version: 66.03
glider: 141
mission: 7
dive: 219
start: 5 22 108 18 28 46
data:
$ID,141
$MISSION,7
$DIVE,219
$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,25
$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,-10384.314
$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,17
$R_STBD_OVSHOOT,20
$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
$GPS1,182101,6123.382,-2601.921,37,1.4,42,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-52.2
$GPS2,182826,6123.380,-2601.956,7,1.4,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.168,-2559.782
$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,43.4,20000,-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,24,begin dive
$GC,26,-1.34,-194.7,0.0,0.0,0,128,0.00,0.00,-98.82,0.000,2,0.000,0.000,570,2024,3657
$GC,131,-1.34,-194.7,3.1,-5.4,18,155,11.10,2.70,-5.00,0.000,4,0.197,0.073,2481,3433,3858
$GC,380,-1.34,-194.7,36.6,-12.1,62,386,0.00,2.55,0.00,0.000,6,0.000,0.047,2480,2019,3859
$GC,523,-1.34,-194.7,53.1,-11.6,87,528,0.00,2.62,0.00,0.000,4,0.000,0.098,2481,628,3860
$GC,575,-1.34,-194.7,59.2,-11.9,96,582,0.00,2.50,0.00,0.000,6,0.000,0.071,2480,2028,3860
$GC,921,-1.34,-194.7,99.4,-12.4,157,927,0.00,2.62,0.00,0.000,4,0.000,0.062,2480,3438,3860
$GC,1017,-1.34,-194.7,112.2,-13.2,174,1024,0.00,2.55,0.00,0.000,6,0.000,0.061,2480,2028,3860
$GC,1362,-1.34,-194.7,155.2,-12.4,235,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2021,3860
$GC,1705,-1.34,-194.7,195.1,-11.0,296,1711,0.00,2.62,0.00,0.000,4,0.000,0.060,2481,3442,3859
$GC,1773,-1.34,-194.7,202.9,-11.2,308,1780,0.00,2.53,0.00,0.000,6,0.000,0.051,2480,2041,3859
$GC,2118,-1.34,-194.7,238.3,-10.2,369,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2037,3860
$GC,2461,-1.34,-194.7,273.1,-9.8,430,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2037,3859
$GC,2804,-1.34,-194.7,307.7,-9.9,491,2810,0.00,2.62,0.00,0.000,4,0.000,0.063,2481,3441,3860
$GC,2866,-1.34,-194.7,314.5,-11.3,502,2873,0.00,2.65,0.00,0.000,6,0.000,0.140,2481,2044,3860
$GC,3210,-1.34,-194.7,349.2,-9.5,563,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,3541,-1.34,-194.7,380.7,-9.8,595,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3860
$GC,3859,-1.34,-194.7,412.9,-10.7,625,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3860
$GC,4178,-1.34,-194.7,447.6,-10.7,655,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,4496,-1.34,-194.7,480.7,-10.6,685,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3860
$GC,4815,-1.34,-194.7,513.2,-9.9,715,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3859
$GC,5133,-1.34,-194.7,544.8,-9.8,745,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2042,3859
$GC,5452,-1.34,-194.7,574.2,-9.1,775,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,5769,-1.34,-194.7,604.2,-9.6,803,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,6078,-1.34,-194.7,633.6,-9.3,818,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2042,3859
$GC,6387,-1.34,-194.7,661.4,-9.3,833,6392,0.00,2.92,0.00,0.000,4,0.000,0.186,2480,620,3859
$GC,6444,-1.34,-194.7,666.9,-9.4,835,6450,0.00,2.67,0.00,0.000,6,0.000,0.140,2480,2040,3858
$GC,6760,-1.34,-194.7,694.5,-8.5,851,6764,0.00,2.80,0.00,0.000,4,0.000,0.175,2480,3442,3858
$GC,6821,-1.34,-194.7,700.0,-8.8,854,6826,0.00,2.70,0.00,0.000,6,0.000,0.154,2480,2053,3858
$GC,7147,-1.34,-194.7,728.7,-9.2,870,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2052,3858
$GC,7457,-1.34,-194.7,758.4,-10.0,885,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2051,3858
$GC,7765,-1.34,-194.7,791.7,-10.9,900,7770,0.00,2.92,0.00,0.000,4,0.000,0.185,2481,614,3858
$GC,7816,-1.34,-194.7,797.2,-11.1,902,7820,0.00,2.72,0.00,0.000,6,0.000,0.140,2480,2063,3858
$GC,8131,-1.34,-194.7,830.8,-11.1,917,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2065,3857
$GC,8440,-1.34,-194.7,865.0,-11.0,932,8444,0.00,2.88,0.00,0.000,4,0.000,0.170,2480,616,3857
$GC,8483,-1.34,-194.7,870.0,-11.4,934,8487,0.00,2.67,0.00,0.000,6,0.000,0.139,2480,2049,3857
$GC,8810,-1.34,-194.7,905.3,-10.3,950,8814,0.00,2.78,0.00,0.000,4,0.000,0.169,2480,3449,3856
$GC,8864,-1.34,-194.7,911.5,-11.9,952,8871,0.00,2.72,0.00,0.000,6,0.000,0.156,2480,2052,3856
$GC,9180,-1.34,-194.7,943.6,-11.0,968,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2051,3856
$GC,9490,-1.34,-194.7,972.6,-8.7,983,9495,0.00,2.90,0.00,0.000,4,0.000,0.180,2481,611,3855
$GC,9533,-1.34,-194.7,976.6,-9.1,985,9538,0.00,2.72,0.00,0.000,6,0.000,0.140,2480,2052,3855
$STATE,9708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9708,begin apogee
$GC,9713,-0.37,0.0,991.7,8.6,994,9891,1.02,0.00,169.77,1.295,6,0.101,0.000,2697,1979,3062
$STATE,9892,end apogee,CONTROL_FINISHED_OK
$STATE,9892,begin climb
$GC,9894,1.34,194.7,994.2,0.0,1003,10071,1.73,0.00,169.27,1.264,6,0.074,0.000,3073,1980,2267
$GC,10382,1.28,194.7,944.2,11.2,1027,10386,0.00,2.83,0.00,0.000,4,0.000,0.161,3073,3405,2262
$GC,10403,1.22,194.7,941.4,12.1,1028,10408,0.15,2.75,0.00,0.000,6,0.110,0.148,3044,1989,2261
$GC,10724,1.25,220.9,910.8,9.1,1044,10760,0.00,2.90,25.77,1.104,4,0.000,0.170,3044,573,2161
$GC,10776,1.27,234.9,905.6,9.5,1045,10796,0.00,2.67,14.35,1.112,6,0.000,0.130,3043,1989,2103
$GC,11113,1.27,241.1,873.1,9.8,1062,11127,0.00,2.85,6.57,0.955,4,0.000,0.156,3043,3405,2078
$GC,11144,1.28,242.7,869.7,9.9,1063,11148,0.00,2.78,0.00,0.000,6,0.000,0.146,3044,1977,2077
$GC,11459,1.29,256.9,839.1,9.5,1078,11480,0.00,0.00,15.85,1.117,6,0.000,0.000,3043,1975,2015
$GC,11789,1.29,256.9,807.0,10.2,1094,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1975,2012
$GC,12098,1.30,263.9,777.2,9.8,1109,12108,0.00,0.00,7.60,0.973,6,0.000,0.000,3044,1975,1986
$GC,12407,1.30,263.9,745.2,10.7,1124,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1975,1984
$GC,12716,1.30,263.9,711.3,11.2,1139,12721,0.00,2.75,0.00,0.000,4,0.000,0.150,3044,3400,1983
$GC,12737,1.30,263.9,708.8,11.0,1140,12741,0.00,2.72,0.00,0.000,6,0.000,0.151,3043,1993,1983
$GC,13064,1.30,263.9,672.5,10.8,1156,13068,0.00,2.70,0.00,0.000,4,0.000,0.146,3043,3405,1983
$GC,13081,1.30,263.9,670.7,10.7,1157,13085,0.00,2.72,0.00,0.000,6,0.000,0.150,3044,1996,1983
$GC,13407,1.30,263.9,636.1,10.7,1173,13411,0.00,2.70,0.00,0.000,4,0.000,0.149,3044,3401,1983
$GC,13433,1.30,263.9,632.9,11.5,1174,13437,0.00,2.67,0.00,0.000,6,0.000,0.150,3044,2014,1983
$GC,13755,1.30,263.9,596.9,11.6,1191,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2013,1983
$GC,14073,1.30,263.9,561.3,11.0,1221,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2012,1983
$GC,14393,1.30,263.9,527.4,10.2,1251,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2012,1983
$GC,14712,1.31,267.7,495.8,9.9,1281,14722,0.00,2.72,4.68,0.706,4,0.000,0.146,3044,3399,1970
$GC,14734,1.31,267.7,493.4,10.1,1283,14739,0.00,2.65,0.00,0.000,6,0.000,0.145,3044,2024,1970
$GC,15059,1.34,294.7,462.5,9.1,1313,15090,0.12,0.00,26.48,0.941,6,0.064,0.000,3080,2022,1860
$GC,15407,1.34,294.7,422.6,11.9,1346,15408,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2022,1856
$GC,15726,1.34,294.7,384.6,11.7,1376,15727,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2023,1856
$GC,16047,1.34,294.7,348.1,11.4,1407,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2023,1856
$GC,16390,1.34,294.7,308.5,12.0,1468,16395,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2023,1855
$GC,16733,1.34,294.7,266.6,13.4,1529,16738,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2023,1856
$GC,17077,1.34,294.7,222.0,14.4,1590,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2022,1856
$GC,17420,1.34,294.7,176.4,12.8,1651,17425,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2022,1856
$GC,17763,1.34,294.7,132.5,12.4,1712,17769,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2022,1856
$GC,18106,1.34,294.7,92.3,11.4,1773,18113,0.00,2.83,0.00,0.000,4,0.000,0.160,3080,572,1856
$GC,18130,1.34,294.7,89.5,11.1,1777,18136,0.00,3.17,0.00,0.000,6,0.000,0.207,3080,2027,1856
$GC,18473,1.34,294.7,54.4,11.2,1838,18479,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2027,1856
$GC,18817,1.34,294.7,14.6,11.1,1899,18822,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2027,1856
$STATE,18916,end climb,SURFACE_DEPTH_REACHED
$STATE,18917,begin surface coast
$FINISH,0.4,1.027131
$STATE,18946,end surface coast,CONTROL_FINISHED_OK
$STATE,18946,begin surface
$SM_CCo,19025,0.00,0.000,0,0,1854,296.32
$SM_GC,0.86,10.50,0.00,0.00,0.036,0.000,0.000,567,2028,1854,-10.07,-0.06,296.32
$IRIDIUM_FIX,6054.92,-2603.84,160897,131321
$TT8_MAMPS,0.041418
$HUMID,1668
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,590
$24V_AH,23.4,43.971
$10V_AH,10.6,49.128
$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,24.625,104.000,440.350,0.000,0.000,24.850,38.547,250.515,147.500,0.000,0.000,14.381,3011.509,11807.641,634.103,3359.140,644.173,0.000,2084.373,0.000,3372.230,0.000,0.465
$DEVICE_MAMPS,197.119,207.090,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1356.334,1404.580,703.819,1703.808,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142160,1922
$CAP_FILE_SIZE,159450,0
$CFSIZE,260165632,235433984
$ERRORS,0,23,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220508,234707,6125.454,-2600.562,35,0.9,40,-18.4