version: 66.03
glider: 141
mission: 7
dive: 286
start: 6 5 108 7 51 34
data:
$ID,141
$MISSION,7
$DIVE,286
$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,-11475.856
$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,18
$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
$GPS1,074307,6145.081,-2604.531,30,1.1,30,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.9
$GPS2,075115,6145.083,-2604.679,11,1.2,11,-18.6
$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,100.9,3962,-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,-194.7,0.0,0.0,0,158,0.00,0.00,-132.60,0.000,2,0.000,0.000,569,2040,3846
$GC,161,-1.34,-194.7,4.0,-8.2,18,177,11.05,0.00,-0.25,0.000,6,0.196,0.000,2481,2040,3858
$GC,313,-1.28,-194.7,29.1,-11.8,44,321,0.10,0.00,0.00,0.000,6,0.130,0.000,2498,2041,3859
$GC,456,-1.28,-194.7,45.0,-11.7,69,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2041,3860
$GC,598,-1.28,-194.7,62.3,-12.6,94,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2041,3859
$GC,945,-1.28,-194.7,107.2,-12.9,155,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2041,3860
$GC,1288,-1.28,-194.7,150.5,-12.3,216,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2041,3860
$GC,1633,-1.28,-194.7,190.1,-11.0,277,1640,0.00,2.62,0.00,0.000,4,0.000,0.140,2498,3442,3860
$GC,1686,-1.24,-194.7,196.3,-11.6,286,1694,0.00,2.70,0.00,0.000,6,0.000,0.150,2499,2025,3860
$GC,2033,-1.24,-194.7,234.3,-11.2,347,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2021,3860
$GC,2377,-1.24,-194.7,271.5,-10.5,408,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2021,3860
$GC,2722,-1.24,-194.7,309.0,-11.0,469,2729,0.00,2.65,0.00,0.000,4,0.000,0.139,2498,3439,3860
$GC,2758,-1.24,-194.7,313.1,-11.8,475,2766,0.00,2.72,0.00,0.000,6,0.000,0.148,2498,2022,3859
$GC,3108,-1.24,-194.7,351.3,-10.4,536,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2019,3859
$GC,3426,-1.24,-194.7,386.1,-10.5,566,3431,0.00,2.65,0.00,0.000,4,0.000,0.143,2498,3434,3859
$GC,3469,-1.24,-194.7,390.6,-11.2,569,3473,0.00,2.70,0.00,0.000,6,0.000,0.152,2499,2034,3859
$GC,3796,-1.24,-194.7,424.4,-10.2,599,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2031,3859
$GC,4113,-1.24,-194.7,457.0,-10.6,629,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2030,3858
$GC,4432,-1.24,-194.7,488.8,-9.8,659,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2029,3858
$GC,4750,-1.24,-194.7,520.8,-10.1,689,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2029,3857
$GC,5068,-1.24,-194.7,554.1,-10.8,719,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2029,3858
$GC,5388,-1.24,-194.7,590.9,-11.5,749,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2029,3857
$GC,5698,-1.24,-194.7,626.2,-11.7,768,5703,0.00,2.75,0.00,0.000,4,0.000,0.161,2498,3441,3857
$GC,5753,-1.24,-194.7,633.1,-12.7,770,5761,0.00,2.72,0.00,0.000,6,0.000,0.160,2498,2045,3857
$GC,6069,-1.24,-194.7,668.7,-10.6,786,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2043,3857
$GC,6378,-1.24,-194.7,702.6,-11.1,801,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2041,3857
$GC,6687,-1.24,-194.7,735.3,-10.7,816,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2040,3857
$GC,6997,-1.24,-194.7,768.3,-10.7,831,7002,0.00,2.97,0.00,0.000,4,0.000,0.196,2498,616,3857
$GC,7046,-1.24,-194.7,773.7,-10.6,833,7051,0.00,2.65,0.00,0.000,6,0.000,0.138,2498,2032,3857
$GC,7368,-1.24,-194.7,807.8,-11.0,849,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2035,3856
$GC,7678,-1.24,-194.7,838.0,-9.4,864,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2034,3856
$GC,7987,-1.24,-194.7,867.8,-9.1,879,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2034,3856
$GC,8295,-1.24,-194.7,900.0,-10.8,894,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2034,3856
$GC,8607,-1.24,-194.7,934.7,-11.5,909,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2035,3855
$GC,8914,-1.24,-194.7,970.7,-11.9,924,8918,0.00,2.85,0.00,0.000,4,0.000,0.175,2498,609,3854
$GC,8940,-1.24,-194.7,974.1,-12.3,925,8944,0.00,2.65,0.00,0.000,6,0.000,0.139,2498,2026,3854
$STATE,9089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9095,-0.37,0.0,991.1,11.1,932,9272,0.93,0.00,169.80,1.293,6,0.099,0.000,2694,1979,3061
$STATE,9273,end apogee,CONTROL_FINISHED_OK
$STATE,9273,begin climb
$GC,9276,1.34,194.7,997.5,0.0,941,9449,1.70,0.00,168.48,1.259,6,0.074,0.000,3069,1979,2268
$GC,9751,1.36,212.2,958.4,9.4,964,9774,0.00,2.85,16.30,1.144,4,0.000,0.160,3069,3398,2196
$GC,9802,1.37,216.9,953.3,9.8,966,9813,0.00,2.78,5.72,0.902,6,0.000,0.153,3069,1989,2177
$GC,10123,1.38,229.0,922.1,9.6,981,10137,0.00,0.00,12.38,1.105,6,0.000,0.000,3069,1986,2128
$GC,10433,1.39,235.2,891.9,9.8,996,10447,0.00,2.80,7.07,0.981,4,0.000,0.149,3069,3398,2102
$GC,10478,1.40,245.0,887.3,9.7,998,10494,0.00,2.75,10.68,1.069,6,0.000,0.153,3069,1995,2063
$GC,10804,1.42,254.9,856.2,9.7,1013,10820,0.00,2.75,10.60,1.065,4,0.000,0.148,3069,3399,2021
$GC,10848,1.42,259.6,851.7,9.8,1014,10859,0.00,2.75,5.68,0.891,6,0.000,0.154,3069,2002,2003
$GC,11169,1.44,270.4,820.4,9.6,1029,11183,0.10,0.00,11.30,1.062,6,0.071,0.000,3099,2000,1960
$GC,11479,1.38,270.4,783.5,12.4,1044,11484,0.00,2.67,0.00,0.000,4,0.000,0.149,3099,3399,1957
$GC,11507,1.34,270.4,779.7,12.8,1045,11512,0.15,2.70,0.00,0.000,6,0.106,0.155,3069,2019,1956
$GC,11822,1.34,270.4,745.1,11.1,1060,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2017,1956
$GC,12133,1.37,299.0,714.0,9.0,1075,12177,0.00,0.00,31.45,0.988,6,0.000,0.000,3069,2016,1843
$GC,12481,1.37,299.0,681.4,10.4,1092,12485,0.00,2.65,0.00,0.000,4,0.000,0.149,3069,3399,1839
$GC,12513,1.37,299.0,677.7,11.0,1093,12521,0.00,2.70,0.00,0.000,6,0.000,0.155,3069,2015,1838
$GC,12830,1.37,299.0,642.1,11.6,1109,12835,0.00,2.88,0.00,0.000,4,0.000,0.175,3069,569,1838
$GC,12858,1.37,299.0,638.6,11.7,1110,12863,0.00,2.70,0.00,0.000,6,0.000,0.132,3069,2022,1838
$GC,13174,1.37,299.0,603.8,10.5,1125,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2024,1838
$GC,13492,1.40,319.2,574.3,9.3,1153,13513,0.00,0.00,18.70,0.989,6,0.000,0.000,3069,2026,1760
$GC,13832,1.43,344.2,541.8,9.1,1185,13861,0.00,0.00,24.23,0.979,6,0.000,0.000,3070,2026,1658
$GC,14178,1.43,344.2,506.8,10.7,1218,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2026,1654
$GC,14497,1.43,344.2,473.2,10.1,1248,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2026,1654
$GC,14816,1.43,344.2,441.2,10.4,1278,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2026,1654
$GC,15136,1.45,358.8,408.5,9.5,1308,15161,0.12,2.95,13.93,0.865,4,0.061,0.160,3106,573,1599
$GC,15177,1.45,358.8,403.3,11.7,1311,15185,0.00,2.70,0.00,0.000,6,0.000,0.127,3105,2025,1599
$GC,15504,1.45,358.8,364.7,12.0,1342,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2028,1597
$GC,15832,1.45,358.8,324.0,12.6,1390,15839,0.00,2.88,0.00,0.000,4,0.000,0.166,3105,569,1597
$GC,15863,1.45,358.8,319.9,12.4,1395,15870,0.00,2.67,0.00,0.000,6,0.000,0.129,3105,2016,1597
$GC,16208,1.45,358.8,277.1,12.4,1456,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2019,1597
$GC,16553,1.45,358.8,235.0,12.9,1517,16559,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2019,1597
$GC,16899,1.56,368.8,200.4,9.7,1578,16914,0.00,2.67,10.20,0.726,4,0.000,0.143,3106,3395,1557
$GC,16966,1.56,368.8,193.2,10.0,1589,16973,0.00,2.72,0.00,0.000,6,0.000,0.152,3105,1990,1555
$GC,17311,1.69,388.4,160.5,9.3,1650,17339,0.15,2.72,18.48,0.739,4,0.058,0.139,3152,3395,1477
$GC,17370,1.64,388.4,153.9,12.0,1659,17377,0.00,2.92,0.00,0.000,6,0.000,0.148,3152,1891,1476
$GC,17716,1.57,388.4,107.6,12.9,1720,17723,0.15,0.00,0.00,0.000,6,0.104,0.000,3118,1889,1475
$GC,18063,1.57,388.4,68.0,10.8,1781,18069,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1889,1475
$GC,18405,1.57,388.4,29.9,11.3,1842,18413,0.00,2.80,0.00,0.000,4,0.000,0.138,3118,3396,1473
$GC,18442,1.57,388.4,25.8,13.5,1848,18450,0.00,2.88,0.00,0.000,6,0.000,0.156,3118,1903,1473
$GC,18585,1.57,388.4,8.8,11.7,1873,18592,0.00,2.60,0.00,0.000,4,0.000,0.167,3118,571,1473
$GC,18616,1.57,388.4,5.1,11.2,1878,18624,0.00,2.45,0.00,0.000,6,0.000,0.137,3118,1905,1473
$STATE,18634,end climb,SURFACE_DEPTH_REACHED
$STATE,18634,begin surface coast
$FINISH,0.2,1.024544
$STATE,18658,end surface coast,CONTROL_FINISHED_OK
$STATE,18658,begin surface
$SM_CCo,18739,0.00,0.000,0,0,1471,390.27
$SM_GC,0.65,10.73,0.00,0.00,0.040,0.000,0.000,569,2035,1471,-10.07,0.14,390.27
$IRIDIUM_FIX,6121.73,-2611.55,300897,020220
$TT8_MAMPS,0.042185
$HUMID,1688
$INTERNAL_PRESSURE,10.0199
$TCM_TEMP,15.10
$XPDR_PINGS,1134
$24V_AH,23.3,57.407
$10V_AH,10.6,59.716
$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,25.175,98.975,534.975,0.000,0.000,25.883,32.093,274.157,283.500,0.000,0.000,12.649,3804.125,10644.154,766.483,3279.305,708.765,0.000,2205.580,0.000,3288.942,0.000,0.466
$DEVICE_MAMPS,195.585,196.352,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1307.646,1433.386,679.023,1668.990,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139112,1885
$CAP_FILE_SIZE,161829,0
$CFSIZE,260165632,229457920
$ERRORS,0,15,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056,274.2,1
$GPS,050608,130513,6145.417,-2559.833,38,1.5,44,-18.6