version: 66.03
glider: 141
mission: 7
dive: 341
start: 6 16 108 15 25 28
data:
$ID,141
$MISSION,7
$DIVE,341
$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,-12443.115
$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,30
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,6
$ROLL_AD_RATE,325
$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
$GPS1,151638,6148.395,-2617.875,31,1.7,31,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-46.5
$GPS2,152509,6148.366,-2618.044,14,1.6,14,-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,236.7,7035,-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,-194.7,0.0,0.0,0,153,0.00,0.00,-128.27,0.000,2,0.000,0.000,573,2032,3745
$GC,156,-1.34,-194.7,3.2,-4.9,17,180,11.00,2.80,-2.45,0.000,4,0.193,0.290,2482,3087,3859
$GC,422,-1.28,-194.7,49.8,-15.4,63,430,0.00,2.35,0.00,0.000,6,0.000,0.217,2482,2016,3860
$GC,566,-1.23,-194.7,69.1,-12.6,88,574,0.15,0.00,0.00,0.000,6,0.109,0.000,2515,2012,3860
$GC,912,-1.23,-194.7,109.2,-10.8,149,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2012,3860
$GC,1255,-1.23,-194.7,146.7,-11.5,210,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2012,3860
$GC,1601,-1.23,-194.7,182.7,-9.4,271,1608,0.00,2.78,0.00,0.000,4,0.000,0.281,2515,3087,3860
$GC,1660,-1.23,-194.7,188.7,-9.9,281,1667,0.00,2.33,0.00,0.000,6,0.000,0.206,2515,2003,3860
$GC,2007,-1.23,-194.7,221.7,-9.3,342,2014,0.00,2.03,0.00,0.000,4,0.000,0.141,2515,3103,3860
$GC,2038,-1.23,-194.7,224.6,-9.8,347,2045,0.00,2.10,0.00,0.000,6,0.000,0.157,2515,2029,3860
$GC,2384,-1.23,-194.7,255.9,-8.8,408,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2027,3860
$GC,2730,-1.23,-194.7,287.4,-9.1,469,2737,0.00,2.72,0.00,0.000,4,0.000,0.280,2515,3087,3860
$GC,2778,-1.23,-194.7,291.8,-9.1,477,2786,0.00,2.40,0.00,0.000,6,0.000,0.224,2515,2012,3860
$GC,3125,-1.23,-194.7,323.6,-9.4,538,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2010,3860
$GC,3472,-1.23,-194.7,356.6,-9.6,594,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2011,3860
$GC,3791,-1.23,-194.7,386.8,-9.6,624,3795,0.00,2.00,0.00,0.000,4,0.000,0.138,2515,3095,3860
$GC,3830,-1.23,-194.7,390.8,-9.7,627,3837,0.00,2.25,0.00,0.000,6,0.000,0.197,2515,2025,3860
$GC,4156,-1.23,-194.7,422.8,-10.2,658,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2024,3859
$GC,4473,-1.23,-194.7,456.8,-10.6,688,4477,0.00,2.00,0.00,0.000,4,0.000,0.140,2515,3098,3859
$GC,4510,-1.23,-194.7,460.6,-10.9,691,4514,0.00,2.22,0.00,0.000,6,0.000,0.191,2515,2033,3859
$GC,4839,-1.23,-194.7,492.7,-9.2,721,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2031,3858
$GC,5164,-1.23,-194.7,524.9,-10.3,752,5167,0.00,2.00,0.00,0.000,4,0.000,0.144,2515,3098,3859
$GC,5199,-1.23,-194.7,528.6,-10.4,755,5203,0.00,2.35,0.00,0.000,6,0.000,0.222,2515,2043,3859
$GC,5527,-1.23,-194.7,560.2,-9.0,785,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2041,3858
$GC,5854,-1.23,-194.7,588.4,-8.2,816,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2041,3858
$GC,6176,-1.23,-194.7,617.2,-8.7,838,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2041,3858
$GC,6486,-1.23,-194.7,642.3,-7.8,853,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2041,3857
$GC,6795,-1.23,-194.7,672.0,-9.5,868,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2039,3857
$GC,7104,-1.23,-194.7,705.8,-11.1,883,7108,0.00,2.03,0.00,0.000,4,0.000,0.157,2515,3095,3857
$GC,7137,-1.23,-194.7,709.1,-9.2,884,7141,0.00,2.17,0.00,0.000,6,0.000,0.191,2515,2047,3856
$GC,7455,-1.23,-194.7,733.7,-7.7,899,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2046,3857
$GC,7763,-1.23,-194.7,761.2,-9.7,914,7767,0.00,2.20,0.00,0.000,4,0.000,0.187,2514,968,3856
$GC,7803,-1.23,-194.7,765.3,-10.4,916,7808,0.00,2.83,0.00,0.000,6,0.000,0.287,2515,2035,3856
$GC,8130,-1.23,-194.7,798.6,-9.9,932,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2037,3855
$STATE,8333,end dive,NO_VERTICAL_VELOCITY
$STATE,8333,begin apogee
$GC,8339,-0.37,0.0,799.3,0.0,942,8516,0.80,0.00,167.85,1.148,6,0.065,0.000,2698,1980,3062
$STATE,8516,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8519,1.34,194.7,799.1,0.0,951,8699,1.65,2.35,166.15,1.121,4,0.067,0.211,3069,918,2266
$GC,8898,1.31,210.8,770.6,9.4,967,8919,0.00,2.00,14.90,1.007,6,0.000,0.138,3069,1992,2201
$GC,9239,1.31,210.8,740.0,10.0,984,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1995,2199
$GC,9546,1.31,210.8,710.6,10.2,999,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1996,2198
$GC,9856,1.33,222.3,679.5,9.6,1014,9875,0.00,0.00,11.32,0.961,6,0.000,0.000,3069,1997,2154
$GC,10184,1.33,225.8,648.3,9.9,1030,10191,0.00,0.00,4.45,0.709,6,0.000,0.000,3069,1997,2141
$GC,10494,1.35,243.5,618.6,9.4,1045,10517,0.00,2.15,17.52,0.982,4,0.000,0.143,3069,914,2069
$GC,10564,1.36,246.6,612.0,9.9,1048,10573,0.00,1.98,4.20,0.665,6,0.000,0.130,3069,1975,2056
$GC,10892,1.36,249.5,581.2,9.9,1073,10901,0.00,0.00,4.25,0.670,6,0.000,0.000,3069,1978,2044
$GC,11222,1.36,249.5,547.6,10.4,1104,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1978,2043
$GC,11540,1.37,259.1,515.6,9.7,1134,11552,0.00,0.00,10.23,0.876,6,0.000,0.000,3069,1979,2004
$GC,11867,1.38,264.1,483.4,9.8,1165,11877,0.00,0.00,5.78,0.743,6,0.000,0.000,3069,1979,1984
$GC,12197,1.38,264.1,449.5,10.1,1196,12201,0.00,2.00,0.00,0.000,4,0.000,0.141,3069,3051,1984
$GC,12237,1.38,264.1,445.2,11.2,1199,12244,0.00,2.40,0.00,0.000,6,0.000,0.217,3069,1950,1983
$GC,12561,1.38,264.1,412.7,10.3,1230,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1949,1983
$GC,12881,1.38,264.1,379.3,10.5,1260,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1949,1983
$GC,13202,1.41,286.5,347.6,9.2,1292,13228,0.00,0.00,21.83,0.846,6,0.000,0.000,3069,1950,1892
$GC,13567,1.44,316.1,312.6,9.0,1356,13596,0.10,0.00,26.88,0.826,6,0.068,0.000,3101,1949,1773
$GC,13935,1.44,316.1,272.9,11.2,1420,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1949,1767
$GC,14280,1.44,316.1,230.5,12.1,1481,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1950,1767
$GC,14623,1.44,316.1,190.3,11.1,1542,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1950,1766
$GC,14969,1.44,316.1,151.9,11.9,1603,14976,0.00,2.03,0.00,0.000,4,0.000,0.168,3101,921,1766
$GC,15018,1.44,316.1,146.3,12.2,1611,15025,0.00,2.35,0.00,0.000,6,0.000,0.226,3101,1969,1766
$GC,15363,1.44,316.1,107.6,11.3,1672,15370,0.00,2.00,0.00,0.000,4,0.000,0.137,3101,3061,1766
$GC,15418,1.44,316.1,101.1,12.2,1681,15426,0.00,2.35,0.00,0.000,6,0.000,0.212,3100,1972,1765
$GC,15764,1.44,316.1,60.8,12.1,1742,15772,0.00,2.15,0.00,0.000,4,0.000,0.188,3101,918,1765
$GC,15835,1.44,316.1,52.1,12.6,1754,15843,0.00,1.98,0.00,0.000,6,0.000,0.123,3100,1985,1766
$GC,16179,1.44,316.1,12.1,12.6,1815,16186,0.00,2.05,0.00,0.000,4,0.000,0.154,3101,918,1765
$GC,16211,1.44,316.1,7.5,13.4,1820,16219,0.00,2.55,0.00,0.000,6,0.000,0.256,3101,1964,1765
$STATE,16268,end climb,SURFACE_DEPTH_REACHED
$STATE,16268,begin surface coast
$FINISH,0.1,1.013381
$STATE,16312,end surface coast,CONTROL_FINISHED_OK
$STATE,16312,begin surface
$SM_CCo,16393,0.00,0.000,0,0,1764,318.40
$SM_GC,0.71,10.55,0.00,0.00,0.034,0.000,0.000,566,2040,1764,-10.08,0.28,318.40
$IRIDIUM_FIX,6126.23,-2615.57,100997,101029
$TT8_MAMPS,0.042185
$HUMID,1721
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,17.00
$XPDR_PINGS,1189
$24V_AH,23.3,69.226
$10V_AH,10.6,68.569
$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,24.250,72.175,455.350,0.000,0.000,31.220,34.878,280.854,297.250,0.000,0.000,15.520,3718.798,8505.081,646.236,3226.615,785.850,0.000,2059.000,0.000,3265.937,0.000,0.465
$DEVICE_MAMPS,192.517,289.926,1148.199,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1271.000,1419.269,707.820,1709.687,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135885,1838
$CAP_FILE_SIZE,151024,0
$CFSIZE,260165632,224530432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
$CURRENT,0.105,321.7,1
$GPS,160608,200008,6147.424,-2622.667,50,1.2,50,-18.8