version: 66.03
glider: 126
mission: 7
dive: 33
start: 2 23 108 15 20 41
data:
$ID,126
$MISSION,7
$DIVE,33
$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,413
$T_MISSION,496
$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,-620268.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,4
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$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
$GPS1,151308,1318.390,12022.118,29,1.1,29,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.85
$_SM_ANGLEo,-57.5
$GPS2,151950,1318.439,12022.084,11,1.1,16,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,CALAVITE
$TGT_LATLONG,1326.020,12016.740
$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,326.5,17022,-22.0,-7.990
$D_GRID,902
$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,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-65.12,0.000,6,0.000,0.000,414,2331,3100
$GC,92,-2.33,-67.0,1.1,-16.5,13,109,10.20,1.80,0.00,0.000,4,0.176,0.038,2197,3379,3101
$GC,153,-2.20,-67.0,21.7,-24.9,24,160,0.15,1.77,0.00,0.000,6,0.127,0.026,2227,2310,3102
$GC,498,-2.14,-67.0,87.3,-16.0,85,503,0.00,1.83,0.00,0.000,4,0.000,0.041,2228,3375,3103
$GC,690,-2.08,-67.0,119.3,-15.7,119,696,0.15,1.62,0.00,0.000,6,0.125,0.025,2255,2366,3104
$GC,1034,-2.08,-67.0,164.5,-11.7,180,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2360,3105
$GC,1377,-2.08,-67.0,204.1,-11.5,241,1383,0.00,1.75,0.00,0.000,4,0.000,0.043,2255,3382,3106
$GC,1523,-2.08,-67.0,221.3,-11.9,267,1529,0.00,1.67,0.00,0.000,6,0.000,0.028,2255,2353,3106
$GC,1868,-2.11,-67.0,257.9,-9.9,322,1871,0.00,1.77,0.00,0.000,4,0.000,0.045,2255,3375,3105
$GC,1912,-2.13,-67.0,262.1,-9.7,326,1916,0.00,1.65,0.00,0.000,6,0.000,0.029,2255,2368,3105
$GC,2242,-2.17,-67.0,295.1,-10.3,357,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2361,3105
$GC,2561,-2.21,-67.0,326.4,-9.7,387,2562,0.12,0.00,0.00,0.000,6,0.071,0.000,2222,2361,3103
$GC,2879,-2.21,-67.0,359.1,-10.0,417,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3101
$GC,3197,-2.21,-67.0,391.5,-9.7,447,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3100
$GC,3515,-2.21,-67.0,423.3,-10.2,477,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2361,3097
$GC,3834,-2.21,-67.0,454.9,-9.6,507,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3095
$GC,4154,-2.21,-67.0,484.8,-9.5,537,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3094
$GC,4477,-2.23,-67.0,516.1,-9.0,560,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2361,3092
$GC,4786,-2.25,-67.0,542.0,-8.6,575,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2361,3090
$GC,5098,-2.27,-67.0,571.4,-9.0,590,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3089
$GC,5405,-2.30,-67.0,599.9,-9.5,605,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3087
$GC,5714,-2.32,-67.0,627.6,-8.5,620,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2361,3085
$GC,6023,-2.35,-67.0,653.8,-8.7,635,6025,0.12,0.00,0.00,0.000,6,0.077,0.000,2191,2361,3083
$GC,6332,-2.35,-67.0,682.5,-9.7,650,6336,0.00,2.00,0.00,0.000,4,0.000,0.116,2191,3354,3082
$GC,6412,-2.35,-67.0,690.4,-9.8,653,6415,0.00,1.88,0.00,0.000,6,0.000,0.096,2191,2398,3081
$GC,6734,-2.35,-67.0,720.1,-8.9,669,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2399,3080
$GC,7041,-2.35,-67.0,749.1,-9.2,684,7045,0.00,2.33,0.00,0.000,4,0.000,0.152,2191,1315,3078
$GC,7089,-2.35,-67.0,753.5,-9.3,686,7095,0.00,2.12,0.00,0.000,6,0.000,0.127,2191,2320,3078
$GC,7411,-2.35,-67.0,781.7,-8.1,702,7415,0.00,2.30,0.00,0.000,4,0.000,0.169,2191,1313,3077
$GC,7471,-2.35,-67.0,786.6,-8.3,705,7475,0.00,2.22,0.00,0.000,6,0.000,0.145,2191,2337,3077
$GC,7803,-2.35,-67.0,816.7,-9.1,721,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2337,3075
$STATE,7946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7946,begin apogee
$GC,7951,-0.51,0.0,829.8,9.1,728,8009,2.00,0.00,53.22,1.325,6,0.113,0.000,2598,2001,2825
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8009,begin climb
$GC,8011,2.33,67.0,831.5,0.0,731,8075,2.88,0.00,58.78,1.295,6,0.074,0.000,3218,2001,2551
$GC,8377,2.33,93.6,813.6,5.5,749,8403,0.00,0.00,23.75,1.261,6,0.000,0.000,3218,2001,2443
$GC,8706,2.28,93.6,788.8,8.1,765,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2000,2441
$GC,9015,2.24,93.6,764.4,8.0,780,9019,0.00,2.05,0.00,0.000,4,0.000,0.067,3218,881,2440
$GC,9272,2.18,93.6,743.6,8.2,791,9278,0.12,1.92,0.00,0.000,6,0.110,0.035,3190,1993,2439
$GC,9593,2.21,111.4,721.9,6.3,807,9614,0.00,2.08,15.68,1.211,4,0.000,0.064,3190,890,2370
$GC,9715,2.19,114.5,712.9,7.7,812,9727,0.00,1.85,4.62,0.887,6,0.000,0.036,3189,1958,2358
$GC,10035,2.19,114.5,686.1,8.7,828,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1958,2357
$GC,10344,2.20,117.9,660.1,7.7,843,10353,0.00,2.00,4.43,0.854,4,0.000,0.065,3189,883,2344
$GC,10456,2.18,120.3,651.4,7.8,848,10465,0.00,1.83,3.97,0.795,6,0.000,0.036,3189,1954,2334
$GC,10786,2.18,120.3,622.1,8.9,864,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1954,2334
$GC,11095,2.18,120.3,594.6,9.0,879,11099,0.00,1.95,0.00,0.000,4,0.000,0.064,3189,887,2333
$GC,11212,2.15,120.3,583.9,9.4,884,11216,0.00,1.83,0.00,0.000,6,0.000,0.035,3189,1945,2333
$GC,11539,2.15,120.5,556.0,8.0,900,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1946,2332
$GC,11848,2.17,133.7,534.2,6.7,915,11869,0.00,2.03,12.70,1.091,4,0.000,0.064,3190,890,2279
$GC,11974,2.18,136.0,524.3,7.8,920,11982,0.00,1.83,3.60,0.690,6,0.000,0.035,3190,1944,2270
$GC,12290,2.18,136.0,497.9,8.8,937,12294,0.00,1.92,0.00,0.000,4,0.000,0.064,3189,891,2270
$GC,12346,2.18,136.0,492.8,9.1,942,12349,0.00,1.77,0.00,0.000,6,0.000,0.035,3190,1922,2270
$GC,12676,2.18,136.0,463.9,8.8,973,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1922,2269
$GC,12994,2.18,136.0,436.3,8.8,1003,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1923,2270
$GC,13312,2.18,136.0,408.0,8.8,1033,13316,0.00,1.88,0.00,0.000,4,0.000,0.049,3189,3008,2269
$GC,13395,2.18,136.0,401.0,8.1,1040,13402,0.00,1.92,0.00,0.000,6,0.000,0.041,3189,1911,2269
$GC,13721,2.18,137.8,377.1,7.8,1071,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1911,2269
$GC,14040,2.18,140.1,352.8,7.8,1101,14049,0.00,0.00,5.50,0.793,6,0.000,0.000,3190,1911,2253
$GC,14367,2.19,142.5,326.7,7.8,1132,14379,0.00,1.95,3.47,0.591,4,0.000,0.046,3189,3004,2244
$GC,14412,2.19,143.8,323.1,7.9,1136,14416,0.00,1.88,0.00,0.000,6,0.000,0.038,3190,1909,2245
$GC,14743,2.19,145.0,297.0,7.9,1167,14752,0.00,0.00,4.28,0.675,6,0.000,0.000,3189,1907,2233
$GC,15071,2.20,149.5,271.4,7.6,1198,15081,0.00,0.00,5.53,0.755,6,0.000,0.000,3190,1907,2215
$GC,15401,2.21,155.5,246.7,7.4,1232,15412,0.00,0.00,6.78,0.779,6,0.000,0.000,3189,1907,2190
$GC,15751,2.24,158.5,221.6,7.7,1294,15757,0.00,0.00,4.43,0.647,6,0.000,0.000,3189,1907,2178
$GC,16095,2.27,163.7,196.6,7.5,1355,16107,0.00,1.83,5.97,0.717,4,0.000,0.059,3189,889,2157
$GC,16326,2.28,170.5,179.6,7.3,1396,16338,0.00,1.83,7.32,0.749,6,0.000,0.029,3189,1976,2130
$GC,16676,2.34,188.9,159.1,6.2,1458,16699,0.12,1.77,16.65,0.812,4,0.074,0.041,3222,3002,2054
$GC,16739,2.36,198.8,154.6,7.1,1469,16756,0.00,1.80,9.70,0.747,6,0.000,0.032,3223,1940,2013
$GC,17096,2.39,202.8,128.6,7.6,1532,17108,0.00,1.85,4.85,0.599,4,0.000,0.040,3223,2993,1998
$GC,17153,2.39,202.8,123.5,8.6,1542,17159,0.00,1.70,0.00,0.000,6,0.000,0.031,3223,1994,1998
$GC,17497,2.46,221.8,98.1,6.2,1603,17520,0.00,1.92,17.27,0.746,4,0.000,0.051,3223,914,1920
$GC,17773,2.51,237.2,81.3,6.5,1652,17791,0.10,1.75,13.60,0.709,6,0.053,0.027,3259,1975,1858
$GC,18131,2.57,253.9,56.7,6.4,1715,18153,0.00,1.77,14.90,0.689,4,0.000,0.040,3259,2988,1789
$GC,18406,2.64,278.4,43.3,5.7,1764,18435,0.08,1.65,20.98,0.680,6,0.058,0.028,3290,2002,1688
$GC,18774,2.68,288.5,14.7,7.0,1829,18791,0.00,1.92,9.60,0.606,4,0.000,0.048,3290,920,1648
$STATE,18913,end climb,SURFACE_DEPTH_REACHED
$STATE,18914,begin surface coast
$FINISH,0.0,1.021955
$STATE,18930,end surface coast,CONTROL_FINISHED_OK
$STATE,18930,begin surface
$SM_CCo,18951,111.80,0.636,0,0,888,475.15
$SM_GC,-4.74,0.00,0.00,111.80,0.000,0.000,0.636,415,2307,888,-10.56,-0.51,475.15
$IRIDIUM_FIX,1309.80,12022.88,190597,080802
$TT8_MAMPS,0.025311
$HUMID,1672
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.40
$XPDR_PINGS,412
$ALTIM_BOTTOM_PING,820.4,34.3
$24V_AH,23.2,5.171
$10V_AH,10.1,4.252
$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,28.600,80.400,331.575,111.800,0.000,30.518,16.169,245.538,111.500,0.000,0.000,16.787,2972.241,12267.994,564.175,3168.475,510.827,0.000,2010.373,0.000,3143.374,0.000,63.390
$DEVICE_MAMPS,176.410,188.682,1325.376,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.102,815.461,765.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101053,1857
$CAP_FILE_SIZE,171955,0
$CFSIZE,260165632,254427136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,203938,1320.238,12021.267,40,1.9,40,-0.9