version: 66.03
glider: 126
mission: 7
dive: 394
start: 5 14 108 18 26 24
data:
$ID,126
$MISSION,7
$DIVE,394
$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,275
$T_MISSION,330
$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,200
$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,-626899.56
$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,46
$R_STBD_OVSHOOT,56
$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
$GPS1,181901,1251.394,12026.999,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.90
$_SM_ANGLEo,-54.4
$GPS2,182551,1251.488,12027.050,15,1.1,15,-0.8
$SPEED_LIMITS,0.208,0.231
$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,93.7,28386,-19.3,-12.000
$D_GRID,1401
$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,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-83.32,0.000,6,0.000,0.000,415,2388,3620
$GC,118,-2.34,-194.7,2.9,-29.4,17,135,10.05,1.75,0.00,0.000,4,0.163,0.037,2219,3403,3622
$GC,248,-2.17,-194.7,31.7,-17.1,40,255,0.15,1.75,0.00,0.000,6,0.095,0.023,2253,2326,3622
$GC,594,-2.09,-194.7,80.4,-13.0,101,600,0.10,1.85,0.00,0.000,4,0.116,0.037,2273,3403,3623
$GC,731,-2.05,-194.7,99.1,-13.0,125,737,0.00,1.77,0.00,0.000,6,0.000,0.023,2273,2281,3624
$GC,1076,-2.10,-194.7,137.2,-10.7,186,1083,0.00,1.95,0.00,0.000,4,0.000,0.038,2273,3405,3626
$GC,1102,-2.14,-194.7,139.7,-10.1,190,1108,0.00,1.98,0.00,0.000,6,0.000,0.023,2273,2198,3626
$GC,1447,-2.22,-194.7,174.1,-9.6,251,1453,0.12,1.40,0.00,0.000,4,0.059,0.032,2233,1358,3627
$GC,1461,-2.27,-194.7,175.6,-9.3,253,1467,0.00,1.23,0.00,0.000,6,0.000,0.023,2233,2128,3627
$GC,1806,-2.27,-194.7,209.2,-9.7,314,1811,0.00,1.33,0.00,0.000,4,0.000,0.035,2233,1354,3627
$GC,1824,-2.27,-194.7,211.1,-9.2,317,1829,0.00,1.27,0.00,0.000,6,0.000,0.024,2233,2143,3627
$GC,2169,-2.31,-194.7,244.1,-10.0,378,2174,0.00,2.15,0.00,0.000,4,0.000,0.041,2233,3400,3627
$GC,2198,-2.31,-194.7,247.3,-10.5,383,2204,0.00,2.25,0.00,0.000,6,0.000,0.026,2233,2046,3627
$GC,2528,-2.35,-194.7,278.7,-9.4,416,2532,0.00,2.35,0.00,0.000,4,0.000,0.043,2233,3401,3627
$GC,2638,-2.35,-194.7,289.5,-9.6,425,2642,0.00,2.28,0.00,0.000,6,0.000,0.028,2233,2045,3627
$GC,2966,-2.40,-194.7,320.6,-9.5,455,2970,0.12,2.35,0.00,0.000,4,0.062,0.041,2196,3394,3625
$GC,3039,-2.33,-194.7,328.0,-9.5,461,3045,0.12,2.28,0.00,0.000,6,0.103,0.028,2220,2040,3624
$GC,3367,-2.33,-194.7,358.6,-9.6,492,3371,0.00,2.38,0.00,0.000,4,0.000,0.043,2220,3399,3622
$GC,3467,-2.33,-194.7,369.4,-10.6,500,3473,0.00,2.05,0.00,0.000,6,0.000,0.029,2220,2175,3621
$GC,3796,-2.37,-194.7,403.6,-10.4,531,3799,0.00,2.15,0.00,0.000,4,0.000,0.046,2220,3393,3619
$GC,3846,-2.37,-194.7,409.2,-9.8,535,3852,0.00,2.25,0.00,0.000,6,0.000,0.031,2220,2075,3618
$GC,4175,-2.42,-194.7,439.9,-9.3,566,4179,0.00,2.33,0.00,0.000,4,0.000,0.047,2220,3393,3616
$GC,4276,-2.42,-194.7,449.8,-9.5,574,4283,0.00,2.05,0.00,0.000,6,0.000,0.032,2220,2192,3616
$GC,4604,-2.46,-194.7,481.2,-10.0,605,4609,0.12,2.15,0.00,0.000,4,0.064,0.050,2185,3396,3614
$GC,4655,-2.41,-194.7,486.9,-11.1,609,4659,0.00,2.25,0.00,0.000,6,0.000,0.033,2185,2090,3614
$GC,4988,-2.41,-194.7,522.3,-10.9,630,4992,0.00,2.35,0.00,0.000,4,0.000,0.058,2185,3392,3610
$GC,5051,-2.36,-194.7,529.5,-11.0,633,5057,0.15,2.33,0.00,0.000,6,0.103,0.038,2214,2055,3610
$GC,5388,-2.40,-194.7,563.7,-10.0,649,5392,0.00,2.47,0.00,0.000,4,0.000,0.069,2214,3391,3608
$GC,5451,-2.40,-194.7,570.2,-10.1,652,5455,0.00,2.35,0.00,0.000,6,0.000,0.048,2214,2071,3607
$GC,5786,-2.43,-194.7,602.7,-9.5,668,5790,0.00,2.50,0.00,0.000,4,0.000,0.081,2214,3384,3605
$GC,5849,-2.43,-194.7,608.8,-9.4,671,5853,0.00,2.42,0.00,0.000,6,0.000,0.061,2214,2069,3604
$GC,6178,-2.46,-194.7,639.6,-9.4,687,6183,0.00,2.58,0.00,0.000,4,0.000,0.095,2214,3382,3602
$GC,6257,-2.46,-194.7,647.6,-9.8,690,6261,0.00,2.30,0.00,0.000,6,0.000,0.037,2214,2050,3601
$GC,6575,-2.51,-194.7,678.4,-9.9,705,6580,0.15,2.40,0.00,0.000,4,0.062,0.049,2169,3396,3600
$GC,6661,-2.43,-194.7,687.6,-10.6,709,6666,0.17,2.33,0.00,0.000,6,0.106,0.035,2202,2052,3599
$GC,6991,-2.46,-194.7,719.8,-9.8,725,6999,0.00,2.40,0.00,0.000,4,0.000,0.051,2203,3396,3598
$GC,7017,-2.46,-194.7,722.6,-9.8,726,7022,0.00,2.33,0.00,0.000,6,0.000,0.035,2202,2056,3597
$GC,7347,-2.49,-194.7,754.8,-10.1,742,7351,0.00,2.40,0.00,0.000,4,0.000,0.054,2202,3396,3596
$GC,7415,-2.49,-194.7,762.1,-10.7,745,7419,0.00,2.33,0.00,0.000,6,0.000,0.035,2202,2057,3596
$GC,7744,-2.49,-194.7,795.2,-10.1,761,7748,0.00,2.38,0.00,0.000,4,0.000,0.052,2202,3390,3594
$GC,7835,-2.49,-194.7,805.1,-10.7,765,7839,0.00,2.30,0.00,0.000,6,0.000,0.036,2202,2059,3594
$GC,8169,-2.49,-194.7,839.6,-10.2,781,8174,0.00,1.23,0.00,0.000,4,0.000,0.058,2203,1369,3592
$GC,8214,-2.49,-194.7,844.1,-9.9,783,8218,0.00,1.33,0.00,0.000,6,0.000,0.034,2202,2141,3592
$GC,8551,-2.52,-194.7,878.0,-10.2,799,8555,0.00,2.22,0.00,0.000,4,0.000,0.054,2203,3396,3591
$GC,8683,-2.48,-194.7,892.5,-11.3,805,8687,0.00,2.05,0.00,0.000,6,0.000,0.035,2202,2212,3590
$GC,9017,-2.48,-194.7,926.2,-9.6,821,9021,0.00,1.50,0.00,0.000,4,0.000,0.054,2203,1366,3589
$GC,9064,-2.48,-194.7,930.7,-9.9,823,9068,0.00,1.38,0.00,0.000,6,0.000,0.035,2203,2164,3589
$GC,9398,-2.48,-194.7,963.8,-9.9,839,9402,0.00,2.17,0.00,0.000,4,0.000,0.052,2202,3394,3587
$GC,9516,-2.44,-194.7,976.3,-10.4,844,9519,0.00,2.00,0.00,0.000,6,0.000,0.036,2202,2235,3587
$STATE,9670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9670,begin apogee
$GC,9678,-0.52,0.0,991.8,9.9,852,9852,1.95,0.00,167.20,1.428,6,0.094,0.000,2612,2103,2825
$STATE,9853,end apogee,CONTROL_FINISHED_OK
$STATE,9853,begin climb
$GC,9856,2.34,194.7,1000.7,0.0,861,10040,2.83,1.92,174.62,1.382,4,0.052,0.051,3248,3105,2031
$GC,10107,2.28,249.5,988.0,9.3,873,10164,0.12,1.80,50.25,1.340,6,0.112,0.038,3225,2085,1807
$GC,10474,2.23,273.8,947.9,10.8,891,10508,0.00,1.90,24.73,1.225,4,0.000,0.051,3225,3102,1708
$GC,10609,2.16,292.3,933.1,11.1,897,10633,0.12,1.77,18.23,1.279,6,0.109,0.038,3201,2097,1633
$GC,10963,2.14,313.0,894.1,11.0,914,10997,0.00,1.92,22.05,1.202,4,0.000,0.051,3201,3107,1548
$GC,11121,2.11,326.6,876.1,11.3,921,11146,0.00,1.65,15.55,1.108,6,0.000,0.038,3201,2168,1493
$GC,11476,2.11,328.9,833.8,11.9,938,11479,0.00,1.67,0.00,0.000,4,0.000,0.051,3201,3099,1491
$GC,11504,2.07,328.9,830.1,12.3,939,11508,0.12,1.58,0.00,0.000,6,0.110,0.037,3177,2196,1490
$GC,11833,2.10,349.6,794.0,11.0,955,11861,0.00,1.75,22.15,1.276,4,0.000,0.051,3177,3107,1399
$GC,11902,2.15,378.8,785.6,10.6,958,11938,0.00,1.58,28.58,1.262,6,0.000,0.037,3177,2211,1279
$GC,12249,2.18,395.7,746.1,11.2,975,12271,0.12,1.73,16.60,1.216,4,0.069,0.051,3211,3107,1211
$GC,12300,2.14,398.6,739.8,11.9,977,12309,0.00,1.52,4.20,0.823,6,0.000,0.036,3211,2259,1199
$GC,12627,2.15,405.3,701.1,11.7,993,12641,0.00,2.33,7.70,1.078,4,0.000,0.061,3211,1020,1172
$GC,12672,2.12,405.3,695.4,12.5,995,12676,0.00,2.12,0.00,0.000,6,0.000,0.034,3211,2246,1172
$GC,12999,2.12,405.3,656.0,12.3,1011,13003,0.00,2.22,0.00,0.000,4,0.000,0.054,3211,1013,1171
$GC,13026,2.12,405.3,652.4,12.6,1012,13030,0.00,2.08,0.00,0.000,6,0.000,0.033,3211,2226,1171
$GC,13342,2.12,405.3,613.6,12.5,1027,13346,0.00,2.17,0.00,0.000,4,0.000,0.054,3211,1015,1170
$GC,13431,2.12,405.3,601.9,14.2,1031,13435,0.00,1.95,0.00,0.000,6,0.000,0.032,3211,2162,1170
$GC,13760,2.13,412.7,563.1,11.6,1047,13774,0.00,1.75,8.02,1.035,4,0.000,0.051,3212,3105,1142
$GC,13865,2.13,416.0,550.5,11.8,1051,13874,0.00,1.83,4.50,0.831,6,0.000,0.035,3211,2058,1129
$GC,14206,2.23,435.6,512.7,11.0,1068,14238,0.00,1.98,21.45,1.033,4,0.000,0.059,3211,1016,1049
$GC,14326,2.28,444.7,498.6,11.6,1074,14340,0.00,1.52,10.05,1.020,6,0.000,0.031,3211,1901,1012
$GC,14666,2.40,461.3,458.2,11.2,1106,14688,0.15,1.70,16.30,1.052,4,0.063,0.058,3257,1019,944
$GC,14752,2.36,463.7,447.8,11.9,1113,14757,0.00,1.83,0.00,0.000,6,0.000,0.031,3258,2091,942
$GC,15080,2.42,463.7,409.4,12.1,1144,15084,0.00,1.83,0.00,0.000,4,0.000,0.048,3258,3130,941
$GC,15131,2.43,471.8,402.7,11.6,1148,15148,0.00,1.55,10.60,0.975,6,0.000,0.035,3258,2250,901
$GC,15467,2.47,471.8,361.4,12.2,1180,15471,0.00,2.20,0.00,0.000,4,0.000,0.056,3257,1017,900
$GC,15564,2.47,473.5,349.6,11.9,1188,15567,0.00,1.80,0.00,0.000,6,0.000,0.030,3258,2081,900
$GC,15898,2.54,473.5,310.5,12.3,1219,15902,0.10,1.90,0.00,0.000,4,0.074,0.052,3288,1023,899
$GC,15936,2.54,473.5,305.1,12.8,1222,15942,0.00,1.90,0.00,0.000,6,0.000,0.030,3288,2153,899
$GC,16264,2.54,473.5,264.1,12.4,1253,16267,0.00,1.70,0.00,0.000,4,0.000,0.051,3288,3121,899
$GC,16314,2.48,473.5,257.2,12.8,1257,16320,0.00,1.98,0.00,0.000,6,0.000,0.037,3288,1974,899
$GC,16654,2.51,495.2,216.3,10.9,1312,16680,0.00,0.00,21.58,0.895,6,0.000,0.000,3288,1974,806
$GC,17019,2.56,500.6,171.9,11.7,1377,17030,0.00,2.05,6.00,0.714,4,0.000,0.044,3288,3122,783
$GC,17117,2.57,507.0,160.3,11.7,1394,17129,0.00,1.67,7.45,0.747,6,0.000,0.030,3288,2139,758
$GC,17470,2.69,543.1,121.8,10.2,1456,17509,0.12,2.00,32.53,0.805,4,0.064,0.049,3326,1017,610
$GC,17622,2.75,580.2,105.6,10.2,1483,17635,0.00,1.88,6.10,0.649,6,0.000,0.027,3326,2145,587
$GC,17976,2.92,627.7,68.6,9.7,1545,17982,0.15,1.98,0.00,0.000,4,0.056,0.042,3378,1010,585
$GC,18017,2.92,627.7,63.4,12.2,1552,18023,0.00,1.65,0.00,0.000,6,0.000,0.025,3378,2017,585
$GC,18362,2.99,647.9,26.4,11.0,1613,18368,0.00,1.73,0.00,0.000,4,0.000,0.041,3378,1014,585
$GC,18409,3.00,655.7,21.0,11.6,1621,18415,0.00,1.75,0.00,0.000,6,0.000,0.024,3378,2094,585
$STATE,18600,end climb,SURFACE_DEPTH_REACHED
$STATE,18600,begin surface coast
$FINISH,-0.1,1.020788
$STATE,18616,end surface coast,CONTROL_FINISHED_OK
$STATE,18616,begin surface
$SM_CCo,18701,0.00,0.000,0,0,585,549.72
$SM_GC,-6.79,12.88,0.00,0.00,0.049,0.000,0.000,414,2369,585,-10.60,0.03,549.72
$IRIDIUM_FIX,1245.46,12024.46,080897,131316
$TT8_MAMPS,0.024544
$HUMID,2023
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.90
$XPDR_PINGS,438
$24V_AH,22.6,68.626
$10V_AH,10.1,47.140
$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,29.950,174.000,696.425,0.000,0.000,24.338,40.260,189.228,122.000,0.000,0.000,15.491,2767.618,11619.582,816.581,3133.049,769.935,0.000,2404.374,0.000,3069.629,0.000,91.520
$DEVICE_MAMPS,163.371,95.108,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.431,391.933,624.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91433,1658
$CAP_FILE_SIZE,197819,0
$CFSIZE,260165632,221732864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,140508,233907,1251.411,12027.680,25,1.4,25,-0.8