version: 66.03
glider: 126
mission: 7
dive: 413
start: 5 19 108 1 2 36
data:
$ID,126
$MISSION,7
$DIVE,413
$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,-627273.31
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,005432,1256.378,12034.295,42,1.5,42,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.84
$_SM_ANGLEo,-56.7
$GPS2,010203,1256.349,12034.361,15,1.6,15,-0.8
$SPEED_LIMITS,0.208,0.231
$TGT_NAME,EAST_S_ADJ
$TGT_LATLONG,1247.000,12043.000
$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,138.8,23307,-19.3,-12.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-84.25,0.000,6,0.000,0.000,418,2365,3621
$GC,118,-2.34,-194.7,2.3,-27.5,17,135,10.07,1.83,0.00,0.000,4,0.164,0.037,2216,3419,3623
$GC,221,-2.16,-194.7,24.8,-16.2,35,228,0.20,1.75,0.00,0.000,6,0.103,0.023,2256,2330,3623
$GC,566,-2.16,-194.7,70.8,-12.4,96,572,0.00,1.88,0.00,0.000,4,0.000,0.038,2256,3408,3623
$GC,624,-2.11,-194.7,77.8,-13.0,106,631,0.00,1.83,0.00,0.000,6,0.000,0.023,2256,2283,3624
$GC,971,-2.11,-194.7,118.7,-12.0,167,977,0.00,1.92,0.00,0.000,4,0.000,0.038,2256,3416,3626
$GC,1058,-2.11,-194.7,129.0,-11.8,182,1064,0.00,1.98,0.00,0.000,6,0.000,0.023,2256,2209,3626
$GC,1402,-2.16,-194.7,164.5,-9.7,243,1408,0.00,2.08,0.00,0.000,4,0.000,0.038,2256,3421,3627
$GC,1427,-2.16,-194.7,167.0,-10.2,247,1432,0.00,1.88,0.00,0.000,6,0.000,0.024,2256,2246,3627
$GC,1772,-2.23,-194.7,199.3,-9.1,308,1777,0.00,1.52,0.00,0.000,4,0.000,0.036,2256,1350,3628
$GC,1858,-2.29,-194.7,207.5,-9.3,323,1864,0.05,1.55,0.00,0.000,6,0.034,0.025,2221,2293,3628
$GC,2203,-2.29,-194.7,239.9,-9.2,384,2209,0.00,1.60,0.00,0.000,4,0.000,0.038,2221,1351,3628
$GC,2306,-2.29,-194.7,250.3,-10.5,402,2309,0.00,1.35,0.00,0.000,6,0.000,0.025,2221,2180,3627
$GC,2642,-2.33,-194.7,284.1,-9.5,433,2645,0.00,1.45,0.00,0.000,4,0.000,0.041,2221,1349,3627
$GC,2699,-2.33,-194.7,290.1,-10.1,438,2702,0.00,1.25,0.00,0.000,6,0.000,0.025,2221,2110,3626
$GC,3033,-2.38,-194.7,321.6,-9.4,469,3036,0.00,1.33,0.00,0.000,4,0.000,0.044,2221,1356,3624
$GC,3158,-2.41,-194.7,333.9,-10.0,480,3161,0.00,1.25,0.00,0.000,6,0.000,0.026,2221,2114,3623
$GC,3494,-2.45,-194.7,366.8,-9.9,511,3498,0.12,1.35,0.00,0.000,4,0.062,0.041,2184,1352,3621
$GC,3506,-2.48,-194.7,368.5,-10.1,512,3509,0.00,1.48,0.00,0.000,6,0.000,0.028,2184,2231,3620
$GC,3840,-2.48,-194.7,403.6,-10.3,543,3843,0.00,1.55,0.00,0.000,4,0.000,0.045,2184,1357,3618
$GC,3946,-2.48,-194.7,414.7,-9.8,552,3952,0.00,1.27,0.00,0.000,6,0.000,0.028,2184,2119,3618
$GC,4274,-2.48,-194.7,446.3,-9.8,583,4278,0.00,1.38,0.00,0.000,4,0.000,0.050,2184,1356,3615
$GC,4302,-2.48,-194.7,449.2,-9.6,585,4308,0.00,1.48,0.00,0.000,6,0.000,0.031,2185,2222,3615
$GC,4632,-2.48,-194.7,480.6,-10.5,616,4636,0.00,1.55,0.00,0.000,4,0.000,0.052,2184,1363,3613
$GC,4746,-2.48,-194.7,492.9,-10.7,626,4749,0.00,1.30,0.00,0.000,6,0.000,0.032,2184,2120,3612
$GC,5071,-2.48,-194.7,525.9,-10.1,645,5075,0.00,1.40,0.00,0.000,4,0.000,0.061,2184,1365,3610
$GC,5145,-2.48,-194.7,533.4,-9.9,648,5149,0.00,1.45,0.00,0.000,6,0.000,0.041,2184,2190,3610
$GC,5472,-2.48,-194.7,565.8,-9.6,664,5476,0.00,2.22,0.00,0.000,4,0.000,0.068,2184,3409,3607
$GC,5530,-2.44,-194.7,571.4,-10.0,666,5536,0.00,2.08,0.00,0.000,6,0.000,0.046,2184,2241,3606
$GC,5849,-2.44,-194.7,601.9,-9.5,682,5852,0.00,2.20,0.00,0.000,4,0.000,0.079,2184,3401,3604
$GC,5912,-2.39,-194.7,608.1,-9.8,685,5917,0.12,2.30,0.00,0.000,6,0.107,0.061,2208,2151,3604
$GC,6243,-2.44,-194.7,637.7,-8.9,701,6248,0.00,2.42,0.00,0.000,4,0.000,0.091,2208,3399,3601
$GC,6306,-2.44,-194.7,644.0,-9.3,704,6311,0.00,2.53,0.00,0.000,6,0.000,0.074,2208,2067,3601
$GC,6637,-2.49,-194.7,675.0,-9.9,720,6641,0.00,2.38,0.00,0.000,4,0.000,0.048,2208,3406,3599
$GC,6727,-2.49,-194.7,684.7,-10.2,724,6731,0.00,2.33,0.00,0.000,6,0.000,0.033,2208,2049,3598
$GC,7064,-2.54,-194.7,715.3,-9.0,740,7068,0.15,2.42,0.00,0.000,4,0.064,0.048,2165,3409,3597
$GC,7142,-2.47,-194.7,722.9,-9.5,743,7149,0.15,2.15,0.00,0.000,6,0.107,0.033,2193,2153,3597
$GC,7463,-2.50,-194.7,750.5,-9.2,759,7467,0.00,2.25,0.00,0.000,4,0.000,0.052,2193,3409,3595
$GC,7558,-2.50,-194.7,759.3,-8.6,763,7562,0.00,2.28,0.00,0.000,6,0.000,0.034,2193,2090,3595
$GC,7878,-2.50,-194.7,790.0,-10.3,778,7881,0.00,1.30,0.00,0.000,4,0.000,0.056,2193,1363,3593
$GC,7939,-2.50,-194.7,796.9,-10.4,780,7945,0.00,1.42,0.00,0.000,6,0.000,0.036,2193,2190,3593
$GC,8256,-2.50,-194.7,828.8,-9.8,796,8260,0.00,1.50,0.00,0.000,4,0.000,0.051,2193,1359,3592
$GC,8280,-2.50,-194.7,831.2,-10.1,797,8283,0.00,1.62,0.00,0.000,6,0.000,0.035,2193,2316,3592
$GC,8613,-2.50,-194.7,862.8,-9.5,813,8616,0.00,1.95,0.00,0.000,4,0.000,0.055,2193,3416,3590
$GC,8720,-2.50,-194.7,872.8,-9.7,817,8726,0.00,2.03,0.00,0.000,6,0.000,0.035,2193,2242,3590
$GC,9037,-2.53,-194.7,899.4,-8.2,833,9041,0.00,2.08,0.00,0.000,4,0.000,0.054,2193,3402,3589
$GC,9088,-2.53,-194.7,903.7,-8.4,835,9092,0.00,2.17,0.00,0.000,6,0.000,0.036,2193,2144,3588
$GC,9409,-2.53,-194.7,932.8,-9.9,851,9413,0.00,2.28,0.00,0.000,4,0.000,0.054,2193,3409,3587
$GC,9518,-2.49,-194.7,943.7,-10.0,856,9522,0.00,2.35,0.00,0.000,6,0.000,0.037,2193,2063,3587
$GC,9848,-2.49,-194.7,974.7,-9.9,872,9852,0.00,2.42,0.00,0.000,4,0.000,0.054,2193,3412,3586
$STATE,9907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9907,begin apogee
$GC,9917,-0.52,0.0,981.6,11.1,875,10091,2.00,0.00,167.60,1.428,6,0.093,0.000,2615,2106,2825
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10095,2.34,194.7,991.4,0.0,884,10281,2.83,1.95,174.52,1.381,4,0.064,0.052,3237,3115,2030
$GC,10378,2.24,222.9,973.5,10.6,897,10409,0.00,1.85,26.50,1.312,6,0.000,0.038,3237,2070,1916
$GC,10722,2.19,270.3,941.6,9.7,913,10771,0.15,1.98,43.85,1.333,4,0.110,0.051,3205,3107,1722
$GC,10929,2.14,297.4,918.4,10.7,922,10960,0.00,1.73,25.67,1.301,6,0.000,0.036,3204,2121,1612
$GC,11273,2.12,327.9,880.8,10.5,939,11315,0.00,1.85,30.90,1.238,4,0.000,0.049,3204,3115,1487
$GC,11431,2.08,348.8,863.0,11.0,946,11456,0.08,1.65,20.27,1.267,6,0.103,0.036,3186,2192,1403
$GC,11781,2.12,373.6,825.6,10.8,963,11816,0.00,1.73,26.15,1.203,4,0.000,0.049,3186,3121,1300
$GC,11850,2.08,373.6,816.5,12.4,965,11854,0.00,1.62,0.00,0.000,6,0.000,0.036,3186,2197,1299
$GC,12172,2.08,373.6,777.6,12.4,981,12176,0.00,1.65,0.00,0.000,4,0.000,0.050,3186,3114,1298
$GC,12213,2.04,373.6,772.5,12.2,982,12219,0.00,1.55,0.00,0.000,6,0.000,0.035,3186,2240,1297
$GC,12529,2.09,400.8,736.8,10.7,998,12560,0.00,2.25,26.00,1.251,4,0.000,0.059,3186,1029,1191
$GC,12628,2.09,400.8,725.3,12.1,1002,12634,0.00,2.08,0.00,0.000,6,0.000,0.032,3186,2237,1190
$GC,12944,2.10,405.7,688.4,11.8,1018,12954,0.00,2.22,5.82,0.989,4,0.000,0.055,3186,1024,1170
$GC,13044,2.10,405.7,675.8,12.8,1022,13050,0.00,1.90,0.00,0.000,6,0.000,0.031,3186,2139,1170
$GC,13363,2.19,418.2,639.9,11.4,1038,13384,0.00,1.83,12.60,1.146,4,0.000,0.049,3186,3117,1120
$GC,13395,2.21,430.9,635.6,11.4,1039,13421,0.12,1.88,15.43,1.008,6,0.069,0.035,3219,2053,1068
$GC,13734,2.18,430.9,593.8,12.1,1055,13738,0.00,1.85,0.00,0.000,4,0.000,0.060,3219,1025,1067
$GC,13796,2.14,430.9,585.8,12.3,1057,13802,0.12,1.98,0.00,0.000,6,0.107,0.031,3196,2185,1067
$GC,14113,2.27,466.3,552.2,10.3,1073,14155,0.12,1.73,33.42,1.148,4,0.068,0.050,3230,3110,924
$GC,14195,2.28,472.4,542.8,11.7,1076,14206,0.00,1.92,6.90,0.946,6,0.000,0.036,3231,2016,899
$GC,14529,2.35,472.4,504.1,12.1,1093,14532,0.00,1.80,0.00,0.000,4,0.000,0.061,3231,1016,896
$GC,14608,2.35,472.4,494.0,12.8,1098,14611,0.00,1.42,0.00,0.000,6,0.000,0.030,3231,1855,897
$GC,14941,2.43,473.2,453.7,12.0,1129,14946,0.12,2.20,0.00,0.000,4,0.065,0.044,3267,3119,896
$GC,14970,2.43,473.2,449.8,13.1,1131,14975,0.00,1.90,0.00,0.000,6,0.000,0.036,3267,2030,896
$GC,15297,2.43,473.2,409.5,13.1,1162,15300,0.00,1.92,0.00,0.000,4,0.000,0.047,3267,3114,896
$GC,15381,2.43,473.2,397.9,13.7,1169,15387,0.00,2.15,0.00,0.000,6,0.000,0.036,3267,1878,895
$GC,15710,2.48,473.2,356.7,12.0,1200,15714,0.00,2.17,0.00,0.000,4,0.000,0.044,3267,3111,895
$GC,15784,2.48,473.2,347.4,12.1,1206,15788,0.00,2.30,0.00,0.000,6,0.000,0.037,3267,1794,895
$GC,16112,2.52,475.1,308.3,11.9,1236,16116,0.00,2.33,0.00,0.000,4,0.000,0.044,3267,3112,895
$GC,16180,2.54,486.8,299.8,11.4,1241,16199,0.00,1.95,13.85,0.935,6,0.000,0.033,3267,1976,840
$GC,16526,2.61,489.0,257.7,11.9,1274,16528,0.12,0.00,0.00,0.000,6,0.064,0.000,3305,1976,838
$GC,16859,2.62,497.0,216.3,11.6,1328,16875,0.00,2.05,10.12,0.836,4,0.000,0.042,3305,3119,798
$GC,16967,2.56,500.5,202.3,11.8,1347,16978,0.00,1.67,4.75,0.663,6,0.000,0.029,3305,2133,783
$GC,17317,2.57,506.6,160.1,11.7,1409,17329,0.00,2.05,7.05,0.735,4,0.000,0.051,3305,1015,759
$GC,17386,2.53,506.6,151.6,12.9,1421,17393,0.12,1.67,0.00,0.000,6,0.100,0.026,3281,2028,759
$GC,17734,2.68,549.8,115.5,9.9,1482,17777,0.15,0.00,37.92,0.798,6,0.059,0.000,3332,2029,586
$GC,18119,2.79,582.0,72.8,10.4,1550,18126,0.00,1.88,0.00,0.000,4,0.000,0.041,3332,3100,582
$GC,18213,2.87,596.7,62.3,11.3,1566,18220,0.00,1.77,0.00,0.000,6,0.000,0.025,3332,2054,581
$GC,18560,3.04,641.2,26.2,9.8,1627,18566,0.22,1.75,0.00,0.000,4,0.043,0.041,3408,1029,582
$GC,18575,3.17,682.1,24.7,10.0,1629,18581,0.00,1.70,0.00,0.000,6,0.000,0.024,3408,2079,582
$STATE,18780,end climb,SURFACE_DEPTH_REACHED
$STATE,18780,begin surface coast
$FINISH,-0.0,1.020952
$STATE,18799,end surface coast,CONTROL_FINISHED_OK
$STATE,18799,begin surface
$SM_CCo,18884,0.00,0.000,0,0,582,550.21
$SM_GC,-6.75,13.05,0.00,0.00,0.051,0.000,0.000,416,2374,582,-10.59,0.14,550.21
$IRIDIUM_FIX,1252.10,12032.42,120897,191954
$TT8_MAMPS,0.025311
$HUMID,2008
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.30
$XPDR_PINGS,515
$24V_AH,22.5,73.923
$10V_AH,10.1,49.305
$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,30.100,163.950,689.350,0.000,0.000,24.657,37.026,225.238,141.000,0.000,0.000,15.102,2786.862,11781.102,780.805,3173.653,807.542,0.000,2391.186,0.000,3106.308,0.000,89.662
$DEVICE_MAMPS,164.138,90.506,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1129.177,399.393,627.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91531,1669
$CAP_FILE_SIZE,197691,0
$CFSIZE,260165632,219942912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,190508,061837,1256.864,12034.225,40,1.6,40,-0.9