version: 66.03
glider: 141
mission: 7
dive: 287
start: 6 5 108 13 14 54
data:
$ID,141
$MISSION,7
$DIVE,287
$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,-11509.446
$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
$GPS1,130513,6145.417,-2559.833,38,1.5,44,-18.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-53.3
$GPS2,131435,6145.427,-2559.855,11,2.1,30,-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,17.7,19824,-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,21,-1.34,-194.7,0.0,0.0,0,141,0.00,0.00,-117.65,0.000,2,0.000,0.000,569,2037,3835
$GC,145,-1.34,-194.7,4.1,-8.0,16,162,10.95,2.70,-0.45,0.000,4,0.193,0.151,2481,3439,3858
$GC,319,-1.27,-194.7,34.7,-13.3,46,327,0.10,2.67,0.00,0.000,6,0.123,0.149,2499,2024,3859
$GC,462,-1.27,-194.7,51.4,-11.1,71,470,0.00,2.75,0.00,0.000,4,0.000,0.160,2499,613,3859
$GC,527,-1.27,-194.7,58.0,-9.8,82,534,0.00,2.55,0.00,0.000,6,0.000,0.123,2499,2013,3859
$GC,872,-1.27,-194.7,87.1,-9.2,143,879,0.00,2.67,0.00,0.000,4,0.000,0.145,2499,3450,3860
$GC,1003,-1.27,-194.7,100.5,-10.3,166,1011,0.00,2.72,0.00,0.000,6,0.000,0.148,2499,2019,3859
$GC,1350,-1.27,-194.7,139.3,-11.2,227,1357,0.00,2.72,0.00,0.000,4,0.000,0.160,2499,617,3860
$GC,1404,-1.27,-194.7,145.6,-11.1,236,1411,0.00,2.60,0.00,0.000,6,0.000,0.127,2499,2031,3860
$GC,1750,-1.27,-194.7,185.9,-11.7,297,1757,0.00,2.62,0.00,0.000,4,0.000,0.140,2499,3441,3860
$GC,1802,-1.27,-194.7,192.4,-12.6,306,1809,0.00,2.70,0.00,0.000,6,0.000,0.149,2499,2025,3860
$GC,2148,-1.27,-194.7,233.4,-11.8,367,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2021,3859
$GC,2492,-1.27,-194.7,275.0,-11.7,428,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2021,3860
$GC,2836,-1.27,-194.7,314.8,-11.5,489,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2021,3860
$GC,3181,-1.27,-194.7,351.1,-9.9,549,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2020,3860
$GC,3499,-1.27,-194.7,382.1,-9.8,579,3503,0.00,2.67,0.00,0.000,4,0.000,0.143,2499,3449,3860
$GC,3554,-1.27,-194.7,387.9,-10.2,583,3561,0.00,2.72,0.00,0.000,6,0.000,0.157,2499,2031,3859
$GC,3881,-1.27,-194.7,419.6,-10.0,614,3885,0.00,2.78,0.00,0.000,4,0.000,0.164,2499,611,3859
$GC,3958,-1.27,-194.7,428.2,-10.4,620,3966,0.00,2.60,0.00,0.000,6,0.000,0.129,2499,2030,3859
$GC,4287,-1.27,-194.7,462.3,-10.6,651,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2033,3859
$GC,4612,-1.27,-194.7,497.8,-11.2,682,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2033,3859
$GC,4931,-1.27,-194.7,535.2,-12.0,712,4936,0.00,2.70,0.00,0.000,4,0.000,0.155,2499,3444,3858
$GC,4994,-1.27,-194.7,542.9,-12.1,717,4999,0.00,2.78,0.00,0.000,6,0.000,0.156,2499,2016,3858
$GC,5321,-1.27,-194.7,579.3,-10.7,747,5326,0.00,2.80,0.00,0.000,4,0.000,0.176,2499,612,3858
$GC,5373,-1.27,-194.7,585.0,-11.0,751,5377,0.00,2.60,0.00,0.000,6,0.000,0.133,2499,2015,3857
$GC,5703,-1.27,-194.7,620.4,-10.5,773,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2017,3858
$GC,6014,-1.27,-194.7,652.7,-10.3,788,6018,0.00,2.80,0.00,0.000,4,0.000,0.168,2498,3439,3858
$GC,6063,-1.27,-194.7,658.4,-11.3,790,6067,0.00,2.83,0.00,0.000,6,0.000,0.161,2499,2000,3857
$GC,6379,-1.27,-194.7,690.1,-10.1,805,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1997,3858
$GC,6689,-1.27,-194.7,719.8,-9.4,820,6693,0.00,2.80,0.00,0.000,4,0.000,0.160,2499,3439,3858
$GC,6744,-1.27,-194.7,725.3,-9.9,822,6752,0.00,2.78,0.00,0.000,6,0.000,0.166,2498,2019,3858
$GC,7060,-1.27,-194.7,753.4,-8.9,838,7065,0.00,2.92,0.00,0.000,4,0.000,0.196,2499,615,3857
$GC,7161,-1.27,-194.7,762.8,-9.2,842,7168,0.00,2.60,0.00,0.000,6,0.000,0.138,2498,2013,3857
$GC,7477,-1.27,-194.7,792.2,-9.9,858,7481,0.00,2.83,0.00,0.000,4,0.000,0.173,2498,3444,3857
$GC,7561,-1.27,-194.7,801.3,-11.4,862,7566,0.00,2.83,0.00,0.000,6,0.000,0.160,2499,2003,3856
$GC,7888,-1.27,-194.7,834.3,-9.5,878,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2000,3856
$GC,8198,-1.27,-194.7,863.5,-8.8,893,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2000,3856
$GC,8509,-1.27,-194.7,891.7,-9.2,908,8513,0.00,2.80,0.00,0.000,4,0.000,0.158,2498,3447,3856
$GC,8575,-1.27,-194.7,898.4,-9.6,911,8579,0.00,2.80,0.00,0.000,6,0.000,0.161,2499,2019,3855
$GC,8896,-1.27,-194.7,929.0,-10.3,927,8900,0.00,2.88,0.00,0.000,4,0.000,0.187,2499,610,3855
$GC,8951,-1.27,-194.7,935.0,-10.9,929,8958,0.00,2.62,0.00,0.000,6,0.000,0.140,2498,2012,3855
$GC,9266,-1.27,-194.7,969.0,-11.5,945,9271,0.00,2.83,0.00,0.000,4,0.000,0.173,2498,3442,3855
$GC,9328,-1.27,-194.7,976.5,-12.5,948,9333,0.00,2.80,0.00,0.000,6,0.000,0.161,2498,2003,3854
$STATE,9446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9446,begin apogee
$GC,9452,-0.37,0.0,990.0,11.2,954,9629,0.93,0.00,169.75,1.292,6,0.099,0.000,2694,2001,3062
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9632,1.34,194.7,996.7,0.0,963,9813,1.73,2.78,169.35,1.259,4,0.075,0.150,3069,3401,2266
$GC,9824,1.35,234.4,985.0,8.6,972,9866,0.00,2.80,35.85,1.203,6,0.000,0.155,3070,1981,2107
$GC,10190,1.35,234.4,946.5,11.1,990,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1981,2101
$GC,10498,1.35,234.4,912.4,11.3,1005,10502,0.00,2.72,0.00,0.000,4,0.000,0.150,3070,3399,2100
$GC,10525,1.35,234.4,909.2,11.3,1006,10529,0.00,2.75,0.00,0.000,6,0.000,0.155,3070,1988,2099
$GC,10841,1.35,234.4,873.4,11.6,1021,10845,0.00,2.72,0.00,0.000,4,0.000,0.150,3070,3404,2100
$GC,10873,1.35,234.4,869.1,12.3,1022,10881,0.00,2.75,0.00,0.000,6,0.000,0.155,3070,1993,2099
$GC,11189,1.35,234.4,831.6,11.7,1038,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1990,2099
$GC,11499,1.35,234.4,796.5,12.0,1053,11503,0.00,2.70,0.00,0.000,4,0.000,0.150,3070,3397,2098
$GC,11531,1.35,234.4,792.6,10.8,1054,11539,0.00,2.70,0.00,0.000,6,0.000,0.160,3070,2011,2098
$GC,11847,1.35,234.4,758.9,10.5,1070,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2009,2098
$GC,12158,1.36,242.1,730.2,9.7,1085,12166,0.00,0.00,7.12,0.936,6,0.000,0.000,3070,2009,2075
$GC,12466,1.39,270.2,701.5,9.0,1100,12498,0.00,2.70,27.02,1.085,4,0.000,0.149,3069,3395,1959
$GC,12529,1.40,275.8,695.6,9.8,1103,12542,0.00,2.72,6.50,0.872,6,0.000,0.153,3070,2011,1937
$GC,12861,1.41,283.8,664.1,9.7,1119,12871,0.00,0.00,8.52,0.934,6,0.000,0.000,3069,2008,1905
$GC,13168,1.41,286.5,633.0,9.9,1134,13174,0.00,0.00,4.20,0.700,6,0.000,0.000,3070,2008,1894
$GC,13478,1.41,286.5,600.8,11.2,1149,13483,0.00,2.65,0.00,0.000,4,0.000,0.150,3069,3395,1892
$GC,13508,1.41,286.5,597.4,11.9,1151,13512,0.00,2.70,0.00,0.000,6,0.000,0.153,3070,2013,1892
$GC,13836,1.47,337.1,566.2,8.2,1181,13896,0.12,2.97,48.72,0.985,4,0.063,0.169,3106,574,1687
$GC,13902,1.42,337.1,559.2,10.3,1186,13909,0.00,2.67,0.00,0.000,6,0.000,0.133,3106,2011,1685
$GC,14230,1.38,337.1,523.0,10.9,1217,14237,0.12,0.00,0.00,0.000,6,0.106,0.000,3082,2014,1681
$GC,14556,1.38,337.1,485.3,12.2,1248,14561,0.00,2.88,0.00,0.000,4,0.000,0.166,3081,566,1681
$GC,14577,1.38,337.1,482.3,12.3,1249,14585,0.00,2.67,0.00,0.000,6,0.000,0.133,3081,2013,1680
$GC,14905,1.38,337.1,442.3,12.5,1280,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2015,1680
$GC,15221,1.38,337.1,402.1,12.6,1310,15226,0.00,2.85,0.00,0.000,4,0.000,0.166,3081,573,1680
$GC,15255,1.38,337.1,397.6,13.0,1312,15262,0.00,2.62,0.00,0.000,6,0.000,0.132,3081,2010,1680
$GC,15582,1.38,337.1,357.0,11.9,1343,15583,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2013,1680
$GC,15912,1.38,337.1,318.8,11.1,1397,15919,0.00,2.83,0.00,0.000,4,0.000,0.165,3081,573,1680
$GC,15928,1.38,337.1,317.2,11.5,1399,15935,0.00,2.97,0.00,0.000,6,0.000,0.190,3081,1997,1679
$GC,16273,1.38,337.1,278.4,10.2,1460,16279,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1996,1680
$GC,16617,1.38,337.1,241.2,12.3,1521,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1997,1680
$GC,16962,1.38,337.1,203.1,10.4,1582,16970,0.00,2.80,0.00,0.000,4,0.000,0.166,3082,572,1680
$GC,16983,1.38,337.1,200.7,11.9,1585,16990,0.00,2.62,0.00,0.000,6,0.000,0.127,3081,2002,1680
$GC,17328,1.38,337.1,161.7,10.9,1646,17335,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2004,1680
$GC,17673,1.38,337.1,125.4,10.3,1707,17680,0.00,2.80,0.00,0.000,4,0.000,0.162,3082,572,1680
$GC,17687,1.38,338.1,123.7,10.0,1709,17694,0.00,2.60,0.00,0.000,6,0.000,0.124,3081,1991,1680
$GC,18031,1.40,353.5,90.3,9.5,1770,18052,0.00,2.88,15.05,0.691,4,0.000,0.156,3081,568,1619
$GC,18059,1.44,386.3,87.8,8.9,1774,18099,0.00,2.60,29.95,0.700,6,0.000,0.123,3081,1986,1485
$GC,18435,1.44,386.3,45.8,11.9,1840,18441,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1987,1480
$GC,18577,1.45,394.3,31.5,9.7,1865,18591,0.00,2.78,7.50,0.594,4,0.000,0.159,3081,572,1453
$GC,18599,1.47,409.2,29.3,9.5,1868,18621,0.00,2.60,14.43,0.636,6,0.000,0.122,3081,1998,1392
$GC,18759,1.52,417.6,14.9,9.7,1895,18776,0.12,2.83,8.57,0.591,4,0.061,0.157,3121,564,1358
$GC,18795,1.52,417.6,10.4,12.8,1900,18802,0.00,2.55,0.00,0.000,6,0.000,0.122,3121,1958,1357
$STATE,18852,end climb,SURFACE_DEPTH_REACHED
$STATE,18852,begin surface coast
$FINISH,0.0,1.026859
$STATE,18880,end surface coast,CONTROL_FINISHED_OK
$STATE,18880,begin surface
$SM_CCo,18961,0.00,0.000,0,0,1353,419.46
$SM_GC,0.61,10.77,0.00,0.00,0.040,0.000,0.000,571,2039,1353,-10.08,0.25,419.46
$IRIDIUM_FIX,6121.73,-2605.48,300897,070723
$TT8_MAMPS,0.042185
$HUMID,1689
$INTERNAL_PRESSURE,10.0101
$TCM_TEMP,16.80
$XPDR_PINGS,1143
$24V_AH,23.3,57.646
$10V_AH,10.6,59.886
$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,24.850,169.850,552.550,0.000,0.000,22.873,40.373,330.110,285.750,0.000,0.000,32.963,3855.963,10548.395,816.550,3461.632,822.547,0.000,2360.613,0.000,3462.394,0.000,0.465
$DEVICE_MAMPS,192.517,195.585,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1337.086,1439.458,729.566,1695.226,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142285,1915
$CAP_FILE_SIZE,176320,0
$CFSIZE,260165632,229339136
$ERRORS,0,12,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,243.1,1
$GPS,050608,183214,6147.806,-2602.195,35,1.9,41,-18.6