version: 66.03
glider: 126
mission: 7
dive: 7
start: 2 17 108 23 29 12
data:
$ID,126
$MISSION,7
$DIVE,7
$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,-619793.94
$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,36
$R_STBD_OVSHOOT,57
$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
$GPS1,231232,1246.650,12035.495,40,1.6,40,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.15
$_SM_ANGLEo,-48.1
$GPS2,232821,1246.826,12035.355,12,1.3,12,-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,118.2,18610,-23.3,-10.000
$D_GRID,1329
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.46,-86.6,0.0,0.0,0,89,0.00,0.00,-67.35,0.000,6,0.000,0.000,419,2057,3180
$GC,91,-2.46,-86.6,-0.7,-19.0,13,108,10.00,2.47,0.00,0.000,4,0.177,0.047,2176,621,3181
$GC,152,-2.46,-86.6,23.0,-26.9,24,159,0.00,2.30,0.00,0.000,6,0.000,0.027,2176,2022,3181
$GC,497,-2.46,-86.6,97.6,-16.9,85,503,0.00,2.38,0.00,0.000,4,0.000,0.044,2176,3425,3182
$GC,643,-2.46,-86.6,120.6,-15.5,111,650,0.00,2.33,0.00,0.000,6,0.000,0.028,2176,2001,3182
$GC,986,-2.46,-86.6,171.6,-14.0,172,992,0.00,2.45,0.00,0.000,4,0.000,0.044,2176,3430,3183
$GC,1150,-2.46,-86.6,195.2,-14.3,201,1156,0.00,2.33,0.00,0.000,6,0.000,0.029,2176,2013,3183
$GC,1492,-2.46,-86.6,242.0,-12.2,262,1499,0.00,2.42,0.00,0.000,4,0.000,0.046,2176,3424,3183
$GC,1583,-2.46,-86.6,254.5,-14.3,276,1587,0.00,2.33,0.00,0.000,6,0.000,0.031,2176,2022,3183
$GC,1907,-2.46,-86.6,296.9,-13.0,306,1911,0.00,2.42,0.00,0.000,4,0.000,0.048,2176,3424,3181
$GC,2001,-2.46,-86.6,310.0,-13.2,314,2005,0.00,2.35,0.00,0.000,6,0.000,0.032,2176,2015,3180
$GC,2333,-2.46,-86.6,351.5,-11.9,345,2337,0.00,2.45,0.00,0.000,4,0.000,0.056,2176,3427,3179
$GC,2375,-2.46,-86.6,357.0,-12.3,348,2383,0.00,2.38,0.00,0.000,6,0.000,0.034,2176,2029,3179
$GC,2701,-2.46,-86.6,396.1,-12.0,379,2705,0.00,2.42,0.00,0.000,4,0.000,0.051,2176,3420,3176
$GC,2909,-2.46,-86.6,422.5,-11.9,397,2913,0.00,2.38,0.00,0.000,6,0.000,0.037,2176,2018,3175
$GC,3233,-2.46,-86.6,460.5,-11.5,427,3237,0.00,2.47,0.00,0.000,4,0.000,0.055,2176,3424,3173
$GC,3411,-2.46,-86.6,482.6,-12.4,442,3418,0.00,2.42,0.00,0.000,6,0.000,0.042,2176,2033,3172
$GC,3741,-2.46,-86.6,523.5,-12.6,465,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2033,3169
$GC,4049,-2.46,-86.6,559.0,-11.6,480,4053,0.00,2.58,0.00,0.000,4,0.000,0.081,2176,3417,3167
$GC,4160,-2.46,-86.6,572.8,-12.2,485,4165,0.00,2.53,0.00,0.000,6,0.000,0.060,2176,2028,3166
$GC,4487,-2.46,-86.6,611.5,-12.0,501,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2028,3165
$GC,4796,-2.46,-86.6,649.3,-12.1,516,4800,0.00,2.78,0.00,0.000,4,0.000,0.117,2176,3408,3162
$GC,5018,-2.46,-86.6,675.1,-11.2,526,5023,0.00,2.80,0.00,0.000,6,0.000,0.112,2176,2027,3161
$GC,5345,-2.46,-86.6,709.5,-10.7,542,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2026,3160
$GC,5654,-2.46,-86.6,743.2,-10.9,557,5659,0.00,3.15,0.00,0.000,4,0.000,0.173,2176,3409,3159
$GC,5844,-2.46,-86.6,763.4,-10.8,565,5850,0.00,3.17,0.00,0.000,6,0.000,0.172,2176,2022,3157
$GC,6160,-2.46,-86.6,798.6,-11.3,581,6165,0.00,3.45,0.00,0.000,4,0.000,0.210,2176,3404,3155
$GC,6208,-2.46,-86.6,804.5,-11.5,583,6213,0.00,3.42,0.00,0.000,6,0.000,0.202,2176,2022,3155
$GC,6529,-2.46,-86.6,838.3,-10.3,599,6535,0.00,3.75,0.00,0.000,4,0.000,0.240,2176,3405,3154
$GC,6601,-2.46,-86.6,846.2,-11.3,602,6606,0.00,3.78,0.00,0.000,6,0.000,0.237,2176,2018,3154
$GC,6916,-2.46,-86.6,878.4,-10.7,617,6924,0.00,4.15,0.00,0.000,4,0.000,0.273,2176,3404,3153
$GC,6987,-2.46,-86.6,885.8,-10.3,620,6995,0.00,4.18,0.00,0.000,6,0.000,0.273,2176,2022,3153
$GC,7311,-2.46,-86.6,920.3,-10.4,636,7315,0.00,2.50,0.00,0.000,4,0.000,0.060,2176,3423,3151
$GC,7463,-2.46,-86.6,936.9,-10.3,643,7468,0.00,2.45,0.00,0.000,6,0.000,0.043,2176,2003,3150
$GC,7789,-2.46,-86.6,971.3,-10.7,659,7793,0.00,2.55,0.00,0.000,4,0.000,0.062,2176,3426,3149
$GC,7918,-2.46,-86.6,985.0,-11.1,665,7922,0.00,2.42,0.00,0.000,6,0.000,0.044,2176,2018,3149
$STATE,7973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7973,begin apogee
$GC,7977,-0.50,0.0,990.8,10.3,668,8050,2.08,0.00,68.78,1.450,6,0.112,0.000,2602,1961,2825
$STATE,8051,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8053,2.46,86.6,992.6,0.0,671,8138,2.95,0.00,76.28,1.418,6,0.072,0.000,3252,1961,2472
$GC,8447,2.49,106.3,966.2,8.3,691,8468,0.00,0.00,18.10,1.339,6,0.000,0.000,3253,1961,2391
$GC,8776,2.49,107.2,934.2,9.9,707,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1961,2389
$GC,9085,2.49,107.7,903.6,10.0,722,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1961,2387
$GC,9394,2.49,107.7,871.9,10.3,737,9398,0.00,2.50,0.00,0.000,4,0.000,0.060,3252,3352,2386
$GC,9538,2.49,107.7,856.0,10.5,743,9546,0.00,2.47,0.00,0.000,6,0.000,0.047,3253,1961,2385
$GC,9854,2.49,107.7,824.2,10.0,759,9858,0.00,2.60,0.00,0.000,4,0.000,0.081,3252,555,2386
$GC,9942,2.49,107.7,814.7,10.4,763,9947,0.00,2.42,0.00,0.000,6,0.000,0.039,3252,1953,2385
$GC,10270,2.51,118.1,785.2,9.1,779,10286,0.00,2.65,10.73,1.223,4,0.000,0.073,3253,548,2342
$GC,10426,2.51,122.1,769.6,9.7,785,10436,0.00,2.45,5.03,0.983,6,0.000,0.038,3253,1974,2327
$GC,10752,2.53,128.7,739.0,9.4,801,10761,0.00,0.00,7.53,1.119,6,0.000,0.000,3253,1975,2300
$GC,11061,2.53,128.7,707.6,11.1,816,11065,0.00,2.62,0.00,0.000,4,0.000,0.071,3253,548,2300
$GC,11121,2.53,128.7,700.9,11.2,819,11126,0.00,2.45,0.00,0.000,6,0.000,0.039,3252,1974,2299
$GC,11447,2.53,128.7,665.6,10.4,835,11451,0.00,2.62,0.00,0.000,4,0.000,0.071,3252,546,2299
$GC,11513,2.53,128.7,658.8,10.4,838,11517,0.00,2.47,0.00,0.000,6,0.000,0.039,3252,1971,2299
$GC,11840,2.54,138.6,628.2,9.1,854,11855,0.00,2.67,9.88,1.124,4,0.000,0.071,3253,548,2260
$GC,11893,2.55,142.3,622.9,9.7,855,11903,0.00,2.47,5.18,0.925,6,0.000,0.039,3252,1965,2244
$GC,12230,2.55,142.3,589.1,10.4,872,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1965,2243
$GC,12539,2.55,143.4,559.1,9.9,887,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1966,2243
$GC,12850,2.56,146.3,529.1,9.7,902,12860,0.00,2.62,4.85,0.854,4,0.000,0.071,3253,553,2228
$GC,12955,2.56,149.6,518.3,9.7,907,12964,0.00,2.42,4.53,0.827,6,0.000,0.038,3252,1967,2215
$GC,13279,2.57,154.8,487.5,9.5,928,13291,0.00,2.62,6.45,0.941,4,0.000,0.069,3253,553,2193
$GC,13392,2.57,154.8,475.9,10.1,938,13396,0.00,2.42,0.00,0.000,6,0.000,0.038,3253,1967,2193
$GC,13716,2.57,154.8,443.1,10.0,968,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1967,2193
$GC,14034,2.57,154.8,409.5,10.4,998,14038,0.00,2.58,0.00,0.000,4,0.000,0.068,3253,555,2193
$GC,14145,2.57,155.8,398.4,9.9,1007,14152,0.00,2.42,0.00,0.000,6,0.000,0.038,3253,1964,2193
$GC,14470,2.59,165.5,366.5,9.2,1038,14486,0.12,2.53,10.68,0.968,4,0.084,0.060,3284,3363,2149
$GC,14554,2.59,165.5,357.6,11.1,1045,14558,0.00,2.45,0.00,0.000,6,0.000,0.043,3284,1953,2149
$GC,14878,2.59,165.5,321.3,10.4,1075,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1952,2149
$GC,15197,2.62,183.1,289.9,8.5,1105,15219,0.00,2.60,16.27,0.948,4,0.000,0.070,3284,552,2077
$GC,15235,2.62,185.8,286.0,9.8,1108,15245,0.00,2.47,3.95,0.628,6,0.000,0.037,3284,1971,2066
$GC,15569,2.62,185.8,250.5,11.3,1140,15574,0.00,2.60,0.00,0.000,4,0.000,0.067,3284,548,2065
$GC,15697,2.62,185.8,234.9,13.0,1162,15704,0.00,2.42,0.00,0.000,6,0.000,0.037,3284,1969,2065
$GC,16041,2.62,185.8,196.5,11.3,1223,16047,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1970,2066
$GC,16382,2.62,185.8,164.7,10.4,1284,16389,0.00,2.47,0.00,0.000,4,0.000,0.061,3284,3362,2066
$GC,16423,2.62,185.8,160.5,10.9,1291,16429,0.00,2.40,0.00,0.000,6,0.000,0.039,3284,1961,2066
$GC,16765,2.66,209.1,132.4,8.0,1352,16793,0.00,2.62,20.35,0.821,4,0.000,0.070,3284,550,1972
$GC,16897,2.68,220.0,122.0,9.1,1375,16914,0.00,2.40,10.38,0.758,6,0.000,0.033,3284,1975,1928
$GC,17251,2.73,250.0,92.9,7.4,1438,17284,0.12,2.50,25.58,0.772,4,0.075,0.054,3317,3368,1804
$GC,17537,2.86,331.1,77.4,3.0,1489,17612,0.00,2.40,65.03,0.749,6,0.000,0.032,3317,1936,1475
$GC,17951,2.87,332.2,40.8,9.9,1563,17956,0.00,2.50,0.00,0.000,4,0.000,0.047,3317,3370,1471
$GC,18176,2.87,332.2,14.6,11.0,1603,18182,0.00,2.35,0.00,0.000,6,0.000,0.031,3317,1960,1471
$STATE,18287,end climb,SURFACE_DEPTH_REACHED
$STATE,18287,begin surface coast
$FINISH,-0.4,1.021870
$STATE,18306,end surface coast,CONTROL_FINISHED_OK
$STATE,18306,begin surface
$SM_CCo,18325,87.12,0.627,3,0,888,475.15
$SM_GC,-6.09,0.00,0.00,87.12,0.000,0.000,0.627,415,2071,888,-10.58,1.33,475.15
$IRIDIUM_FIX,1241.04,12036.22,130597,232349
$TT8_MAMPS,0.024544
$HUMID,1814
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.00
$XPDR_PINGS,392
$24V_AH,23.2,1.022
$10V_AH,10.1,1.045
$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,28.000,168.425,369.525,87.125,0.000,127.786,97.990,366.675,98.000,0.000,0.000,12.841,2666.948,12166.497,633.870,3155.601,780.036,0.000,2086.927,0.000,3122.345,0.000,0.464
$DEVICE_MAMPS,177.177,273.052,1450.397,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1103.706,1000.175,391.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88466,1626
$CAP_FILE_SIZE,170871,0
$CFSIZE,260165632,256651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180208,043731,1245.568,12037.386,38,1.4,38,-0.8