version: 66.03
glider: 141
mission: 7
dive: 294
start: 6 7 108 1 32 46
data:
$ID,141
$MISSION,7
$DIVE,294
$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,-11628.828
$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,17
$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
$GPS1,012322,6150.775,-2615.436,37,2.3,56,-18.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-43.5
$GPS2,013229,6150.787,-2615.523,9,2.2,28,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$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,231.9,11973,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.34,-194.7,0.0,0.0,0,138,0.00,0.00,-112.32,0.000,2,0.000,0.000,568,2034,3683
$GC,141,-1.34,-194.7,3.3,-6.0,15,165,11.05,2.75,-4.00,0.000,4,0.193,0.167,2484,621,3857
$GC,272,-1.34,-194.7,25.1,-12.7,37,280,0.00,2.58,0.00,0.000,6,0.000,0.128,2484,2028,3858
$GC,416,-1.30,-194.7,44.5,-14.3,62,423,0.00,2.75,0.00,0.000,4,0.000,0.166,2484,613,3858
$GC,459,-1.30,-194.7,50.9,-15.3,69,466,0.00,2.58,0.00,0.000,6,0.000,0.128,2484,2006,3858
$GC,801,-1.25,-194.7,100.0,-13.4,130,809,0.10,2.65,0.00,0.000,4,0.118,0.141,2503,3442,3858
$GC,867,-1.25,-194.7,108.4,-12.4,141,874,0.00,2.72,0.00,0.000,6,0.000,0.150,2503,2016,3858
$GC,1209,-1.25,-194.7,147.3,-10.5,202,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2012,3858
$GC,1554,-1.25,-194.7,184.2,-10.9,263,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2012,3858
$GC,1898,-1.25,-194.7,224.5,-11.3,324,1906,0.00,2.67,0.00,0.000,4,0.000,0.140,2503,3449,3858
$GC,1958,-1.25,-194.7,231.5,-11.6,334,1965,0.00,2.72,0.00,0.000,6,0.000,0.151,2503,2021,3858
$GC,2303,-1.25,-194.7,270.6,-11.4,395,2310,0.00,2.67,0.00,0.000,4,0.000,0.140,2503,3449,3858
$GC,2328,-1.25,-194.7,273.6,-11.7,399,2336,0.00,2.72,0.00,0.000,6,0.000,0.149,2503,2027,3858
$GC,2674,-1.25,-194.7,313.7,-12.1,460,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2023,3858
$GC,3016,-1.25,-194.7,355.3,-12.3,517,3020,0.00,2.67,0.00,0.000,4,0.000,0.142,2503,3450,3858
$GC,3045,-1.25,-194.7,359.0,-12.8,519,3050,0.00,2.72,0.00,0.000,6,0.000,0.150,2503,2032,3858
$GC,3372,-1.25,-194.7,398.5,-11.6,549,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2029,3858
$GC,3689,-1.25,-194.7,435.3,-11.8,579,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,4007,-1.25,-194.7,471.6,-10.9,609,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,4326,-1.25,-194.7,505.9,-10.8,639,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,4644,-1.25,-194.7,538.8,-10.3,669,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3857
$GC,4963,-1.25,-194.7,572.4,-10.7,699,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3858
$GC,5292,-1.25,-194.7,606.7,-10.3,727,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2028,3857
$GC,5599,-1.25,-194.7,638.1,-9.7,742,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2029,3857
$GC,5909,-1.25,-194.7,666.1,-8.6,757,5914,0.00,2.78,0.00,0.000,4,0.000,0.164,2503,3447,3857
$GC,5943,-1.25,-194.7,669.2,-9.3,758,5951,0.00,2.78,0.00,0.000,6,0.000,0.160,2503,2031,3857
$GC,6259,-1.25,-194.7,698.2,-9.1,774,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2030,3857
$GC,6569,-1.25,-194.7,723.1,-8.2,789,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2029,3856
$GC,6877,-1.25,-194.7,750.9,-9.2,804,6882,0.00,2.72,0.00,0.000,4,0.000,0.157,2503,3442,3856
$GC,6910,-1.25,-194.7,754.3,-10.1,805,6918,0.00,2.75,0.00,0.000,6,0.000,0.160,2503,2038,3855
$GC,7227,-1.25,-194.7,787.5,-11.2,821,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2037,3855
$GC,7535,-1.25,-194.7,821.3,-10.6,836,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2036,3855
$GC,7845,-1.25,-194.7,855.7,-11.8,851,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2036,3855
$STATE,8090,end dive,NO_VERTICAL_VELOCITY
$STATE,8090,begin apogee
$GC,8097,-0.37,0.0,860.4,0.0,863,8272,0.85,0.00,166.88,1.199,6,0.066,0.000,2697,1983,3062
$STATE,8273,end apogee,CONTROL_FINISHED_OK
$STATE,8273,begin climb
$GC,8275,1.34,194.7,860.2,0.0,872,8454,1.67,3.03,165.45,1.168,4,0.076,0.192,3065,571,2267
$GC,8614,1.33,229.5,835.2,8.8,887,8651,0.00,2.67,31.27,1.108,6,0.000,0.138,3065,1986,2126
$GC,8962,1.33,229.5,804.4,10.9,903,8966,0.00,2.72,0.00,0.000,4,0.000,0.160,3065,3395,2121
$GC,9050,1.33,229.5,793.4,12.5,907,9055,0.00,2.75,0.00,0.000,6,0.000,0.155,3065,1983,2120
$GC,9373,1.37,265.3,761.0,8.8,923,9418,0.00,2.83,34.30,1.048,4,0.000,0.147,3065,3395,1979
$GC,9452,1.43,311.9,754.8,8.4,926,9501,0.10,2.72,43.10,1.097,6,0.071,0.156,3096,2002,1790
$GC,9814,1.45,326.3,719.8,9.5,943,9829,0.00,0.00,13.20,1.006,6,0.000,0.000,3096,2000,1731
$GC,10140,1.46,338.5,688.3,9.6,958,10166,0.00,2.95,14.20,0.874,4,0.000,0.173,3096,574,1681
$GC,10189,1.46,338.5,683.1,10.2,960,10194,0.00,2.72,0.00,0.000,6,0.000,0.138,3096,2010,1680
$GC,10512,1.46,338.5,648.6,11.9,976,10516,0.00,2.67,0.00,0.000,4,0.000,0.155,3096,3397,1679
$GC,10552,1.46,338.5,643.2,13.3,978,10556,0.00,2.70,0.00,0.000,6,0.000,0.156,3095,2013,1678
$GC,10878,1.46,338.5,602.4,12.8,994,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2010,1678
$GC,11197,1.46,338.5,570.3,10.5,1023,11202,0.00,2.85,0.00,0.000,4,0.000,0.172,3095,573,1678
$GC,11238,1.42,338.5,565.8,12.2,1026,11242,0.00,2.72,0.00,0.000,6,0.000,0.134,3095,2032,1678
$GC,11564,1.42,338.5,525.6,12.0,1056,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2033,1678
$GC,11881,1.42,338.5,485.7,13.4,1086,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2034,1677
$GC,12199,1.42,338.5,449.2,12.0,1116,12204,0.00,2.90,0.00,0.000,4,0.000,0.165,3095,564,1677
$GC,12251,1.42,338.5,443.4,11.0,1120,12255,0.00,2.70,0.00,0.000,6,0.000,0.130,3095,2026,1677
$GC,12576,1.42,338.5,408.5,10.8,1150,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2028,1677
$GC,12895,1.42,338.5,374.0,10.7,1180,12899,0.00,2.88,0.00,0.000,4,0.000,0.165,3096,569,1677
$GC,12936,1.42,338.5,369.1,12.3,1183,12940,0.00,2.65,0.00,0.000,6,0.000,0.130,3096,2005,1677
$GC,13269,1.42,338.5,333.4,11.5,1226,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2008,1677
$GC,13614,1.42,338.5,292.1,12.8,1287,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2008,1677
$GC,13957,1.42,338.5,249.7,11.6,1348,13965,0.00,2.83,0.00,0.000,4,0.000,0.166,3096,569,1677
$GC,13994,1.42,338.5,245.5,12.0,1354,14002,0.00,2.65,0.00,0.000,6,0.000,0.132,3096,2004,1677
$GC,14340,1.42,338.5,207.3,11.7,1415,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2007,1677
$GC,14683,1.42,338.5,167.2,11.3,1476,14690,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2007,1677
$GC,15028,1.42,338.5,126.1,10.9,1537,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2007,1677
$GC,15373,1.42,338.5,88.0,13.3,1598,15381,0.00,2.80,0.00,0.000,4,0.000,0.166,3095,571,1677
$GC,15416,1.42,338.5,82.5,13.4,1605,15423,0.00,3.12,0.00,0.000,6,0.000,0.218,3095,1979,1677
$GC,15761,1.42,338.5,42.7,10.3,1666,15768,0.00,2.65,0.00,0.000,4,0.000,0.146,3096,3404,1677
$GC,15798,1.42,338.5,38.4,12.5,1672,15805,0.00,2.72,0.00,0.000,6,0.000,0.150,3096,1979,1677
$GC,15941,1.42,338.5,19.8,12.3,1697,15948,0.00,2.72,0.00,0.000,4,0.000,0.162,3095,569,1677
$GC,16016,1.42,338.5,10.9,11.0,1710,16024,0.00,2.58,0.00,0.000,6,0.000,0.130,3096,1981,1677
$STATE,16090,end climb,SURFACE_DEPTH_REACHED
$STATE,16090,begin surface coast
$FINISH,0.0,1.013328
$STATE,16117,end surface coast,CONTROL_FINISHED_OK
$STATE,16117,begin surface
$SM_CCo,16198,0.00,0.000,0,0,1673,340.23
$SM_GC,0.69,10.57,0.00,0.00,0.038,0.000,0.000,574,2035,1673,-10.06,0.14,340.23
$IRIDIUM_FIX,6126.23,-2607.40,310897,202021
$TT8_MAMPS,0.041418
$HUMID,1699
$INTERNAL_PRESSURE,10.0297
$TCM_TEMP,16.70
$XPDR_PINGS,1038
$24V_AH,23.4,59.214
$10V_AH,10.6,61.052
$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,24.350,110.025,468.400,0.000,0.000,27.429,32.094,318.389,259.500,0.000,0.000,31.245,3534.758,8651.974,650.239,3147.833,738.011,0.000,2031.772,0.000,3134.897,0.000,0.465
$DEVICE_MAMPS,193.284,217.828,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1202.794,1295.543,655.690,1610.593,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126667,1728
$CAP_FILE_SIZE,150035,0
$CFSIZE,260165632,228720640
$ERRORS,0,45,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078,181.5,1
$GPS,070608,060402,6148.158,-2618.787,41,1.4,41,-18.8