version: 66.03
glider: 126
mission: 7
dive: 8
start: 2 18 108 4 46 54
data:
$ID,126
$MISSION,7
$DIVE,8
$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,-619807.12
$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,37
$R_STBD_OVSHOOT,63
$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
$GPS1,043731,1245.568,12037.386,38,1.4,38,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.92
$_SM_ANGLEo,-54.8
$GPS2,044603,1245.686,12037.348,11,1.5,11,-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,117.3,14445,-23.3,-10.000
$D_GRID,1243
$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,-67.88,0.000,6,0.000,0.000,416,2072,3180
$GC,91,-2.46,-86.6,-0.9,-17.3,13,108,10.05,2.50,0.00,0.000,4,0.177,0.045,2176,621,3181
$GC,181,-2.46,-86.6,28.4,-26.5,29,187,0.00,2.28,0.00,0.000,6,0.000,0.026,2176,2023,3182
$GC,524,-2.46,-86.6,104.6,-18.6,90,530,0.00,2.38,0.00,0.000,4,0.000,0.042,2176,3424,3183
$GC,722,-2.46,-86.6,136.1,-16.8,125,728,0.00,2.33,0.00,0.000,6,0.000,0.028,2176,2004,3184
$GC,1064,-2.46,-86.6,185.1,-13.8,186,1071,0.00,2.42,0.00,0.000,4,0.000,0.044,2176,3422,3185
$GC,1172,-2.46,-86.6,200.1,-13.9,205,1178,0.00,2.30,0.00,0.000,6,0.000,0.029,2176,2023,3185
$GC,1514,-2.46,-86.6,245.7,-13.8,266,1521,0.00,2.40,0.00,0.000,4,0.000,0.045,2176,3414,3185
$GC,1721,-2.46,-86.6,274.1,-12.8,287,1729,0.00,2.35,0.00,0.000,6,0.000,0.031,2176,2022,3184
$GC,2048,-2.46,-86.6,315.7,-13.1,318,2052,0.00,2.42,0.00,0.000,4,0.000,0.048,2176,3422,3183
$GC,2204,-2.46,-86.6,336.6,-12.8,331,2211,0.00,2.35,0.00,0.000,6,0.000,0.033,2176,2033,3182
$GC,2529,-2.46,-86.6,375.5,-11.3,362,2533,0.00,2.40,0.00,0.000,4,0.000,0.049,2176,3413,3180
$GC,2616,-2.46,-86.6,386.1,-11.5,369,2623,0.00,2.38,0.00,0.000,6,0.000,0.035,2176,2021,3180
$GC,2941,-2.46,-86.6,423.8,-12.3,400,2946,0.00,2.45,0.00,0.000,4,0.000,0.055,2176,3420,3177
$GC,3063,-2.46,-86.6,438.8,-11.9,410,3071,0.00,2.40,0.00,0.000,6,0.000,0.036,2176,2030,3177
$GC,3389,-2.46,-86.6,478.2,-12.4,441,3393,0.00,2.45,0.00,0.000,4,0.000,0.056,2177,3415,3175
$GC,3567,-2.46,-86.6,500.3,-12.0,456,3574,0.00,2.42,0.00,0.000,6,0.000,0.042,2176,2030,3173
$GC,3882,-2.46,-86.6,536.2,-10.7,472,3886,0.00,2.50,0.00,0.000,4,0.000,0.067,2176,3409,3172
$GC,3997,-2.46,-86.6,549.0,-10.9,477,4002,0.00,2.45,0.00,0.000,6,0.000,0.048,2176,2024,3171
$GC,4320,-2.46,-86.6,582.0,-10.4,493,4324,0.00,2.58,0.00,0.000,4,0.000,0.083,2176,3403,3168
$GC,4435,-2.46,-86.6,594.9,-10.9,498,4440,0.00,2.55,0.00,0.000,6,0.000,0.067,2176,2023,3167
$GC,4757,-2.46,-86.6,630.4,-11.3,514,4762,0.00,2.70,0.00,0.000,4,0.000,0.105,2176,3399,3166
$GC,4879,-2.46,-86.6,644.9,-11.7,519,4886,0.00,2.67,0.00,0.000,6,0.000,0.093,2176,2028,3166
$GC,5194,-2.46,-86.6,680.6,-11.1,535,5198,0.00,2.85,0.00,0.000,4,0.000,0.130,2176,3400,3164
$GC,5279,-2.46,-86.6,690.1,-11.3,539,5284,0.00,2.80,0.00,0.000,6,0.000,0.120,2176,2024,3164
$GC,5605,-2.46,-86.6,724.4,-10.7,555,5610,0.00,3.05,0.00,0.000,4,0.000,0.158,2176,3405,3162
$GC,5630,-2.46,-86.6,727.5,-11.1,556,5636,0.00,3.00,0.00,0.000,6,0.000,0.142,2176,2025,3161
$GC,5953,-2.46,-86.6,760.9,-10.6,572,5958,0.00,3.22,0.00,0.000,4,0.000,0.183,2176,3398,3160
$GC,6137,-2.46,-86.6,781.7,-11.7,580,6142,0.00,3.25,0.00,0.000,6,0.000,0.185,2176,2025,3159
$GC,6452,-2.46,-86.6,814.0,-10.4,595,6457,0.00,3.58,0.00,0.000,4,0.000,0.224,2176,3397,3159
$GC,6573,-2.46,-86.6,826.7,-10.4,600,6581,0.00,3.58,0.00,0.000,6,0.000,0.220,2176,2022,3158
$GC,6889,-2.46,-89.0,857.1,-9.8,616,6896,0.00,3.95,0.00,0.000,4,0.000,0.258,2176,3399,3156
$GC,7003,-2.46,-89.0,869.3,-10.9,621,7009,0.00,3.95,0.00,0.000,6,0.000,0.256,2176,2027,3156
$GC,7324,-2.48,-100.0,900.0,-9.0,637,7332,0.00,4.40,0.00,0.000,4,0.000,0.295,2176,3392,3154
$GC,7428,-2.48,-103.4,909.9,-9.7,641,7435,0.00,4.45,0.00,0.000,6,0.000,0.295,2176,2021,3154
$GC,7743,-2.48,-103.4,940.9,-10.7,657,7752,0.00,5.12,0.00,0.000,4,0.000,0.334,2176,3396,3153
$GC,7927,-2.48,-103.4,962.3,-12.0,665,7936,0.00,5.28,0.00,0.000,6,0.000,0.341,2176,2025,3153
$STATE,8211,end dive,NO_VERTICAL_VELOCITY
$STATE,8211,begin apogee
$GC,8215,-0.50,0.0,973.5,0.0,679,8292,1.98,0.00,69.53,1.442,6,0.082,0.000,2607,1962,2825
$STATE,8293,end apogee,CONTROL_FINISHED_OK
$STATE,8293,begin climb
$GC,8295,2.48,103.4,973.4,0.0,683,8398,2.90,5.95,90.12,1.407,4,0.065,0.355,3259,3330,2403
$GC,8532,2.52,124.0,961.5,8.2,694,8559,0.00,5.28,18.67,1.327,6,0.000,0.335,3258,1962,2319
$GC,8879,2.52,125.8,924.6,9.8,711,8883,0.00,2.53,0.00,0.000,4,0.000,0.058,3258,3358,2315
$GC,9069,2.52,125.8,902.9,10.4,719,9075,0.00,2.50,0.00,0.000,6,0.000,0.046,3258,1934,2315
$GC,9384,2.52,127.8,872.1,9.8,735,9393,0.00,2.58,4.28,0.905,4,0.000,0.058,3258,3349,2303
$GC,9566,2.52,127.8,852.7,10.3,743,9571,0.00,2.45,0.00,0.000,6,0.000,0.045,3259,1964,2302
$GC,9893,2.52,127.8,819.6,10.4,759,9897,0.00,2.47,0.00,0.000,4,0.000,0.058,3259,3348,2302
$GC,9981,2.52,127.8,810.1,10.5,763,9986,0.00,2.45,0.00,0.000,6,0.000,0.045,3258,1962,2301
$GC,10308,2.53,130.3,778.7,9.8,779,10312,0.00,2.47,0.00,0.000,4,0.000,0.058,3258,3346,2301
$GC,10508,2.53,130.3,758.1,10.5,788,10513,0.00,2.45,0.00,0.000,6,0.000,0.044,3258,1961,2301
$GC,10834,2.53,130.3,725.0,10.1,804,10839,0.00,2.47,0.00,0.000,4,0.000,0.057,3258,3349,2300
$GC,11002,2.53,130.3,707.9,10.4,811,11008,0.00,2.42,0.00,0.000,6,0.000,0.044,3258,1956,2300
$GC,11317,2.54,138.3,679.0,9.3,827,11332,0.00,2.55,10.23,1.166,4,0.000,0.057,3258,3356,2260
$GC,11381,2.54,138.3,672.3,11.2,829,11386,0.00,2.50,0.00,0.000,6,0.000,0.044,3258,1953,2259
$GC,11708,2.54,138.3,637.9,10.4,845,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1953,2259
$GC,12018,2.55,141.3,608.0,9.7,860,12024,0.00,0.00,4.07,0.811,6,0.000,0.000,3258,1953,2248
$GC,12327,2.55,142.9,576.4,9.9,875,12331,0.00,2.47,0.00,0.000,4,0.000,0.057,3258,3352,2249
$GC,12494,2.57,152.2,560.0,9.2,882,12510,0.00,2.42,10.90,1.106,6,0.000,0.044,3258,1955,2204
$GC,12824,2.57,154.5,527.7,9.8,899,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1955,2203
$GC,13134,2.57,154.5,495.7,10.5,915,13139,0.00,2.47,0.00,0.000,4,0.000,0.056,3258,3355,2203
$GC,13240,2.57,154.5,484.1,10.8,924,13245,0.00,2.42,0.00,0.000,6,0.000,0.043,3258,1956,2203
$GC,13564,2.57,158.1,451.1,9.7,954,13576,0.00,2.58,6.47,0.927,4,0.000,0.074,3258,555,2180
$GC,13648,2.57,158.1,442.4,10.8,961,13655,0.00,2.42,0.00,0.000,6,0.000,0.037,3258,1959,2180
$GC,13973,2.58,160.2,410.0,9.8,992,13985,0.00,2.53,3.97,0.719,4,0.000,0.057,3258,3359,2170
$GC,14121,2.59,164.4,395.3,9.6,1005,14132,0.00,2.45,5.15,0.825,6,0.000,0.044,3258,1950,2154
$GC,14449,2.59,164.4,361.8,10.5,1036,14453,0.00,2.53,0.00,0.000,4,0.000,0.055,3258,3369,2154
$GC,14612,2.59,164.4,344.8,10.5,1050,14616,0.00,2.45,0.00,0.000,6,0.000,0.041,3258,1949,2154
$GC,14936,2.60,170.6,314.1,9.5,1080,14947,0.00,0.00,7.05,0.863,6,0.000,0.000,3258,1947,2129
$GC,15265,2.60,174.2,281.6,9.7,1111,15277,0.10,2.55,5.10,0.752,4,0.091,0.071,3283,556,2113
$GC,15311,2.60,174.2,276.7,10.5,1115,15315,0.00,2.40,0.00,0.000,6,0.000,0.041,3283,1972,2113
$GC,15638,2.61,181.1,243.6,9.4,1150,15650,0.00,2.55,7.35,0.824,4,0.000,0.061,3283,3358,2086
$GC,15840,2.61,181.1,224.4,10.3,1186,15847,0.00,2.42,0.00,0.000,6,0.000,0.042,3283,1960,2086
$GC,16184,2.65,202.1,191.3,8.2,1247,16207,0.00,0.00,18.50,0.873,6,0.000,0.000,3283,1959,2001
$GC,16544,2.65,202.1,155.3,11.2,1311,16549,0.00,2.50,0.00,0.000,4,0.000,0.054,3283,3369,2000
$GC,16763,2.67,217.7,133.6,8.6,1350,16785,0.00,2.42,14.50,0.802,6,0.000,0.037,3283,1946,1937
$GC,17122,2.74,254.7,104.6,6.8,1414,17161,0.12,2.55,31.00,0.790,4,0.078,0.049,3317,3366,1785
$GC,17414,2.84,317.0,82.7,4.6,1466,17474,0.00,2.38,50.75,0.755,6,0.000,0.033,3317,1951,1531
$GC,17813,2.86,326.5,52.3,9.2,1537,17830,0.00,2.53,8.45,0.646,4,0.000,0.047,3317,3360,1493
$GC,18083,2.86,326.5,26.4,10.0,1585,18089,0.00,2.35,0.00,0.000,6,0.000,0.030,3317,1954,1493
$STATE,18317,end climb,SURFACE_DEPTH_REACHED
$STATE,18318,begin surface coast
$FINISH,-0.2,1.021772
$STATE,18335,end surface coast,CONTROL_FINISHED_OK
$STATE,18335,begin surface
$SM_CCo,18355,92.03,0.622,4,0,887,475.15
$SM_GC,-5.77,0.00,0.00,92.03,0.000,0.000,0.622,417,2068,887,-10.57,1.19,475.15
$IRIDIUM_FIX,1238.83,12039.25,140597,040400
$TT8_MAMPS,0.026078
$HUMID,1782
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.10
$XPDR_PINGS,394
$24V_AH,23.2,1.189
$10V_AH,10.1,1.171
$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,27.925,197.050,366.100,92.025,0.000,57.896,42.479,248.529,98.500,0.000,0.000,12.578,2700.116,11751.148,653.029,3370.482,529.059,0.000,2215.472,0.000,3334.592,0.000,0.462
$DEVICE_MAMPS,177.177,387.335,1441.960,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.678,1009.454,393.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91514,1630
$CAP_FILE_SIZE,171709,0
$CFSIZE,260165632,256561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,4,0
$GPS,180208,095556,1244.448,12039.626,41,1.6,41,-0.8