version: 66.03
glider: 141
mission: 7
dive: 352
start: 6 18 108 15 48 24
data:
$ID,141
$MISSION,7
$DIVE,352
$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,-12667.554
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,153208,6147.712,-2606.600,29,1.0,29,-18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-50.4
$GPS2,154803,6147.643,-2606.573,9,1.0,9,-18.7
$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,145.7,6994,-16.0,-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,-1.39,-172.5,0.0,0.0,0,139,0.00,0.00,-113.72,0.000,2,0.000,0.000,573,2041,3732
$GC,142,-1.42,-194.7,3.3,-6.0,15,166,11.02,2.40,-2.83,0.000,4,0.196,0.166,2463,986,3858
$GC,256,-1.42,-194.7,23.2,-13.2,34,264,0.00,1.90,0.00,0.000,6,0.000,0.056,2463,2026,3859
$GC,400,-1.37,-194.7,40.1,-11.0,59,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2027,3859
$GC,544,-1.32,-194.7,55.4,-10.6,84,552,0.15,0.00,0.00,0.000,6,0.117,0.000,2495,2028,3859
$GC,890,-1.32,-194.7,91.6,-11.2,145,896,0.00,1.95,0.00,0.000,4,0.000,0.068,2495,3091,3860
$GC,927,-1.32,-194.7,95.7,-11.1,151,934,0.00,2.15,0.00,0.000,6,0.000,0.110,2495,2006,3860
$GC,1272,-1.32,-194.7,135.2,-11.2,212,1280,0.00,1.95,0.00,0.000,4,0.000,0.047,2495,3095,3859
$GC,1332,-1.32,-194.7,142.1,-11.2,222,1339,0.00,2.08,0.00,0.000,6,0.000,0.110,2495,2019,3860
$GC,1678,-1.32,-194.7,180.5,-11.0,283,1685,0.00,1.90,0.00,0.000,4,0.000,0.048,2495,3094,3859
$GC,1714,-1.32,-194.7,184.7,-11.5,289,1722,0.00,2.20,0.00,0.000,6,0.000,0.132,2495,2047,3859
$GC,2059,-1.32,-194.7,222.4,-11.1,350,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2044,3859
$GC,2405,-1.32,-194.7,260.4,-11.1,411,2411,0.00,1.85,0.00,0.000,4,0.000,0.048,2495,3095,3859
$GC,2452,-1.32,-194.7,265.7,-11.1,419,2459,0.00,2.38,0.00,0.000,6,0.000,0.158,2495,2040,3859
$GC,2798,-1.32,-194.7,301.9,-10.0,480,2805,0.00,1.95,0.00,0.000,4,0.000,0.075,2495,3080,3859
$GC,2842,-1.32,-194.7,306.3,-10.2,487,2849,0.00,2.33,0.00,0.000,6,0.000,0.155,2495,2029,3859
$GC,3188,-1.32,-194.7,341.0,-9.9,548,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2028,3859
$GC,3525,-1.32,-194.7,375.7,-10.5,587,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2028,3859
$GC,3844,-1.32,-194.7,407.6,-10.0,617,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2028,3858
$GC,4163,-1.32,-194.7,438.1,-9.2,647,4166,0.00,1.95,0.00,0.000,4,0.000,0.071,2495,3084,3858
$GC,4190,-1.32,-194.7,441.0,-10.0,649,4197,0.00,2.38,0.00,0.000,6,0.000,0.163,2495,2021,3858
$GC,4518,-1.32,-194.7,470.2,-9.2,680,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2019,3857
$GC,4836,-1.32,-194.7,499.7,-9.3,710,4840,0.00,1.92,0.00,0.000,4,0.000,0.057,2495,3086,3857
$GC,4872,-1.32,-194.7,503.3,-9.6,713,4876,0.00,2.12,0.00,0.000,6,0.000,0.117,2496,2039,3857
$GC,5200,-1.32,-194.7,534.5,-9.5,743,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2036,3857
$GC,5525,-1.32,-194.7,565.8,-9.4,774,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2037,3857
$GC,5847,-1.32,-194.7,597.2,-9.7,804,5850,0.00,1.92,0.00,0.000,4,0.000,0.065,2495,3088,3857
$GC,5897,-1.32,-194.7,602.2,-9.1,808,5901,0.00,1.85,0.00,0.000,6,0.000,0.041,2495,2051,3857
$GC,6224,-1.32,-194.7,633.4,-10.1,824,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2050,3857
$GC,6534,-1.32,-194.7,666.3,-10.4,839,6538,0.00,2.08,0.00,0.000,4,0.000,0.112,2495,3076,3856
$GC,6567,-1.32,-194.7,670.1,-10.5,840,6571,0.00,2.00,0.00,0.000,6,0.000,0.094,2495,2051,3856
$GC,6889,-1.32,-194.7,702.4,-10.5,856,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2048,3856
$GC,7199,-1.32,-194.7,735.4,-10.3,871,7203,0.00,1.92,0.00,0.000,4,0.000,0.072,2495,3084,3855
$GC,7249,-1.32,-194.7,741.2,-11.5,873,7253,0.00,2.12,0.00,0.000,6,0.000,0.123,2495,2057,3855
$GC,7576,-1.32,-194.7,776.5,-11.4,889,7580,0.00,2.05,0.00,0.000,4,0.000,0.081,2495,967,3856
$GC,7604,-1.32,-194.7,780.2,-12.5,890,7608,0.00,2.00,0.00,0.000,6,0.000,0.068,2494,2042,3855
$GC,7931,-1.32,-194.7,818.1,-10.7,906,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2043,3855
$GC,8241,-1.32,-194.7,849.8,-10.1,921,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2043,3855
$GC,8550,-1.32,-194.7,878.3,-9.2,936,8554,0.00,2.00,0.00,0.000,4,0.000,0.091,2495,3088,3854
$GC,8584,-1.32,-194.7,881.6,-9.4,937,8587,0.00,2.05,0.00,0.000,6,0.000,0.100,2494,2037,3854
$GC,8906,-1.32,-194.7,911.8,-10.0,953,8909,0.00,1.95,0.00,0.000,4,0.000,0.071,2495,3090,3854
$GC,8929,-1.32,-194.7,914.3,-10.6,954,8932,0.00,1.85,0.00,0.000,6,0.000,0.047,2495,2048,3854
$GC,9262,-1.32,-194.7,949.8,-10.6,970,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2048,3853
$GC,9571,-1.32,-194.7,982.3,-10.4,985,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2047,3853
$STATE,9651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9651,begin apogee
$GC,9657,-0.37,0.0,990.7,10.2,989,9834,0.95,0.00,171.32,1.278,6,0.100,0.000,2696,1987,3061
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9835,begin climb
$GC,9838,1.42,194.7,995.3,0.0,998,10014,1.77,0.00,170.40,1.249,6,0.076,0.000,3085,1986,2268
$GC,10315,1.38,194.7,944.3,12.9,1021,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1985,2263
$GC,10625,1.33,194.7,907.0,11.3,1036,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1985,2262
$GC,10937,1.29,194.7,872.7,11.4,1051,10938,0.12,0.00,0.00,0.000,6,0.113,0.000,3061,1985,2261
$GC,11246,1.30,204.6,840.9,9.6,1066,11260,0.00,2.00,9.35,1.026,4,0.000,0.061,3061,3045,2227
$GC,11313,1.30,204.6,833.9,10.3,1069,11317,0.00,2.12,0.00,0.000,6,0.000,0.107,3061,1981,2226
$GC,11642,1.32,221.7,802.1,9.3,1085,11661,0.00,0.00,16.70,1.092,6,0.000,0.000,3061,1977,2158
$GC,11970,1.32,221.7,767.2,11.0,1101,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1976,2156
$GC,12278,1.34,239.7,736.1,9.3,1116,12303,0.00,1.98,17.92,1.066,4,0.000,0.058,3061,3046,2082
$GC,12376,1.35,250.1,726.4,9.6,1120,12394,0.00,2.00,10.70,0.989,6,0.000,0.081,3060,2007,2042
$GC,12703,1.36,253.4,695.0,9.9,1136,12712,0.00,2.33,4.12,0.703,4,0.000,0.123,3061,918,2029
$GC,12757,1.36,253.4,689.0,10.4,1138,12761,0.00,2.08,0.00,0.000,6,0.000,0.080,3061,1981,2029
$GC,13079,1.37,262.6,657.5,9.6,1154,13094,0.00,2.12,10.30,0.961,4,0.000,0.099,3060,3044,1990
$GC,13133,1.39,276.3,652.0,9.5,1155,13154,0.00,2.28,14.15,0.992,6,0.000,0.143,3061,2000,1934
$GC,13474,1.42,303.6,623.1,8.9,1172,13521,0.12,2.28,30.02,0.910,4,0.064,0.110,3096,911,1824
$GC,13554,1.42,303.6,613.6,11.8,1175,13558,0.00,2.05,0.00,0.000,6,0.000,0.061,3096,2014,1823
$GC,13884,1.42,303.6,576.2,11.4,1200,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2016,1820
$GC,14209,1.42,303.6,538.5,11.4,1231,14214,0.00,2.33,0.00,0.000,4,0.000,0.126,3096,907,1820
$GC,14254,1.42,303.6,533.0,11.8,1234,14261,0.00,1.95,0.00,0.000,6,0.000,0.049,3096,1995,1820
$GC,14580,1.42,303.6,495.3,11.5,1265,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1997,1819
$GC,14898,1.42,303.6,458.5,11.6,1295,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1997,1819
$GC,15218,1.42,303.6,421.4,11.5,1325,15222,0.00,2.28,0.00,0.000,4,0.000,0.129,3096,915,1819
$GC,15258,1.42,303.6,416.5,11.2,1328,15262,0.00,2.15,0.00,0.000,6,0.000,0.110,3096,1970,1819
$GC,15583,1.42,303.6,380.6,10.9,1358,15586,0.00,2.12,0.00,0.000,4,0.000,0.104,3096,3045,1819
$GC,15617,1.42,303.6,376.7,10.8,1361,15621,0.00,2.08,0.00,0.000,6,0.000,0.088,3096,1955,1818
$GC,15948,1.42,303.6,340.8,11.1,1399,15954,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1952,1818
$GC,16291,1.42,303.6,303.9,10.0,1460,16299,0.00,2.05,0.00,0.000,4,0.000,0.118,3096,936,1819
$GC,16340,1.42,303.6,298.9,10.9,1468,16348,0.00,1.95,0.00,0.000,6,0.000,0.059,3096,1984,1819
$GC,16687,1.42,303.6,263.5,10.3,1529,16695,0.00,2.40,0.00,0.000,4,0.000,0.170,3096,930,1819
$GC,16736,1.42,303.6,258.2,10.7,1537,16742,0.00,1.83,0.00,0.000,6,0.000,0.044,3096,1978,1819
$GC,17081,1.42,303.6,222.5,11.0,1598,17088,0.00,2.00,0.00,0.000,4,0.000,0.081,3095,946,1819
$GC,17123,1.42,303.6,217.9,10.7,1605,17130,0.00,1.80,0.00,0.000,6,0.000,0.048,3096,1950,1819
$GC,17468,1.42,303.6,181.9,10.5,1666,17475,0.00,2.60,0.00,0.000,4,0.000,0.221,3096,938,1819
$GC,17511,1.42,303.6,177.2,11.4,1673,17518,0.00,1.77,0.00,0.000,6,0.000,0.036,3096,1960,1819
$GC,17855,1.42,303.6,139.8,12.2,1734,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1962,1819
$GC,18202,1.42,303.6,99.9,13.1,1795,18209,0.00,2.15,0.00,0.000,4,0.000,0.127,3096,936,1819
$GC,18244,1.42,303.6,95.0,11.8,1802,18251,0.00,1.77,0.00,0.000,6,0.000,0.040,3096,1938,1819
$GC,18590,1.42,303.6,58.7,12.1,1863,18597,0.00,2.05,0.00,0.000,4,0.000,0.117,3096,935,1819
$GC,18638,1.42,303.6,53.1,12.2,1871,18645,0.00,1.70,0.00,0.000,6,0.000,0.037,3096,1917,1819
$GC,18982,1.42,303.6,16.4,10.6,1932,18990,0.00,2.00,0.00,0.000,4,0.000,0.054,3096,3038,1819
$GC,19031,1.42,303.6,11.7,10.2,1940,19038,0.00,2.12,0.00,0.000,6,0.000,0.091,3096,1913,1819
$STATE,19116,end climb,SURFACE_DEPTH_REACHED
$STATE,19116,begin surface coast
$FINISH,0.2,1.026854
$STATE,19150,end surface coast,CONTROL_FINISHED_OK
$STATE,19152,begin surface
$SM_CCo,19233,0.00,0.000,0,0,1816,305.64
$SM_GC,0.94,10.65,0.00,0.00,0.041,0.000,0.000,576,2034,1816,-10.06,0.08,305.64
$IRIDIUM_FIX,6121.73,-2609.48,120997,151553
$TT8_MAMPS,0.042185
$HUMID,1722
$INTERNAL_PRESSURE,10.059
$TCM_TEMP,16.90
$XPDR_PINGS,1289
$24V_AH,23.1,71.377
$10V_AH,10.5,70.256
$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,24.800,119.875,455.000,0.000,0.000,85.138,204.683,377.393,322.250,0.000,0.000,11.450,4017.975,10835.118,694.425,3466.349,1154.050,0.000,2241.462,0.000,3495.503,0.000,0.465
$DEVICE_MAMPS,196.352,220.896,1277.822,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1358.407,1508.753,730.618,1747.480,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142335,1961
$CAP_FILE_SIZE,180270,0
$CFSIZE,260165632,223551488
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,32,2,0
$CURRENT,0.028, 10.0,1
$GPS,180608,211009,6145.967,-2601.829,32,1.5,33,-18.6