version: 66.03
glider: 126
mission: 7
dive: 238
start: 4 7 108 4 56 31
data:
$ID,126
$MISSION,7
$DIVE,238
$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,-623922.5
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,044856,1247.428,12023.604,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.25
$_SM_ANGLEo,-59.1
$GPS2,045539,1247.374,12023.531,14,1.5,14,-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,258.2,14866,-19.0,-9.016
$D_GRID,768
$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,-66.10,0.000,6,0.000,0.000,415,2337,3320
$GC,97,-2.18,-120.8,1.9,-24.3,13,114,10.25,1.75,0.00,0.000,4,0.166,0.039,2250,3364,3322
$GC,262,-1.97,-120.8,44.6,-20.0,42,269,0.20,1.75,0.00,0.000,6,0.104,0.023,2294,2281,3322
$GC,608,-1.91,-120.8,97.5,-12.1,103,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2274,3325
$GC,950,-1.91,-120.8,136.1,-10.2,164,957,0.00,1.88,0.00,0.000,4,0.000,0.039,2294,3370,3326
$GC,1008,-1.87,-120.8,141.9,-10.6,174,1015,0.10,1.73,0.00,0.000,6,0.097,0.023,2318,2288,3326
$GC,1353,-1.96,-146.0,173.0,-7.0,235,1359,0.00,1.85,0.00,0.000,4,0.000,0.039,2318,3380,3327
$GC,1450,-1.96,-146.0,181.5,-8.3,252,1456,0.00,1.73,0.00,0.000,6,0.000,0.025,2318,2287,3327
$GC,1794,-2.01,-146.0,210.2,-7.8,313,1800,0.12,0.00,0.00,0.000,6,0.061,0.000,2280,2280,3327
$GC,2137,-2.01,-146.0,243.1,-9.6,374,2143,0.00,1.85,0.00,0.000,4,0.000,0.042,2280,3367,3327
$GC,2228,-2.01,-146.0,252.2,-10.3,389,2231,0.00,1.73,0.00,0.000,6,0.000,0.026,2280,2289,3326
$GC,2559,-2.01,-146.0,284.5,-9.8,420,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2281,3325
$GC,2877,-2.01,-146.0,313.2,-8.7,450,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2281,3323
$GC,3195,-2.01,-146.0,341.4,-9.3,480,3198,0.00,1.88,0.00,0.000,4,0.000,0.045,2280,3370,3321
$GC,3357,-2.01,-146.0,357.1,-9.9,494,3363,0.00,1.70,0.00,0.000,6,0.000,0.028,2280,2327,3320
$GC,3683,-2.01,-146.0,388.6,-9.6,525,3686,0.00,1.80,0.00,0.000,4,0.000,0.047,2280,3366,3318
$GC,3721,-2.01,-146.0,392.6,-9.7,528,3727,0.00,1.73,0.00,0.000,6,0.000,0.030,2280,2340,3317
$GC,4049,-2.01,-146.0,421.6,-9.1,559,4053,0.00,1.80,0.00,0.000,4,0.000,0.048,2280,3372,3316
$GC,4132,-2.01,-146.0,429.9,-9.9,566,4139,0.00,1.77,0.00,0.000,6,0.000,0.031,2280,2330,3315
$GC,4459,-2.01,-146.0,460.5,-8.9,597,4463,0.00,1.83,0.00,0.000,4,0.000,0.050,2280,3370,3313
$GC,4583,-2.01,-146.0,472.4,-9.6,608,4587,0.00,1.70,0.00,0.000,6,0.000,0.031,2280,2357,3312
$GC,4916,-2.01,-146.0,500.4,-8.3,639,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2356,3309
$GC,5224,-2.01,-146.0,527.5,-8.7,654,5227,0.00,1.80,0.00,0.000,4,0.000,0.060,2280,3363,3308
$GC,5279,-2.01,-146.0,532.9,-9.4,656,5283,0.00,1.67,0.00,0.000,6,0.000,0.035,2280,2375,3307
$GC,5601,-2.01,-146.0,561.8,-9.1,672,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2375,3306
$GC,5910,-2.01,-146.0,589.2,-8.8,687,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2375,3304
$GC,6219,-2.01,-146.0,616.8,-8.9,702,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2375,3303
$GC,6528,-2.01,-146.0,645.2,-9.2,717,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2375,3301
$GC,6838,-2.01,-146.0,672.9,-9.1,732,6842,0.00,2.17,0.00,0.000,4,0.000,0.115,2280,1284,3300
$GC,6904,-2.01,-146.0,679.3,-9.2,735,6908,0.00,2.10,0.00,0.000,6,0.000,0.097,2280,2340,3300
$GC,7235,-2.01,-146.0,710.0,-9.3,751,7239,0.00,1.85,0.00,0.000,4,0.000,0.053,2280,3407,3298
$GC,7382,-2.01,-146.0,725.3,-10.4,757,7385,0.00,1.73,0.00,0.000,6,0.000,0.032,2280,2378,3297
$GC,7703,-2.04,-146.0,754.8,-9.1,773,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2378,3296
$STATE,7865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7865,begin apogee
$GC,7871,-0.52,0.0,769.5,8.9,781,7974,1.58,0.00,99.35,1.266,6,0.088,0.000,2616,1964,2825
$STATE,7975,end apogee,CONTROL_FINISHED_OK
$STATE,7975,begin climb
$GC,7977,2.22,146.0,773.5,0.0,786,8112,2.65,2.20,124.70,1.230,4,0.058,0.101,3219,907,2229
$GC,8272,2.10,147.3,758.3,8.9,799,8278,0.17,1.88,0.00,0.000,6,0.104,0.033,3185,1996,2224
$GC,8588,2.03,164.5,733.1,7.9,815,8610,0.00,2.12,16.17,1.157,4,0.000,0.064,3185,904,2154
$GC,8718,1.93,164.5,720.5,9.7,821,8722,0.17,1.83,0.00,0.000,6,0.107,0.031,3151,1970,2153
$GC,9050,1.93,184.5,693.4,7.8,837,9075,0.00,1.90,18.40,1.167,4,0.000,0.048,3151,3015,2073
$GC,9126,1.91,193.6,686.9,8.4,840,9141,0.00,1.85,9.65,1.071,6,0.000,0.037,3151,1951,2035
$GC,9469,1.93,207.3,658.8,8.2,857,9488,0.00,0.00,13.27,1.127,6,0.000,0.000,3151,1950,1979
$GC,9798,1.94,210.0,630.7,8.8,873,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1950,1977
$GC,10106,1.95,218.8,604.4,8.5,888,10122,0.00,1.90,11.32,1.091,4,0.000,0.045,3151,3013,1931
$GC,10168,1.96,222.5,598.9,8.8,890,10177,0.00,1.85,4.88,0.850,6,0.000,0.036,3151,1946,1917
$GC,10499,1.97,233.5,570.3,8.3,906,10515,0.00,1.92,11.15,1.072,4,0.000,0.045,3151,3019,1872
$GC,10582,1.97,233.5,562.4,10.0,909,10586,0.00,1.85,0.00,0.000,6,0.000,0.036,3151,1949,1871
$GC,10915,1.99,244.2,534.3,8.4,925,10930,0.00,1.92,10.75,1.050,4,0.000,0.061,3151,905,1829
$GC,10985,1.99,244.2,527.7,9.2,927,10990,0.00,1.83,0.00,0.000,6,0.000,0.030,3151,1959,1828
$GC,11307,1.99,244.2,499.1,9.2,943,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1959,1827
$GC,11625,1.99,244.2,469.1,9.3,973,11628,0.00,1.83,0.00,0.000,4,0.000,0.048,3151,3017,1827
$GC,11670,2.00,246.2,464.8,8.9,977,11674,0.00,1.90,0.00,0.000,6,0.000,0.036,3151,1914,1826
$GC,12000,2.00,246.9,435.9,9.0,1008,12003,0.00,1.90,0.00,0.000,4,0.000,0.045,3151,3005,1826
$GC,12112,2.00,248.4,425.4,8.9,1018,12123,0.00,1.83,4.65,0.770,6,0.000,0.036,3151,1957,1812
$GC,12442,2.03,266.6,397.2,7.9,1049,12465,0.00,1.98,17.35,1.013,4,0.000,0.062,3151,909,1738
$GC,12528,2.04,273.4,389.7,8.6,1057,12540,0.10,1.80,7.43,0.886,6,0.077,0.031,3179,1963,1710
$GC,12857,2.04,273.4,360.3,9.4,1088,12861,0.00,1.83,0.00,0.000,4,0.000,0.048,3179,3017,1708
$GC,13003,2.04,273.4,345.8,10.5,1101,13007,0.00,1.80,0.00,0.000,6,0.000,0.036,3179,1967,1708
$GC,13333,2.04,273.4,310.4,10.7,1132,13337,0.00,1.83,0.00,0.000,4,0.000,0.044,3179,3016,1708
$GC,13394,2.04,273.4,303.2,11.4,1137,13400,0.00,1.75,0.00,0.000,6,0.000,0.041,3179,2003,1708
$GC,13721,2.04,273.4,268.8,10.0,1168,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2003,1708
$GC,14045,2.04,273.4,234.8,10.3,1211,14050,0.00,1.92,0.00,0.000,4,0.000,0.057,3179,915,1708
$GC,14107,2.04,273.4,228.4,10.5,1222,14113,0.00,1.90,0.00,0.000,6,0.000,0.029,3179,2047,1708
$GC,14451,2.04,273.4,195.4,9.5,1283,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2047,1708
$GC,14794,2.08,294.9,168.4,7.7,1344,14820,0.00,2.10,19.35,0.847,4,0.000,0.052,3179,916,1622
$GC,14860,2.08,294.9,162.4,9.2,1356,14866,0.00,1.90,0.00,0.000,6,0.000,0.029,3179,2043,1622
$GC,15204,2.17,314.8,135.7,7.8,1417,15228,0.10,2.05,17.73,0.809,4,0.076,0.051,3210,908,1541
$GC,15297,2.18,324.8,127.1,8.4,1433,15314,0.00,1.90,10.25,0.751,6,0.000,0.027,3211,2043,1499
$GC,15655,2.30,358.0,100.8,7.0,1496,15689,0.00,2.10,28.15,0.775,4,0.000,0.048,3210,912,1365
$GC,15932,2.39,366.1,79.6,8.5,1545,15945,0.17,1.80,8.15,0.675,6,0.053,0.025,3263,2006,1332
$GC,16287,2.51,403.6,53.6,6.7,1607,16325,0.00,1.70,32.00,0.709,4,0.000,0.035,3263,3004,1178
$GC,16567,2.63,434.1,31.7,7.1,1657,16601,0.17,1.67,25.77,0.672,6,0.051,0.025,3317,1979,1055
$STATE,16897,end climb,SURFACE_DEPTH_REACHED
$STATE,16897,begin surface coast
$FINISH,-0.0,1.021130
$STATE,16920,end surface coast,CONTROL_FINISHED_OK
$STATE,16920,begin surface
$SM_CCo,16943,30.52,0.636,0,0,887,475.15
$SM_GC,-6.19,0.00,0.00,30.52,0.000,0.000,0.636,412,2331,887,-10.66,0.17,475.15
$IRIDIUM_FIX,1243.25,12021.43,010797,232324
$TT8_MAMPS,0.026078
$HUMID,1897
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.70
$XPDR_PINGS,441
$24V_AH,23.2,36.679
$10V_AH,10.2,27.892
$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,28.400,101.575,490.475,30.525,0.000,28.983,39.537,197.794,117.000,0.000,0.000,14.803,2764.144,10449.661,589.206,2995.301,600.114,0.000,2044.977,0.000,2959.806,0.000,49.835
$DEVICE_MAMPS,166.439,115.050,1265.550,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.166,448.876,734.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91480,1720
$CAP_FILE_SIZE,165350,0
$CFSIZE,260165632,237068288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,094038,1247.718,12022.080,36,1.6,36,-0.8