version: 66.03
glider: 141
mission: 7
dive: 146
start: 5 6 108 6 47 15
data:
$ID,141
$MISSION,7
$DIVE,146
$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,300
$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,-9010.1084
$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,15
$R_STBD_OVSHOOT,31
$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
$GPS1,063638,6053.430,-2639.253,26,1.2,26,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-53.6
$GPS2,064657,6053.405,-2639.461,12,1.2,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.805,-2643.998
$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,318.4,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.34,-194.7,0.0,0.0,0,144,0.00,0.00,-114.05,0.000,2,0.000,0.000,573,2047,3718
$GC,146,-1.34,-194.7,3.1,-5.7,16,170,11.10,2.62,-3.33,0.000,4,0.197,0.071,2482,3423,3858
$GC,370,-1.30,-194.7,35.2,-14.1,57,378,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2027,3859
$GC,505,-1.30,-194.7,52.8,-13.4,82,512,0.00,2.58,0.00,0.000,4,0.000,0.067,2482,620,3859
$GC,574,-1.30,-194.7,61.9,-13.5,94,581,0.00,2.47,0.00,0.000,6,0.000,0.049,2482,2016,3859
$GC,913,-1.30,-194.7,103.8,-10.6,155,919,0.00,2.60,0.00,0.000,4,0.000,0.060,2482,3438,3859
$GC,980,-1.30,-194.7,110.8,-9.6,167,986,0.00,2.53,0.00,0.000,6,0.000,0.049,2482,2033,3859
$GC,1317,-1.30,-194.7,142.7,-9.8,228,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2028,3859
$GC,1663,-1.30,-194.7,174.2,-9.4,289,1669,0.00,2.62,0.00,0.000,4,0.000,0.060,2482,3441,3859
$GC,1736,-1.30,-194.7,182.5,-11.3,302,1742,0.00,2.53,0.00,0.000,6,0.000,0.048,2482,2042,3859
$GC,2079,-1.30,-194.7,223.6,-13.8,363,2085,0.00,2.60,0.00,0.000,4,0.000,0.061,2482,3442,3859
$GC,2147,-1.30,-194.7,233.2,-14.3,375,2153,0.00,2.47,0.00,0.000,6,0.000,0.048,2482,2068,3859
$GC,2491,-1.30,-194.7,275.4,-12.0,436,2497,0.00,2.65,0.00,0.000,4,0.000,0.064,2482,624,3859
$GC,2588,-1.30,-194.7,287.0,-12.2,453,2593,0.00,2.58,0.00,0.000,6,0.000,0.045,2482,2060,3859
$GC,2931,-1.30,-194.7,325.6,-11.1,514,2937,0.00,2.67,0.00,0.000,4,0.000,0.063,2481,617,3859
$GC,2976,-1.30,-194.7,331.0,-12.3,522,2982,0.00,2.58,0.00,0.000,6,0.000,0.047,2482,2050,3859
$GC,3315,-1.30,-194.7,370.4,-12.6,567,3319,0.00,2.60,0.00,0.000,4,0.000,0.066,2482,3445,3859
$GC,3375,-1.30,-194.7,377.9,-13.4,572,3380,0.00,2.53,0.00,0.000,6,0.000,0.050,2482,2045,3859
$GC,3701,-1.30,-194.7,414.9,-11.8,602,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2043,3859
$GC,4017,-1.30,-194.7,450.3,-11.0,632,4022,0.00,2.62,0.00,0.000,4,0.000,0.068,2482,3437,3859
$GC,4071,-1.30,-194.7,457.3,-12.3,636,4078,0.00,2.55,0.00,0.000,6,0.000,0.053,2482,2050,3859
$GC,4398,-1.30,-194.7,490.9,-10.2,667,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3859
$GC,4718,-1.30,-194.7,523.0,-9.9,697,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3859
$GC,5033,-1.30,-194.7,555.4,-10.9,727,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2049,3859
$GC,5352,-1.30,-194.7,587.6,-10.0,757,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3859
$GC,5676,-1.30,-194.7,615.0,-7.6,779,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3859
$GC,5985,-1.30,-194.7,640.7,-8.3,794,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3858
$GC,6293,-1.30,-194.7,671.0,-10.5,809,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3858
$GC,6604,-1.30,-194.7,702.4,-9.8,824,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3858
$GC,6912,-1.30,-194.7,731.8,-8.9,839,6917,0.00,2.78,0.00,0.000,4,0.000,0.097,2482,3431,3858
$GC,6989,-1.30,-194.7,739.7,-10.1,842,6996,0.00,2.60,0.00,0.000,6,0.000,0.067,2482,2060,3858
$GC,7305,-1.30,-194.7,766.9,-7.9,858,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2059,3858
$GC,7614,-1.30,-194.7,791.6,-7.6,873,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2058,3858
$GC,7923,-1.30,-194.7,820.0,-10.3,888,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2059,3857
$GC,8233,-1.30,-194.7,850.7,-9.4,903,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2058,3857
$GC,8542,-1.30,-194.7,879.4,-9.2,918,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2057,3856
$GC,8851,-1.30,-194.7,908.8,-10.9,933,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2055,3856
$GC,9160,-1.30,-194.7,940.4,-10.5,948,9165,0.00,2.88,0.00,0.000,4,0.000,0.104,2482,613,3855
$GC,9221,-1.30,-194.7,946.3,-10.0,951,9226,0.00,2.62,0.00,0.000,6,0.000,0.061,2482,2053,3856
$GC,9547,-1.30,-194.7,978.7,-9.7,967,9552,0.00,2.67,0.00,0.000,4,0.000,0.094,2482,3439,3855
$GC,9609,-1.30,-194.7,985.2,-9.7,970,9613,0.00,2.58,0.00,0.000,6,0.000,0.064,2482,2050,3855
$STATE,9664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9664,begin apogee
$GC,9669,-0.37,0.0,990.9,10.0,973,9841,1.00,0.00,168.70,1.297,6,0.100,0.000,2694,1976,3062
$STATE,9842,end apogee,CONTROL_FINISHED_OK
$STATE,9842,begin climb
$GC,9845,1.34,194.7,995.4,0.0,981,10017,1.67,0.00,168.32,1.267,6,0.074,0.000,3068,1977,2268
$GC,10321,1.28,194.7,950.9,11.3,1005,10326,0.00,2.72,0.00,0.000,4,0.000,0.071,3068,3395,2262
$GC,10389,1.22,194.7,942.5,12.3,1008,10394,0.12,2.60,0.00,0.000,6,0.107,0.058,3045,1998,2261
$GC,10709,1.22,194.7,905.7,10.9,1024,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1996,2261
$GC,11019,1.24,214.1,874.6,9.3,1039,11042,0.00,2.85,17.45,1.146,4,0.000,0.087,3045,575,2189
$GC,11048,1.24,214.1,871.5,10.2,1040,11053,0.00,2.65,0.00,0.000,6,0.000,0.054,3044,1999,2189
$GC,11363,1.24,214.1,839.5,10.9,1055,11367,0.00,2.67,0.00,0.000,4,0.000,0.082,3044,3394,2187
$GC,11394,1.24,214.1,835.5,12.7,1056,11401,0.00,2.60,0.00,0.000,6,0.000,0.057,3045,1998,2186
$GC,11710,1.24,214.1,797.8,11.4,1072,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1998,2186
$GC,12019,1.25,225.6,765.3,9.6,1087,12033,0.00,0.00,11.35,1.054,6,0.000,0.000,3045,1995,2142
$GC,12329,1.34,292.4,739.6,7.7,1102,12398,0.10,2.83,61.40,1.132,4,0.072,0.071,3076,3399,1868
$GC,12426,1.34,292.4,729.9,11.5,1106,12432,0.00,2.65,0.00,0.000,6,0.000,0.058,3076,1992,1865
$GC,12741,1.34,292.4,690.9,13.2,1122,12745,0.00,2.75,0.00,0.000,4,0.000,0.084,3076,575,1862
$GC,12767,1.29,292.4,687.1,13.2,1123,12772,0.00,2.60,0.00,0.000,6,0.000,0.051,3076,1985,1862
$GC,13083,1.29,292.4,637.0,17.0,1138,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1861
$GC,13393,1.29,292.4,594.7,10.9,1155,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1988,1860
$GC,13712,1.29,292.4,562.5,10.6,1185,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1989,1860
$GC,14030,1.29,292.4,528.1,11.0,1215,14034,0.00,2.72,0.00,0.000,4,0.000,0.074,3076,567,1860
$GC,14046,1.29,292.4,526.3,11.1,1216,14050,0.00,2.60,0.00,0.000,6,0.000,0.051,3076,1984,1860
$GC,14369,1.29,292.4,489.5,12.3,1246,14370,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1860
$GC,14689,1.29,292.4,445.7,13.6,1276,14690,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1986,1860
$GC,15006,1.29,292.4,403.5,12.8,1306,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1987,1860
$GC,15325,1.29,292.4,368.2,10.4,1336,15326,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1988,1860
$GC,15652,1.29,292.4,331.7,11.9,1380,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1988,1860
$GC,15995,1.29,292.4,288.3,12.9,1441,16000,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1860
$GC,16336,1.29,292.4,246.5,10.7,1502,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1860
$GC,16678,1.29,292.4,210.5,10.7,1563,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1987,1860
$GC,17022,1.29,292.4,172.0,10.3,1624,17028,0.00,2.67,0.00,0.000,4,0.000,0.074,3076,569,1860
$GC,17039,1.29,292.4,169.7,10.8,1627,17046,0.00,2.58,0.00,0.000,6,0.000,0.047,3076,1990,1860
$GC,17382,1.29,292.4,130.8,11.1,1688,17388,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1860
$GC,17723,1.29,292.4,95.2,10.2,1749,17731,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1992,1860
$GC,18065,1.29,292.4,57.7,11.5,1810,18072,0.00,2.60,0.00,0.000,4,0.000,0.065,3076,3391,1860
$GC,18102,1.29,292.4,53.4,12.1,1816,18108,0.00,2.58,0.00,0.000,6,0.000,0.051,3076,1971,1860
$GC,18426,1.29,292.4,16.6,11.4,1877,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1967,1860
$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,0.0,1.020145
$STATE,18576,end surface coast,CONTROL_FINISHED_OK
$STATE,18576,begin surface
$SM_CCo,18655,0.00,0.000,0,0,1859,295.10
$SM_GC,0.85,10.52,0.00,0.00,0.038,0.000,0.000,573,2040,1859,-10.06,0.28,295.10
$IRIDIUM_FIX,6028.48,-2637.85,310797,060625
$TT8_MAMPS,0.042185
$HUMID,1640
$INTERNAL_PRESSURE,10.0492
$TCM_TEMP,12.60
$XPDR_PINGS,421
$24V_AH,23.5,29.954
$10V_AH,10.6,37.694
$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,24.525,105.450,427.225,0.000,0.000,62.265,59.035,305.114,105.250,0.000,0.000,14.117,2992.571,11301.412,603.089,3629.082,730.863,0.000,2071.492,0.000,3647.692,0.000,0.466
$DEVICE_MAMPS,197.119,103.545,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1334.856,1375.457,723.393,919.908,915.661,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136082,1905
$CAP_FILE_SIZE,163678,0
$CFSIZE,260165632,242192384
$ERRORS,0,10,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060508,115925,6054.387,-2648.253,24,1.2,41,-18.5