version: 66.03
glider: 126
mission: 7
dive: 88
start: 3 6 108 17 19 19
data:
$ID,126
$MISSION,7
$DIVE,88
$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,548.98138
$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,-621185.62
$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,30
$R_STBD_OVSHOOT,42
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,170537,1251.881,12038.249,34,1.1,34,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.03
$_SM_ANGLEo,-48.8
$GPS2,171827,1251.946,12038.066,15,1.5,15,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,DONGON
$TGT_LATLONG,1242.200,12044.500
$TGT_RADIUS,1000.000
$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,148.0,21469,-22.0,-7.990
$D_GRID,1181
$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,-67.0,0.0,0.0,0,99,0.00,0.00,-74.25,0.000,6,0.000,0.000,417,2330,3100
$GC,101,-2.33,-67.0,0.8,-14.3,15,119,10.12,1.80,0.00,0.000,4,0.176,0.034,2195,1264,3101
$GC,199,-2.22,-67.0,26.6,-20.5,32,206,0.12,1.77,0.00,0.000,6,0.120,0.028,2222,2319,3102
$GC,544,-2.14,-67.0,88.2,-17.5,93,550,0.10,1.80,0.00,0.000,4,0.140,0.044,2238,3377,3103
$GC,603,-2.08,-67.0,98.1,-17.6,103,609,0.00,1.75,0.00,0.000,6,0.000,0.024,2239,2280,3103
$GC,946,-2.05,-67.0,151.1,-13.5,164,952,0.12,0.00,0.00,0.000,6,0.130,0.000,2261,2272,3103
$GC,1289,-2.05,-67.0,192.2,-11.5,225,1295,0.00,1.88,0.00,0.000,4,0.000,0.042,2261,3374,3104
$GC,1547,-2.05,-67.0,220.3,-11.2,271,1553,0.00,1.73,0.00,0.000,6,0.000,0.026,2261,2299,3104
$GC,1892,-2.07,-67.0,257.3,-10.4,327,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2292,3104
$GC,2211,-2.11,-67.0,287.7,-9.1,357,2214,0.00,1.88,0.00,0.000,4,0.000,0.047,2261,3377,3102
$GC,2328,-2.13,-67.0,300.0,-10.2,367,2334,0.00,1.73,0.00,0.000,6,0.000,0.028,2261,2329,3101
$GC,2653,-2.16,-67.0,333.3,-10.4,398,2657,0.00,1.75,0.00,0.000,4,0.000,0.043,2261,1301,3099
$GC,2691,-2.20,-67.0,337.6,-10.7,401,2698,0.10,1.73,0.00,0.000,6,0.054,0.031,2226,2324,3099
$GC,3016,-2.20,-67.0,372.2,-10.5,432,3019,0.00,1.77,0.00,0.000,4,0.000,0.046,2226,1303,3097
$GC,3064,-2.20,-67.0,377.7,-10.8,436,3071,0.00,1.70,0.00,0.000,6,0.000,0.031,2226,2303,3097
$GC,3390,-2.20,-67.0,411.6,-9.5,467,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2304,3094
$GC,3708,-2.20,-67.0,443.5,-10.0,497,3711,0.00,1.88,0.00,0.000,4,0.000,0.054,2226,3376,3092
$GC,3821,-2.20,-67.0,455.2,-10.3,507,3825,0.00,1.75,0.00,0.000,6,0.000,0.034,2226,2339,3091
$GC,4151,-2.20,-67.0,488.5,-10.1,538,4155,0.00,1.83,0.00,0.000,4,0.000,0.057,2227,3364,3088
$GC,4196,-2.20,-67.0,493.3,-10.3,542,4200,0.00,1.75,0.00,0.000,6,0.000,0.035,2226,2334,3087
$GC,4529,-2.22,-67.0,526.8,-9.7,561,4532,0.00,1.90,0.00,0.000,4,0.000,0.070,2226,1282,3085
$GC,4600,-2.22,-67.0,534.2,-9.6,564,4605,0.00,1.83,0.00,0.000,6,0.000,0.043,2226,2317,3085
$GC,4929,-2.25,-67.0,567.5,-10.4,580,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2317,3083
$GC,5237,-2.27,-67.0,598.2,-9.8,595,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2317,3081
$GC,5548,-2.29,-67.0,627.2,-9.0,610,5551,0.00,2.00,0.00,0.000,4,0.000,0.094,2226,3370,3078
$GC,5647,-2.29,-67.0,637.0,-9.7,614,5652,0.00,1.98,0.00,0.000,6,0.000,0.071,2226,2327,3077
$GC,5969,-2.32,-67.0,665.2,-8.6,630,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2326,3076
$GC,6278,-2.34,-67.0,692.7,-9.0,645,6282,0.12,2.12,0.00,0.000,4,0.073,0.118,2194,1265,3075
$GC,6338,-2.34,-67.0,698.6,-10.4,648,6342,0.00,2.00,0.00,0.000,6,0.000,0.100,2194,2285,3074
$GC,6673,-2.34,-67.0,730.4,-10.0,664,6677,0.00,2.33,0.00,0.000,4,0.000,0.141,2194,3389,3072
$GC,6802,-2.34,-67.0,743.5,-11.0,670,6806,0.00,1.90,0.00,0.000,6,0.000,0.035,2194,2286,3071
$GC,7133,-2.34,-67.0,772.9,-8.9,686,7137,0.00,1.98,0.00,0.000,4,0.000,0.055,2194,3397,3071
$GC,7200,-2.34,-67.0,779.4,-10.1,689,7204,0.00,1.83,0.00,0.000,6,0.000,0.035,2194,2318,3070
$GC,7532,-2.34,-67.0,808.8,-8.8,705,7535,0.00,1.83,0.00,0.000,4,0.000,0.059,2194,1284,3069
$GC,7592,-2.34,-67.0,814.4,-9.6,707,7599,0.00,1.85,0.00,0.000,6,0.000,0.036,2194,2355,3069
$GC,7907,-2.34,-67.0,845.1,-10.0,723,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2356,3068
$GC,8216,-2.34,-67.0,873.6,-8.8,738,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2356,3066
$GC,8528,-2.34,-67.0,901.6,-9.2,753,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2356,3065
$GC,8838,-2.34,-67.0,930.3,-9.2,768,8841,0.00,1.83,0.00,0.000,4,0.000,0.061,2194,3383,3064
$GC,8949,-2.34,-67.0,941.3,-10.1,773,8953,0.00,1.80,0.00,0.000,6,0.000,0.037,2194,2323,3064
$GC,9281,-2.34,-67.0,969.8,-8.8,789,9286,0.00,1.90,0.00,0.000,4,0.000,0.060,2194,3381,3063
$GC,9329,-2.34,-67.0,974.4,-9.4,791,9334,0.00,1.80,0.00,0.000,6,0.000,0.036,2194,2344,3063
$STATE,9532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9532,begin apogee
$GC,9536,-0.51,0.0,991.4,8.4,801,9594,1.95,0.00,52.00,1.435,6,0.107,0.000,2597,1961,2825
$STATE,9595,end apogee,CONTROL_FINISHED_OK
$STATE,9595,begin climb
$GC,9597,2.33,67.0,993.3,0.0,804,9662,2.85,0.00,60.25,1.403,6,0.066,0.000,3220,1961,2551
$GC,9963,2.32,89.7,975.1,5.8,822,9985,0.00,0.00,20.95,1.358,6,0.000,0.000,3220,1961,2460
$GC,10292,2.28,89.7,950.5,8.0,838,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1962,2457
$GC,10601,2.25,94.3,926.6,7.6,853,10611,0.00,1.98,5.47,1.050,4,0.000,0.072,3220,907,2440
$GC,10655,2.20,94.3,922.0,8.5,855,10662,0.12,1.85,0.00,0.000,6,0.107,0.036,3192,1961,2439
$GC,10970,2.20,98.1,898.2,7.6,871,10977,0.00,0.00,4.72,0.976,6,0.000,0.000,3192,1961,2425
$GC,11279,2.20,98.1,871.6,9.3,886,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1961,2424
$GC,11588,2.20,98.1,845.3,8.0,901,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1961,2423
$GC,11898,2.21,104.1,822.3,7.4,916,11911,0.00,1.92,6.93,1.121,4,0.000,0.052,3192,3018,2400
$GC,11951,2.22,118.2,818.0,6.7,918,11971,0.00,1.88,13.98,1.265,6,0.000,0.041,3192,1960,2343
$GC,12293,2.22,118.2,788.0,8.9,935,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1960,2341
$GC,12601,2.22,118.2,759.1,9.4,950,12605,0.00,1.85,0.00,0.000,4,0.000,0.051,3192,3009,2340
$GC,12646,2.22,118.2,754.8,9.7,952,12649,0.00,1.83,0.00,0.000,6,0.000,0.040,3192,1956,2340
$GC,12977,2.22,118.2,725.8,8.2,968,12981,0.00,1.88,0.00,0.000,4,0.000,0.051,3192,3018,2340
$GC,13150,2.22,118.2,710.9,9.3,975,13156,0.00,1.83,0.00,0.000,6,0.000,0.040,3192,1979,2340
$GC,13467,2.22,118.2,685.4,8.2,991,13471,0.00,1.95,0.00,0.000,4,0.000,0.075,3192,905,2340
$GC,13534,2.20,118.2,679.5,8.3,994,13538,0.00,1.85,0.00,0.000,6,0.000,0.035,3192,1989,2340
$GC,13865,2.20,118.2,651.8,8.6,1010,13869,0.00,1.77,0.00,0.000,4,0.000,0.051,3192,3016,2340
$GC,13982,2.20,118.2,641.6,9.3,1015,13986,0.00,1.80,0.00,0.000,6,0.000,0.040,3192,1986,2339
$GC,14310,2.20,118.2,614.0,8.5,1031,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1986,2339
$GC,14618,2.20,118.2,586.6,8.6,1046,14619,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1986,2339
$GC,14927,2.20,121.0,561.6,7.7,1061,14931,0.00,1.80,0.00,0.000,4,0.000,0.049,3191,3015,2339
$GC,15044,2.20,121.0,552.5,8.4,1066,15048,0.00,1.77,0.00,0.000,6,0.000,0.038,3192,1991,2339
$GC,15371,2.22,130.9,529.3,7.1,1082,15387,0.00,1.88,11.98,1.080,4,0.000,0.049,3192,3010,2291
$GC,15487,2.22,130.9,519.6,8.0,1086,15492,0.00,1.75,0.00,0.000,6,0.000,0.037,3192,2007,2290
$GC,15811,2.22,130.9,492.4,8.8,1106,15815,0.00,1.75,0.00,0.000,4,0.000,0.049,3192,3009,2290
$GC,15860,2.22,130.9,488.0,8.6,1110,15867,0.00,1.73,0.00,0.000,6,0.000,0.037,3192,2022,2290
$GC,16185,2.22,130.9,459.9,8.5,1141,16189,0.00,2.00,0.00,0.000,4,0.000,0.064,3192,908,2290
$GC,16280,2.22,132.0,451.5,7.9,1149,16286,0.00,1.92,0.00,0.000,6,0.000,0.035,3192,2021,2290
$GC,16605,2.22,135.2,426.9,7.7,1180,16616,0.00,1.73,5.53,0.841,4,0.000,0.051,3192,3009,2273
$GC,16650,2.22,135.2,423.3,8.6,1184,16654,0.00,1.70,0.00,0.000,6,0.000,0.045,3192,2023,2273
$GC,16980,2.23,136.3,397.3,7.9,1215,16984,0.00,2.00,0.00,0.000,4,0.000,0.062,3192,908,2272
$GC,17025,2.23,136.3,393.7,8.6,1219,17028,0.00,1.90,0.00,0.000,6,0.000,0.034,3192,2030,2273
$GC,17355,2.23,140.0,367.8,7.6,1250,17367,0.00,2.05,5.90,0.833,4,0.000,0.058,3192,904,2254
$GC,17519,2.23,140.0,354.6,9.0,1264,17524,0.00,1.90,0.00,0.000,6,0.000,0.033,3192,2024,2254
$GC,17843,2.23,141.6,330.6,7.8,1295,17847,0.00,1.70,0.00,0.000,4,0.000,0.053,3192,3005,2254
$GC,17888,2.24,142.8,326.8,7.9,1299,17900,0.00,1.65,4.15,0.676,6,0.000,0.038,3192,2037,2242
$GC,18217,2.24,147.1,300.6,7.6,1330,18229,0.00,1.73,5.43,0.765,4,0.000,0.048,3192,3018,2224
$GC,18480,2.24,147.1,279.7,8.3,1353,18487,0.00,1.60,0.00,0.000,6,0.000,0.033,3192,2080,2224
$GC,18806,2.25,149.6,254.6,7.8,1384,18815,0.00,0.00,3.85,0.600,6,0.000,0.000,3192,2080,2215
$GC,19149,2.30,166.7,229.6,6.4,1440,19171,0.00,2.12,16.10,0.879,4,0.000,0.057,3192,908,2144
$GC,19418,2.30,166.7,206.9,9.1,1488,19424,0.00,2.03,0.00,0.000,6,0.000,0.031,3192,2090,2143
$GC,19764,2.37,193.0,181.4,5.5,1549,19792,0.15,2.20,22.55,0.841,4,0.067,0.051,3237,913,2038
$GC,19848,2.37,193.0,174.4,9.2,1564,19855,0.00,1.98,0.00,0.000,6,0.000,0.030,3237,2072,2037
$GC,20192,2.43,227.3,153.8,4.7,1625,20226,0.00,2.17,29.10,0.810,4,0.000,0.050,3237,904,1898
$GC,20377,2.45,238.5,140.0,6.9,1658,20395,0.00,1.95,10.62,0.742,6,0.000,0.028,3237,2054,1852
$GC,20733,2.52,258.4,114.1,6.1,1721,20756,0.00,0.00,17.60,0.747,6,0.000,0.000,3237,2056,1770
$GC,21094,2.57,258.4,85.7,8.8,1785,21101,0.15,2.03,0.00,0.000,4,0.061,0.045,3285,900,1769
$GC,21254,2.57,258.4,69.6,9.5,1813,21260,0.00,1.88,0.00,0.000,6,0.000,0.026,3285,2038,1769
$GC,21598,2.63,278.0,46.7,6.1,1874,21620,0.00,1.73,17.30,0.669,4,0.000,0.041,3285,3017,1690
$GC,21874,2.66,278.7,25.6,7.9,1923,21880,0.00,1.60,0.00,0.000,6,0.000,0.025,3286,2031,1690
$STATE,22158,end climb,SURFACE_DEPTH_REACHED
$STATE,22158,begin surface coast
$FINISH,0.1,1.021526
$STATE,22193,end surface coast,CONTROL_FINISHED_OK
$STATE,22193,begin surface
$SM_CCo,22214,157.60,0.621,0,0,586,548.98
$SM_GC,-5.22,0.00,0.00,157.60,0.000,0.000,0.621,414,2351,586,-10.56,0.71,548.98
$IRIDIUM_FIX,1247.67,12039.25,310597,171738
$TT8_MAMPS,0.026078
$HUMID,1693
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.70
$XPDR_PINGS,469
$24V_AH,23.1,13.251
$10V_AH,10.2,10.730
$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,28.350,135.100,314.400,157.600,0.000,138.534,168.222,93.627,129.750,0.000,0.000,15.713,3285.850,14925.040,640.979,3595.871,711.208,0.000,2316.677,0.000,3553.193,0.000,91.490
$DEVICE_MAMPS,175.643,141.128,1435.057,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1344.355,784.621,744.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107198,1980
$CAP_FILE_SIZE,202303,0
$CFSIZE,260165632,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,233325,1250.288,12038.599,39,1.3,39,-0.8