version: 66.03
glider: 141
mission: 7
dive: 264
start: 5 31 108 23 16 16
data:
$ID,141
$MISSION,7
$DIVE,264
$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,-11105.261
$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,11
$R_STBD_OVSHOOT,12
$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
$GPS1,230808,6148.710,-2610.577,34,0.9,34,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-50.6
$GPS2,231557,6148.718,-2610.539,10,1.4,10,-18.7
$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,143.1,10979,-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,20,-1.34,-194.7,0.0,0.0,0,137,0.00,0.00,-113.68,0.000,2,0.000,0.000,565,2017,3777
$GC,140,-1.34,-194.7,3.6,-6.5,15,163,11.10,2.80,-1.77,0.000,4,0.199,0.167,2480,615,3858
$GC,171,-0.70,-194.7,13.0,-27.2,19,179,0.68,2.60,0.00,0.000,6,0.099,0.127,2622,2038,3858
$GC,315,-0.85,-194.7,23.3,-6.0,44,322,0.12,0.00,0.00,0.000,6,0.058,0.000,2585,2040,3859
$GC,457,-0.93,-194.7,34.1,-8.0,69,464,0.00,2.60,0.00,0.000,4,0.000,0.145,2584,3441,3859
$GC,494,-1.02,-194.7,37.3,-8.7,75,501,0.12,2.67,0.00,0.000,6,0.058,0.150,2544,2034,3859
$GC,636,-1.02,-194.7,51.1,-9.8,100,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2032,3859
$GC,980,-1.06,-194.7,82.0,-8.8,161,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2032,3859
$GC,1324,-1.10,-194.7,112.2,-8.8,222,1332,0.00,2.75,0.00,0.000,4,0.000,0.162,2544,613,3859
$GC,1361,-1.15,-194.7,115.5,-9.1,228,1368,0.00,2.60,0.00,0.000,6,0.000,0.126,2544,2042,3859
$GC,1707,-1.20,-194.7,148.0,-9.5,289,1714,0.12,0.00,0.00,0.000,6,0.061,0.000,2507,2044,3859
$GC,2052,-1.20,-194.7,185.7,-10.5,350,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2044,3859
$GC,2396,-1.20,-194.7,221.3,-10.4,411,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2044,3859
$GC,2740,-1.20,-194.7,258.2,-10.5,472,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2044,3859
$GC,3085,-1.20,-194.7,293.3,-9.8,533,3092,0.00,2.62,0.00,0.000,4,0.000,0.143,2507,3447,3859
$GC,3110,-1.20,-194.7,296.0,-10.4,537,3117,0.00,2.70,0.00,0.000,6,0.000,0.146,2507,2040,3859
$GC,3455,-1.20,-194.7,330.4,-9.8,598,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2038,3859
$GC,3791,-1.20,-194.7,364.7,-10.3,646,3795,0.00,2.65,0.00,0.000,4,0.000,0.143,2506,3450,3859
$GC,3812,-1.20,-194.7,367.1,-10.5,647,3820,0.00,2.72,0.00,0.000,6,0.000,0.148,2507,2031,3859
$GC,4138,-1.20,-194.7,400.1,-10.4,678,4143,0.00,2.67,0.00,0.000,4,0.000,0.144,2507,3446,3859
$GC,4156,-1.20,-194.7,402.1,-10.5,679,4161,0.00,2.70,0.00,0.000,6,0.000,0.151,2506,2050,3859
$GC,4483,-1.20,-194.7,436.9,-10.8,709,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2046,3859
$GC,4799,-1.20,-194.7,471.6,-10.7,739,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2045,3858
$GC,5118,-1.20,-194.7,504.7,-10.2,769,5123,0.00,2.65,0.00,0.000,4,0.000,0.146,2506,3445,3859
$GC,5139,-1.20,-194.7,507.2,-11.2,770,5148,0.00,2.70,0.00,0.000,6,0.000,0.155,2506,2049,3859
$GC,5467,-1.20,-194.7,540.5,-10.0,801,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2047,3858
$GC,5784,-1.20,-194.7,572.7,-10.1,831,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2048,3858
$GC,6101,-1.20,-194.7,605.0,-10.3,859,6106,0.00,2.70,0.00,0.000,4,0.000,0.160,2506,3439,3858
$GC,6141,-1.20,-194.7,609.4,-11.2,861,6146,0.00,2.70,0.00,0.000,6,0.000,0.158,2506,2053,3858
$GC,6469,-1.20,-194.7,644.6,-10.6,877,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2051,3858
$GC,6780,-1.20,-194.7,675.6,-9.8,892,6784,0.00,2.70,0.00,0.000,4,0.000,0.161,2506,3439,3857
$GC,6797,-1.20,-194.7,677.5,-10.0,893,6802,0.00,2.72,0.00,0.000,6,0.000,0.163,2506,2050,3857
$GC,7124,-1.20,-194.7,708.5,-9.3,909,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3857
$GC,7433,-1.20,-194.7,735.4,-8.3,924,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2048,3857
$GC,7743,-1.20,-194.7,761.8,-8.5,939,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2047,3857
$GC,8052,-1.20,-194.7,787.1,-7.9,954,8056,0.00,2.70,0.00,0.000,4,0.000,0.160,2506,3440,3857
$GC,8078,-1.20,-194.7,789.4,-9.0,955,8083,0.00,2.70,0.00,0.000,6,0.000,0.160,2506,2061,3856
$GC,8395,-1.20,-194.7,814.8,-8.9,970,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2061,3856
$GC,8704,-1.20,-194.7,844.7,-9.8,985,8708,0.00,2.67,0.00,0.000,4,0.000,0.161,2507,3438,3856
$GC,8725,-1.20,-194.7,847.1,-10.5,986,8729,0.00,2.67,0.00,0.000,6,0.000,0.160,2506,2070,3856
$GC,9049,-1.20,-194.7,878.0,-9.4,1002,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2069,3856
$GC,9356,-1.20,-194.7,905.3,-8.6,1017,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2069,3855
$GC,9665,-1.20,-194.7,931.8,-8.6,1032,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2068,3855
$GC,9975,-1.20,-194.7,959.1,-9.1,1047,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2068,3855
$GC,10284,-1.20,-194.7,988.6,-9.8,1062,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2067,3854
$STATE,10302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10302,begin apogee
$GC,10308,-0.37,0.0,990.7,9.9,1063,10485,0.90,0.00,169.27,1.290,6,0.097,0.000,2698,1980,3062
$STATE,10486,end apogee,CONTROL_FINISHED_OK
$STATE,10486,begin climb
$GC,10489,1.34,194.7,997.6,0.0,1072,10666,1.70,0.00,169.18,1.262,6,0.076,0.000,3069,1980,2266
$GC,10976,1.31,213.5,958.5,9.3,1096,10999,0.00,2.85,17.33,1.153,4,0.000,0.150,3069,3394,2190
$GC,11050,1.27,213.6,950.8,10.0,1099,11055,0.00,2.78,0.00,0.000,6,0.000,0.159,3069,1974,2188
$GC,11371,1.22,213.6,916.0,11.2,1115,11376,0.12,2.75,0.00,0.000,4,0.107,0.152,3044,3399,2186
$GC,11412,1.22,213.6,911.3,11.9,1117,11416,0.00,2.75,0.00,0.000,6,0.000,0.157,3044,1996,2186
$GC,11739,1.22,213.6,874.7,10.7,1133,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1993,2186
$GC,12048,1.22,213.7,843.9,10.0,1148,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1993,2185
$GC,12358,1.22,213.7,811.8,10.6,1163,12362,0.00,2.70,0.00,0.000,4,0.000,0.152,3044,3399,2185
$GC,12401,1.22,213.7,806.7,11.4,1165,12405,0.00,2.70,0.00,0.000,6,0.000,0.158,3044,2000,2185
$GC,12729,1.22,213.7,773.5,10.6,1181,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1998,2185
$GC,13038,1.25,236.7,742.3,9.2,1196,13065,0.00,2.75,21.17,1.097,4,0.000,0.148,3044,3398,2097
$GC,13103,1.26,247.4,735.8,9.6,1199,13129,0.00,2.70,13.12,0.881,6,0.000,0.154,3044,2011,2053
$GC,13452,1.29,267.6,703.5,9.3,1216,13475,0.00,0.00,19.35,1.060,6,0.000,0.000,3044,2008,1971
$GC,13783,1.32,297.1,673.7,9.0,1232,13828,0.10,0.00,32.58,0.960,6,0.071,0.000,3075,2008,1850
$GC,14133,1.32,297.1,636.6,11.1,1249,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2009,1845
$GC,14442,1.32,297.1,601.1,11.9,1264,14443,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2008,1845
$GC,14760,1.32,297.1,562.3,12.6,1293,14765,0.00,2.65,0.00,0.000,4,0.000,0.148,3075,3395,1844
$GC,14803,1.32,297.1,556.5,12.9,1296,14811,0.00,2.72,0.00,0.000,6,0.000,0.156,3075,2020,1844
$GC,15130,1.32,297.1,517.2,12.0,1327,15132,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1843
$GC,15447,1.32,297.1,480.3,11.5,1357,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1844
$GC,15765,1.32,297.1,445.0,10.7,1387,15766,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2021,1844
$GC,16086,1.33,305.7,411.9,9.7,1417,16096,0.00,0.00,8.15,0.798,6,0.000,0.000,3075,2020,1815
$GC,16411,1.33,305.7,378.4,10.3,1448,16412,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1813
$GC,16734,1.34,310.1,345.0,9.8,1482,16742,0.00,0.00,5.53,0.688,6,0.000,0.000,3075,2020,1797
$GC,17080,1.34,310.1,309.0,10.7,1543,17086,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1796
$GC,17424,1.34,310.1,272.8,11.1,1604,17430,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1796
$GC,17768,1.34,310.1,235.7,10.1,1665,17774,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,1795
$GC,18111,1.34,310.1,199.0,11.3,1726,18119,0.00,2.58,0.00,0.000,4,0.000,0.147,3075,3395,1795
$GC,18148,1.34,310.1,194.8,11.7,1732,18155,0.00,2.67,0.00,0.000,6,0.000,0.151,3075,2011,1795
$GC,18493,1.34,310.1,158.8,10.3,1793,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2010,1795
$GC,18833,1.37,336.3,125.6,9.1,1854,18860,0.00,0.00,23.98,0.730,6,0.000,0.000,3075,2010,1690
$GC,19197,1.37,336.3,88.7,10.5,1918,19204,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2010,1687
$GC,19542,1.39,350.2,56.5,9.5,1979,19561,0.00,0.00,13.38,0.662,6,0.000,0.000,3075,2010,1633
$GC,19897,1.39,350.2,20.1,11.6,2042,19904,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2010,1631
$GC,20037,1.41,364.6,5.9,9.5,2067,20058,0.00,0.00,13.93,0.630,6,0.000,0.000,3075,2007,1574
$STATE,20073,end climb,SURFACE_DEPTH_REACHED
$STATE,20073,begin surface coast
$FINISH,0.4,1.027000
$STATE,20103,end surface coast,CONTROL_FINISHED_OK
$STATE,20103,begin surface
$SM_CCo,20184,0.00,0.000,0,0,1570,365.99
$SM_GC,0.76,10.55,0.00,0.00,0.040,0.000,0.000,573,2035,1570,-10.06,0.17,365.99
$IRIDIUM_FIX,6126.23,-2607.40,250897,181806
$TT8_MAMPS,0.042185
$HUMID,1690
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.90
$XPDR_PINGS,1116
$24V_AH,23.4,52.870
$10V_AH,10.6,56.296
$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,25.525,91.875,506.950,0.000,0.000,31.573,34.784,258.352,279.000,0.000,0.000,11.741,4200.933,11354.227,744.569,3602.311,733.411,0.000,2298.250,0.000,3633.594,0.000,0.466
$DEVICE_MAMPS,198.653,184.080,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1447.331,1570.608,816.886,1857.401,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,152020,2078
$CAP_FILE_SIZE,174479,0
$CFSIZE,260165632,231350272
$ERRORS,0,14,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.079,157.4,1
$GPS,010608,045356,6146.062,-2604.508,39,1.2,39,-18.6