040407
$TT8_MAMPS,0.042185
$HUMID,1621
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,12.50
$XPDR_PINGS,369
$24V_AH,23.5,24.094
$10V_AH,10.6,32.429
$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,24.600,85.175,430.725,0.000,0.000,52.642,57.569,280.611,92.250,0.000,0.000,15.091,3056.156,11621.097,591.211,3666.806,668.685,0.000,2072.727,0.000,3685.503,0.000,0.465
$DEVICE_MAMPS,198.653,92.040,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1375.645,1413.674,723.699,924.010,874.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139333,1963
$CAP_FILE_SIZE,160225,0
$CFSIZE,260165632,245084160
$ERRORS,0,22,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,091908,6104.011,-2308.239,39,1.1,39,-16.7