version: 66.03
glider: 141
mission: 7
dive: 363
start: 6 21 108 1 11 24
data:
$ID,141
$MISSION,7
$DIVE,363
$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,-12848.166
$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,15
$R_STBD_OVSHOOT,10
$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
$GPS1,010331,6145.724,-2622.655,36,1.3,41,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.8
$GPS2,011103,6145.743,-2622.458,11,1.3,11,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,17.4,19242,-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,23,-1.34,-194.7,0.0,0.0,0,107,0.00,0.00,-81.70,0.000,2,0.000,0.000,570,2030,3691
$GC,110,-1.34,-194.7,3.3,-5.6,11,134,11.23,1.92,-3.75,0.000,4,0.198,0.126,2483,3092,3856
$GC,141,-0.69,-194.7,12.0,-25.1,15,150,0.62,1.92,0.00,0.000,6,0.102,0.091,2626,2028,3856
$GC,288,-0.84,-194.7,21.4,-5.9,40,296,0.12,2.30,0.00,0.000,4,0.059,0.195,2587,963,3858
$GC,551,-0.94,-194.7,39.7,-7.4,86,559,0.00,2.22,0.00,0.000,6,0.000,0.170,2587,2035,3858
$GC,698,-1.04,-194.7,50.6,-7.9,111,705,0.15,0.00,0.00,0.000,6,0.054,0.000,2538,2036,3858
$GC,1044,-1.04,-194.7,85.6,-10.1,172,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2036,3858
$GC,1390,-1.04,-194.7,114.5,-7.7,233,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2036,3859
$GC,1734,-1.04,-194.7,142.6,-8.2,294,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2036,3859
$GC,2079,-1.04,-194.7,170.9,-8.8,355,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2036,3859
$GC,2425,-1.04,-194.7,202.5,-9.4,416,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2036,3859
$GC,2770,-1.04,-194.7,233.8,-8.5,477,2777,0.00,1.92,0.00,0.000,4,0.000,0.101,2538,971,3859
$GC,2846,-1.10,-194.7,240.3,-8.5,490,2853,0.00,2.47,0.00,0.000,6,0.000,0.222,2538,2027,3859
$GC,3193,-1.10,-194.7,269.0,-8.6,551,3201,0.00,2.60,0.00,0.000,4,0.000,0.243,2538,3090,3859
$GC,3259,-1.10,-194.7,274.7,-8.5,562,3267,0.00,2.80,0.00,0.000,6,0.000,0.270,2538,2032,3859
$GC,3606,-1.10,-194.7,307.3,-9.6,623,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2031,3859
$GC,3950,-1.10,-194.7,340.0,-9.1,684,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2032,3859
$GC,4288,-1.10,-194.7,369.7,-8.5,725,4292,0.00,2.35,0.00,0.000,4,0.000,0.202,2538,3090,3859
$GC,4343,-1.10,-194.7,374.7,-9.1,729,4350,0.00,1.92,0.00,0.000,6,0.000,0.095,2538,2007,3858
$GC,4671,-1.14,-194.7,402.4,-8.8,760,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2003,3859
$GC,5000,-1.18,-194.7,431.6,-8.8,791,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2002,3858
$GC,5328,-1.22,-194.7,458.7,-7.9,822,5335,0.10,0.00,0.00,0.000,6,0.071,0.000,2507,2001,3858
$GC,5656,-1.22,-194.7,489.9,-9.9,853,5660,0.00,2.65,0.00,0.000,4,0.000,0.239,2507,3089,3857
$GC,5723,-1.22,-194.7,497.5,-10.8,858,5730,0.00,2.10,0.00,0.000,6,0.000,0.149,2507,2031,3857
$GC,6050,-1.22,-194.7,534.3,-11.6,889,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2030,3857
$GC,6367,-1.22,-194.7,569.8,-11.1,919,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2029,3857
$GC,6693,-1.22,-194.7,605.1,-10.9,948,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2029,3857
$GC,7003,-1.22,-194.7,637.3,-10.4,963,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2029,3857
$GC,7312,-1.22,-194.7,671.4,-10.3,978,7316,0.00,2.12,0.00,0.000,4,0.000,0.153,2507,3092,3856
$GC,7440,-1.22,-194.7,685.8,-12.0,983,7448,0.00,2.28,0.00,0.000,6,0.000,0.187,2507,2038,3856
$GC,7759,-1.22,-194.7,728.4,-14.0,999,7762,0.00,2.08,0.00,0.000,4,0.000,0.142,2507,972,3856
$GC,7820,-1.22,-194.7,737.7,-13.7,1001,7827,0.00,2.08,0.00,0.000,6,0.000,0.134,2507,2039,3856
$STATE,8073,end dive,NO_VERTICAL_VELOCITY
$STATE,8073,begin apogee
$GC,8080,-0.37,0.0,743.3,0.0,1014,8255,0.80,0.00,166.98,1.103,6,0.043,0.000,2705,1981,3063
$STATE,8256,end apogee,CONTROL_FINISHED_OK
$STATE,8256,begin climb
$GC,8259,1.34,194.7,743.3,0.0,1023,8441,1.58,2.33,165.57,1.079,4,0.052,0.167,3070,3044,2266
$GC,8466,1.63,525.9,737.9,-1.5,1032,8765,0.28,1.95,289.30,1.063,6,0.050,0.097,3140,1970,917
$GC,9086,1.63,525.9,654.8,17.5,1061,9089,0.00,1.98,0.00,0.000,4,0.000,0.123,3140,931,909
$GC,9248,1.63,525.9,628.5,15.4,1068,9252,0.00,2.35,0.00,0.000,6,0.000,0.205,3140,1964,909
$GC,9569,1.63,525.9,580.3,14.6,1089,9573,0.00,2.08,0.00,0.000,4,0.000,0.146,3140,921,908
$GC,9638,1.63,525.9,570.3,15.1,1095,9642,0.00,2.20,0.00,0.000,6,0.000,0.184,3140,1932,908
$GC,9966,1.63,525.9,526.4,13.2,1125,9969,0.00,1.88,0.00,0.000,4,0.000,0.110,3140,923,908
$GC,10004,1.63,525.9,520.3,14.3,1128,10012,0.00,2.25,0.00,0.000,6,0.000,0.199,3140,1907,907
$GC,10333,1.63,525.9,474.6,13.6,1159,10336,0.00,1.83,0.00,0.000,4,0.000,0.110,3140,922,907
$GC,10383,1.63,525.9,466.7,15.2,1163,10390,0.00,2.38,0.00,0.000,6,0.000,0.231,3140,1897,908
$GC,10711,1.63,525.9,421.1,13.7,1194,10714,0.00,1.80,0.00,0.000,4,0.000,0.110,3140,922,907
$GC,10745,1.63,525.9,415.7,14.8,1197,10750,0.00,2.35,0.00,0.000,6,0.000,0.235,3140,1884,907
$GC,11073,1.63,525.9,371.8,13.1,1227,11076,0.00,1.77,0.00,0.000,4,0.000,0.111,3140,924,906
$GC,11101,1.63,525.9,367.4,14.1,1229,11108,0.00,2.30,0.00,0.000,6,0.000,0.235,3140,1870,907
$GC,11438,1.63,525.9,325.3,12.8,1277,11445,0.00,2.17,0.00,0.000,4,0.000,0.216,3140,927,907
$GC,11458,1.63,525.9,322.6,13.1,1280,11465,0.00,1.92,0.00,0.000,6,0.000,0.152,3140,1864,907
$GC,11804,1.63,525.9,275.1,14.4,1341,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1867,907
$GC,12148,1.63,525.9,228.3,12.5,1402,12155,0.00,1.75,0.00,0.000,4,0.000,0.109,3140,928,907
$GC,12186,1.63,525.9,223.3,12.9,1408,12193,0.00,2.10,0.00,0.000,6,0.000,0.204,3140,1859,907
$GC,12532,1.63,525.9,176.5,12.8,1469,12539,0.00,1.70,0.00,0.000,4,0.000,0.108,3140,929,907
$GC,12552,1.63,525.9,173.7,12.9,1472,12559,0.00,1.70,0.00,0.000,6,0.000,0.095,3140,1857,907
$GC,12897,1.63,525.9,129.7,13.0,1533,12904,0.00,1.73,0.00,0.000,4,0.000,0.107,3140,919,907
$GC,12922,1.63,525.9,126.1,13.6,1537,12929,0.00,2.25,0.00,0.000,6,0.000,0.230,3140,1844,907
$GC,13266,1.63,525.9,79.3,12.8,1598,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1847,906
$GC,13610,1.63,525.9,33.7,12.8,1659,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1847,906
$GC,13753,1.63,525.9,14.7,13.0,1684,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1847,906
$STATE,13848,end climb,SURFACE_DEPTH_REACHED
$STATE,13848,begin surface coast
$FINISH,0.2,1.013789
$STATE,13872,end surface coast,CONTROL_FINISHED_OK
$STATE,13872,begin surface
$SM_CCo,13954,0.00,0.000,0,0,905,529.11
$SM_GC,0.85,10.80,0.00,0.00,0.038,0.000,0.000,573,2034,905,-10.06,0.11,529.11
$IRIDIUM_FIX,6121.73,-2631.87,140997,212106
$TT8_MAMPS,0.042185
$HUMID,1740
$INTERNAL_PRESSURE,9.99062
$TCM_TEMP,16.90
$XPDR_PINGS,1047
$24V_AH,23.2,73.842
$10V_AH,10.5,72.094
$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,25.675,81.075,621.850,0.000,0.000,28.063,43.227,231.992,261.750,0.000,0.000,12.836,3400.038,6423.886,740.434,3126.838,701.554,0.000,2145.707,0.000,3139.512,0.000,0.465
$DEVICE_MAMPS,197.886,269.984,1102.946,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1188.230,1281.910,745.706,1622.443,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126349,1705
$CAP_FILE_SIZE,140025,0
$CFSIZE,260165632,222572544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$CURRENT,0.071, 97.4,1
$GPS,210608,050507,6147.751,-2620.895,32,1.4,32,-18.8