version: 66.03
glider: 141
mission: 7
dive: 261
start: 5 31 108 11 0 34
data:
$ID,141
$MISSION,7
$DIVE,261
$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,-11059.201
$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,16
$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
$GPS1,105327,6156.142,-2622.042,22,3.8,41,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.2
$GPS2,110015,6156.099,-2621.943,11,1.5,11,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$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,155.1,27531,-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,22,-1.34,-194.7,0.0,0.0,0,94,0.00,0.00,-69.07,0.000,2,0.000,0.000,572,2020,3675
$GC,97,-1.34,-194.7,3.2,-5.6,9,121,11.05,2.67,-4.28,0.000,4,0.196,0.147,2481,3453,3856
$GC,277,-1.28,-194.7,31.5,-13.1,40,285,0.00,2.72,0.00,0.000,6,0.000,0.150,2481,2026,3857
$GC,421,-1.23,-194.7,48.5,-10.5,65,429,0.15,2.65,0.00,0.000,4,0.113,0.140,2514,3446,3857
$GC,470,-1.23,-194.7,53.2,-8.6,73,477,0.00,2.67,0.00,0.000,6,0.000,0.146,2514,2050,3857
$GC,815,-1.23,-194.7,85.0,-10.9,134,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2047,3858
$GC,1160,-1.23,-194.7,124.5,-11.9,195,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2047,3858
$GC,1503,-1.23,-194.7,162.6,-10.2,256,1510,0.00,2.60,0.00,0.000,4,0.000,0.145,2514,3446,3858
$GC,1524,-1.23,-194.7,164.7,-10.4,259,1531,0.00,2.65,0.00,0.000,6,0.000,0.148,2514,2059,3858
$GC,1869,-1.23,-194.7,199.7,-10.1,320,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3858
$GC,2213,-1.23,-194.7,235.8,-10.6,381,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3859
$GC,2557,-1.23,-194.7,271.7,-10.7,442,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3858
$GC,2901,-1.23,-194.7,306.8,-9.7,503,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2055,3858
$GC,3245,-1.23,-194.7,340.6,-9.7,564,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3858
$GC,3578,-1.23,-194.7,372.7,-9.9,603,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3858
$GC,3903,-1.23,-194.7,406.1,-10.7,634,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3858
$GC,4222,-1.23,-194.7,441.5,-10.9,664,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2055,3859
$GC,4540,-1.23,-194.7,476.4,-10.8,694,4545,0.00,2.83,0.00,0.000,4,0.000,0.166,2514,621,3858
$GC,4573,-1.23,-194.7,480.0,-10.7,696,4581,0.00,2.65,0.00,0.000,6,0.000,0.134,2514,2067,3858
$GC,4901,-1.23,-194.7,513.6,-10.2,727,4905,0.00,2.85,0.00,0.000,4,0.000,0.164,2514,617,3858
$GC,4929,-1.23,-194.7,516.8,-10.8,729,4934,0.00,2.65,0.00,0.000,6,0.000,0.130,2513,2055,3858
$GC,5257,-1.23,-194.7,548.3,-9.4,759,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2057,3858
$GC,5574,-1.23,-194.7,576.6,-9.1,789,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2057,3858
$GC,5890,-1.23,-194.7,607.2,-10.7,816,5894,0.00,2.90,0.00,0.000,4,0.000,0.175,2514,613,3858
$GC,5907,-1.23,-194.7,609.0,-10.3,817,5911,0.00,2.65,0.00,0.000,6,0.000,0.134,2514,2040,3858
$GC,6235,-1.32,-194.7,637.6,-4.1,833,6240,0.00,2.85,0.00,0.000,4,0.000,0.173,2514,617,3858
$STATE,6366,end dive,NO_VERTICAL_VELOCITY
$STATE,6367,begin apogee
$GC,6375,-0.37,0.0,637.6,0.0,839,6542,0.80,0.00,163.40,1.052,6,0.083,0.000,2693,1993,3062
$STATE,6543,end apogee,CONTROL_FINISHED_OK
$STATE,6543,begin climb
$GC,6545,1.34,194.7,637.5,0.0,847,6718,1.70,2.83,162.15,1.022,4,0.072,0.164,3070,3397,2266
$GC,6746,1.30,194.7,624.6,11.9,856,6751,0.00,2.78,0.00,0.000,6,0.000,0.153,3070,1983,2264
$GC,7071,1.25,194.7,585.7,10.6,877,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1979,2262
$GC,7392,1.27,246.2,560.5,8.2,907,7443,0.00,2.80,44.92,0.974,4,0.000,0.143,3070,3399,2057
$GC,7476,1.27,246.2,552.0,10.7,914,7485,0.00,2.75,0.00,0.000,6,0.000,0.152,3070,1987,2054
$GC,7804,1.27,246.2,517.1,11.2,945,7808,0.00,2.70,0.00,0.000,4,0.000,0.146,3069,3402,2052
$GC,7843,1.27,246.2,512.2,11.7,948,7848,0.00,2.72,0.00,0.000,6,0.000,0.153,3070,2002,2051
$GC,8170,1.27,246.2,477.4,10.7,978,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2000,2051
$GC,8486,1.27,246.2,444.0,10.4,1008,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2001,2051
$GC,8805,1.28,249.1,411.8,9.9,1038,8810,0.00,2.65,0.00,0.000,4,0.000,0.141,3069,3407,2050
$GC,8849,1.28,249.1,406.9,10.7,1041,8857,0.00,2.70,0.00,0.000,6,0.000,0.156,3070,2012,2050
$GC,9176,1.29,262.5,376.2,9.5,1072,9200,0.00,2.90,14.43,0.844,4,0.000,0.163,3069,577,1991
$GC,9228,1.29,262.5,370.7,10.6,1076,9236,0.00,2.65,0.00,0.000,6,0.000,0.126,3069,2016,1989
$GC,9558,1.29,262.5,337.3,10.7,1117,9565,0.00,2.60,0.00,0.000,4,0.000,0.143,3070,3402,1988
$GC,9617,1.29,262.5,330.5,11.4,1127,9624,0.00,2.67,0.00,0.000,6,0.000,0.150,3070,2015,1988
$GC,9962,1.29,262.5,292.0,11.3,1188,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2014,1988
$GC,10306,1.29,262.5,255.0,10.1,1249,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2013,1988
$GC,10650,1.29,262.5,220.9,10.0,1310,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2012,1987
$GC,10995,1.29,262.5,185.2,11.6,1371,11002,0.00,2.60,0.00,0.000,4,0.000,0.139,3069,3400,1987
$GC,11036,1.29,262.5,180.3,12.2,1378,11044,0.00,2.67,0.00,0.000,6,0.000,0.150,3070,2013,1987
$GC,11383,1.29,262.5,141.4,11.6,1439,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2010,1987
$GC,11723,1.29,262.5,104.9,10.0,1500,11730,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2011,1987
$GC,12069,1.30,266.4,71.6,9.9,1561,12083,0.00,2.65,4.28,0.512,4,0.000,0.139,3070,3398,1975
$GC,12118,1.30,266.4,66.1,11.3,1569,12125,0.00,2.65,0.00,0.000,6,0.000,0.156,3070,2029,1975
$GC,12463,1.31,275.8,27.9,9.7,1630,12478,0.00,0.00,9.95,0.630,6,0.000,0.000,3069,2027,1937
$GC,12613,1.36,313.0,14.5,8.7,1656,12649,0.00,0.00,33.35,0.662,6,0.000,0.000,3069,2027,1784
$STATE,12736,end climb,SURFACE_DEPTH_REACHED
$STATE,12736,begin surface coast
$FINISH,0.2,1.012330
$STATE,12773,end surface coast,CONTROL_FINISHED_OK
$STATE,12773,begin surface
$SM_CCo,12852,0.00,0.000,0,0,1778,314.97
$SM_GC,0.91,10.45,0.00,0.00,0.035,0.000,0.000,565,2023,1778,-10.07,-0.17,314.97
$IRIDIUM_FIX,6130.75,-2629.82,250897,070713
$TT8_MAMPS,0.042185
$HUMID,1683
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,16.90
$XPDR_PINGS,919
$24V_AH,23.5,52.251
$10V_AH,10.6,55.814
$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,24.150,81.275,432.475,0.000,0.000,24.466,37.944,215.801,229.750,0.000,0.000,13.086,3367.078,5747.858,586.342,2957.200,592.129,0.000,1860.570,0.000,2972.220,0.000,0.465
$DEVICE_MAMPS,196.352,174.876,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1169.016,1274.318,737.767,1581.920,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123282,1683
$CAP_FILE_SIZE,131072,0
$CFSIZE,260165632,231673856
$ERRORS,0,29,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,183.8,1
$GPS,310508,143602,6153.815,-2619.214,40,1.0,40,-18.9