version: 66.03
glider: 126
mission: 7
dive: 236
start: 4 6 108 18 26 39
data:
$ID,126
$MISSION,7
$DIVE,236
$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,366
$T_MISSION,439
$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,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,-623891.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,28
$R_STBD_OVSHOOT,55
$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
$GPS1,181858,1248.894,12026.106,31,2.6,50,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.66
$_SM_ANGLEo,-59.2
$GPS2,182547,1248.863,12025.998,12,2.9,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,253.2,19891,-19.0,-9.016
$D_GRID,852
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-66.90,0.000,6,0.000,0.000,415,2357,3320
$GC,97,-2.18,-120.8,0.9,-22.8,13,114,10.40,1.70,0.00,0.000,4,0.172,0.037,2249,3362,3322
$GC,368,-1.98,-120.8,62.5,-17.4,61,374,0.25,1.73,0.00,0.000,6,0.109,0.022,2298,2267,3323
$GC,712,-1.94,-120.8,110.3,-11.7,122,718,0.00,1.88,0.00,0.000,4,0.000,0.038,2298,3357,3325
$GC,949,-1.94,-120.8,138.1,-10.5,164,955,0.00,1.77,0.00,0.000,6,0.000,0.023,2298,2255,3326
$GC,1292,-1.94,-120.8,170.7,-9.6,225,1298,0.00,1.88,0.00,0.000,4,0.000,0.039,2298,3358,3327
$GC,1349,-1.94,-120.8,176.3,-10.3,235,1354,0.00,1.77,0.00,0.000,6,0.000,0.024,2298,2240,3327
$GC,1693,-1.95,-124.2,209.1,-8.8,296,1698,0.00,1.92,0.00,0.000,4,0.000,0.041,2298,3367,3327
$GC,1733,-1.95,-128.9,212.7,-8.7,303,1739,0.00,1.75,0.00,0.000,6,0.000,0.025,2298,2268,3327
$GC,2076,-1.96,-135.3,244.6,-8.6,364,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2259,3327
$GC,2405,-1.97,-136.1,274.5,-9.0,400,2409,0.00,1.90,0.00,0.000,4,0.000,0.043,2298,3367,3326
$GC,2517,-1.97,-136.1,285.2,-9.7,410,2521,0.00,1.75,0.00,0.000,6,0.000,0.026,2298,2282,3325
$GC,2850,-2.00,-139.9,315.8,-8.8,441,2854,0.00,1.88,0.00,0.000,4,0.000,0.044,2298,3354,3324
$GC,2944,-2.00,-139.9,325.1,-9.6,449,2950,0.00,1.65,0.00,0.000,6,0.000,0.027,2298,2342,3322
$GC,3271,-2.03,-139.9,355.3,-9.2,480,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2336,3321
$GC,3588,-2.03,-139.9,384.7,-9.7,510,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2336,3319
$GC,3908,-2.07,-139.9,414.4,-9.1,540,3911,0.00,1.77,0.00,0.000,4,0.000,0.048,2298,3364,3316
$GC,3998,-2.07,-139.9,423.4,-9.6,548,4002,0.00,1.65,0.00,0.000,6,0.000,0.030,2298,2369,3316
$GC,4330,-2.11,-142.4,453.5,-8.9,579,4334,0.12,1.90,0.00,0.000,4,0.067,0.053,2264,1287,3314
$GC,4391,-2.11,-143.1,459.3,-9.0,584,4397,0.00,1.75,0.00,0.000,6,0.000,0.031,2264,2334,3313
$GC,4716,-2.11,-143.1,489.7,-9.3,615,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2334,3311
$GC,5038,-2.11,-144.9,518.7,-8.9,636,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2335,3309
$GC,5347,-2.11,-144.9,546.7,-9.4,651,5350,0.00,1.85,0.00,0.000,4,0.000,0.065,2264,3370,3307
$GC,5459,-2.11,-144.9,558.1,-10.4,656,5463,0.00,1.77,0.00,0.000,6,0.000,0.040,2264,2362,3307
$GC,5793,-2.11,-144.9,591.9,-10.3,672,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2360,3305
$GC,6100,-2.11,-144.9,622.5,-10.0,687,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2360,3304
$GC,6410,-2.11,-144.9,651.9,-9.1,702,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2361,3302
$GC,6721,-2.11,-144.9,681.0,-9.7,717,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2360,3301
$GC,7031,-2.11,-144.9,710.2,-9.3,732,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2361,3299
$GC,7337,-2.11,-144.9,738.9,-9.1,747,7341,0.00,1.77,0.00,0.000,4,0.000,0.052,2264,3370,3297
$GC,7462,-2.11,-146.0,750.2,-8.9,752,7465,0.00,1.73,0.00,0.000,6,0.000,0.032,2264,2338,3297
$GC,7783,-2.11,-146.0,778.8,-9.0,768,7786,0.00,1.90,0.00,0.000,4,0.000,0.067,2264,1287,3295
$GC,7838,-2.11,-146.0,783.9,-9.3,770,7842,0.00,1.85,0.00,0.000,6,0.000,0.044,2264,2353,3295
$GC,8159,-2.11,-146.0,814.5,-9.9,786,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2353,3294
$GC,8468,-2.11,-146.0,846.5,-10.0,801,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2353,3293
$STATE,8529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8529,begin apogee
$GC,8535,-0.52,0.0,852.7,9.9,804,8639,1.65,0.00,99.72,1.329,6,0.094,0.000,2613,1960,2825
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8642,2.22,146.0,856.8,0.0,809,8778,2.67,2.10,126.57,1.295,4,0.060,0.091,3219,920,2229
$GC,8899,2.09,146.0,843.5,10.1,821,8903,0.12,1.85,0.00,0.000,6,0.098,0.033,3182,1972,2224
$GC,9231,2.02,159.6,814.8,8.2,837,9245,0.00,0.00,12.25,1.177,6,0.000,0.000,3182,1972,2174
$GC,9540,1.98,177.1,788.8,7.9,852,9560,0.12,0.00,16.85,1.217,6,0.115,0.000,3159,1972,2102
$GC,9870,1.93,178.9,759.5,8.9,868,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1972,2099
$GC,10178,1.90,183.1,732.4,8.8,883,10189,0.00,1.98,6.40,1.022,4,0.000,0.061,3159,912,2078
$GC,10268,1.84,183.1,724.0,9.3,887,10272,0.15,1.80,0.00,0.000,6,0.112,0.031,3131,1968,2077
$GC,10596,1.86,194.2,696.9,8.3,903,10612,0.00,1.85,11.23,1.151,4,0.000,0.047,3131,3014,2032
$GC,10696,1.87,199.2,687.8,8.7,906,10706,0.00,1.83,6.05,0.989,6,0.000,0.036,3131,1955,2012
$GC,11027,1.87,200.4,658.6,8.9,923,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1955,2011
$GC,11336,1.87,200.4,631.4,9.1,938,11340,0.00,1.85,0.00,0.000,4,0.000,0.047,3131,3011,2010
$GC,11466,1.87,200.4,619.5,9.3,943,11472,0.00,1.80,0.00,0.000,6,0.000,0.035,3131,1959,2010
$GC,11781,1.92,227.8,594.7,7.3,959,11812,0.00,1.90,26.17,1.167,4,0.000,0.045,3131,3014,1896
$GC,11851,1.92,227.8,589.0,9.2,962,11855,0.00,1.83,0.00,0.000,6,0.000,0.035,3131,1974,1894
$GC,12172,1.94,238.7,562.4,8.3,978,12185,0.00,0.00,10.95,1.075,6,0.000,0.000,3131,1974,1852
$GC,12482,1.97,242.3,535.1,8.8,993,12491,0.12,1.85,4.68,0.825,4,0.071,0.046,3165,3013,1837
$GC,12558,1.97,242.3,527.6,9.7,996,12562,0.00,1.80,0.00,0.000,6,0.000,0.035,3165,1969,1836
$GC,12880,1.98,244.0,498.8,8.9,1012,12883,0.00,1.83,0.00,0.000,4,0.000,0.045,3164,3011,1836
$GC,12963,1.98,244.0,490.6,10.0,1019,12969,0.00,1.75,0.00,0.000,6,0.000,0.035,3164,1991,1836
$GC,13289,1.98,244.0,460.1,9.1,1050,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1991,1836
$GC,13608,2.00,255.3,430.2,8.3,1080,13629,0.00,1.88,12.60,1.015,4,0.000,0.045,3165,3010,1784
$GC,13713,2.00,255.3,419.2,10.5,1089,13719,0.00,1.75,0.00,0.000,6,0.000,0.035,3164,2009,1782
$GC,14040,2.00,255.3,386.5,10.1,1120,14043,0.00,1.75,0.00,0.000,4,0.000,0.045,3164,3010,1781
$GC,14145,2.00,255.3,375.2,10.0,1129,14151,0.00,1.67,0.00,0.000,6,0.000,0.034,3164,2049,1781
$GC,14472,2.01,262.8,344.2,8.5,1160,14482,0.00,0.00,7.97,0.890,6,0.000,0.000,3164,2049,1753
$GC,14799,2.01,266.6,315.3,8.8,1191,14809,0.00,0.00,5.03,0.752,6,0.000,0.000,3165,2049,1737
$GC,15129,2.01,266.6,284.5,9.3,1222,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2049,1737
$GC,15446,2.01,266.6,255.4,9.2,1252,15449,0.00,1.67,0.00,0.000,4,0.000,0.045,3165,3010,1737
$GC,15504,2.03,275.5,250.1,8.5,1257,15521,0.00,1.62,9.35,0.854,6,0.000,0.033,3164,2051,1700
$GC,15860,2.09,294.8,219.9,7.8,1319,15881,0.00,0.00,17.40,0.881,6,0.000,0.000,3164,2051,1623
$GC,16220,2.16,309.1,187.7,8.1,1383,16237,0.15,0.00,13.77,0.838,6,0.064,0.000,3212,2051,1564
$GC,16575,2.16,309.4,155.6,9.0,1446,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2051,1561
$GC,16918,2.25,340.5,126.1,7.1,1507,16951,0.00,1.67,27.08,0.810,4,0.000,0.041,3212,3008,1435
$GC,17055,2.34,374.0,115.7,6.9,1531,17090,0.12,1.60,28.85,0.786,6,0.064,0.029,3250,2054,1299
$GC,17431,2.40,382.8,83.3,8.5,1597,17443,0.00,1.73,8.25,0.680,4,0.000,0.044,3250,3016,1264
$GC,17570,2.48,407.6,72.5,7.5,1621,17598,0.00,1.60,22.10,0.729,6,0.000,0.028,3250,2051,1163
$GC,17937,2.62,437.2,44.1,7.2,1686,17970,0.17,2.05,25.50,0.692,4,0.051,0.047,3310,899,1042
$GC,18004,2.62,437.2,37.8,9.5,1698,18011,0.00,2.00,0.00,0.000,6,0.000,0.025,3310,2092,1041
$GC,18349,2.66,460.2,6.7,7.6,1759,18376,0.00,2.12,19.88,0.644,4,0.000,0.043,3310,913,948
$STATE,18397,end climb,SURFACE_DEPTH_REACHED
$STATE,18397,begin surface coast
$FINISH,0.4,1.021213
$STATE,18416,end surface coast,CONTROL_FINISHED_OK
$STATE,18416,begin surface
$SM_CCo,18440,13.05,0.617,0,0,887,475.15
$SM_GC,-3.37,0.00,0.00,13.05,0.000,0.000,0.617,419,2343,887,-10.63,0.54,475.15
$IRIDIUM_FIX,1245.46,12029.39,010797,121203
$TT8_MAMPS,0.026078
$HUMID,1894
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,22.90
$XPDR_PINGS,394
$24V_AH,23.1,36.315
$10V_AH,10.1,27.670
$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,28.650,91.775,518.650,13.050,0.000,24.437,40.973,188.480,107.500,0.000,0.000,33.938,2845.928,11776.944,593.397,3065.260,599.883,0.000,2071.746,0.000,3006.916,0.000,66.124
$DEVICE_MAMPS,171.808,90.506,1329.211,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.543,429.835,720.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94753,1771
$CAP_FILE_SIZE,170052,0
$CFSIZE,260165632,237236224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,233531,1248.196,12024.872,41,1.7,41,-0.8