version: 66.03
glider: 141
mission: 7
dive: 197
start: 5 17 108 18 5 58
data:
$ID,141
$MISSION,7
$DIVE,197
$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,150
$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,-9988.4834
$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,14
$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
$GPS1,175507,6128.115,-2623.959,39,1.2,44,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.6
$GPS2,180539,6128.285,-2624.081,15,1.2,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.933,-2621.489
$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,168.6,20000,-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,-194.7,0.0,0.0,0,123,0.00,0.00,-93.80,0.000,2,0.000,0.000,569,2036,3594
$GC,126,-1.34,-194.7,3.0,-5.7,17,151,11.07,2.65,-6.70,0.000,4,0.196,0.071,2482,621,3856
$GC,207,-1.34,-194.7,15.9,-13.5,31,214,0.00,2.58,0.00,0.000,6,0.000,0.052,2483,2046,3857
$GC,351,-1.34,-194.7,33.3,-11.9,56,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3857
$GC,492,-1.34,-194.7,51.4,-12.6,81,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3857
$GC,836,-1.34,-194.7,91.8,-11.5,142,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3857
$GC,1178,-1.34,-194.7,130.9,-11.5,203,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3858
$GC,1522,-1.34,-194.7,170.1,-11.3,264,1528,0.00,2.65,0.00,0.000,4,0.000,0.067,2483,621,3858
$GC,1540,-1.34,-194.7,172.3,-11.3,267,1546,0.00,2.58,0.00,0.000,6,0.000,0.047,2483,2046,3858
$GC,1882,-1.34,-194.7,211.0,-11.3,328,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2048,3858
$GC,2226,-1.34,-194.7,248.5,-10.9,389,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3858
$GC,2568,-1.34,-194.7,286.6,-11.3,450,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3858
$GC,2910,-1.34,-194.7,325.8,-11.1,511,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2048,3858
$GC,3251,-1.34,-194.7,364.6,-11.5,561,3255,0.00,2.65,0.00,0.000,4,0.000,0.063,2483,616,3858
$GC,3267,-1.34,-194.7,366.5,-11.3,562,3272,0.00,2.55,0.00,0.000,6,0.000,0.048,2483,2032,3858
$GC,3592,-1.34,-194.7,403.0,-11.2,592,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2034,3858
$GC,3910,-1.34,-194.7,439.2,-11.3,622,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2034,3858
$GC,4228,-1.34,-194.7,475.6,-11.5,652,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2034,3858
$GC,4547,-1.34,-194.7,513.3,-11.6,682,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3858
$GC,4868,-1.34,-194.7,551.5,-12.2,712,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2034,3857
$GC,5185,-1.34,-194.7,589.7,-12.3,742,5190,0.00,2.75,0.00,0.000,4,0.000,0.086,2482,3433,3857
$GC,5206,-1.34,-194.7,592.8,-13.0,743,5213,0.00,2.60,0.00,0.000,6,0.000,0.058,2483,2038,3857
$GC,5533,-1.34,-194.7,633.0,-12.2,762,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,5844,-1.34,-194.7,670.1,-12.1,777,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2037,3857
$GC,6152,-1.34,-194.7,705.8,-11.3,792,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3857
$GC,6461,-1.34,-194.7,738.7,-10.3,807,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3856
$GC,6771,-1.34,-194.7,769.2,-9.7,822,6775,0.00,2.80,0.00,0.000,4,0.000,0.093,2483,3434,3856
$GC,6810,-1.34,-194.7,773.1,-10.7,824,6814,0.00,2.62,0.00,0.000,6,0.000,0.064,2483,2044,3856
$GC,7135,-1.34,-194.7,804.6,-9.7,840,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2041,3855
$GC,7444,-1.34,-194.7,835.1,-10.0,855,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2041,3855
$GC,7754,-1.34,-194.7,866.2,-10.0,870,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2040,3855
$GC,8063,-1.34,-194.7,896.9,-9.5,885,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2040,3855
$GC,8372,-1.34,-194.7,926.8,-9.8,900,8377,0.00,2.70,0.00,0.000,4,0.000,0.085,2482,3433,3854
$GC,8405,-1.34,-194.7,930.2,-10.5,901,8411,0.00,2.60,0.00,0.000,6,0.000,0.064,2483,2044,3853
$GC,8720,-1.34,-194.7,958.9,-9.1,917,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2044,3854
$GC,9029,-1.34,-194.7,986.9,-8.9,932,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2042,3853
$STATE,9068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9068,begin apogee
$GC,9074,-0.37,0.0,990.5,8.8,934,9251,1.00,0.00,169.00,1.302,6,0.102,0.000,2694,1981,3062
$STATE,9251,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9254,1.34,194.7,994.2,0.0,943,9432,1.73,2.78,168.75,1.270,4,0.073,0.077,3070,3391,2267
$GC,9467,1.28,194.7,975.9,12.1,953,9471,0.00,2.65,0.00,0.000,6,0.000,0.059,3070,1978,2265
$GC,9782,1.23,194.7,940.5,10.8,968,9784,0.12,0.00,0.00,0.000,6,0.109,0.000,3047,1975,2262
$GC,10091,1.24,205.5,910.6,9.6,983,10103,0.00,0.00,10.10,1.080,6,0.000,0.000,3047,1975,2224
$GC,10401,1.24,205.5,880.5,10.1,998,10405,0.00,2.70,0.00,0.000,4,0.000,0.074,3047,3391,2222
$GC,10462,1.24,205.5,873.6,11.4,1001,10467,0.00,2.60,0.00,0.000,6,0.000,0.058,3047,1989,2222
$GC,10789,1.24,205.5,840.1,10.1,1017,10793,0.00,2.80,0.00,0.000,4,0.000,0.091,3046,570,2221
$GC,10832,1.24,205.5,835.3,11.2,1019,10837,0.00,2.62,0.00,0.000,6,0.000,0.056,3046,1982,2222
$GC,11153,1.24,205.5,802.6,10.2,1035,11157,0.00,2.70,0.00,0.000,4,0.000,0.083,3046,3397,2220
$GC,11224,1.24,205.5,794.9,11.7,1038,11229,0.00,2.60,0.00,0.000,6,0.000,0.056,3046,1988,2220
$GC,11539,1.24,205.5,762.8,10.3,1053,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1988,2219
$GC,11849,1.25,212.4,732.1,9.8,1068,11858,0.00,0.00,7.35,0.964,6,0.000,0.000,3046,1988,2195
$GC,12159,1.27,233.7,703.0,9.3,1083,12186,0.00,2.83,20.65,1.085,4,0.000,0.072,3046,3401,2108
$GC,12221,1.27,233.7,696.7,10.7,1086,12226,0.00,2.62,0.00,0.000,6,0.000,0.056,3046,1990,2107
$GC,12547,1.27,233.8,664.5,10.0,1102,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1990,2106
$GC,12857,1.28,242.3,634.5,9.7,1117,12871,0.00,2.75,8.85,0.948,4,0.000,0.071,3046,3398,2074
$GC,12916,1.28,242.3,628.3,10.5,1119,12922,0.00,2.62,0.00,0.000,6,0.000,0.056,3047,1987,2073
$GC,13232,1.31,260.6,597.8,9.4,1136,13257,0.00,2.80,18.12,1.009,4,0.000,0.071,3047,3393,1998
$GC,13297,1.31,260.6,591.2,10.1,1142,13302,0.00,2.58,0.00,0.000,6,0.000,0.054,3047,2009,1996
$GC,13622,1.33,278.0,560.2,9.4,1172,13645,0.10,2.78,16.80,0.978,4,0.070,0.071,3077,3400,1927
$GC,13690,1.33,278.0,552.7,11.5,1178,13695,0.00,2.58,0.00,0.000,6,0.000,0.054,3077,2016,1926
$GC,14014,1.33,278.0,517.8,10.6,1208,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2015,1925
$GC,14335,1.33,278.0,483.8,10.5,1238,14339,0.00,2.65,0.00,0.000,4,0.000,0.068,3077,3403,1924
$GC,14407,1.33,278.0,475.3,11.8,1244,14411,0.00,2.55,0.00,0.000,6,0.000,0.053,3077,2026,1924
$GC,14731,1.33,278.0,440.8,10.4,1274,14732,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2023,1924
$GC,15051,1.33,278.0,406.4,11.1,1304,15056,0.00,2.60,0.00,0.000,4,0.000,0.065,3077,3395,1924
$GC,15106,1.33,278.0,399.9,11.2,1308,15113,0.00,2.47,0.00,0.000,6,0.000,0.051,3077,2033,1924
$GC,15432,1.33,278.0,364.7,10.8,1339,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2032,1924
$GC,15759,1.33,278.0,329.9,10.5,1385,15765,0.00,2.58,0.00,0.000,4,0.000,0.063,3077,3395,1924
$GC,15816,1.33,278.0,323.5,10.6,1395,15822,0.00,2.50,0.00,0.000,6,0.000,0.051,3077,2034,1924
$GC,16158,1.33,278.0,287.1,10.8,1456,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2033,1924
$GC,16502,1.33,278.0,251.0,10.6,1517,16508,0.00,2.58,0.00,0.000,4,0.000,0.063,3077,3399,1924
$GC,16553,1.33,278.0,245.2,12.9,1526,16559,0.00,2.50,0.00,0.000,6,0.000,0.050,3077,2033,1924
$GC,16896,1.34,288.5,209.1,9.6,1587,16909,0.00,0.00,10.35,0.739,6,0.000,0.000,3077,2032,1886
$GC,17246,1.34,288.5,171.1,10.2,1649,17252,0.00,2.58,0.00,0.000,4,0.000,0.063,3077,3402,1884
$GC,17297,1.34,288.5,164.9,11.2,1658,17303,0.00,2.47,0.00,0.000,6,0.000,0.050,3077,2047,1883
$GC,17641,1.34,288.5,126.9,11.7,1719,17646,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2046,1884
$GC,17982,1.34,288.5,89.2,11.2,1780,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2045,1883
$GC,18325,1.34,288.5,51.0,10.3,1841,18330,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2045,1884
$GC,18667,1.42,355.7,11.3,7.7,1902,18734,0.00,2.65,58.75,0.668,4,0.000,0.061,3077,3394,1609
$STATE,18744,end climb,SURFACE_DEPTH_REACHED
$STATE,18744,begin surface coast
$FINISH,0.2,1.027016
$STATE,18775,end surface coast,CONTROL_FINISHED_OK
$STATE,18775,begin surface
$SM_CCo,18857,0.00,0.000,0,0,1603,357.89
$SM_GC,0.90,10.62,0.00,0.00,0.040,0.000,0.000,571,2022,1603,-10.07,-0.25,357.89
$IRIDIUM_FIX,6103.81,-2625.85,110897,181806
$TT8_MAMPS,0.042185
$HUMID,1629
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,16.70
$XPDR_PINGS,469
$24V_AH,23.4,39.651
$10V_AH,10.6,45.549
$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,24.650,105.575,488.725,0.000,0.000,56.021,71.296,298.616,117.250,0.000,0.000,16.877,3005.077,11833.075,643.665,3239.791,749.235,0.000,2128.501,0.000,3242.976,0.000,0.465
$DEVICE_MAMPS,196.352,97.409,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1343.479,1409.358,715.254,1062.831,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135957,1921
$CAP_FILE_SIZE,164541,0
$CFSIZE,260165632,237486080
$ERRORS,0,40,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,232131,6127.249,-2622.715,41,1.3,41,-18.6