version: 66.03
glider: 126
mission: 7
dive: 402
start: 5 16 108 13 26 24
data:
$ID,126
$MISSION,7
$DIVE,402
$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,-627066.94
$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,41
$R_STBD_OVSHOOT,61
$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
$GPS1,131838,1253.971,12030.087,30,1.3,30,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.89
$_SM_ANGLEo,-52.3
$GPS2,132551,1254.004,12030.148,14,1.3,14,-0.8
$SPEED_LIMITS,0.208,0.231
$TGT_NAME,EAST_S
$TGT_LATLONG,1244.000,12043.000
$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,129.4,29703,-19.3,-12.000
$D_GRID,1885
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-84.10,0.000,6,0.000,0.000,414,2301,3621
$GC,118,-2.34,-194.7,2.2,-27.3,17,135,10.07,1.90,0.00,0.000,4,0.164,0.035,2216,3402,3622
$GC,203,-2.17,-194.7,24.2,-18.8,32,210,0.15,1.75,0.00,0.000,6,0.096,0.022,2251,2325,3622
$GC,551,-2.10,-194.7,73.6,-13.9,93,557,0.00,1.85,0.00,0.000,4,0.000,0.037,2251,3407,3623
$GC,659,-2.00,-194.7,88.1,-12.8,112,666,0.17,1.80,0.00,0.000,6,0.090,0.023,2292,2290,3624
$GC,1006,-2.05,-194.7,127.8,-10.8,173,1011,0.00,1.58,0.00,0.000,4,0.000,0.032,2292,1333,3625
$GC,1105,-2.09,-194.7,138.4,-11.2,190,1111,0.00,1.50,0.00,0.000,6,0.000,0.023,2292,2260,3625
$GC,1451,-2.19,-194.7,174.1,-9.2,251,1457,0.17,1.92,0.00,0.000,4,0.051,0.038,2235,3396,3626
$GC,1526,-2.19,-194.7,181.4,-9.6,264,1532,0.00,1.80,0.00,0.000,6,0.000,0.024,2235,2255,3627
$GC,1871,-2.19,-194.7,215.0,-9.6,325,1876,0.00,1.52,0.00,0.000,4,0.000,0.035,2235,1354,3627
$GC,1936,-2.19,-194.7,221.3,-9.5,336,1941,0.00,1.42,0.00,0.000,6,0.000,0.025,2235,2228,3626
$GC,2277,-2.24,-194.7,255.4,-9.8,392,2281,0.00,1.50,0.00,0.000,4,0.000,0.038,2235,1358,3627
$GC,2317,-2.24,-194.7,259.4,-9.5,395,2323,0.00,1.58,0.00,0.000,6,0.000,0.025,2235,2334,3626
$GC,2647,-2.30,-194.7,290.0,-9.2,426,2651,0.00,1.85,0.00,0.000,4,0.000,0.044,2235,3405,3625
$GC,2754,-2.33,-194.7,300.9,-10.0,435,2760,0.00,1.90,0.00,0.000,6,0.000,0.026,2235,2249,3625
$GC,3083,-2.39,-194.7,333.3,-10.7,466,3087,0.12,1.50,0.00,0.000,4,0.060,0.040,2196,1362,3623
$GC,3156,-2.39,-194.7,341.7,-10.8,472,3161,0.00,1.45,0.00,0.000,6,0.000,0.026,2196,2237,3622
$GC,3484,-2.39,-194.7,377.0,-10.6,503,3487,0.00,1.55,0.00,0.000,4,0.000,0.042,2196,1357,3620
$GC,3564,-2.39,-194.7,385.7,-10.5,510,3567,0.00,1.33,0.00,0.000,6,0.000,0.027,2196,2152,3620
$GC,3897,-2.39,-194.7,417.2,-9.3,541,3901,0.00,1.40,0.00,0.000,4,0.000,0.045,2196,1363,3617
$GC,3993,-2.39,-194.7,426.4,-9.4,549,3998,0.00,1.20,0.00,0.000,6,0.000,0.028,2196,2085,3616
$GC,4321,-2.39,-194.7,458.3,-10.3,580,4325,0.00,2.30,0.00,0.000,4,0.000,0.048,2196,3403,3614
$GC,4376,-2.39,-194.7,464.6,-10.5,584,4382,0.00,2.28,0.00,0.000,6,0.000,0.032,2196,2072,3613
$GC,4704,-2.39,-194.7,498.1,-10.4,615,4709,0.00,2.40,0.00,0.000,4,0.000,0.052,2196,3414,3611
$GC,4825,-2.36,-194.7,511.0,-10.4,620,4829,0.00,2.10,0.00,0.000,6,0.000,0.034,2196,2189,3611
$GC,5147,-2.36,-194.7,543.3,-9.9,636,5151,0.00,2.22,0.00,0.000,4,0.000,0.063,2196,3403,3608
$GC,5232,-2.36,-194.7,552.1,-10.9,640,5236,0.00,2.25,0.00,0.000,6,0.000,0.043,2196,2130,3607
$GC,5562,-2.36,-194.7,586.1,-10.6,656,5566,0.00,2.38,0.00,0.000,4,0.000,0.075,2196,3392,3604
$GC,5673,-2.36,-194.7,598.5,-10.7,661,5677,0.00,2.42,0.00,0.000,6,0.000,0.064,2196,2064,3603
$GC,6005,-2.39,-194.7,632.0,-10.2,677,6008,0.00,1.38,0.00,0.000,4,0.000,0.107,2196,1375,3601
$GC,6118,-2.39,-194.7,643.9,-9.9,682,6121,0.00,1.17,0.00,0.000,6,0.000,0.080,2196,1978,3601
$GC,6451,-2.39,-194.7,676.9,-9.5,698,6456,0.00,2.83,0.00,0.000,4,0.000,0.111,2196,3396,3598
$GC,6507,-2.36,-194.7,682.4,-9.8,700,6513,0.00,2.30,0.00,0.000,6,0.000,0.093,2196,2230,3597
$GC,6823,-2.39,-194.7,712.2,-9.6,716,6828,0.00,2.45,0.00,0.000,4,0.000,0.126,2196,3396,3597
$GC,6893,-2.39,-194.7,719.1,-10.0,719,6897,0.00,2.58,0.00,0.000,6,0.000,0.111,2196,2137,3596
$GC,7217,-2.42,-194.7,749.7,-9.5,735,7222,0.00,2.25,0.00,0.000,4,0.000,0.048,2196,3404,3594
$GC,7301,-2.42,-194.7,758.4,-9.6,738,7307,0.00,2.33,0.00,0.000,6,0.000,0.034,2196,2059,3594
$GC,7618,-2.46,-194.7,789.9,-10.3,754,7626,0.00,2.40,0.00,0.000,4,0.000,0.051,2196,3405,3592
$GC,7644,-2.46,-194.7,792.7,-11.0,755,7648,0.00,2.33,0.00,0.000,6,0.000,0.035,2196,2065,3592
$GC,7974,-2.50,-194.7,827.0,-10.5,771,7978,0.00,2.38,0.00,0.000,4,0.000,0.051,2196,3399,3591
$GC,8070,-2.50,-194.7,837.4,-10.7,775,8074,0.00,2.33,0.00,0.000,6,0.000,0.035,2196,2060,3590
$GC,8399,-2.50,-194.7,869.3,-9.8,791,8403,0.00,1.30,0.00,0.000,4,0.000,0.088,2196,1378,3589
$GC,8455,-2.50,-194.7,875.0,-9.5,793,8459,0.00,1.33,0.00,0.000,6,0.000,0.038,2196,2142,3589
$GC,8778,-2.50,-194.7,905.2,-9.4,809,8781,0.00,1.42,0.00,0.000,4,0.000,0.061,2196,1374,3588
$GC,8805,-2.50,-194.7,908.0,-9.4,810,8809,0.00,1.52,0.00,0.000,6,0.000,0.038,2196,2252,3588
$GC,9136,-2.53,-194.7,939.3,-9.7,826,9144,0.00,1.60,0.00,0.000,4,0.000,0.058,2196,1368,3587
$GC,9155,-2.53,-194.7,941.4,-9.6,826,9161,0.00,1.35,0.00,0.000,6,0.000,0.038,2196,2143,3586
$GC,9472,-2.53,-194.7,971.8,-9.7,842,9476,0.00,2.22,0.00,0.000,4,0.000,0.054,2196,3398,3585
$GC,9605,-2.53,-194.7,985.0,-10.8,848,9608,0.00,1.85,0.00,0.000,6,0.000,0.035,2196,2334,3585
$STATE,9669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9669,begin apogee
$GC,9676,-0.52,0.0,991.8,10.2,851,9849,1.98,0.00,167.48,1.428,6,0.093,0.000,2613,2073,2825
$STATE,9850,end apogee,CONTROL_FINISHED_OK
$STATE,9850,begin climb
$GC,9853,2.34,194.7,1001.7,0.0,860,10040,2.78,2.00,174.25,1.389,4,0.053,0.052,3247,3112,2031
$GC,10104,2.27,250.2,990.2,9.3,871,10161,0.12,1.85,51.20,1.352,6,0.113,0.038,3224,2070,1804
$GC,10478,2.21,281.0,950.9,10.5,890,10520,0.00,2.05,30.52,1.252,4,0.000,0.084,3224,1027,1679
$GC,10657,2.09,282.6,930.2,11.9,898,10661,0.20,1.95,0.00,0.000,6,0.107,0.036,3186,2146,1676
$GC,10985,2.07,300.5,894.2,11.1,914,11010,0.00,1.80,18.55,1.290,4,0.000,0.051,3186,3108,1600
$GC,11167,2.00,300.5,872.1,12.1,922,11171,0.00,1.60,0.00,0.000,6,0.000,0.036,3186,2197,1597
$GC,11495,1.99,318.6,834.9,11.1,938,11517,0.12,1.75,17.80,1.275,4,0.119,0.051,3164,3109,1526
$GC,11597,2.02,336.6,823.2,11.1,942,11620,0.00,1.52,17.60,1.256,6,0.000,0.035,3164,2252,1453
$GC,11938,2.05,356.6,785.1,11.0,959,11969,0.00,1.65,21.70,1.170,4,0.000,0.051,3164,3108,1371
$GC,12078,2.10,382.2,769.6,10.7,965,12110,0.08,1.65,24.98,1.255,6,0.063,0.036,3192,2181,1266
$GC,12422,2.12,398.0,730.0,11.2,982,12450,0.00,1.77,17.60,1.096,4,0.000,0.050,3192,3110,1202
$GC,12488,2.10,408.2,722.0,11.5,985,12509,0.00,1.60,11.02,1.135,6,0.000,0.036,3192,2201,1161
$GC,12819,2.13,425.9,684.8,11.1,1001,12841,0.00,1.75,17.70,1.190,4,0.000,0.050,3191,3119,1088
$GC,12904,2.13,426.0,675.0,12.0,1004,12910,0.00,1.50,0.00,0.000,6,0.000,0.035,3192,2275,1086
$GC,13221,2.15,434.6,640.0,11.6,1020,13235,0.00,2.38,9.02,1.080,4,0.000,0.062,3191,1002,1053
$GC,13242,2.15,434.6,637.2,12.9,1021,13246,0.00,2.10,0.00,0.000,6,0.000,0.031,3192,2214,1053
$GC,13576,2.22,434.6,595.6,12.8,1037,13580,0.00,2.17,0.00,0.000,4,0.000,0.058,3192,1009,1051
$GC,13587,2.28,434.6,593.9,12.7,1037,13591,0.15,1.73,0.00,0.000,6,0.065,0.030,3233,2031,1052
$GC,13909,2.31,434.6,551.2,13.2,1053,13913,0.00,1.90,0.00,0.000,4,0.000,0.048,3233,3115,1051
$GC,13983,2.31,434.6,541.1,13.2,1056,13987,0.00,2.20,0.00,0.000,6,0.000,0.040,3233,1860,1050
$GC,14304,2.35,434.6,500.5,12.3,1072,14308,0.00,2.22,0.00,0.000,4,0.000,0.052,3233,3120,1050
$GC,14322,2.35,434.6,498.4,12.4,1073,14326,0.00,2.40,0.00,0.000,6,0.000,0.038,3233,1742,1051
$GC,14655,2.39,434.6,459.2,12.0,1104,14659,0.00,2.42,0.00,0.000,4,0.000,0.043,3233,3121,1050
$GC,14734,2.42,453.1,449.4,11.1,1110,14761,0.10,2.05,18.05,1.064,6,0.075,0.036,3263,1939,976
$GC,15079,2.42,453.1,405.9,13.0,1143,15082,0.00,1.67,0.00,0.000,4,0.000,0.064,3264,1013,975
$GC,15125,2.42,453.1,400.0,12.8,1147,15128,0.00,1.35,0.00,0.000,6,0.000,0.030,3264,1814,975
$GC,15458,2.42,453.1,358.9,12.4,1178,15461,0.00,1.48,0.00,0.000,4,0.000,0.060,3264,1019,974
$GC,15538,2.37,453.1,348.9,12.2,1185,15541,0.00,1.65,0.00,0.000,6,0.000,0.028,3264,2007,974
$GC,15871,2.41,453.1,308.3,12.3,1216,15875,0.00,1.92,0.00,0.000,4,0.000,0.044,3264,3120,974
$GC,15951,2.41,453.1,297.8,12.1,1223,15954,0.00,1.70,0.00,0.000,6,0.000,0.032,3264,2125,973
$GC,16285,2.47,468.7,258.6,11.2,1254,16306,0.00,2.03,14.45,0.904,4,0.000,0.056,3264,1018,913
$GC,16386,2.51,493.4,246.7,10.8,1265,16418,0.00,1.65,23.52,0.904,6,0.000,0.028,3264,2006,812
$GC,16760,2.59,493.4,200.5,12.5,1331,16766,0.12,1.92,0.00,0.000,4,0.064,0.042,3303,3119,810
$GC,16806,2.59,493.4,193.8,13.1,1339,16812,0.00,1.75,0.00,0.000,6,0.000,0.038,3303,2088,810
$GC,17150,2.63,493.4,151.4,12.4,1400,17155,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2088,809
$GC,17494,2.77,538.5,115.6,9.8,1461,17539,0.12,1.95,39.10,0.789,4,0.058,0.047,3346,1025,629
$GC,17605,2.76,550.4,103.3,11.4,1480,17622,0.00,1.65,10.15,0.705,6,0.000,0.025,3346,2021,587
$GC,17965,2.87,582.7,64.1,10.4,1543,17970,0.00,1.88,0.00,0.000,4,0.000,0.037,3346,3128,584
$GC,18067,2.90,597.5,52.7,11.3,1561,18073,0.00,1.98,0.00,0.000,6,0.000,0.025,3346,1939,584
$GC,18413,3.05,640.1,17.1,9.9,1622,18420,0.17,1.58,0.00,0.000,4,0.048,0.042,3411,1028,584
$GC,18473,2.96,648.3,10.5,11.6,1632,18480,0.15,1.75,0.00,0.000,6,0.081,0.023,3375,2102,584
$STATE,18551,end climb,SURFACE_DEPTH_REACHED
$STATE,18551,begin surface coast
$FINISH,-0.3,1.021006
$STATE,18572,end surface coast,CONTROL_FINISHED_OK
$STATE,18572,begin surface
$SM_CCo,18656,0.00,0.000,0,0,584,549.72
$SM_GC,-6.77,12.85,0.00,0.00,0.050,0.000,0.000,417,2370,584,-10.58,0.06,549.72
$IRIDIUM_FIX,1247.67,12029.39,100897,080814
$TT8_MAMPS,0.026078
$HUMID,1972
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.70
$XPDR_PINGS,434
$24V_AH,22.5,70.841
$10V_AH,10.1,48.047
$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,29.650,164.725,684.700,0.000,0.000,23.712,34.071,217.150,121.000,0.000,0.000,14.526,2760.726,11591.973,774.892,3171.516,786.451,0.000,2395.697,0.000,3103.525,0.000,91.511
$DEVICE_MAMPS,164.138,125.788,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.268,393.718,618.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88338,1649
$CAP_FILE_SIZE,196361,0
$CFSIZE,260165632,220983296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,160508,183837,1254.381,12030.115,40,1.4,40,-0.8