version: 66.03
glider: 141
mission: 7
dive: 266
start: 6 1 108 9 2 3
data:
$ID,141
$MISSION,7
$DIVE,266
$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,-11134.295
$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,15
$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
$GPS1,085439,6144.662,-2600.554,61,0.9,61,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-51.9
$GPS2,090144,6144.665,-2600.578,8,0.9,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-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,19.5,21236,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.34,-194.7,0.0,0.0,0,101,0.00,0.00,-76.22,0.000,2,0.000,0.000,568,2013,3817
$GC,104,-1.34,-194.7,3.5,-5.8,10,121,11.12,2.72,-0.85,0.000,4,0.199,0.145,2480,3443,3858
$GC,374,-1.29,-194.7,47.9,-14.8,57,381,0.00,2.70,0.00,0.000,6,0.000,0.156,2480,2030,3859
$GC,519,-1.24,-194.7,67.9,-13.3,82,526,0.12,2.65,0.00,0.000,4,0.117,0.143,2504,3446,3859
$GC,617,-1.24,-194.7,80.0,-11.5,99,624,0.00,2.75,0.00,0.000,6,0.000,0.150,2504,2019,3859
$GC,959,-1.24,-194.7,117.9,-10.8,160,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2017,3860
$GC,1304,-1.24,-194.7,154.9,-10.8,221,1312,0.00,2.67,0.00,0.000,4,0.000,0.137,2504,3448,3860
$GC,1380,-1.24,-194.7,163.2,-11.4,234,1387,0.00,2.72,0.00,0.000,6,0.000,0.153,2504,2027,3860
$GC,1725,-1.24,-194.7,200.7,-11.3,295,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2024,3860
$GC,2069,-1.24,-194.7,239.1,-11.5,356,2076,0.00,2.62,0.00,0.000,4,0.000,0.142,2504,3439,3860
$GC,2161,-1.24,-194.7,250.0,-12.0,372,2168,0.00,2.70,0.00,0.000,6,0.000,0.152,2504,2030,3860
$GC,2507,-1.24,-194.7,289.4,-11.5,433,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2028,3860
$GC,2851,-1.24,-194.7,327.9,-11.4,494,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2028,3860
$GC,3187,-1.24,-194.7,366.2,-11.5,542,3192,0.00,2.65,0.00,0.000,4,0.000,0.143,2504,3439,3860
$GC,3274,-1.24,-194.7,376.2,-12.2,549,3278,0.00,2.70,0.00,0.000,6,0.000,0.152,2504,2039,3860
$GC,3603,-1.24,-194.7,412.6,-10.6,579,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2036,3860
$GC,3928,-1.24,-194.7,446.4,-10.0,610,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2034,3860
$GC,4247,-1.24,-194.7,477.6,-9.7,640,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2034,3860
$GC,4564,-1.24,-194.7,509.5,-10.2,670,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2034,3860
$GC,4884,-1.24,-194.7,542.2,-9.9,700,4888,0.00,2.83,0.00,0.000,4,0.000,0.173,2504,617,3860
$GC,4934,-1.24,-194.7,547.3,-9.8,704,4939,0.00,2.65,0.00,0.000,6,0.000,0.133,2504,2048,3860
$GC,5261,-1.24,-194.7,578.4,-9.7,734,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2050,3859
$GC,5575,-1.24,-194.7,608.0,-8.8,760,5580,0.00,2.88,0.00,0.000,4,0.000,0.177,2504,620,3859
$GC,5638,-1.24,-194.7,613.6,-9.0,763,5642,0.00,2.65,0.00,0.000,6,0.000,0.136,2504,2042,3859
$GC,5966,-1.24,-194.7,641.1,-8.7,779,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,6275,-1.24,-194.7,670.0,-9.7,794,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2043,3859
$GC,6583,-1.24,-194.7,701.8,-10.8,809,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3859
$GC,6894,-1.24,-194.7,737.8,-11.9,824,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3859
$GC,7202,-1.24,-194.7,774.0,-11.4,839,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2044,3859
$GC,7512,-1.24,-194.7,807.2,-10.7,854,7516,0.00,2.90,0.00,0.000,4,0.000,0.181,2504,614,3859
$GC,7577,-1.24,-194.7,814.7,-11.4,857,7582,0.00,2.67,0.00,0.000,6,0.000,0.137,2504,2046,3859
$GC,7900,-1.24,-194.7,847.2,-9.8,873,7905,0.00,2.75,0.00,0.000,4,0.000,0.174,2504,3442,3858
$GC,7988,-1.24,-194.7,856.7,-10.6,877,7993,0.00,2.72,0.00,0.000,6,0.000,0.159,2504,2052,3858
$GC,8313,-1.24,-194.7,887.3,-9.2,893,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2051,3858
$GC,8619,-1.24,-194.7,913.6,-8.2,908,8624,0.00,2.92,0.00,0.000,4,0.000,0.186,2504,614,3858
$GC,8674,-1.24,-194.7,918.3,-8.6,910,8681,0.00,2.67,0.00,0.000,6,0.000,0.139,2504,2043,3858
$GC,8991,-1.24,-194.7,943.6,-8.1,926,8995,0.00,2.72,0.00,0.000,4,0.000,0.169,2504,3440,3857
$GC,9040,-1.24,-194.7,947.8,-8.3,928,9044,0.00,2.75,0.00,0.000,6,0.000,0.161,2504,2034,3857
$GC,9356,-1.24,-194.7,973.4,-8.4,943,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2032,3856
$STATE,9559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9559,begin apogee
$GC,9566,-0.37,0.0,990.6,8.4,953,9743,0.90,0.00,170.02,1.292,6,0.100,0.000,2694,1981,3062
$STATE,9743,end apogee,CONTROL_FINISHED_OK
$STATE,9743,begin climb
$GC,9746,1.34,194.7,993.3,0.0,962,9924,1.73,2.85,168.73,1.259,4,0.077,0.152,3069,3399,2266
$GC,9949,1.30,194.7,976.9,11.0,971,9956,0.00,2.80,0.00,0.000,6,0.000,0.156,3069,1985,2264
$GC,10265,1.25,194.7,939.9,11.9,987,10269,0.00,2.72,0.00,0.000,4,0.000,0.152,3069,3395,2261
$GC,10304,1.21,194.7,935.0,12.8,989,10309,0.12,2.72,0.00,0.000,6,0.106,0.154,3045,1999,2261
$GC,10631,1.21,194.7,899.3,11.0,1005,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1997,2260
$GC,10940,1.21,194.7,867.1,10.4,1020,10944,0.00,2.70,0.00,0.000,4,0.000,0.152,3045,3397,2260
$GC,11011,1.21,194.7,859.1,11.8,1023,11016,0.00,2.72,0.00,0.000,6,0.000,0.154,3045,2001,2259
$GC,11328,1.23,210.7,828.0,9.4,1038,11351,0.00,2.75,14.43,1.105,4,0.000,0.150,3045,3402,2201
$GC,11367,1.27,242.2,824.1,8.9,1039,11404,0.00,2.72,29.90,1.146,6,0.000,0.153,3045,2018,2074
$GC,11730,1.32,281.9,792.0,8.6,1057,11774,0.00,2.72,37.05,1.139,4,0.000,0.151,3045,3401,1910
$GC,11785,1.37,327.1,786.8,8.4,1059,11843,0.15,2.75,43.60,1.087,6,0.059,0.153,3086,2012,1727
$GC,12153,1.37,327.1,746.9,11.3,1077,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2011,1720
$GC,12459,1.37,327.1,711.7,11.4,1092,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2010,1719
$GC,12769,1.37,327.1,676.8,11.1,1107,12773,0.00,2.67,0.00,0.000,4,0.000,0.150,3086,3399,1718
$GC,12786,1.37,327.1,674.8,11.6,1108,12790,0.00,2.70,0.00,0.000,6,0.000,0.154,3087,2018,1718
$GC,13114,1.37,327.1,636.1,12.0,1124,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2017,1718
$GC,13422,1.37,327.1,600.1,11.6,1139,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2018,1718
$GC,13739,1.37,327.1,564.1,10.9,1168,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2018,1717
$GC,14059,1.37,327.1,527.1,11.9,1198,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2018,1717
$GC,14377,1.37,327.1,487.8,12.5,1228,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2018,1717
$GC,14695,1.37,327.1,449.6,11.4,1258,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2017,1717
$GC,15013,1.37,327.1,413.2,11.4,1288,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2016,1717
$GC,15332,1.37,327.1,377.1,11.5,1318,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2016,1717
$GC,15655,1.37,327.1,339.8,11.5,1355,15661,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2016,1717
$GC,15998,1.37,327.1,298.3,12.8,1416,16006,0.00,2.85,0.00,0.000,4,0.000,0.166,3086,568,1717
$GC,16012,1.37,327.1,296.5,12.0,1418,16020,0.00,2.67,0.00,0.000,6,0.000,0.129,3087,2024,1717
$GC,16358,1.37,327.1,253.9,13.1,1479,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2026,1717
$GC,16702,1.37,327.1,210.1,11.5,1540,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2026,1717
$GC,17046,1.37,327.1,166.3,11.7,1601,17052,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2026,1717
$GC,17389,1.37,327.1,123.4,12.0,1662,17397,0.00,2.88,0.00,0.000,4,0.000,0.166,3086,566,1717
$GC,17410,1.37,327.1,120.9,12.4,1665,17418,0.00,2.62,0.00,0.000,6,0.000,0.127,3087,2003,1717
$GC,17753,1.37,327.1,79.9,12.6,1726,17760,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2005,1717
$GC,18095,1.37,327.1,45.2,11.1,1787,18102,0.00,2.60,0.00,0.000,4,0.000,0.141,3086,3398,1717
$GC,18109,1.37,327.1,43.6,11.2,1789,18116,0.00,2.62,0.00,0.000,6,0.000,0.149,3087,2023,1717
$GC,18252,1.37,327.1,28.6,10.5,1814,18259,0.00,2.85,0.00,0.000,4,0.000,0.171,3087,567,1717
$GC,18283,1.38,329.0,25.2,9.9,1819,18290,0.00,2.62,0.00,0.000,6,0.000,0.126,3086,2005,1717
$GC,18427,1.38,329.0,10.0,11.6,1844,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2007,1717
$STATE,18494,end climb,SURFACE_DEPTH_REACHED
$STATE,18495,begin surface coast
$FINISH,0.1,1.026784
$STATE,18524,end surface coast,CONTROL_FINISHED_OK
$STATE,18524,begin surface
$SM_CCo,18604,0.00,0.000,0,0,1713,330.66
$SM_GC,0.81,10.57,0.00,0.00,0.040,0.000,0.000,571,2011,1713,-10.08,-0.51,330.66
$IRIDIUM_FIX,6121.73,-2605.48,260897,050503
$TT8_MAMPS,0.041418
$HUMID,1703
$INTERNAL_PRESSURE,10.0394
$TCM_TEMP,15.40
$XPDR_PINGS,1026
$24V_AH,23.3,53.217
$10V_AH,10.6,56.584
$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,24.725,114.725,463.725,0.000,0.000,32.997,31.979,229.049,256.500,0.000,0.000,15.238,3754.707,10631.792,648.420,3344.111,639.451,0.000,2104.339,0.000,3339.273,0.000,0.466
$DEVICE_MAMPS,199.420,187.148,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.039,1377.549,677.136,1634.379,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136106,1861
$CAP_FILE_SIZE,158487,0
$CFSIZE,260165632,231223296
$ERRORS,0,26,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,180.4,1
$GPS,010608,141307,6146.374,-2600.165,24,1.4,24,-18.6