version: 66.03
glider: 141
mission: 7
dive: 250
start: 5 29 108 4 27 51
data:
$ID,141
$MISSION,7
$DIVE,250
$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,135
$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,-10874.127
$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,9
$R_STBD_OVSHOOT,11
$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
$GPS1,042002,6152.974,-2658.929,38,1.1,38,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-50.0
$GPS2,042732,6153.027,-2658.985,9,1.5,14,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6145.391,-2655.372
$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,154.2,20000,-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,-194.7,0.0,0.0,0,160,0.00,0.00,-130.95,0.000,2,0.000,0.000,568,2037,3725
$GC,163,-1.34,-194.7,3.6,-7.6,24,182,10.98,0.00,-2.95,0.000,6,0.193,0.000,2481,2036,3858
$GC,321,-1.29,-194.7,26.3,-10.0,51,328,0.00,2.75,0.00,0.000,4,0.000,0.160,2481,617,3859
$GC,357,-1.25,-194.7,30.2,-9.9,57,364,0.12,2.60,0.00,0.000,6,0.114,0.130,2505,2035,3859
$GC,501,-1.25,-194.7,42.7,-8.9,82,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2037,3859
$GC,643,-1.25,-194.7,55.5,-9.3,107,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2038,3859
$GC,985,-1.25,-194.7,91.9,-11.1,168,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2039,3859
$GC,1329,-1.25,-194.7,130.7,-10.9,229,1335,0.00,2.78,0.00,0.000,4,0.000,0.157,2505,610,3859
$GC,1347,-1.25,-194.7,132.9,-11.3,232,1354,0.00,2.60,0.00,0.000,6,0.000,0.131,2505,2039,3860
$GC,1691,-1.25,-194.7,170.5,-10.6,293,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2041,3859
$GC,2033,-1.25,-194.7,207.7,-11.0,354,2040,0.00,2.60,0.00,0.000,4,0.000,0.143,2505,3440,3859
$GC,2052,-1.25,-194.7,209.7,-11.0,357,2058,0.00,2.67,0.00,0.000,6,0.000,0.147,2505,2040,3859
$GC,2396,-1.25,-194.7,245.8,-10.7,418,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2038,3859
$GC,2738,-1.25,-194.7,281.9,-10.6,479,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2038,3860
$GC,3081,-1.25,-194.7,319.5,-10.9,540,3088,0.00,2.62,0.00,0.000,4,0.000,0.146,2505,3440,3859
$GC,3128,-1.25,-194.7,324.9,-12.0,548,3134,0.00,2.67,0.00,0.000,6,0.000,0.155,2505,2040,3859
$GC,3465,-1.25,-194.7,361.3,-10.6,599,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2038,3859
$GC,3784,-1.25,-194.7,394.4,-10.6,629,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2037,3859
$GC,4102,-1.25,-194.7,428.1,-10.5,659,4106,0.00,2.65,0.00,0.000,4,0.000,0.148,2505,3439,3859
$GC,4122,-1.25,-194.7,430.6,-11.2,660,4129,0.00,2.70,0.00,0.000,6,0.000,0.153,2505,2034,3859
$GC,4450,-1.25,-194.7,463.3,-9.8,691,4454,0.00,2.67,0.00,0.000,4,0.000,0.148,2505,3441,3858
$GC,4478,-1.25,-194.7,466.4,-10.6,693,4482,0.00,2.70,0.00,0.000,6,0.000,0.153,2505,2044,3858
$GC,4804,-1.25,-194.7,500.5,-10.9,723,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2042,3858
$GC,5121,-1.25,-194.7,535.6,-11.4,753,5125,0.00,2.67,0.00,0.000,4,0.000,0.152,2505,3442,3858
$GC,5153,-1.25,-194.7,539.6,-11.9,755,5159,0.00,2.67,0.00,0.000,6,0.000,0.156,2505,2062,3858
$GC,5479,-1.25,-194.7,576.1,-11.2,786,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2061,3857
$GC,5794,-1.25,-194.7,608.7,-10.2,812,5798,0.00,2.67,0.00,0.000,4,0.000,0.159,2505,3437,3858
$GC,5821,-1.25,-194.7,611.3,-9.7,813,5825,0.00,2.65,0.00,0.000,6,0.000,0.156,2505,2072,3858
$GC,6136,-1.25,-194.7,642.1,-9.7,828,6141,0.00,2.67,0.00,0.000,4,0.000,0.162,2505,3439,3857
$GC,6158,-1.25,-194.7,644.7,-11.5,829,6162,0.00,2.67,0.00,0.000,6,0.000,0.160,2505,2069,3857
$GC,6480,-1.25,-194.7,678.5,-9.5,845,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2067,3857
$GC,6788,-1.25,-194.7,697.1,-4.7,860,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2067,3856
$GC,7098,-1.25,-194.7,726.7,-11.8,875,7102,0.00,2.70,0.00,0.000,4,0.000,0.167,2505,3439,3856
$GC,7114,-1.25,-194.7,729.0,-12.3,876,7119,0.00,2.65,0.00,0.000,6,0.000,0.164,2505,2092,3856
$GC,7440,-1.25,-194.7,770.1,-12.9,892,7444,0.00,2.62,0.00,0.000,4,0.000,0.162,2505,3445,3856
$GC,7457,-1.25,-194.7,772.5,-14.5,893,7461,0.00,2.65,0.00,0.000,6,0.000,0.160,2505,2088,3855
$GC,7783,-1.25,-194.7,816.9,-13.3,909,7788,0.00,3.03,0.00,0.000,4,0.000,0.193,2505,618,3855
$GC,7809,-1.25,-194.7,819.7,-10.6,910,7814,0.00,2.78,0.00,0.000,6,0.000,0.143,2505,2085,3855
$STATE,8082,end dive,NO_VERTICAL_VELOCITY
$STATE,8082,begin apogee
$GC,8088,-0.37,0.0,826.3,0.0,923,8258,0.85,0.00,166.62,1.180,6,0.064,0.000,2700,1975,3062
$STATE,8258,end apogee,CONTROL_FINISHED_OK
$STATE,8259,begin climb
$GC,8261,1.34,194.7,826.1,0.0,931,8436,1.65,2.88,164.57,1.150,4,0.071,0.170,3069,573,2268
$GC,8571,1.27,194.7,801.5,10.3,945,8575,0.00,2.62,0.00,0.000,6,0.000,0.133,3069,1981,2263
$GC,8886,1.27,194.7,763.1,11.4,960,8890,0.00,2.78,0.00,0.000,4,0.000,0.163,3069,3398,2261
$GC,8980,1.27,194.7,753.0,11.3,964,8984,0.00,2.72,0.00,0.000,6,0.000,0.156,3069,2000,2261
$GC,9296,1.22,194.7,722.7,10.7,979,9298,0.12,0.00,0.00,0.000,6,0.104,0.000,3044,1998,2261
$GC,9605,1.26,226.5,692.8,8.9,994,9639,0.00,2.78,27.95,1.067,4,0.000,0.149,3044,3391,2137
$GC,9673,1.26,226.5,685.5,11.4,997,9678,0.00,2.72,0.00,0.000,6,0.000,0.154,3044,2000,2136
$GC,9995,1.26,226.5,651.8,11.5,1013,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1998,2134
$GC,10303,1.26,226.5,617.7,10.9,1028,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1998,2133
$GC,10618,1.27,231.6,586.8,9.8,1049,10629,0.00,2.70,5.60,0.796,4,0.000,0.149,3044,3399,2116
$GC,10675,1.27,231.6,580.9,10.3,1054,10679,0.00,2.70,0.00,0.000,6,0.000,0.155,3044,2015,2115
$GC,11000,1.30,260.9,551.3,9.0,1084,11033,0.00,2.97,27.27,0.991,4,0.000,0.168,3044,571,1997
$GC,11067,1.30,260.9,544.9,10.2,1090,11072,0.00,2.70,0.00,0.000,6,0.000,0.131,3044,2014,1996
$GC,11392,1.34,289.5,513.7,9.0,1120,11426,0.12,2.70,26.67,0.963,4,0.064,0.151,3082,3395,1880
$GC,11498,1.34,289.5,500.0,12.9,1129,11505,0.00,2.70,0.00,0.000,6,0.000,0.156,3082,2015,1877
$GC,11824,1.34,289.5,458.5,12.5,1160,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2013,1875
$GC,12142,1.34,289.5,421.6,11.3,1190,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2013,1875
$GC,12462,1.34,289.5,386.7,10.5,1220,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2013,1875
$GC,12778,1.34,289.5,350.6,12.0,1250,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2014,1875
$GC,13114,1.34,289.5,312.2,11.1,1309,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2013,1875
$GC,13456,1.34,289.5,270.8,11.2,1370,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2012,1874
$GC,13800,1.34,289.5,231.4,11.2,1431,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2012,1874
$GC,14143,1.34,289.5,191.1,11.1,1492,14149,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2012,1874
$GC,14487,1.34,289.5,151.4,11.7,1553,14493,0.00,2.60,0.00,0.000,4,0.000,0.140,3082,3396,1874
$GC,14527,1.34,289.5,146.3,13.2,1560,14534,0.00,2.67,0.00,0.000,6,0.000,0.156,3082,2005,1874
$GC,14872,1.34,289.5,107.4,11.0,1621,14878,0.00,2.83,0.00,0.000,4,0.000,0.166,3082,570,1874
$GC,14913,1.34,289.5,102.6,11.7,1628,14920,0.00,2.65,0.00,0.000,6,0.000,0.133,3082,2016,1874
$GC,15258,1.34,289.5,63.6,10.9,1689,15264,0.00,2.58,0.00,0.000,4,0.000,0.143,3082,3396,1874
$GC,15310,1.34,289.5,57.2,11.6,1698,15316,0.00,2.65,0.00,0.000,6,0.000,0.154,3082,2014,1874
$GC,15654,1.37,318.2,22.2,9.0,1759,15683,0.00,0.00,24.55,0.673,6,0.000,0.000,3082,2012,1763
$GC,15822,1.37,318.2,5.6,10.2,1788,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2012,1760
$STATE,15843,end climb,SURFACE_DEPTH_REACHED
$STATE,15843,begin surface coast
$FINISH,0.1,1.014158
$STATE,15872,end surface coast,CONTROL_FINISHED_OK
$STATE,15872,begin surface
$SM_CCo,15952,0.00,0.000,0,0,1758,320.12
$SM_GC,0.88,10.50,0.00,0.00,0.035,0.000,0.000,565,2008,1758,-10.07,-0.59,320.12
$IRIDIUM_FIX,6130.75,-2706.58,220897,232301
$TT8_MAMPS,0.042185
$HUMID,1685
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.80
$XPDR_PINGS,884
$24V_AH,23.4,50.151
$10V_AH,10.6,54.044
$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,24.350,113.675,443.250,0.000,0.000,28.204,33.262,244.344,221.000,0.000,0.000,16.206,2803.324,9086.490,591.781,3241.577,661.924,0.000,2035.378,0.000,3249.200,0.000,0.465
$DEVICE_MAMPS,193.284,193.284,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1260.076,1323.650,737.127,1704.732,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133042,1797
$CAP_FILE_SIZE,153093,0
$CFSIZE,260165632,232615936
$ERRORS,0,34,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290508,085456,6151.483,-2654.932,37,1.1,37,-19.2