version: 66.03
glider: 126
mission: 7
dive: 386
start: 5 12 108 21 8 41
data:
$ID,126
$MISSION,7
$DIVE,386
$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,330
$T_MISSION,396
$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,175
$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,500
$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,-626760.88
$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,2368
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,37
$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
$GPS1,210026,1251.008,12022.449,44,1.3,44,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-7.01
$_SM_ANGLEo,-58.9
$GPS2,210810,1251.003,12022.447,10,2.8,29,-0.8
$SPEED_LIMITS,0.173,0.198
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,91.6,36664,-16.9,-10.000
$D_GRID,1083
$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,-2.05,-170.3,0.0,0.0,0,108,0.00,0.00,-78.05,0.000,6,0.000,0.000,416,2393,3522
$GC,111,-2.05,-170.3,2.5,-28.2,16,129,10.43,1.77,0.00,0.000,4,0.165,0.040,2279,3416,3523
$GC,170,-1.85,-170.3,17.7,-15.1,26,176,0.17,1.75,0.00,0.000,6,0.106,0.022,2318,2334,3523
$GC,517,-1.85,-170.3,62.7,-11.9,87,522,0.00,1.62,0.00,0.000,4,0.000,0.031,2318,1343,3524
$GC,597,-1.85,-170.3,72.3,-11.7,101,602,0.00,1.60,0.00,0.000,6,0.000,0.023,2318,2342,3524
$GC,940,-1.85,-170.3,109.3,-10.9,162,947,0.00,1.83,0.00,0.000,4,0.000,0.040,2318,3402,3525
$GC,987,-1.85,-170.3,114.4,-11.4,170,993,0.00,1.65,0.00,0.000,6,0.000,0.023,2318,2364,3526
$GC,1333,-1.85,-170.3,147.8,-9.3,231,1339,0.00,1.77,0.00,0.000,4,0.000,0.039,2318,3407,3527
$GC,1415,-1.85,-170.3,155.9,-9.6,245,1420,0.00,1.60,0.00,0.000,6,0.000,0.024,2318,2382,3527
$GC,1759,-1.90,-170.3,186.5,-8.7,306,1765,0.00,1.70,0.00,0.000,4,0.000,0.032,2318,1360,3528
$GC,1852,-1.93,-170.3,194.0,-8.5,322,1858,0.00,1.67,0.00,0.000,6,0.000,0.025,2318,2374,3527
$GC,2197,-1.99,-170.3,223.8,-8.9,383,2203,0.00,1.70,0.00,0.000,4,0.000,0.034,2318,1365,3527
$GC,2339,-2.04,-170.3,235.7,-8.0,408,2345,0.10,1.52,0.00,0.000,6,0.044,0.025,2269,2294,3527
$GC,2679,-2.04,-170.3,267.6,-9.5,453,2683,0.00,1.92,0.00,0.000,4,0.000,0.043,2269,3412,3526
$GC,2793,-2.01,-170.3,278.4,-9.7,463,2797,0.10,1.75,0.00,0.000,6,0.104,0.026,2290,2335,3526
$GC,3124,-2.05,-170.3,307.6,-8.6,494,3127,0.00,1.65,0.00,0.000,4,0.000,0.038,2290,1352,3524
$GC,3274,-2.08,-170.3,320.6,-9.4,507,3277,0.00,1.52,0.00,0.000,6,0.000,0.027,2289,2270,3524
$GC,3607,-2.12,-170.3,350.3,-8.8,538,3610,0.00,1.58,0.00,0.000,4,0.000,0.039,2289,1345,3522
$GC,3676,-2.15,-170.3,356.4,-8.8,544,3680,0.08,1.55,0.00,0.000,6,0.036,0.028,2250,2271,3521
$GC,4007,-2.15,-170.3,385.2,-8.7,575,4011,0.00,1.60,0.00,0.000,4,0.000,0.040,2249,1352,3519
$GC,4091,-2.11,-170.3,392.6,-9.2,582,4097,0.05,1.38,0.00,0.000,6,0.103,0.027,2265,2179,3518
$GC,4416,-2.11,-170.3,422.2,-9.1,613,4420,0.00,1.45,0.00,0.000,4,0.000,0.042,2265,1352,3516
$GC,4474,-2.11,-170.3,427.5,-9.1,618,4477,0.00,1.55,0.00,0.000,6,0.000,0.029,2265,2270,3515
$GC,4807,-2.11,-170.3,458.6,-9.4,649,4810,0.00,2.00,0.00,0.000,4,0.000,0.049,2265,3413,3514
$GC,4925,-2.11,-170.3,470.0,-9.4,659,4931,0.00,1.85,0.00,0.000,6,0.000,0.030,2265,2312,3512
$GC,5253,-2.11,-170.3,499.9,-9.0,690,5261,0.00,1.98,0.00,0.000,4,0.000,0.054,2265,3414,3510
$GC,5339,-2.11,-170.3,507.9,-9.6,694,5345,0.00,2.00,0.00,0.000,6,0.000,0.032,2265,2246,3509
$GC,5656,-2.11,-170.3,534.6,-8.5,710,5660,0.00,2.10,0.00,0.000,4,0.000,0.060,2265,3405,3507
$GC,5747,-2.11,-170.3,542.8,-9.1,714,5751,0.00,2.15,0.00,0.000,6,0.000,0.037,2265,2169,3506
$GC,6078,-2.11,-170.3,571.6,-9.0,730,6082,0.00,1.50,0.00,0.000,4,0.000,0.073,2265,1361,3504
$GC,6168,-2.11,-170.3,580.4,-9.5,734,6172,0.00,1.23,0.00,0.000,6,0.000,0.054,2265,2034,3504
$GC,6504,-2.11,-170.3,611.3,-9.3,750,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2035,3502
$GC,6813,-2.11,-170.3,640.2,-9.3,765,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2038,3500
$GC,7120,-2.11,-170.3,667.5,-8.7,780,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2039,3499
$GC,7429,-2.11,-170.3,693.4,-8.4,795,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2038,3497
$GC,7740,-2.11,-170.3,719.0,-8.1,810,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2038,3495
$GC,8048,-2.11,-170.3,743.8,-7.8,825,8052,0.00,1.27,0.00,0.000,4,0.000,0.070,2265,1360,3494
$GC,8076,-2.11,-170.3,746.1,-8.1,826,8079,0.00,1.40,0.00,0.000,6,0.000,0.035,2265,2179,3494
$GC,8406,-2.15,-170.3,772.6,-8.6,842,8410,0.00,1.48,0.00,0.000,4,0.000,0.054,2265,1365,3493
$GC,8474,-2.15,-170.3,778.6,-7.5,845,8477,0.00,1.58,0.00,0.000,6,0.000,0.035,2265,2279,3493
$GC,8809,-2.18,-170.3,807.2,-9.0,861,8813,0.00,1.62,0.00,0.000,4,0.000,0.050,2265,1360,3491
$GC,8883,-2.18,-170.3,814.0,-8.5,864,8886,0.00,1.42,0.00,0.000,6,0.000,0.034,2265,2197,3491
$GC,9212,-2.21,-170.3,843.1,-8.9,880,9216,0.00,2.12,0.00,0.000,4,0.000,0.052,2265,3402,3489
$GC,9326,-2.21,-170.3,853.5,-8.6,885,9330,0.00,1.92,0.00,0.000,6,0.000,0.038,2265,2277,3489
$GC,9661,-2.25,-170.3,882.5,-8.8,901,9666,0.12,2.03,0.00,0.000,4,0.070,0.051,2231,3409,3487
$GC,9729,-2.17,-170.3,888.7,-8.3,904,9734,0.15,2.08,0.00,0.000,6,0.102,0.034,2260,2198,3487
$GC,10052,-2.17,-170.3,915.0,-8.2,920,10056,0.00,2.17,0.00,0.000,4,0.000,0.052,2260,3414,3487
$GC,10153,-2.17,-170.3,923.9,-8.7,924,10158,0.00,1.92,0.00,0.000,6,0.000,0.034,2261,2291,3486
$GC,10469,-2.17,-170.3,952.1,-9.2,940,10472,0.00,2.00,0.00,0.000,4,0.000,0.054,2260,3407,3485
$GC,10556,-2.17,-170.3,960.2,-9.5,943,10562,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2205,3485
$GC,10874,-2.17,-170.3,989.4,-8.9,959,10878,0.00,2.15,0.00,0.000,4,0.000,0.053,2260,3406,3484
$STATE,10881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10881,begin apogee
$GC,10890,-0.52,0.0,990.6,8.8,959,11042,1.65,0.00,145.45,1.437,6,0.094,0.000,2610,2107,2825
$STATE,11043,end apogee,CONTROL_FINISHED_OK
$STATE,11043,begin climb
$GC,11046,2.05,170.3,998.8,0.0,967,11211,2.53,1.88,152.62,1.398,4,0.064,0.051,3175,3117,2129
$GC,11337,2.00,226.0,986.6,7.1,980,11393,0.00,1.83,50.70,1.357,6,0.000,0.035,3174,2074,1903
$GC,11715,1.95,258.6,954.2,8.3,999,11757,0.00,1.98,32.20,1.272,4,0.000,0.049,3175,3113,1770
$GC,11814,1.86,272.5,945.0,9.3,1003,11840,0.12,1.83,15.80,1.121,6,0.084,0.035,3137,2089,1714
$GC,12153,1.87,303.3,917.0,8.4,1019,12187,0.00,1.92,29.48,1.331,4,0.000,0.049,3137,3126,1588
$GC,12268,1.85,317.7,906.4,9.2,1024,12293,0.00,1.70,16.62,1.136,6,0.000,0.034,3137,2153,1529
$GC,12612,1.86,325.0,874.5,9.6,1041,12621,0.00,0.00,7.88,1.150,6,0.000,0.000,3137,2153,1500
$GC,12919,1.88,336.0,845.0,9.4,1056,12935,0.00,1.83,11.50,1.232,4,0.000,0.049,3137,3116,1455
$GC,12975,1.86,342.3,839.4,9.7,1057,12989,0.00,1.67,7.68,1.124,6,0.000,0.035,3137,2158,1429
$GC,13315,1.92,348.8,807.5,9.7,1074,13324,0.00,0.00,7.55,1.128,6,0.000,0.000,3136,2158,1403
$GC,13641,1.97,348.8,774.9,10.0,1090,13645,0.10,2.05,0.00,0.000,4,0.080,0.060,3166,1026,1402
$GC,13696,1.95,351.8,768.9,9.8,1092,13705,0.00,1.67,4.53,0.907,6,0.000,0.031,3166,2020,1389
$GC,14034,1.95,351.8,734.4,10.4,1109,14038,0.00,1.83,0.00,0.000,4,0.000,0.058,3166,1018,1389
$GC,14073,1.95,351.8,730.1,10.1,1110,14079,0.00,1.88,0.00,0.000,6,0.000,0.031,3166,2118,1389
$GC,14389,1.98,351.8,696.1,10.8,1126,14393,0.00,1.98,0.00,0.000,4,0.000,0.055,3166,1016,1388
$GC,14422,1.98,351.8,692.2,11.4,1127,14426,0.00,2.08,0.00,0.000,6,0.000,0.031,3166,2234,1388
$GC,14744,1.98,351.8,657.7,10.6,1143,14747,0.00,1.58,0.00,0.000,4,0.000,0.051,3166,3113,1388
$GC,14805,1.98,351.8,651.1,10.3,1145,14811,0.00,1.80,0.00,0.000,6,0.000,0.035,3166,2070,1388
$GC,15121,1.98,351.8,618.7,10.2,1161,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2071,1387
$GC,15430,1.98,352.1,587.9,10.0,1176,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2071,1387
$GC,15740,2.01,352.1,555.9,10.5,1191,15744,0.00,1.85,0.00,0.000,4,0.000,0.047,3166,3119,1387
$GC,15756,2.01,352.1,553.9,10.9,1191,15762,0.00,2.03,0.00,0.000,6,0.000,0.035,3166,1947,1387
$GC,16073,2.05,353.1,521.6,9.9,1207,16076,0.00,2.08,0.00,0.000,4,0.000,0.045,3166,3126,1387
$GC,16096,2.05,353.1,519.2,10.2,1208,16100,0.00,2.25,0.00,0.000,6,0.000,0.036,3166,1828,1387
$GC,16416,2.10,353.1,488.5,10.3,1228,16420,0.00,2.28,0.00,0.000,4,0.000,0.044,3166,3122,1387
$GC,16512,2.13,370.5,478.8,9.1,1236,16536,0.12,2.38,18.05,1.086,6,0.067,0.039,3202,1759,1314
$GC,16862,2.13,370.5,442.6,10.4,1269,16863,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1759,1313
$GC,17182,2.13,370.5,410.1,10.6,1299,17186,0.00,2.40,0.00,0.000,4,0.000,0.043,3202,3122,1313
$GC,17237,2.13,370.5,404.1,10.1,1303,17243,0.00,2.08,0.00,0.000,6,0.000,0.035,3202,1923,1312
$GC,17564,2.13,370.5,369.8,10.9,1334,17567,0.00,2.10,0.00,0.000,4,0.000,0.044,3202,3118,1312
$GC,17645,2.13,370.5,360.8,11.0,1341,17649,0.00,1.83,0.00,0.000,6,0.000,0.033,3202,2058,1312
$GC,17978,2.15,384.3,326.4,9.3,1372,17993,0.00,0.00,13.55,0.955,6,0.000,0.000,3202,2058,1258
$GC,18308,2.17,393.0,294.1,9.5,1403,18322,0.00,1.92,9.55,0.895,4,0.000,0.046,3202,3121,1222
$GC,18367,2.17,393.0,288.1,10.0,1408,18373,0.00,2.03,0.00,0.000,6,0.000,0.034,3202,1950,1221
$GC,18696,2.20,393.0,253.8,11.3,1439,18699,0.00,1.65,0.00,0.000,4,0.000,0.058,3202,1023,1221
$GC,18718,2.20,393.0,250.7,11.4,1441,18722,0.00,1.70,0.00,0.000,6,0.000,0.029,3202,2038,1221
$GC,19063,2.26,400.6,214.3,9.6,1501,19074,0.00,0.00,8.25,0.808,6,0.000,0.000,3202,2038,1191
$GC,19413,2.34,419.4,180.4,9.0,1563,19435,0.15,1.98,17.65,0.850,4,0.057,0.048,3253,3109,1115
$GC,19524,2.30,419.4,169.8,10.2,1582,19531,0.12,1.65,0.00,0.000,6,0.097,0.029,3228,2138,1113
$GC,19870,2.38,441.6,135.6,8.8,1643,19897,0.00,1.75,20.73,0.811,4,0.000,0.042,3228,3112,1023
$GC,19962,2.48,475.9,127.7,8.2,1659,20000,0.17,1.75,30.52,0.796,6,0.054,0.028,3280,2082,883
$GC,20339,2.50,492.1,91.6,9.1,1726,20361,0.00,1.88,14.40,0.738,4,0.000,0.040,3280,3114,818
$GC,20464,2.53,505.6,80.1,9.3,1748,20481,0.00,1.73,13.00,0.710,6,0.000,0.026,3280,2101,763
$GC,20826,2.65,533.0,46.5,8.6,1811,20860,0.12,1.95,23.98,0.696,4,0.058,0.044,3324,1025,652
$GC,20954,2.69,538.6,33.9,9.7,1833,20967,0.00,1.83,6.18,0.570,6,0.000,0.025,3324,2140,629
$STATE,21280,end climb,SURFACE_DEPTH_REACHED
$STATE,21280,begin surface coast
$FINISH,-0.1,1.020591
$STATE,21307,end surface coast,CONTROL_FINISHED_OK
$STATE,21307,begin surface
$SM_CCo,21391,0.00,0.000,0,0,627,539.17
$SM_GC,-6.87,12.65,0.00,0.00,0.049,0.000,0.000,414,2386,627,-10.60,0.51,539.17
$IRIDIUM_FIX,1245.46,12021.43,060897,151538
$TT8_MAMPS,0.025311
$HUMID,2004
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,503
$24V_AH,22.6,66.397
$10V_AH,10.1,46.202
$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,28.950,153.400,657.850,0.000,0.000,28.462,31.827,224.996,138.250,0.000,0.000,30.774,3103.540,13731.630,732.161,3470.869,807.554,0.000,2462.001,0.000,3384.145,0.000,91.508
$DEVICE_MAMPS,164.905,72.865,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1283.311,443.849,708.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100841,1895
$CAP_FILE_SIZE,208789,0
$CFSIZE,260165632,222461952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,130508,030632,1250.812,12022.746,44,1.4,44,-0.8