version: 66.03
glider: 126
mission: 7
dive: 6
start: 2 17 108 18 31 58
data:
$ID,126
$MISSION,7
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$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,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51702
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-619780.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,2825
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.942498
$PRESSURE_SLOPE,0.000116483
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,182602,1247.480,12034.274,37,1.3,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.29
$_SM_ANGLEo,-43.7
$GPS2,183108,1247.518,12034.240,13,1.3,30,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,DONGON
$TGT_LATLONG,1242.200,12044.500
$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,118.8,20990,-23.3,-10.000
$D_GRID,1261
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.46,-86.6,0.0,0.0,0,101,0.00,0.00,-78.97,0.000,6,0.000,0.000,418,1946,3179
$GC,103,-2.46,-86.6,-0.8,-15.5,15,120,9.98,2.30,0.00,0.000,4,0.176,0.045,2177,625,3179
$GC,220,-2.46,-86.6,33.3,-25.3,36,227,0.00,2.33,0.00,0.000,6,0.000,0.028,2177,2047,3179
$GC,564,-2.46,-86.6,105.7,-16.8,97,570,0.00,2.33,0.00,0.000,4,0.000,0.043,2177,3423,3182
$GC,682,-2.46,-86.6,124.7,-16.0,118,688,0.00,2.35,0.00,0.000,6,0.000,0.028,2177,1989,3182
$GC,1025,-2.46,-86.6,174.6,-14.3,179,1031,0.00,2.45,0.00,0.000,4,0.000,0.044,2177,3423,3183
$GC,1284,-2.46,-86.6,211.0,-14.4,225,1290,0.00,2.30,0.00,0.000,6,0.000,0.031,2177,2017,3183
$GC,1629,-2.46,-86.6,257.8,-13.6,282,1633,0.00,2.42,0.00,0.000,4,0.000,0.047,2177,3423,3183
$GC,1886,-2.46,-86.6,293.5,-12.9,304,1894,0.00,2.35,0.00,0.000,6,0.000,0.034,2177,2033,3182
$GC,2212,-2.46,-86.6,334.6,-13.0,335,2216,0.00,2.42,0.00,0.000,4,0.000,0.051,2177,3426,3180
$GC,2311,-2.46,-86.6,347.9,-13.1,343,2318,0.00,2.40,0.00,0.000,6,0.000,0.035,2177,2023,3180
$GC,2636,-2.46,-86.6,387.4,-11.6,374,2640,0.00,2.45,0.00,0.000,4,0.000,0.053,2177,3420,3179
$GC,2746,-2.46,-86.6,401.2,-12.1,383,2753,0.00,2.40,0.00,0.000,6,0.000,0.038,2177,2027,3178
$GC,3071,-2.46,-86.6,440.3,-11.5,414,3075,0.00,2.45,0.00,0.000,4,0.000,0.056,2177,3420,3176
$GC,3114,-2.46,-86.6,445.9,-12.3,417,3121,0.00,2.40,0.00,0.000,6,0.000,0.040,2177,2032,3175
$GC,3439,-2.46,-86.6,484.7,-12.6,448,3444,0.00,2.47,0.00,0.000,4,0.000,0.062,2177,3418,3174
$GC,3668,-2.46,-86.6,513.3,-12.0,463,3673,0.00,2.45,0.00,0.000,6,0.000,0.048,2177,2029,3173
$GC,3989,-2.46,-86.6,549.7,-11.6,479,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2029,3171
$GC,4298,-2.46,-86.6,584.9,-11.6,494,4303,0.00,2.65,0.00,0.000,4,0.000,0.094,2177,3416,3168
$GC,4482,-2.46,-86.6,605.6,-11.1,502,4487,0.00,2.62,0.00,0.000,6,0.000,0.082,2177,2007,3167
$GC,4803,-2.46,-86.6,640.5,-10.8,518,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2007,3166
$GC,5112,-2.46,-86.6,674.9,-11.5,533,5117,0.00,2.92,0.00,0.000,4,0.000,0.133,2177,3413,3164
$GC,5296,-2.46,-86.6,695.9,-10.9,541,5301,0.00,2.88,0.00,0.000,6,0.000,0.127,2177,2025,3163
$GC,5616,-2.46,-86.6,731.7,-10.8,557,5621,0.00,3.08,0.00,0.000,4,0.000,0.163,2177,3405,3161
$GC,5722,-2.46,-86.6,743.8,-11.9,562,5727,0.00,3.05,0.00,0.000,6,0.000,0.156,2177,2023,3161
$GC,6047,-2.46,-86.6,781.4,-11.2,578,6052,0.00,3.30,0.00,0.000,4,0.000,0.191,2177,3408,3159
$GC,6258,-2.46,-86.6,806.9,-11.8,587,6265,0.00,3.38,0.00,0.000,6,0.000,0.196,2177,2024,3159
$GC,6574,-2.46,-86.6,838.8,-10.8,603,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2024,3158
$GC,6883,-2.47,-96.9,870.4,-9.1,618,6891,0.00,4.18,0.00,0.000,4,0.000,0.278,2177,612,3156
$GC,6955,-2.50,-110.8,877.0,-8.8,621,6960,0.00,3.60,0.00,0.000,6,0.000,0.227,2177,1988,3156
$GC,7275,-2.50,-114.7,911.2,-9.7,637,7283,0.00,4.62,0.00,0.000,4,0.000,0.308,2177,609,3155
$STATE,7434,end dive,NO_VERTICAL_VELOCITY
$STATE,7435,begin apogee
$GC,7442,-0.50,0.0,912.1,0.0,644,7518,1.95,0.00,68.95,1.393,6,0.097,0.000,2603,1963,2824
$STATE,7519,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7520,2.50,114.7,911.5,0.0,648,7631,2.97,4.40,98.38,1.358,4,0.072,0.279,3261,3372,2356
$GC,7781,2.50,114.7,894.2,11.3,660,7787,0.00,4.15,0.00,0.000,6,0.000,0.260,3261,1965,2352
$GC,8101,2.50,114.7,845.0,13.6,676,8107,0.00,3.95,0.00,0.000,4,0.000,0.251,3261,543,2350
$GC,8140,2.50,114.7,838.9,14.7,678,8145,0.00,3.40,0.00,0.000,6,0.000,0.186,3261,1968,2350
$GC,8465,2.50,114.7,805.2,10.4,694,8471,0.00,3.67,0.00,0.000,4,0.000,0.219,3261,545,2349
$GC,8718,2.50,114.7,776.8,11.5,705,8723,0.00,3.08,0.00,0.000,6,0.000,0.146,3261,1969,2348
$GC,9032,2.50,114.7,744.2,10.1,720,9037,0.00,3.05,0.00,0.000,4,0.000,0.153,3261,3380,2347
$GC,9161,2.50,114.7,730.8,11.2,726,9166,0.00,3.03,0.00,0.000,6,0.000,0.137,3261,1953,2347
$GC,9487,2.50,114.7,696.2,11.3,742,9492,0.00,2.92,0.00,0.000,4,0.000,0.122,3261,3382,2346
$GC,9548,2.50,114.7,689.4,10.6,745,9552,0.00,2.85,0.00,0.000,6,0.000,0.110,3261,1956,2346
$GC,9873,2.51,120.4,658.3,9.5,761,9879,0.00,0.00,4.45,0.864,6,0.000,0.000,3261,1956,2334
$GC,10182,2.52,127.3,630.3,9.4,776,10192,0.00,0.00,7.53,1.071,6,0.000,0.000,3261,1955,2306
$GC,10492,2.53,132.4,600.6,9.6,791,10499,0.00,0.00,6.10,0.989,6,0.000,0.000,3261,1955,2285
$GC,10800,2.53,132.4,569.3,10.5,806,10805,0.00,2.67,0.00,0.000,4,0.000,0.090,3261,534,2285
$GC,10833,2.53,132.4,565.9,11.2,807,10839,0.00,2.53,0.00,0.000,6,0.000,0.044,3261,1988,2285
$GC,11148,2.54,135.4,533.7,9.7,823,11154,0.00,0.00,4.22,0.798,6,0.000,0.000,3261,1988,2273
$GC,11457,2.54,135.8,502.8,10.0,838,11461,0.00,2.67,0.00,0.000,4,0.000,0.075,3261,541,2273
$GC,11529,2.55,145.6,495.7,9.1,843,11545,0.00,2.45,10.27,1.053,6,0.000,0.043,3261,1982,2231
$GC,11863,2.55,145.6,461.4,10.0,874,11867,0.00,2.45,0.00,0.000,4,0.000,0.060,3261,3368,2230
$GC,11918,2.55,145.6,455.7,10.5,878,11924,0.00,2.47,0.00,0.000,6,0.000,0.044,3261,1937,2230
$GC,12243,2.57,158.0,426.2,8.9,909,12264,0.00,2.62,11.80,1.023,4,0.000,0.080,3261,553,2180
$GC,12426,2.57,158.0,407.6,10.5,925,12433,0.00,2.42,0.00,0.000,6,0.000,0.038,3261,1964,2180
$GC,12752,2.57,158.0,375.6,10.5,956,12757,0.00,2.47,0.00,0.000,4,0.000,0.058,3261,3369,2179
$GC,12863,2.59,169.3,364.6,9.0,965,12881,0.00,2.45,11.07,0.969,6,0.000,0.042,3261,1965,2134
$GC,13198,2.59,169.3,329.1,10.7,997,13202,0.00,2.55,0.00,0.000,4,0.000,0.073,3261,562,2134
$GC,13405,2.59,169.3,306.5,10.7,1015,13409,0.00,2.38,0.00,0.000,6,0.000,0.036,3260,1968,2134
$GC,13730,2.61,178.2,274.1,9.2,1045,13744,0.00,2.50,8.98,0.877,4,0.000,0.059,3261,3361,2098
$GC,13795,2.61,178.2,267.5,10.4,1051,13800,0.00,2.42,0.00,0.000,6,0.000,0.041,3261,1959,2097
$GC,14128,2.61,178.2,233.9,10.2,1094,14134,0.00,2.55,0.00,0.000,4,0.000,0.071,3261,549,2098
$GC,14387,2.62,182.2,207.2,9.6,1140,14400,0.10,2.38,5.05,0.695,6,0.086,0.033,3288,1970,2082
$GC,14737,2.63,189.4,174.7,9.4,1202,14750,0.00,2.53,7.62,0.776,4,0.000,0.055,3287,3366,2052
$GC,14829,2.63,189.4,165.3,10.0,1218,14835,0.00,2.42,0.00,0.000,6,0.000,0.038,3287,1951,2052
$GC,15173,2.63,193.6,134.0,9.6,1279,15185,0.00,2.53,5.35,0.663,4,0.000,0.067,3287,555,2034
$GC,15224,2.66,208.0,129.4,8.8,1288,15242,0.00,2.38,13.18,0.792,6,0.000,0.031,3288,1976,1977
$GC,15579,2.71,237.4,97.9,7.4,1351,15612,0.00,2.62,25.05,0.782,4,0.000,0.059,3287,559,1857
$GC,15674,2.71,240.0,89.4,9.8,1368,15686,0.00,2.38,3.85,0.512,6,0.000,0.030,3287,1978,1846
$GC,16023,2.89,345.0,68.2,0.9,1430,16114,0.20,2.45,83.38,0.746,4,0.061,0.050,3344,3359,1417
$GC,16367,2.89,345.0,35.6,13.2,1492,16373,0.00,2.38,0.00,0.000,6,0.000,0.031,3344,1939,1413
$STATE,16637,end climb,SURFACE_DEPTH_REACHED
$STATE,16637,begin surface coast
$FINISH,-0.0,1.021948
$STATE,16648,end surface coast,CONTROL_FINISHED_OK
$STATE,16648,begin surface
$SM_CCo,16667,77.97,0.628,3,0,888,475.15
$SM_GC,-6.24,0.00,0.00,77.97,0.000,0.000,0.628,419,2056,888,-10.56,0.93,475.15
$IRIDIUM_FIX,1243.25,12032.42,130597,151555
$TT8_MAMPS,0.026078
$HUMID,1879
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,22.80
$XPDR_PINGS,329
$24V_AH,23.3,0.846
$10V_AH,10.1,0.918
$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,28.075,172.700,375.225,77.975,0.000,31.233,14.251,157.960,82.250,0.000,0.000,30.187,2526.947,10469.351,624.347,3117.120,361.800,0.000,2055.407,0.000,3066.254,0.000,0.464
$DEVICE_MAMPS,176.410,308.334,1392.872,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.823,998.771,387.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85242,1542
$CAP_FILE_SIZE,155369,0
$CFSIZE,260165632,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170208,231232,1246.650,12035.495,40,1.6,40,-0.8