version: 66.03
glider: 126
mission: 7
dive: 240
start: 4 7 108 15 14 49
data:
$ID,126
$MISSION,7
$DIVE,240
$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,-623949.38
$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,30
$R_STBD_OVSHOOT,59
$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
$GPS1,150726,1246.990,12020.610,42,1.0,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.23
$_SM_ANGLEo,-58.7
$GPS2,151357,1247.006,12020.618,11,1.9,11,-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,255.3,9595,-19.0,-9.016
$D_GRID,868
$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,-66.45,0.000,6,0.000,0.000,418,2354,3321
$GC,97,-2.18,-120.8,1.4,-23.1,13,114,10.30,1.85,0.00,0.000,4,0.169,0.031,2251,1260,3323
$GC,188,-2.00,-120.8,29.7,-21.9,29,195,0.20,1.73,0.00,0.000,6,0.112,0.024,2290,2329,3323
$GC,532,-1.92,-120.8,86.4,-15.3,90,539,0.10,1.77,0.00,0.000,4,0.123,0.038,2309,3370,3325
$GC,658,-1.85,-120.8,103.5,-13.3,112,664,0.00,1.70,0.00,0.000,6,0.000,0.023,2309,2302,3326
$GC,1003,-1.85,-120.8,139.3,-9.1,173,1009,0.00,1.62,0.00,0.000,4,0.000,0.033,2309,1312,3327
$GC,1133,-1.85,-120.8,153.0,-10.8,196,1139,0.00,1.65,0.00,0.000,6,0.000,0.024,2309,2338,3328
$GC,1477,-1.85,-120.8,185.1,-9.1,257,1482,0.00,1.73,0.00,0.000,4,0.000,0.041,2309,3367,3328
$GC,1590,-1.86,-123.1,195.9,-8.9,277,1596,0.00,1.62,0.00,0.000,6,0.000,0.025,2309,2317,3328
$GC,1935,-1.90,-124.7,225.3,-8.9,338,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2316,3328
$GC,2275,-1.94,-124.8,256.1,-9.0,393,2278,0.00,1.67,0.00,0.000,4,0.000,0.037,2309,1325,3328
$GC,2399,-1.99,-132.6,266.6,-8.5,404,2403,0.00,1.67,0.00,0.000,6,0.000,0.027,2309,2344,3328
$GC,2732,-2.03,-133.9,294.5,-8.9,435,2735,0.00,1.75,0.00,0.000,4,0.000,0.045,2309,3374,3325
$GC,2776,-2.03,-133.9,299.0,-9.8,439,2780,0.00,1.62,0.00,0.000,6,0.000,0.027,2309,2350,3325
$GC,3110,-2.10,-143.6,330.6,-8.4,470,3114,0.15,1.77,0.00,0.000,4,0.061,0.044,2262,3375,3323
$GC,3178,-2.07,-143.6,337.4,-9.7,476,3182,0.00,1.65,0.00,0.000,6,0.000,0.028,2262,2353,3323
$GC,3510,-2.07,-146.0,363.4,-7.3,507,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2346,3320
$GC,3828,-2.07,-146.0,389.2,-9.6,537,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2346,3318
$GC,4146,-2.07,-146.0,420.5,-9.4,567,4149,0.00,1.77,0.00,0.000,4,0.000,0.048,2262,3370,3317
$GC,4217,-2.07,-146.0,427.9,-10.1,573,4224,0.00,1.67,0.00,0.000,6,0.000,0.031,2262,2381,3316
$GC,4544,-2.07,-146.0,456.8,-9.0,604,4548,0.00,1.92,0.00,0.000,4,0.000,0.056,2262,1307,3314
$GC,4683,-2.07,-146.0,470.8,-10.0,616,4689,0.00,1.75,0.00,0.000,6,0.000,0.035,2262,2344,3313
$GC,5018,-2.07,-146.0,506.6,-10.2,645,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2346,3311
$GC,5326,-2.07,-146.0,534.9,-8.4,660,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2346,3309
$GC,5637,-2.07,-146.0,559.6,-8.2,675,5641,0.00,1.85,0.00,0.000,4,0.000,0.069,2262,3372,3307
$GC,5728,-2.07,-146.0,567.9,-9.7,679,5731,0.00,1.73,0.00,0.000,6,0.000,0.044,2262,2383,3306
$GC,6060,-2.07,-146.0,599.3,-9.7,695,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2382,3305
$GC,6370,-2.07,-146.0,630.2,-10.3,710,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2381,3304
$GC,6679,-2.07,-146.0,662.8,-10.5,725,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2381,3302
$GC,6987,-2.07,-146.0,693.9,-9.6,740,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2381,3301
$GC,7297,-2.07,-146.0,723.1,-9.4,755,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2381,3299
$GC,7606,-2.07,-146.0,755.6,-10.7,770,7610,0.00,2.35,0.00,0.000,4,0.000,0.162,2262,1319,3297
$GC,7650,-2.07,-146.0,760.2,-10.5,772,7654,0.00,2.17,0.00,0.000,6,0.000,0.138,2262,2335,3297
$GC,7973,-2.07,-146.0,790.2,-9.4,788,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2335,3296
$GC,8280,-2.07,-146.0,815.9,-8.4,803,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2335,3294
$GC,8589,-2.07,-146.0,843.3,-9.1,818,8593,0.00,2.60,0.00,0.000,4,0.000,0.212,2262,3383,3293
$GC,8667,-2.07,-146.0,850.5,-9.2,821,8673,0.00,1.73,0.00,0.000,6,0.000,0.033,2262,2364,3293
$STATE,8897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8897,begin apogee
$GC,8903,-0.52,0.0,869.5,8.0,833,9007,1.67,0.00,100.22,1.342,6,0.095,0.000,2615,1959,2825
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9008,begin climb
$GC,9011,2.22,146.0,871.8,0.0,838,9147,2.67,2.03,126.78,1.309,4,0.061,0.080,3219,916,2228
$GC,9177,2.11,161.8,865.9,8.0,846,9199,0.15,1.88,14.73,1.189,6,0.110,0.034,3191,1994,2165
$GC,9509,2.04,167.4,837.2,8.7,862,9517,0.00,0.00,5.88,0.993,6,0.000,0.000,3191,1994,2142
$GC,9817,1.96,167.4,807.5,9.6,877,9821,0.15,1.77,0.00,0.000,4,0.110,0.048,3158,3015,2140
$GC,9878,1.91,170.3,801.8,8.8,879,9887,0.00,1.80,4.32,0.856,6,0.000,0.041,3158,1974,2129
$GC,10216,1.89,180.7,772.5,8.4,896,10231,0.00,1.98,10.60,1.167,4,0.000,0.064,3158,913,2087
$GC,10300,1.85,180.7,764.7,9.2,899,10304,0.12,1.83,0.00,0.000,6,0.114,0.032,3134,1974,2087
$GC,10631,1.87,196.0,737.4,8.1,915,10651,0.00,0.00,14.82,1.206,6,0.000,0.000,3134,1974,2025
$GC,10961,1.88,202.2,708.7,8.6,931,10970,0.00,0.00,6.82,1.047,6,0.000,0.000,3134,1974,1999
$GC,11270,1.92,223.6,683.7,7.7,946,11292,0.00,0.00,20.55,1.203,6,0.000,0.000,3134,1975,1913
$GC,11599,1.95,241.6,658.2,7.9,962,11621,0.00,1.90,16.98,1.175,4,0.000,0.049,3134,3011,1840
$GC,11694,1.95,241.6,649.8,9.4,966,11698,0.00,1.80,0.00,0.000,6,0.000,0.038,3134,1977,1838
$GC,12021,1.98,241.6,620.6,9.0,982,12025,0.12,1.80,0.00,0.000,4,0.074,0.046,3167,3011,1838
$GC,12088,1.98,241.6,613.7,10.5,985,12092,0.00,1.77,0.00,0.000,6,0.000,0.037,3167,1983,1837
$GC,12421,1.98,241.6,582.3,9.8,1001,12425,0.00,1.80,0.00,0.000,4,0.000,0.046,3167,3014,1837
$GC,12471,1.98,241.6,577.2,9.3,1003,12475,0.00,1.77,0.00,0.000,6,0.000,0.036,3167,2002,1837
$GC,12798,2.00,251.0,549.2,8.4,1019,12810,0.00,0.00,9.43,1.049,6,0.000,0.000,3167,2002,1801
$GC,13107,2.00,251.0,520.2,9.3,1034,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2002,1800
$GC,13420,2.00,251.0,490.7,9.5,1053,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2002,1799
$GC,13738,2.00,251.0,459.3,9.7,1083,13741,0.00,1.95,0.00,0.000,4,0.000,0.061,3167,916,1799
$GC,13764,2.00,251.0,456.5,9.3,1085,13771,0.00,1.88,0.00,0.000,6,0.000,0.031,3167,2002,1799
$GC,14093,2.00,251.0,428.0,9.0,1116,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2002,1799
$GC,14417,2.00,251.0,396.3,9.8,1147,14421,0.00,1.98,0.00,0.000,4,0.000,0.058,3167,911,1799
$GC,14473,2.00,251.0,390.9,9.5,1152,14477,0.00,1.85,0.00,0.000,6,0.000,0.031,3167,1989,1799
$GC,14804,2.03,268.7,362.2,7.9,1183,14826,0.00,1.85,16.48,0.997,4,0.000,0.046,3167,3009,1729
$GC,14928,2.03,268.7,350.8,9.7,1194,14932,0.00,1.80,0.00,0.000,6,0.000,0.035,3167,1981,1728
$GC,15259,2.03,268.7,319.3,9.6,1225,15263,0.00,1.92,0.00,0.000,4,0.000,0.061,3167,905,1728
$GC,15304,2.04,274.5,315.1,8.7,1229,15316,0.00,1.85,6.62,0.833,6,0.000,0.030,3167,2000,1705
$GC,15633,2.04,274.5,286.2,9.2,1260,15637,0.00,1.73,0.00,0.000,4,0.000,0.047,3167,3002,1704
$GC,15717,2.04,276.9,278.4,8.9,1267,15723,0.00,1.75,0.00,0.000,6,0.000,0.035,3167,1991,1704
$GC,16045,2.04,277.9,249.6,9.0,1298,16056,0.00,1.80,4.55,0.676,4,0.000,0.044,3167,3001,1691
$GC,16130,2.04,277.9,241.6,9.4,1313,16136,0.00,1.70,0.00,0.000,6,0.000,0.033,3167,2000,1690
$GC,16474,2.09,281.9,209.9,8.8,1374,16486,0.00,1.95,5.07,0.691,4,0.000,0.056,3167,911,1675
$GC,16549,2.10,289.6,203.0,8.5,1387,16565,0.00,1.83,8.43,0.804,6,0.000,0.029,3167,2001,1644
$GC,16905,2.20,316.9,173.3,7.3,1450,16932,0.15,0.00,24.45,0.851,6,0.063,0.000,3214,2001,1533
$GC,17270,2.23,338.7,139.8,7.7,1515,17294,0.00,2.05,18.92,0.812,4,0.000,0.051,3214,907,1444
$GC,17334,2.24,342.6,134.1,8.8,1526,17345,0.00,1.85,5.15,0.628,6,0.000,0.028,3214,1993,1428
$GC,17685,2.40,392.6,104.7,5.9,1588,17734,0.15,0.00,42.85,0.782,6,0.058,0.000,3264,1992,1223
$GC,18073,2.44,392.6,70.9,9.0,1657,18079,0.00,1.92,0.00,0.000,4,0.000,0.047,3263,900,1220
$GC,18334,2.54,420.9,49.3,7.3,1703,18362,0.00,1.77,23.98,0.706,6,0.000,0.025,3263,1987,1108
$GC,18701,2.66,437.3,20.6,8.0,1768,18719,0.15,0.00,14.73,0.650,6,0.055,0.000,3318,1987,1042
$STATE,18902,end climb,SURFACE_DEPTH_REACHED
$STATE,18903,begin surface coast
$FINISH,-0.4,1.021229
$STATE,18928,end surface coast,CONTROL_FINISHED_OK
$STATE,18928,begin surface
$SM_CCo,18950,29.75,0.643,0,0,887,475.15
$SM_GC,-6.97,0.00,0.00,29.75,0.000,0.000,0.643,416,2328,887,-10.64,0.11,475.15
$IRIDIUM_FIX,1245.46,12021.43,020797,101044
$TT8_MAMPS,0.026078
$HUMID,1918
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,482
$24V_AH,23.1,37.079
$10V_AH,10.1,28.122
$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,28.700,100.150,502.350,29.750,0.000,31.097,35.158,194.296,129.750,0.000,0.000,11.961,2916.619,12194.665,604.180,3071.847,604.586,0.000,2096.128,0.000,3025.090,0.000,67.941
$DEVICE_MAMPS,168.740,211.692,1342.250,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.436,433.248,726.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94738,1808
$CAP_FILE_SIZE,175034,0
$CFSIZE,260165632,236879872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,203226,1247.030,12018.655,40,1.3,40,-0.8