version: 66.03
glider: 141
mission: 7
dive: 214
start: 5 21 108 15 48 56
data:
$ID,141
$MISSION,7
$DIVE,214
$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,5
$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,-10286.691
$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,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
$GPS1,154055,6117.056,-2555.687,27,1.2,44,-18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-48.1
$GPS2,154838,6117.059,-2555.879,8,1.7,8,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6127.817,-2555.430
$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,23.3,20000,-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,-194.7,0.0,0.0,0,134,0.00,0.00,-104.60,0.000,2,0.000,0.000,570,2047,3664
$GC,137,-1.34,-194.7,3.3,-7.1,19,162,11.10,2.72,-4.62,0.000,4,0.199,0.075,2481,3446,3858
$GC,382,-1.34,-194.7,38.0,-12.8,62,389,0.00,2.60,0.00,0.000,6,0.000,0.048,2482,2019,3859
$GC,525,-1.34,-194.7,55.3,-12.2,87,531,0.00,2.62,0.00,0.000,4,0.000,0.064,2481,615,3860
$GC,583,-1.34,-194.7,62.4,-12.8,97,589,0.00,2.58,0.00,0.000,6,0.000,0.047,2481,2038,3860
$GC,926,-1.34,-194.7,102.7,-11.7,158,932,0.00,2.65,0.00,0.000,4,0.000,0.071,2481,3442,3860
$GC,1019,-1.34,-194.7,114.2,-12.8,174,1025,0.00,2.60,0.00,0.000,6,0.000,0.054,2481,2017,3860
$GC,1363,-1.34,-194.7,156.0,-11.9,235,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2011,3860
$GC,1706,-1.34,-194.7,197.7,-12.3,296,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,2049,-1.34,-194.7,238.3,-11.7,357,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,2392,-1.34,-194.7,277.7,-11.1,418,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,2736,-1.34,-194.7,315.7,-11.3,479,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2010,3860
$GC,3075,-1.34,-194.7,355.7,-11.8,536,3080,0.00,2.70,0.00,0.000,4,0.000,0.066,2481,3435,3860
$GC,3130,-1.34,-194.7,362.5,-12.2,540,3137,0.00,2.62,0.00,0.000,6,0.000,0.052,2482,2027,3860
$GC,3456,-1.34,-194.7,399.9,-11.6,571,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,3774,-1.34,-194.7,435.6,-10.9,601,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,4092,-1.34,-194.7,469.0,-10.2,631,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2024,3860
$GC,4411,-1.34,-194.7,500.5,-9.7,661,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3860
$GC,4729,-1.34,-194.7,532.2,-10.1,691,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3860
$GC,5048,-1.34,-194.7,565.6,-10.9,721,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2023,3860
$GC,5376,-1.34,-194.7,603.1,-11.7,751,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2023,3860
$GC,5685,-1.34,-194.7,638.7,-11.2,766,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3859
$GC,5995,-1.34,-194.7,672.1,-10.7,781,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2022,3859
$GC,6304,-1.34,-194.7,704.9,-10.3,796,6308,0.00,2.83,0.00,0.000,4,0.000,0.094,2482,3435,3859
$GC,6352,-1.34,-194.7,710.3,-11.0,798,6357,0.00,2.65,0.00,0.000,6,0.000,0.067,2482,2038,3858
$GC,6674,-1.34,-194.7,740.8,-9.0,814,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3859
$GC,6983,-1.34,-194.7,769.2,-9.7,829,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2036,3858
$GC,7293,-1.34,-194.7,797.1,-8.3,844,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2035,3858
$GC,7602,-1.34,-194.7,823.9,-8.7,859,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2034,3858
$GC,7911,-1.34,-194.7,851.1,-8.7,874,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2034,3858
$GC,8221,-1.34,-194.7,877.1,-8.4,889,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2033,3857
$GC,8529,-1.34,-194.7,903.5,-8.5,904,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3857
$GC,8839,-1.34,-194.7,929.0,-8.2,919,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3856
$GC,9148,-1.34,-194.7,955.0,-9.5,934,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2032,3856
$GC,9457,-1.34,-194.7,989.8,-11.6,949,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2032,3856
$STATE,9476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9476,begin apogee
$GC,9481,-0.37,0.0,992.1,11.8,950,9658,1.00,0.00,169.88,1.299,6,0.101,0.000,2694,1978,3062
$STATE,9659,end apogee,CONTROL_FINISHED_OK
$STATE,9659,begin climb
$GC,9661,1.34,194.7,999.0,0.0,959,9840,1.70,2.92,168.10,1.271,4,0.075,0.104,3066,573,2267
$GC,9857,1.38,282.2,988.4,7.0,967,9944,0.00,2.62,78.47,1.241,6,0.000,0.057,3066,1980,1910
$GC,10252,1.38,282.2,948.2,10.6,987,10257,0.00,2.78,0.00,0.000,4,0.000,0.082,3066,3394,1903
$GC,10273,1.38,282.2,945.5,12.3,988,10277,0.00,2.65,0.00,0.000,6,0.000,0.058,3066,1983,1903
$GC,10600,1.38,282.2,902.2,14.2,1004,10604,0.00,2.75,0.00,0.000,4,0.000,0.074,3066,3395,1902
$GC,10626,1.38,282.2,898.3,14.2,1005,10631,0.00,2.62,0.00,0.000,6,0.000,0.058,3066,1993,1902
$GC,10941,1.38,282.2,855.8,13.9,1020,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1991,1902
$GC,11251,1.38,282.2,815.9,12.5,1035,11256,0.00,2.70,0.00,0.000,4,0.000,0.073,3066,3394,1901
$GC,11261,1.38,282.2,814.3,12.7,1035,11268,0.00,2.62,0.00,0.000,6,0.000,0.063,3066,1989,1901
$GC,11577,1.38,282.2,776.7,11.5,1051,11582,0.00,2.72,0.00,0.000,4,0.000,0.074,3066,3399,1901
$GC,11598,1.38,282.2,774.0,11.9,1052,11603,0.00,2.60,0.00,0.000,6,0.000,0.058,3066,2000,1900
$GC,11926,1.38,282.2,737.3,11.5,1068,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2000,1900
$GC,12235,1.38,282.2,701.0,11.9,1083,12239,0.00,2.72,0.00,0.000,4,0.000,0.074,3066,3400,1900
$GC,12261,1.38,282.2,697.5,12.2,1084,12265,0.00,2.60,0.00,0.000,6,0.000,0.058,3066,2007,1900
$GC,12583,1.38,282.2,662.0,10.6,1100,12587,0.00,2.70,0.00,0.000,4,0.000,0.073,3067,3395,1900
$GC,12599,1.38,282.2,660.1,10.9,1101,12604,0.00,2.58,0.00,0.000,6,0.000,0.057,3067,2014,1900
$GC,12926,1.38,282.2,626.5,10.2,1117,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2013,1900
$GC,13236,1.39,288.9,596.3,9.8,1133,13246,0.00,0.00,5.53,0.808,6,0.000,0.000,3066,2013,1884
$GC,13565,1.39,288.9,562.2,10.8,1164,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2011,1884
$GC,13883,1.39,288.9,528.2,10.5,1194,13887,0.00,2.67,0.00,0.000,4,0.000,0.071,3067,3400,1883
$GC,13899,1.39,288.9,526.4,10.3,1195,13903,0.00,2.55,0.00,0.000,6,0.000,0.055,3066,2022,1883
$GC,14225,1.39,288.9,492.6,10.4,1225,14226,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2019,1884
$GC,14542,1.39,288.9,459.6,10.3,1255,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2019,1883
$GC,14862,1.41,300.8,427.9,9.6,1285,14884,0.00,0.00,14.75,0.785,6,0.000,0.000,3066,2020,1835
$GC,15199,1.41,301.8,395.0,10.0,1317,15204,0.00,2.65,0.00,0.000,4,0.000,0.066,3067,3396,1832
$GC,15221,1.43,319.1,392.7,9.4,1318,15248,0.10,2.53,17.27,0.877,6,0.068,0.052,3098,2025,1761
$GC,15566,1.38,319.1,353.4,11.1,1351,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2023,1758
$GC,15900,1.32,319.1,314.7,11.1,1408,15907,0.15,0.00,0.00,0.000,6,0.103,0.000,3063,2024,1757
$GC,16245,1.35,340.6,282.0,9.3,1469,16267,0.00,0.00,20.27,0.820,6,0.000,0.000,3063,2025,1673
$GC,16606,1.38,363.5,248.2,9.2,1533,16633,0.00,0.00,22.00,0.798,6,0.000,0.000,3063,2024,1578
$GC,16970,1.38,363.5,212.8,11.0,1598,16976,0.00,2.62,0.00,0.000,4,0.000,0.063,3063,3400,1574
$GC,16982,1.38,363.5,211.5,10.2,1600,16989,0.00,2.55,0.00,0.000,6,0.000,0.056,3063,2023,1574
$GC,17327,1.38,366.2,177.4,9.9,1661,17332,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2022,1574
$GC,17669,1.41,390.2,145.4,9.2,1722,17697,0.10,0.00,23.80,0.742,6,0.070,0.000,3093,2022,1470
$GC,18034,1.41,390.2,102.1,11.0,1787,18040,0.00,2.78,0.00,0.000,4,0.000,0.071,3093,571,1467
$GC,18052,1.41,390.2,99.8,11.5,1790,18059,0.00,2.67,0.00,0.000,6,0.000,0.054,3094,2031,1466
$GC,18397,1.41,390.2,59.6,11.4,1851,18403,0.00,2.80,0.00,0.000,4,0.000,0.069,3094,574,1466
$GC,18415,1.41,390.2,57.5,11.6,1854,18421,0.00,2.62,0.00,0.000,6,0.000,0.054,3093,2012,1465
$GC,18759,1.43,405.9,23.6,9.5,1915,18777,0.00,0.00,14.07,0.654,6,0.000,0.000,3094,2015,1407
$STATE,18912,end climb,SURFACE_DEPTH_REACHED
$STATE,18912,begin surface coast
$FINISH,0.1,1.016401
$STATE,18936,end surface coast,CONTROL_FINISHED_OK
$STATE,18936,begin surface
$SM_CCo,19015,0.00,0.000,0,0,1403,407.20
$SM_GC,0.83,10.68,0.00,0.00,0.040,0.000,0.000,570,2017,1403,-10.08,-0.37,407.20
$IRIDIUM_FIX,6054.92,-2555.89,150897,101031
$TT8_MAMPS,0.042185
$HUMID,1675
$INTERNAL_PRESSURE,10.0004
$TCM_TEMP,16.70
$XPDR_PINGS,581
$24V_AH,23.4,43.014
$10V_AH,10.6,48.335
$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,24.825,90.750,534.150,0.000,0.000,29.507,35.496,262.587,145.250,0.000,0.000,9.987,3006.752,11752.808,635.955,3400.533,662.923,0.000,2147.724,0.000,3413.235,0.000,0.466
$DEVICE_MAMPS,198.653,103.545,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1372.197,1420.896,709.904,1722.776,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142554,1946
$CAP_FILE_SIZE,159968,0
$CFSIZE,260165632,235884544
$ERRORS,0,38,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210508,210702,6118.438,-2559.887,35,1.5,35,-18.3