version: 66.03
glider: 126
mission: 7
dive: 308
start: 4 22 108 12 40 2
data:
$ID,126
$MISSION,7
$DIVE,308
$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,-625249.06
$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,26
$R_STBD_OVSHOOT,53
$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
$GPS1,123237,1251.337,12042.581,29,1.0,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.85
$_SM_ANGLEo,-59.7
$GPS2,123908,1251.338,12042.576,10,1.5,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST_S8
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,9999.000
$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,165.7,1204,-21.3,-9.016
$D_GRID,1049
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.30,0.000,6,0.000,0.000,417,2357,3244
$GC,97,-2.39,-101.9,0.7,-18.7,13,114,10.02,1.70,0.00,0.000,4,0.169,0.037,2202,3361,3246
$GC,324,-2.21,-101.9,45.2,-16.8,53,330,0.22,1.73,0.00,0.000,6,0.116,0.023,2245,2266,3248
$GC,668,-2.14,-101.9,90.1,-11.0,114,674,0.00,1.88,0.00,0.000,4,0.000,0.038,2245,3360,3248
$GC,827,-2.07,-101.9,109.3,-13.2,142,834,0.12,1.70,0.00,0.000,6,0.104,0.023,2275,2295,3248
$GC,1173,-2.14,-110.5,142.4,-8.4,203,1178,0.00,1.80,0.00,0.000,4,0.000,0.038,2275,3366,3250
$GC,1265,-2.15,-115.8,149.8,-8.7,219,1271,0.00,1.52,0.00,0.000,6,0.000,0.024,2275,2392,3251
$GC,1609,-2.23,-128.9,178.3,-8.1,280,1616,0.15,1.80,0.00,0.000,4,0.055,0.031,2225,1307,3251
$GC,1673,-2.25,-142.9,183.7,-8.0,291,1679,0.00,1.73,0.00,0.000,6,0.000,0.025,2225,2372,3251
$GC,2017,-2.26,-146.0,212.8,-8.1,352,2023,0.00,1.67,0.00,0.000,4,0.000,0.041,2225,3371,3251
$GC,2046,-2.26,-146.0,215.3,-8.2,357,2052,0.00,1.62,0.00,0.000,6,0.000,0.025,2225,2334,3251
$GC,2390,-2.26,-146.0,244.2,-8.0,418,2396,0.00,1.70,0.00,0.000,4,0.000,0.036,2225,1320,3251
$GC,2526,-2.26,-146.0,255.5,-8.6,437,2530,0.00,1.65,0.00,0.000,6,0.000,0.026,2225,2317,3250
$GC,2857,-2.26,-146.0,286.9,-10.4,468,2861,0.00,1.77,0.00,0.000,4,0.000,0.044,2225,3367,3250
$GC,2896,-2.26,-146.0,291.0,-10.4,471,2902,0.00,1.67,0.00,0.000,6,0.000,0.027,2225,2339,3250
$GC,3223,-2.26,-146.0,321.7,-9.7,502,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2330,3247
$GC,3539,-2.26,-146.0,349.3,-8.4,532,3543,0.00,1.80,0.00,0.000,4,0.000,0.045,2225,3363,3246
$GC,3622,-2.26,-146.0,357.0,-9.8,539,3628,0.00,1.65,0.00,0.000,6,0.000,0.028,2225,2342,3245
$GC,3948,-2.26,-146.0,389.0,-9.5,570,3952,0.00,1.77,0.00,0.000,4,0.000,0.043,2224,1299,3243
$GC,3987,-2.26,-146.0,392.7,-9.2,573,3993,0.00,1.70,0.00,0.000,6,0.000,0.028,2224,2326,3243
$GC,4316,-2.26,-146.0,419.6,-8.3,604,4319,0.00,1.80,0.00,0.000,4,0.000,0.048,2225,3375,3241
$GC,4366,-2.26,-146.0,424.5,-8.8,608,4372,0.00,1.67,0.00,0.000,6,0.000,0.030,2225,2360,3241
$GC,4695,-2.71,-146.0,439.2,-0.2,639,4699,0.35,1.88,0.00,0.000,6,0.042,0.051,2129,1283,3239
$STATE,4700,end dive,NO_VERTICAL_VELOCITY
$STATE,4700,begin apogee
$GC,4707,-0.52,0.0,439.2,0.0,639,4795,2.15,0.00,82.90,0.974,6,0.071,0.000,2616,1975,2825
$STATE,4795,end apogee,CONTROL_FINISHED_OK
$STATE,4795,begin climb
$GC,4799,2.47,146.0,438.9,0.0,648,4926,2.83,1.88,118.60,0.946,4,0.051,0.045,3273,3012,2229
$GC,5109,2.40,160.0,423.1,8.1,676,5130,0.00,1.77,12.48,0.872,6,0.000,0.033,3273,1973,2172
$GC,5449,2.33,162.4,394.4,8.8,708,5453,0.17,1.90,0.00,0.000,4,0.101,0.061,3239,916,2168
$GC,5510,2.29,173.0,389.3,8.3,713,5527,0.00,1.80,11.70,0.869,6,0.000,0.029,3238,1991,2119
$GC,5846,2.29,192.7,363.9,7.7,745,5865,0.00,0.00,17.33,0.904,6,0.000,0.000,3238,1991,2039
$GC,6186,2.32,214.6,337.6,7.5,777,6207,0.00,0.00,19.17,0.900,6,0.000,0.000,3238,1991,1950
$GC,6524,2.35,229.0,312.7,8.0,809,6546,0.00,1.83,13.02,0.868,4,0.000,0.045,3238,3004,1890
$GC,6649,2.35,229.0,301.8,9.0,820,6652,0.00,1.73,0.00,0.000,6,0.000,0.032,3238,1989,1889
$GC,6981,2.37,239.9,273.1,8.3,851,6998,0.00,0.00,10.57,0.832,6,0.000,0.000,3238,1989,1846
$GC,7319,2.38,245.1,245.2,8.7,888,7330,0.00,0.00,5.93,0.716,6,0.000,0.000,3238,1989,1824
$GC,7667,2.42,270.4,218.3,7.3,950,7693,0.00,0.00,22.05,0.849,6,0.000,0.000,3238,1989,1722
$GC,8031,2.44,282.3,188.9,8.2,1015,8047,0.00,0.00,10.88,0.788,6,0.000,0.000,3238,1989,1673
$GC,8385,2.54,315.6,160.7,6.7,1078,8422,0.15,1.98,28.67,0.809,4,0.059,0.051,3288,911,1538
$GC,8585,2.55,322.1,142.6,8.6,1114,8597,0.00,1.88,6.80,0.684,6,0.000,0.028,3288,2020,1511
$GC,8935,2.59,346.8,112.2,7.3,1176,8963,0.00,2.00,21.38,0.761,4,0.000,0.046,3288,906,1410
$GC,9110,2.66,371.3,99.3,7.3,1207,9138,0.00,1.70,21.35,0.742,6,0.000,0.025,3288,1946,1311
$GC,9477,2.79,392.9,73.8,7.5,1272,9501,0.17,1.85,18.80,0.707,4,0.051,0.036,3345,3001,1223
$GC,9554,2.79,392.9,66.4,9.3,1285,9560,0.00,1.75,0.00,0.000,6,0.000,0.025,3345,1939,1222
$GC,9899,2.89,416.2,41.6,7.4,1346,9926,0.00,1.85,20.27,0.670,4,0.000,0.035,3345,2992,1127
$GC,10080,2.95,429.3,27.4,8.1,1378,10098,0.08,1.62,11.98,0.626,6,0.051,0.024,3381,2006,1075
$STATE,10367,end climb,SURFACE_DEPTH_REACHED
$STATE,10367,begin surface coast
$FINISH,-0.2,1.021180
$STATE,10391,end surface coast,CONTROL_FINISHED_OK
$STATE,10392,begin surface
$SM_CCo,10415,31.67,0.627,0,0,887,475.15
$SM_GC,-5.09,0.00,0.00,31.67,0.000,0.000,0.627,411,2330,887,-10.66,0.14,475.15
$IRIDIUM_FIX,1247.67,12045.31,170797,080824
$TT8_MAMPS,0.026078
$HUMID,1923
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.00
$XPDR_PINGS,535
$24V_AH,23.4,49.383
$10V_AH,10.2,35.845
$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,29.275,63.425,453.875,31.675,0.000,25.397,36.323,192.145,133.750,0.000,0.000,15.495,2191.869,5266.445,530.744,2334.190,542.243,0.000,1662.911,0.000,2324.275,0.000,0.925
$DEVICE_MAMPS,168.740,60.593,974.090,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,962.521,477.265,741.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78850,1433
$CAP_FILE_SIZE,119121,0
$CFSIZE,260165632,230854656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,153517,1250.833,12042.612,9,2.1,29,-0.8