version: 66.03
glider: 126
mission: 7
dive: 239
start: 4 7 108 10 0 45
data:
$ID,126
$MISSION,7
$DIVE,239
$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,-623936.81
$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,48
$R_STBD_OVSHOOT,60
$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
$GPS1,094038,1247.718,12022.080,36,1.6,36,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.11
$_SM_ANGLEo,-58.3
$GPS2,095951,1247.617,12021.997,13,2.0,13,-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,253.3,12304,-19.0,-9.016
$D_GRID,821
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-66.03,0.000,6,0.000,0.000,412,2332,3320
$GC,96,-2.18,-120.8,1.3,-22.3,13,108,10.35,0.00,0.00,0.000,6,0.170,0.000,2248,2332,3321
$GC,448,-2.03,-120.8,75.5,-13.4,75,454,0.15,1.73,0.00,0.000,4,0.117,0.037,2281,3366,3323
$GC,540,-1.93,-120.8,88.0,-12.3,91,547,0.15,1.67,0.00,0.000,6,0.110,0.022,2310,2289,3323
$GC,884,-1.93,-120.8,127.1,-10.6,152,890,0.00,1.62,0.00,0.000,4,0.000,0.033,2310,1317,3325
$GC,947,-1.93,-120.8,133.9,-10.4,163,953,0.00,1.58,0.00,0.000,6,0.000,0.024,2310,2281,3324
$GC,1292,-1.93,-120.8,167.4,-10.7,224,1298,0.00,1.83,0.00,0.000,4,0.000,0.039,2310,3373,3325
$GC,1331,-1.93,-120.8,171.5,-10.4,231,1337,0.00,1.77,0.00,0.000,6,0.000,0.024,2310,2249,3325
$GC,1677,-1.98,-135.0,205.8,-8.1,292,1683,0.00,1.58,0.00,0.000,4,0.000,0.036,2310,1298,3324
$GC,1734,-1.99,-140.5,210.9,-8.7,302,1740,0.00,1.58,0.00,0.000,6,0.000,0.025,2310,2254,3324
$GC,2077,-2.04,-144.8,240.3,-8.7,363,2084,0.12,1.88,0.00,0.000,4,0.063,0.041,2273,3363,3324
$GC,2238,-2.04,-144.8,256.5,-10.6,386,2241,0.00,1.75,0.00,0.000,6,0.000,0.026,2273,2270,3323
$GC,2571,-2.04,-144.8,291.5,-9.7,417,2574,0.00,1.88,0.00,0.000,4,0.000,0.044,2272,3362,3320
$GC,2662,-2.01,-145.4,300.4,-9.0,425,2665,0.00,1.73,0.00,0.000,6,0.000,0.026,2273,2290,3320
$GC,2993,-2.01,-145.4,329.0,-9.4,456,2997,0.00,1.88,0.00,0.000,4,0.000,0.045,2273,3360,3317
$GC,3049,-2.01,-145.4,334.6,-9.7,461,3052,0.00,1.70,0.00,0.000,6,0.000,0.027,2273,2305,3317
$GC,3382,-2.01,-146.0,364.7,-8.9,492,3386,0.00,1.83,0.00,0.000,4,0.000,0.046,2273,3361,3314
$GC,3483,-2.01,-146.0,374.6,-9.6,501,3487,0.00,1.67,0.00,0.000,6,0.000,0.028,2273,2338,3313
$GC,3817,-2.01,-146.0,404.5,-8.8,532,3820,0.00,1.77,0.00,0.000,4,0.000,0.048,2273,3360,3311
$GC,3866,-2.01,-146.0,409.6,-9.4,536,3873,0.00,1.73,0.00,0.000,6,0.000,0.029,2273,2343,3310
$GC,4195,-2.01,-146.0,441.2,-10.3,567,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2343,3307
$GC,4519,-2.01,-146.0,471.6,-8.4,598,4523,0.00,1.80,0.00,0.000,4,0.000,0.052,2273,3367,3305
$GC,4666,-2.01,-146.0,484.9,-9.0,611,4670,0.00,1.73,0.00,0.000,6,0.000,0.033,2273,2347,3304
$GC,4994,-2.01,-146.0,512.4,-8.4,635,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2348,3302
$GC,5302,-2.01,-146.0,537.1,-7.7,650,5305,0.00,1.83,0.00,0.000,4,0.000,0.065,2273,3354,3300
$GC,5372,-2.01,-146.0,542.8,-8.4,653,5375,0.00,1.73,0.00,0.000,6,0.000,0.039,2273,2354,3300
$GC,5707,-2.01,-146.0,570.9,-8.5,669,5710,0.00,1.85,0.00,0.000,4,0.000,0.073,2273,3357,3297
$GC,5774,-2.01,-146.0,577.4,-9.0,672,5778,0.00,1.77,0.00,0.000,6,0.000,0.050,2273,2354,3297
$GC,6107,-2.01,-146.0,606.6,-8.6,688,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2355,3295
$GC,6416,-2.01,-146.0,634.2,-9.1,703,6419,0.00,1.92,0.00,0.000,4,0.000,0.096,2273,3348,3293
$GC,6471,-2.01,-146.0,639.1,-8.6,705,6475,0.00,1.85,0.00,0.000,6,0.000,0.074,2273,2361,3293
$GC,6793,-2.01,-146.0,667.5,-8.3,721,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2360,3292
$GC,7101,-2.01,-146.0,694.7,-9.2,736,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2360,3291
$GC,7411,-2.01,-146.0,721.9,-8.3,751,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2361,3290
$GC,7720,-2.01,-146.0,744.8,-7.2,766,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2360,3287
$GC,8030,-2.01,-146.0,767.8,-7.8,781,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2360,3286
$GC,8339,-2.01,-146.0,794.4,-8.9,796,8343,0.00,1.75,0.00,0.000,4,0.000,0.053,2273,3356,3285
$GC,8434,-2.01,-146.0,802.8,-9.0,800,8438,0.00,1.73,0.00,0.000,6,0.000,0.032,2273,2333,3284
$STATE,8656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8656,begin apogee
$GC,8662,-0.52,0.0,821.7,8.5,811,8764,1.60,0.00,97.32,1.309,6,0.088,0.000,2615,1959,2825
$STATE,8764,end apogee,CONTROL_FINISHED_OK
$STATE,8764,begin climb
$GC,8767,2.22,146.0,824.6,0.0,816,8902,2.65,2.12,125.70,1.269,4,0.062,0.095,3215,916,2229
$GC,9000,2.09,146.0,812.0,10.3,827,9005,0.15,1.80,0.00,0.000,6,0.108,0.034,3186,1954,2224
$GC,9333,2.04,162.0,782.7,8.0,843,9352,0.00,0.00,14.52,1.176,6,0.000,0.000,3186,1954,2163
$GC,9663,2.00,186.1,757.0,7.5,859,9689,0.00,1.95,21.88,1.211,4,0.000,0.050,3186,3016,2066
$GC,9723,1.91,186.1,751.6,9.2,862,9727,0.20,1.85,0.00,0.000,6,0.107,0.038,3148,1957,2065
$GC,10055,1.92,189.1,722.7,8.8,878,10061,0.00,0.00,3.75,0.749,6,0.000,0.000,3148,1956,2054
$GC,10365,1.92,189.1,693.2,9.1,893,10368,0.00,1.88,0.00,0.000,4,0.000,0.047,3148,3021,2053
$GC,10493,1.92,189.1,681.2,9.4,898,10499,0.00,1.88,0.00,0.000,6,0.000,0.037,3148,1956,2053
$GC,10810,1.93,198.1,653.9,8.5,914,10824,0.00,2.00,9.27,1.090,4,0.000,0.070,3148,912,2017
$GC,10881,1.93,198.1,647.0,9.4,917,10886,0.00,1.83,0.00,0.000,6,0.000,0.031,3148,1961,2017
$GC,11208,1.93,198.1,617.1,10.0,933,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1961,2016
$GC,11518,1.95,210.0,588.9,8.3,948,11538,0.00,1.92,11.93,1.103,4,0.000,0.048,3148,3019,1968
$GC,11611,1.95,210.0,580.3,9.2,952,11615,0.00,1.88,0.00,0.000,6,0.000,0.038,3148,1959,1967
$GC,11938,1.97,223.0,551.3,8.2,968,11960,0.00,1.95,12.90,1.090,4,0.000,0.048,3148,3013,1915
$GC,12050,1.98,228.4,541.5,8.7,973,12060,0.00,1.80,6.12,0.926,6,0.000,0.037,3148,1974,1893
$GC,12376,2.01,242.6,516.1,8.1,989,12396,0.00,0.00,14.00,1.073,6,0.000,0.000,3148,1974,1836
$GC,12711,2.01,247.3,488.2,8.7,1011,12722,0.00,1.85,5.80,0.887,4,0.000,0.046,3148,3016,1815
$GC,12768,2.02,250.3,482.7,8.8,1016,12779,0.00,1.80,4.40,0.770,6,0.000,0.037,3148,1976,1803
$GC,13098,2.03,257.7,453.2,8.6,1047,13110,0.10,2.03,7.75,0.950,4,0.079,0.066,3175,913,1774
$GC,13178,2.03,257.7,445.4,9.5,1054,13181,0.00,1.83,0.00,0.000,6,0.000,0.031,3176,1982,1774
$GC,13507,2.03,257.7,415.6,9.2,1085,13511,0.00,1.95,0.00,0.000,4,0.000,0.060,3175,912,1774
$GC,13620,2.03,257.7,405.0,9.2,1095,13623,0.00,1.77,0.00,0.000,6,0.000,0.031,3175,1960,1773
$GC,13951,2.03,257.7,374.9,9.3,1126,13955,0.00,1.80,0.00,0.000,4,0.000,0.046,3176,3009,1773
$GC,13989,2.03,257.7,370.8,10.1,1129,13996,0.00,1.85,0.00,0.000,6,0.000,0.036,3175,1949,1772
$GC,14318,2.05,266.2,340.3,8.5,1160,14332,0.00,1.90,9.00,0.909,4,0.000,0.045,3175,3001,1739
$GC,14422,2.06,277.5,331.3,8.3,1169,14439,0.00,1.85,11.12,0.928,6,0.000,0.035,3175,1943,1693
$GC,14757,2.06,277.5,303.0,9.0,1201,14760,0.00,1.85,0.00,0.000,4,0.000,0.044,3176,3007,1692
$GC,14846,2.06,277.5,294.6,9.3,1209,14850,0.00,1.75,0.00,0.000,6,0.000,0.034,3175,1982,1691
$GC,15178,2.06,277.5,263.6,9.6,1240,15182,0.00,1.77,0.00,0.000,4,0.000,0.045,3176,3004,1691
$GC,15212,2.07,277.8,260.2,9.0,1243,15216,0.00,1.70,0.00,0.000,6,0.000,0.033,3176,2003,1691
$GC,15549,2.07,277.8,229.2,10.0,1293,15555,0.00,1.95,0.00,0.000,4,0.000,0.066,3175,908,1691
$GC,15745,2.07,277.8,209.2,9.2,1328,15751,0.00,1.83,0.00,0.000,6,0.000,0.028,3175,1998,1691
$GC,16089,2.15,307.6,181.4,7.2,1389,16120,0.00,0.00,26.40,0.862,6,0.000,0.000,3175,1998,1571
$GC,16459,2.24,325.3,150.2,7.9,1455,16481,0.15,0.00,16.23,0.810,6,0.061,0.000,3223,1998,1498
$GC,16820,2.30,362.1,120.7,6.7,1519,16858,0.00,1.98,31.67,0.793,4,0.000,0.049,3223,913,1347
$GC,16999,2.37,376.6,105.1,8.1,1551,17018,0.10,1.83,13.32,0.740,6,0.070,0.027,3255,2015,1288
$GC,17357,2.44,391.8,75.7,8.1,1614,17375,0.00,2.03,13.75,0.713,4,0.000,0.046,3256,913,1227
$GC,17539,2.51,414.6,60.0,7.6,1646,17566,0.00,1.85,20.17,0.706,6,0.000,0.025,3256,2028,1133
$GC,17909,2.66,451.5,33.8,6.7,1711,17947,0.20,1.67,31.23,0.673,4,0.048,0.038,3322,3008,983
$GC,18054,2.67,456.1,21.1,8.7,1737,18066,0.00,1.60,5.10,0.512,6,0.000,0.023,3322,2021,965
$STATE,18259,end climb,SURFACE_DEPTH_REACHED
$STATE,18259,begin surface coast
$FINISH,-0.5,1.021144
$STATE,18283,end surface coast,CONTROL_FINISHED_OK
$STATE,18283,begin surface
$SM_CCo,18305,16.40,0.624,0,0,888,475.15
$SM_GC,-5.35,0.00,0.00,16.40,0.000,0.000,0.624,418,2354,888,-10.64,0.82,475.15
$IRIDIUM_FIX,1243.25,12024.46,020797,101017
$TT8_MAMPS,0.026078
$HUMID,1912
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.80
$XPDR_PINGS,466
$24V_AH,23.2,36.888
$10V_AH,10.2,28.011
$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,28.500,113.550,513.350,16.400,0.000,136.913,234.432,385.690,124.750,0.000,0.000,13.685,2879.829,11767.454,597.992,3112.760,1142.323,0.000,2120.014,0.000,3071.125,0.000,60.694
$DEVICE_MAMPS,170.274,95.875,1308.502,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.104,443.574,729.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94684,1778
$CAP_FILE_SIZE,184291,0
$CFSIZE,260165632,236961792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,150726,1246.990,12020.610,42,1.0,42,-0.8