version: 66.03
glider: 141
mission: 7
dive: 257
start: 5 30 108 15 25 55
data:
$ID,141
$MISSION,7
$DIVE,257
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-10993.739
$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,12
$R_STBD_OVSHOOT,8
$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
$GPS1,151701,6148.130,-2634.258,38,1.5,38,-18.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-55.5
$GPS2,152538,6148.122,-2634.241,11,1.6,28,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NWentry
$TGT_LATLONG,6156.130,-2622.980
$TGT_RADIUS,2000.000
$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,52.4,17782,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.34,-194.7,0.0,0.0,0,132,0.00,0.00,-108.65,0.000,2,0.000,0.000,568,2029,3782
$GC,135,-1.34,-194.7,3.6,-6.8,14,159,11.02,2.80,-1.65,0.000,4,0.193,0.167,2483,624,3858
$GC,267,-1.34,-194.7,25.7,-12.0,36,274,0.00,2.58,0.00,0.000,6,0.000,0.127,2483,2034,3859
$GC,410,-1.30,-194.7,40.9,-9.8,61,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2036,3859
$GC,553,-1.26,-194.7,56.6,-11.7,86,560,0.10,2.62,0.00,0.000,4,0.123,0.139,2502,3443,3859
$GC,636,-1.26,-194.7,66.3,-11.9,100,643,0.00,2.70,0.00,0.000,6,0.000,0.150,2502,2034,3859
$GC,983,-1.26,-194.7,102.8,-10.4,161,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2032,3859
$GC,1326,-1.26,-194.7,138.8,-10.1,222,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2031,3859
$GC,1672,-1.26,-194.7,177.0,-11.9,283,1679,0.00,2.67,0.00,0.000,4,0.000,0.143,2502,3449,3859
$GC,1731,-1.26,-194.7,183.9,-11.9,293,1738,0.00,2.72,0.00,0.000,6,0.000,0.146,2502,2037,3859
$GC,2075,-1.26,-194.7,223.1,-10.7,354,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2035,3859
$GC,2419,-1.26,-194.7,260.6,-10.8,415,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2034,3859
$GC,2762,-1.26,-194.7,297.5,-10.5,476,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2034,3859
$GC,3106,-1.26,-194.7,334.5,-10.7,537,3113,0.00,2.67,0.00,0.000,4,0.000,0.146,2502,3447,3859
$GC,3148,-1.26,-194.7,339.1,-11.3,544,3155,0.00,2.70,0.00,0.000,6,0.000,0.150,2502,2043,3859
$GC,3485,-1.26,-194.7,374.4,-10.3,584,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2040,3859
$GC,3804,-1.26,-194.7,405.9,-9.6,614,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2040,3859
$GC,4123,-1.26,-194.7,436.9,-9.3,644,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2040,3859
$GC,4441,-1.26,-194.7,467.1,-9.6,674,4445,0.00,2.67,0.00,0.000,4,0.000,0.153,2502,3440,3859
$GC,4496,-1.26,-194.7,472.9,-10.3,678,4503,0.00,2.67,0.00,0.000,6,0.000,0.160,2502,2057,3858
$GC,4823,-1.26,-194.7,504.8,-9.9,709,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2056,3858
$GC,5142,-1.26,-194.7,535.7,-9.7,739,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2055,3859
$GC,5467,-1.26,-194.7,569.6,-10.6,770,5471,0.00,2.88,0.00,0.000,4,0.000,0.174,2502,617,3858
$GC,5510,-1.26,-194.7,574.5,-10.9,773,5517,0.00,2.70,0.00,0.000,6,0.000,0.145,2502,2056,3858
$GC,5844,-1.26,-194.7,609.3,-10.6,801,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2057,3858
$GC,6152,-1.26,-194.7,641.8,-10.4,816,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2057,3858
$GC,6463,-1.26,-194.7,674.2,-10.6,831,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2057,3858
$GC,6771,-1.26,-194.7,708.1,-10.9,846,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2057,3858
$GC,7081,-1.26,-194.7,740.4,-10.4,861,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2057,3858
$GC,7390,-1.26,-194.7,771.4,-9.7,876,7394,0.00,2.97,0.00,0.000,4,0.000,0.188,2502,617,3857
$GC,7439,-1.26,-194.7,776.5,-10.5,878,7444,0.00,2.70,0.00,0.000,6,0.000,0.142,2502,2052,3857
$GC,7755,-1.26,-194.7,805.8,-9.1,893,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2055,3857
$GC,8064,-1.26,-194.7,834.0,-8.2,908,8069,0.00,2.78,0.00,0.000,4,0.000,0.173,2502,3449,3857
$GC,8131,-1.26,-194.7,840.3,-9.7,911,8135,0.00,2.72,0.00,0.000,6,0.000,0.162,2502,2060,3857
$GC,8453,-1.26,-194.7,870.1,-10.9,927,8458,0.00,2.95,0.00,0.000,4,0.000,0.187,2502,614,3857
$GC,8571,-1.26,-194.7,881.3,-9.1,932,8575,0.00,2.70,0.00,0.000,6,0.000,0.140,2502,2052,3856
$GC,8887,-1.26,-194.7,909.1,-9.1,947,8891,0.00,2.75,0.00,0.000,4,0.000,0.173,2502,3444,3856
$GC,8963,-1.26,-194.7,916.6,-10.0,950,8972,0.00,2.72,0.00,0.000,6,0.000,0.160,2502,2053,3856
$STATE,9236,end dive,NO_VERTICAL_VELOCITY
$STATE,9236,begin apogee
$GC,9242,-0.37,0.0,923.2,0.0,964,9418,0.88,0.00,168.10,1.237,6,0.074,0.000,2698,1984,3062
$STATE,9419,end apogee,CONTROL_FINISHED_OK
$STATE,9419,begin climb
$GC,9422,1.34,194.7,923.0,0.0,973,9600,1.67,2.97,166.55,1.207,4,0.075,0.177,3068,574,2268
$GC,9673,1.28,194.7,900.7,12.8,984,9678,0.00,3.40,0.00,0.000,6,0.000,0.248,3068,1980,2264
$GC,9994,1.23,194.7,861.7,13.0,1000,9998,0.00,2.80,0.00,0.000,4,0.000,0.163,3068,3406,2261
$GC,10038,1.18,194.7,855.6,14.0,1002,10043,0.15,2.72,0.00,0.000,6,0.102,0.152,3039,1991,2261
$GC,10359,1.21,214.0,823.3,9.3,1018,10381,0.00,0.00,17.52,1.091,6,0.000,0.000,3039,1989,2189
$GC,10689,1.22,226.2,793.5,9.6,1034,10709,0.00,0.00,12.30,1.042,6,0.000,0.000,3039,1989,2138
$GC,11017,1.24,237.1,763.0,9.6,1050,11030,0.00,0.00,11.27,1.023,6,0.000,0.000,3039,1987,2095
$GC,11326,1.27,266.0,734.4,9.0,1065,11355,0.00,0.00,27.45,1.088,6,0.000,0.000,3039,1988,1977
$GC,11656,1.31,293.2,704.1,9.1,1081,11689,0.10,2.83,25.90,1.065,4,0.070,0.149,3069,3403,1865
$GC,11697,1.32,307.8,700.1,9.5,1083,11720,0.00,2.78,14.77,1.002,6,0.000,0.150,3069,1983,1806
$GC,12028,1.32,307.8,664.3,11.2,1099,12029,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,1802
$GC,12337,1.32,307.8,629.2,11.2,1114,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,1801
$GC,12648,1.32,307.8,594.5,11.5,1131,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,1800
$GC,12967,1.32,307.8,557.8,11.1,1161,12971,0.00,2.72,0.00,0.000,4,0.000,0.146,3069,3412,1800
$GC,12987,1.32,307.8,555.1,11.6,1162,12995,0.00,2.72,0.00,0.000,6,0.000,0.154,3069,1989,1799
$GC,13314,1.32,307.8,519.6,10.6,1193,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1988,1799
$GC,13633,1.32,307.8,485.9,10.9,1223,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1988,1799
$GC,13950,1.32,307.8,451.6,10.8,1253,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1987,1799
$GC,14271,1.32,307.8,415.8,11.7,1283,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1987,1799
$GC,14587,1.32,307.8,378.8,11.8,1313,14591,0.00,2.67,0.00,0.000,4,0.000,0.143,3069,3406,1799
$GC,14608,1.32,307.8,376.1,11.2,1314,14615,0.00,2.67,0.00,0.000,6,0.000,0.149,3069,1996,1799
$GC,14939,1.32,307.8,336.6,11.6,1355,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1993,1799
$GC,15283,1.32,307.8,295.8,11.2,1416,15290,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1993,1799
$GC,15627,1.32,307.8,257.4,11.2,1477,15633,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1994,1799
$GC,15970,1.32,307.8,216.7,12.3,1538,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1994,1799
$GC,16315,1.32,307.8,175.7,11.1,1599,16321,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1994,1799
$GC,16659,1.32,307.8,136.0,10.1,1660,16666,0.00,2.65,0.00,0.000,4,0.000,0.140,3069,3412,1799
$GC,16678,1.32,307.8,133.8,10.9,1663,16685,0.00,2.67,0.00,0.000,6,0.000,0.142,3069,1998,1799
$GC,17023,1.34,318.2,99.3,9.6,1724,17037,0.00,0.00,9.25,0.663,6,0.000,0.000,3069,1997,1763
$GC,17375,1.34,318.2,61.6,12.5,1786,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1997,1762
$GC,17718,1.37,344.1,25.4,9.1,1847,17746,0.00,0.00,23.73,0.667,6,0.000,0.000,3069,1997,1658
$GC,17883,1.39,359.2,10.3,9.5,1875,17903,0.00,0.00,14.52,0.634,6,0.000,0.000,3069,1997,1595
$STATE,17952,end climb,SURFACE_DEPTH_REACHED
$STATE,17952,begin surface coast
$FINISH,0.1,1.014753
$STATE,17992,end surface coast,CONTROL_FINISHED_OK
$STATE,17992,begin surface
$SM_CCo,18073,0.00,0.000,0,0,1591,360.59
$SM_GC,0.94,10.40,0.00,0.00,0.034,0.000,0.000,574,2042,1591,-10.06,0.34,360.59
$IRIDIUM_FIX,6121.73,-2631.87,240897,101032
$TT8_MAMPS,0.041418
$HUMID,1691
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.80
$XPDR_PINGS,1012
$24V_AH,23.4,51.539
$10V_AH,10.6,55.208
$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,24.325,88.575,491.375,0.000,0.000,30.265,32.533,294.176,253.000,0.000,0.000,30.174,3774.930,10023.329,692.065,3372.889,707.824,0.000,2150.517,0.000,3369.257,0.000,0.466
$DEVICE_MAMPS,193.284,247.741,1237.171,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.448,1426.314,731.892,1740.555,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139231,1894
$CAP_FILE_SIZE,156291,0
$CFSIZE,260165632,231981056
$ERRORS,0,23,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,347.3,1
$GPS,300508,202808,6150.832,-2631.287,24,1.3,24,-18.9