version: 66.03
glider: 141
mission: 7
dive: 262
start: 5 31 108 14 43 54
data:
$ID,141
$MISSION,7
$DIVE,262
$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,-11075.437
$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
$GPS1,143602,6153.815,-2619.214,40,1.0,40,-18.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-58.7
$GPS2,144333,6153.775,-2619.179,14,1.0,14,-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,152.0,22781,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.34,-194.7,0.0,0.0,0,120,0.00,0.00,-97.07,0.000,2,0.000,0.000,565,2020,3756
$GC,123,-1.34,-194.7,3.4,-5.8,13,146,11.10,2.70,-2.25,0.000,4,0.196,0.146,2481,3441,3859
$GC,314,-1.27,-194.7,38.2,-16.4,46,322,0.10,2.72,0.00,0.000,6,0.122,0.149,2499,2018,3859
$GC,459,-1.27,-194.7,61.4,-15.7,71,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2016,3859
$GC,802,-1.27,-194.7,94.2,-7.1,132,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2014,3859
$GC,1147,-1.27,-194.7,123.8,-9.8,193,1154,0.00,2.67,0.00,0.000,4,0.000,0.137,2499,3451,3859
$GC,1194,-1.27,-194.7,128.8,-10.6,201,1201,0.00,2.75,0.00,0.000,6,0.000,0.146,2499,2016,3859
$GC,1538,-1.27,-194.7,165.3,-11.0,262,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2014,3859
$GC,1884,-1.27,-194.7,203.9,-11.0,323,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2014,3859
$GC,2228,-1.27,-194.7,241.3,-11.0,384,2235,0.00,2.67,0.00,0.000,4,0.000,0.143,2499,3449,3860
$GC,2270,-1.27,-194.7,246.1,-10.9,391,2277,0.00,2.75,0.00,0.000,6,0.000,0.150,2499,2018,3859
$GC,2615,-1.27,-194.7,284.5,-11.4,452,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2017,3859
$GC,2959,-1.27,-194.7,325.5,-12.3,513,2966,0.00,2.67,0.00,0.000,4,0.000,0.141,2499,3441,3859
$GC,2995,-1.27,-194.7,330.1,-13.5,519,3002,0.00,2.72,0.00,0.000,6,0.000,0.150,2499,2028,3859
$GC,3335,-1.27,-194.7,372.9,-12.6,564,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2025,3859
$GC,3654,-1.27,-194.7,411.3,-11.5,594,3659,0.00,2.67,0.00,0.000,4,0.000,0.146,2499,3441,3859
$GC,3687,-1.27,-194.7,415.5,-12.1,596,3695,0.00,2.75,0.00,0.000,6,0.000,0.155,2499,2033,3859
$GC,4015,-1.27,-194.7,450.7,-10.6,627,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2030,3859
$GC,4333,-1.27,-194.7,482.3,-9.7,657,4337,0.00,2.67,0.00,0.000,4,0.000,0.148,2499,3442,3859
$GC,4350,-1.27,-194.7,484.2,-9.8,658,4354,0.00,2.72,0.00,0.000,6,0.000,0.153,2499,2037,3859
$GC,4677,-1.27,-194.7,515.9,-10.1,688,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2035,3859
$GC,4993,-1.27,-194.7,549.6,-11.2,718,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2035,3859
$GC,5312,-1.27,-194.7,583.1,-10.8,748,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2034,3859
$GC,5636,-1.27,-194.7,621.1,-13.3,771,5641,0.00,2.90,0.00,0.000,4,0.000,0.186,2499,612,3859
$GC,5657,-1.27,-194.7,624.2,-13.6,772,5662,0.00,2.65,0.00,0.000,6,0.000,0.137,2499,2031,3859
$GC,5978,-1.27,-194.7,659.7,-10.8,788,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2033,3858
$GC,6288,-1.27,-194.7,692.8,-10.8,803,6293,0.00,2.83,0.00,0.000,4,0.000,0.176,2499,3448,3858
$GC,6332,-1.27,-194.7,697.7,-11.3,805,6336,0.00,2.78,0.00,0.000,6,0.000,0.164,2499,2034,3858
$STATE,6507,end dive,NO_VERTICAL_VELOCITY
$STATE,6507,begin apogee
$GC,6513,-0.37,0.0,697.7,0.0,814,6681,0.88,0.00,164.48,1.090,6,0.064,0.000,2699,1979,3062
$STATE,6681,end apogee,CONTROL_FINISHED_OK
$STATE,6681,begin climb
$GC,6684,1.34,194.7,697.6,0.0,822,6862,1.65,2.85,162.73,1.059,4,0.074,0.149,3066,3398,2266
$GC,7021,1.30,194.7,670.8,10.3,837,7026,0.00,2.80,0.00,0.000,6,0.000,0.158,3066,1984,2263
$GC,7349,1.28,212.4,643.5,9.4,853,7372,0.00,2.78,16.00,0.965,4,0.000,0.149,3066,3399,2194
$GC,7433,1.28,212.4,633.3,12.5,856,7441,0.00,2.75,0.00,0.000,6,0.000,0.155,3066,1986,2193
$GC,7750,1.28,212.4,592.1,13.7,874,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1984,2192
$GC,8069,1.28,212.4,551.4,11.8,904,8073,0.00,2.70,0.00,0.000,4,0.000,0.146,3066,3404,2191
$GC,8112,1.28,212.4,545.9,12.7,907,8120,0.00,2.72,0.00,0.000,6,0.000,0.161,3066,2002,2191
$GC,8440,1.32,246.4,513.3,8.8,938,8477,0.00,0.00,30.70,0.959,6,0.000,0.000,3066,2001,2056
$GC,8797,1.42,320.1,484.3,7.4,972,8869,0.00,2.78,65.30,0.953,4,0.000,0.144,3066,3399,1755
$GC,8908,1.45,350.3,475.3,9.0,981,8943,0.12,2.72,27.67,0.910,6,0.062,0.159,3103,2004,1632
$GC,9269,1.45,350.3,432.1,13.0,1015,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2002,1626
$GC,9588,1.45,350.3,386.9,14.9,1045,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2001,1625
$GC,9910,1.45,350.3,341.1,14.1,1080,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2001,1624
$GC,10254,1.45,350.3,297.6,12.4,1141,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2001,1624
$GC,10598,1.45,350.3,253.8,13.1,1202,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2002,1624
$GC,10943,1.45,350.3,210.9,12.9,1263,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2002,1623
$GC,11286,1.45,350.3,164.5,13.3,1324,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2002,1623
$GC,11631,1.50,389.6,130.5,8.6,1385,11672,0.00,0.00,33.70,0.742,6,0.000,0.000,3103,2002,1472
$GC,12008,1.50,389.6,80.4,11.6,1451,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2002,1467
$GC,12353,1.54,418.6,51.6,9.0,1512,12388,0.00,2.90,25.05,0.680,4,0.000,0.159,3103,574,1355
$GC,12411,1.54,418.6,44.8,12.2,1521,12419,0.00,2.67,0.00,0.000,6,0.000,0.127,3103,2021,1354
$GC,12554,1.54,418.6,26.5,13.2,1546,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2023,1351
$GC,12698,1.54,418.6,7.3,12.1,1571,12705,0.00,2.88,0.00,0.000,4,0.000,0.162,3103,563,1351
$STATE,12732,end climb,SURFACE_DEPTH_REACHED
$STATE,12733,begin surface coast
$FINISH,0.2,1.026882
$STATE,12755,end surface coast,CONTROL_FINISHED_OK
$STATE,12756,begin surface
$SM_CCo,12838,0.00,0.000,0,0,1349,420.20
$SM_GC,0.86,10.52,0.00,0.00,0.033,0.000,0.000,573,2033,1349,-10.06,0.08,420.20
$IRIDIUM_FIX,6135.28,-2623.67,250897,111109
$TT8_MAMPS,0.042185
$HUMID,1689
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,15.50
$XPDR_PINGS,864
$24V_AH,23.5,52.444
$10V_AH,10.6,55.954
$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,24.375,77.075,525.625,0.000,0.000,28.453,38.208,249.601,216.000,0.000,0.000,15.607,3146.794,6036.848,665.641,2819.656,608.427,0.000,1912.324,0.000,2824.698,0.000,0.465
$DEVICE_MAMPS,196.352,185.614,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1106.313,1180.153,688.893,1468.909,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116945,1581
$CAP_FILE_SIZE,126912,0
$CFSIZE,260165632,231608320
$ERRORS,0,17,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,169.1,1
$GPS,310508,181908,6151.787,-2616.094,40,1.5,40,-18.8