version: 66.03
glider: 126
mission: 7
dive: 242
start: 4 8 108 2 26 36
data:
$ID,126
$MISSION,7
$DIVE,242
$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,-623978.88
$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,44
$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
$GPS1,021937,1246.319,12016.806,33,1.8,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.53
$_SM_ANGLEo,-59.1
$GPS2,022544,1246.433,12016.765,12,1.8,12,-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,237.4,2736,-21.3,-9.016
$D_GRID,872
$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,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.75,0.000,6,0.000,0.000,414,2352,3244
$GC,97,-2.39,-101.9,0.6,-21.2,13,114,10.10,1.83,0.00,0.000,4,0.170,0.031,2205,1265,3245
$GC,289,-2.22,-101.9,47.3,-18.7,47,296,0.20,1.70,0.00,0.000,6,0.122,0.024,2242,2320,3246
$GC,635,-2.16,-101.9,102.0,-15.0,108,641,0.00,1.77,0.00,0.000,4,0.000,0.038,2242,3363,3247
$GC,681,-2.10,-101.9,108.3,-12.5,116,688,0.10,1.73,0.00,0.000,6,0.105,0.022,2267,2281,3248
$GC,1025,-2.10,-101.9,143.0,-9.9,177,1031,0.00,1.60,0.00,0.000,4,0.000,0.033,2267,1306,3249
$GC,1104,-2.10,-101.9,151.0,-9.4,191,1110,0.00,1.62,0.00,0.000,6,0.000,0.023,2267,2317,3249
$GC,1447,-2.10,-101.9,181.1,-9.1,252,1453,0.00,1.67,0.00,0.000,4,0.000,0.034,2267,1320,3250
$GC,1625,-2.13,-103.8,197.1,-8.9,283,1630,0.00,1.58,0.00,0.000,6,0.000,0.025,2267,2274,3250
$GC,1968,-2.17,-103.8,229.7,-9.5,344,1974,0.00,1.62,0.00,0.000,4,0.000,0.036,2267,1309,3250
$GC,2025,-2.21,-103.8,235.1,-9.5,354,2031,0.00,1.55,0.00,0.000,6,0.000,0.025,2267,2245,3250
$GC,2358,-2.25,-103.8,268.1,-10.2,398,2362,0.12,1.90,0.00,0.000,4,0.063,0.043,2230,3362,3250
$GC,2521,-2.25,-103.8,285.8,-11.0,412,2527,0.00,1.70,0.00,0.000,6,0.000,0.025,2230,2296,3248
$GC,2846,-2.25,-103.8,317.4,-10.1,443,2850,0.00,1.85,0.00,0.000,4,0.000,0.044,2230,3367,3247
$GC,2918,-2.25,-103.8,325.6,-11.2,449,2925,0.00,1.73,0.00,0.000,6,0.000,0.026,2229,2315,3247
$GC,3245,-2.25,-103.8,357.5,-9.0,480,3248,0.00,1.73,0.00,0.000,4,0.000,0.043,2229,1305,3246
$GC,3301,-2.25,-103.8,363.0,-9.7,485,3305,0.00,1.67,0.00,0.000,6,0.000,0.028,2230,2299,3245
$GC,3633,-2.25,-103.8,397.5,-11.2,516,3636,0.00,1.85,0.00,0.000,4,0.000,0.047,2230,3377,3242
$GC,3704,-2.25,-103.8,406.0,-11.4,522,3711,0.00,1.75,0.00,0.000,6,0.000,0.028,2230,2339,3242
$GC,4032,-2.25,-103.8,439.8,-9.9,553,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2338,3240
$GC,4347,-2.25,-103.8,470.5,-9.6,583,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3238
$GC,4676,-2.25,-103.8,505.6,-11.2,612,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3236
$GC,4984,-2.25,-103.8,536.8,-9.4,627,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3234
$GC,5294,-2.27,-114.7,562.8,-8.3,642,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3232
$GC,5606,-2.27,-114.7,590.3,-9.8,657,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3230
$GC,5915,-2.27,-114.7,620.7,-10.3,672,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3229
$GC,6224,-2.27,-114.7,651.6,-9.6,687,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2338,3228
$GC,6531,-2.27,-114.7,682.3,-9.8,702,6535,0.00,2.08,0.00,0.000,4,0.000,0.120,2230,3360,3225
$GC,6648,-2.27,-114.7,694.2,-9.6,707,6652,0.00,2.03,0.00,0.000,6,0.000,0.100,2230,2353,3224
$GC,6975,-2.27,-114.7,723.8,-9.2,723,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2353,3223
$GC,7284,-2.27,-114.7,755.1,-10.3,738,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2353,3221
$GC,7593,-2.27,-114.7,786.4,-10.0,753,7597,0.00,2.30,0.00,0.000,4,0.000,0.172,2230,3352,3220
$GC,7650,-2.27,-114.7,792.0,-10.3,755,7656,0.00,2.30,0.00,0.000,6,0.000,0.156,2230,2327,3220
$GC,7965,-2.27,-114.7,824.0,-10.2,771,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2315,3218
$GC,8275,-2.30,-114.7,856.8,-10.6,786,8278,0.00,1.90,0.00,0.000,4,0.000,0.057,2229,1247,3217
$GC,8347,-2.30,-114.7,864.5,-9.9,789,8351,0.00,1.85,0.00,0.000,6,0.000,0.035,2229,2316,3217
$STATE,8424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8424,begin apogee
$GC,8430,-0.52,0.0,872.4,10.1,793,8518,1.83,0.00,84.25,1.349,6,0.094,0.000,2615,1938,2825
$STATE,8519,end apogee,CONTROL_FINISHED_OK
$STATE,8519,begin climb
$GC,8522,2.41,114.7,875.5,0.0,797,8628,2.85,0.00,100.62,1.315,6,0.058,0.000,3259,1938,2357
$GC,8939,2.33,128.0,849.7,8.1,818,8960,0.12,2.00,12.20,1.199,4,0.114,0.073,3236,916,2303
$GC,9123,2.23,133.6,833.3,8.6,826,9134,0.00,1.80,6.62,1.054,6,0.000,0.031,3236,1969,2280
$GC,9444,2.16,142.2,806.1,8.4,841,9459,0.17,2.03,8.98,1.145,4,0.114,0.061,3199,909,2245
$GC,9549,2.10,142.2,796.2,9.2,845,9555,0.00,1.80,0.00,0.000,6,0.000,0.031,3200,1960,2244
$GC,9866,2.09,157.4,771.9,8.0,861,9884,0.00,0.00,14.52,1.223,6,0.000,0.000,3199,1960,2183
$GC,10193,2.09,157.4,743.1,9.4,877,10197,0.00,1.83,0.00,0.000,4,0.000,0.048,3200,3014,2181
$GC,10249,2.05,160.2,737.9,8.8,879,10261,0.12,1.85,4.18,0.845,6,0.121,0.037,3178,1942,2170
$GC,10569,2.08,176.1,712.1,7.9,895,10591,0.00,1.92,15.43,1.206,4,0.000,0.047,3177,3009,2107
$GC,10704,2.08,176.1,699.9,9.6,901,10707,0.00,1.83,0.00,0.000,6,0.000,0.037,3177,1958,2105
$GC,11036,2.09,182.9,671.4,8.5,917,11049,0.00,1.95,7.12,1.051,4,0.000,0.048,3177,3016,2079
$GC,11218,2.09,182.9,654.6,9.2,925,11222,0.00,1.77,0.00,0.000,6,0.000,0.036,3177,2006,2079
$GC,11546,2.10,186.8,626.1,8.7,941,11555,0.00,1.80,4.95,0.901,4,0.000,0.046,3177,3017,2063
$GC,11635,2.12,197.7,618.4,8.3,945,11650,0.00,1.73,11.30,1.121,6,0.000,0.035,3177,2020,2019
$GC,11961,2.14,211.0,592.2,8.1,960,11980,0.00,0.00,13.18,1.124,6,0.000,0.000,3177,2020,1965
$GC,12290,2.20,229.8,566.0,7.7,976,12312,0.15,1.85,17.73,1.127,4,0.066,0.048,3221,3013,1888
$GC,12375,2.20,229.8,557.7,10.1,979,12380,0.00,1.70,0.00,0.000,6,0.000,0.035,3221,2028,1886
$GC,12690,2.20,229.8,525.7,10.0,995,12694,0.00,1.73,0.00,0.000,4,0.000,0.047,3221,3012,1885
$GC,12751,2.20,229.8,519.4,9.5,997,12757,0.00,1.70,0.00,0.000,6,0.000,0.035,3221,2044,1885
$GC,13070,2.20,229.8,488.1,10.5,1018,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2044,1885
$GC,13389,2.20,229.8,455.6,10.5,1048,13393,0.00,1.70,0.00,0.000,4,0.000,0.046,3221,3013,1885
$GC,13457,2.20,229.8,448.1,10.7,1054,13460,0.00,1.65,0.00,0.000,6,0.000,0.037,3221,2051,1885
$GC,13789,2.20,229.8,411.9,10.8,1085,13792,0.00,2.05,0.00,0.000,4,0.000,0.062,3221,911,1885
$GC,13849,2.20,229.8,404.9,10.7,1090,13856,0.00,2.00,0.00,0.000,6,0.000,0.031,3221,2078,1885
$GC,14174,2.20,231.9,373.0,8.9,1121,14178,0.00,2.10,0.00,0.000,4,0.000,0.055,3221,908,1885
$GC,14257,2.20,231.9,365.2,9.0,1128,14264,0.00,1.95,0.00,0.000,6,0.000,0.030,3221,2049,1885
$GC,14584,2.23,244.2,337.9,8.2,1159,14606,0.00,1.73,13.60,0.961,4,0.000,0.047,3221,3008,1829
$GC,14725,2.24,251.2,325.6,8.5,1171,14740,0.00,1.58,7.68,0.867,6,0.000,0.033,3221,2080,1800
$GC,15058,2.24,251.2,293.9,9.7,1203,15062,0.00,2.10,0.00,0.000,4,0.000,0.057,3221,900,1799
$GC,15141,2.24,251.2,285.2,10.5,1210,15148,0.00,2.05,0.00,0.000,6,0.000,0.030,3221,2093,1799
$GC,15469,2.24,251.2,251.5,9.3,1241,15473,0.00,1.60,0.00,0.000,4,0.000,0.051,3221,3017,1799
$GC,15542,2.24,251.2,244.0,9.4,1252,15548,0.00,1.55,0.00,0.000,6,0.000,0.042,3221,2114,1799
$GC,15885,2.24,251.6,212.5,9.0,1313,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2115,1799
$GC,16227,2.26,264.4,181.8,8.1,1374,16243,0.00,0.00,12.65,0.834,6,0.000,0.000,3221,2115,1747
$GC,16581,2.30,266.3,149.8,8.9,1437,16587,0.00,2.12,0.00,0.000,4,0.000,0.053,3221,906,1747
$GC,16678,2.30,266.3,140.8,9.2,1454,16684,0.00,2.05,0.00,0.000,6,0.000,0.028,3221,2129,1746
$GC,17022,2.45,317.8,117.0,5.5,1515,17076,0.15,1.58,45.22,0.805,4,0.060,0.044,3269,3012,1528
$GC,17130,2.52,337.9,109.3,7.6,1534,17153,0.00,1.42,17.45,0.760,6,0.000,0.028,3269,2175,1447
$GC,17493,2.65,376.7,82.4,6.3,1598,17532,0.15,2.28,33.05,0.748,4,0.057,0.046,3318,898,1289
$GC,17657,2.67,387.7,69.0,8.3,1627,17673,0.00,2.17,10.27,0.676,6,0.000,0.026,3318,2206,1244
$GC,18013,2.74,387.7,36.8,9.1,1690,18019,0.00,1.38,0.00,0.000,4,0.000,0.038,3318,3015,1242
$GC,18110,2.82,394.8,28.3,8.5,1707,18123,0.08,1.33,7.47,0.595,6,0.052,0.023,3353,2194,1215
$STATE,18396,end climb,SURFACE_DEPTH_REACHED
$STATE,18396,begin surface coast
$FINISH,-0.5,1.021219
$STATE,18420,end surface coast,CONTROL_FINISHED_OK
$STATE,18420,begin surface
$SM_CCo,18442,54.20,0.645,0,0,888,475.15
$SM_GC,-6.18,0.00,0.00,54.20,0.000,0.000,0.645,412,2371,888,-10.66,1.30,475.15
$IRIDIUM_FIX,1241.04,12016.50,020797,202017
$TT8_MAMPS,0.025311
$HUMID,1896
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.40
$XPDR_PINGS,415
$24V_AH,23.1,37.449
$10V_AH,10.1,28.356
$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,28.925,109.875,448.475,54.200,0.000,23.557,32.604,178.329,113.750,0.000,0.000,14.299,2866.503,11721.024,624.639,3100.383,569.640,0.000,2115.255,0.000,3042.617,0.000,75.530
$DEVICE_MAMPS,169.507,171.808,1349.153,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1193.587,441.996,704.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94772,1762
$CAP_FILE_SIZE,175122,0
$CFSIZE,260165632,236695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,073607,1246.476,12014.803,37,0.9,37,-0.8