version: 66.03
glider: 126
mission: 7
dive: 139
start: 3 16 108 18 44 50
data:
$ID,126
$MISSION,7
$DIVE,139
$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,413
$T_MISSION,496
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,-622132.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,183738,1246.577,12019.637,43,1.1,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.53
$_SM_ANGLEo,-58.0
$GPS2,184359,1246.546,12019.583,12,2.3,31,-0.8
$SPEED_LIMITS,0.138,0.148
$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,80.4,42536,-22.0,-7.990
$D_GRID,829
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.45,0.000,6,0.000,0.000,415,2331,3102
$GC,92,-2.33,-67.0,0.6,-17.1,13,110,10.07,1.77,0.00,0.000,4,0.171,0.031,2198,1275,3103
$GC,284,-2.22,-67.0,47.7,-18.6,47,291,0.15,1.73,0.00,0.000,6,0.129,0.025,2225,2338,3105
$GC,629,-2.16,-67.0,106.3,-16.2,108,636,0.00,1.77,0.00,0.000,4,0.000,0.041,2225,3374,3105
$GC,664,-2.09,-67.0,112.3,-16.2,114,671,0.10,1.73,0.00,0.000,6,0.118,0.023,2248,2302,3106
$GC,1008,-2.09,-67.0,158.3,-12.2,175,1014,0.00,1.83,0.00,0.000,4,0.000,0.040,2248,3371,3107
$GC,1059,-2.09,-67.0,164.2,-11.5,184,1066,0.00,1.67,0.00,0.000,6,0.000,0.024,2248,2319,3107
$GC,1404,-2.09,-67.0,199.1,-9.1,245,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2315,3108
$GC,1746,-2.09,-67.0,232.2,-9.5,306,1753,0.00,1.83,0.00,0.000,4,0.000,0.044,2248,3362,3108
$GC,1928,-2.09,-67.0,249.8,-9.7,338,1934,0.00,1.62,0.00,0.000,6,0.000,0.026,2248,2353,3107
$GC,2253,-2.11,-67.0,281.3,-10.2,369,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2347,3106
$GC,2572,-2.14,-67.0,311.4,-8.7,399,2575,0.00,1.77,0.00,0.000,4,0.000,0.048,2248,3373,3104
$GC,2706,-2.14,-67.0,324.0,-9.4,411,2710,0.00,1.62,0.00,0.000,6,0.000,0.028,2248,2360,3103
$GC,3038,-2.17,-67.0,354.4,-9.0,442,3041,0.00,1.75,0.00,0.000,4,0.000,0.048,2248,3364,3101
$GC,3093,-2.17,-67.0,359.8,-10.0,447,3097,0.00,1.60,0.00,0.000,6,0.000,0.028,2248,2377,3101
$GC,3424,-2.20,-67.0,391.0,-9.1,478,3428,0.00,1.73,0.00,0.000,4,0.000,0.050,2248,3363,3098
$GC,3485,-2.20,-67.0,397.0,-9.5,483,3491,0.00,1.55,0.00,0.000,6,0.000,0.029,2248,2441,3098
$GC,3811,-2.23,-67.0,426.7,-8.8,514,3815,0.10,1.95,0.00,0.000,4,0.077,0.048,2220,1317,3096
$GC,3916,-2.23,-67.0,437.4,-9.8,523,3922,0.00,1.85,0.00,0.000,6,0.000,0.034,2221,2392,3096
$GC,4241,-2.23,-67.0,468.8,-10.0,554,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2392,3093
$GC,4561,-2.23,-67.0,500.2,-9.9,584,4565,0.00,1.95,0.00,0.000,4,0.000,0.054,2220,1314,3091
$GC,4606,-2.23,-67.0,504.6,-9.7,586,4609,0.00,1.83,0.00,0.000,6,0.000,0.038,2221,2380,3091
$GC,4938,-2.23,-67.0,537.1,-9.9,602,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2380,3089
$GC,5246,-2.23,-67.0,567.8,-9.9,617,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2380,3086
$GC,5556,-2.23,-67.0,598.0,-9.7,632,5559,0.00,1.98,0.00,0.000,4,0.000,0.075,2220,1320,3085
$GC,5690,-2.23,-67.0,611.6,-10.6,638,5694,0.00,1.92,0.00,0.000,6,0.000,0.065,2221,2375,3084
$GC,6022,-2.23,-67.0,644.1,-9.5,654,6025,0.00,1.95,0.00,0.000,4,0.000,0.103,2221,3386,3083
$GC,6183,-2.23,-67.0,659.9,-9.2,661,6192,0.00,1.80,0.00,0.000,6,0.000,0.082,2220,2455,3082
$GC,6516,-2.25,-67.0,690.5,-9.7,677,6520,0.00,2.25,0.00,0.000,4,0.000,0.115,2221,1318,3080
$GC,6617,-2.25,-67.0,700.1,-9.4,681,6623,0.00,2.08,0.00,0.000,6,0.000,0.100,2221,2375,3079
$GC,6932,-2.27,-67.0,728.5,-8.9,697,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2375,3078
$GC,7242,-2.29,-67.0,756.4,-9.3,712,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2378,3076
$GC,7551,-2.31,-67.0,783.1,-8.1,727,7554,0.00,1.90,0.00,0.000,4,0.000,0.049,2221,1313,3075
$GC,7635,-2.31,-67.0,790.3,-8.7,730,7640,0.00,1.88,0.00,0.000,6,0.000,0.033,2220,2419,3076
$GC,7950,-2.34,-67.0,817.0,-8.5,746,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2420,3074
$STATE,8093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8093,begin apogee
$GC,8099,-0.51,0.0,829.5,8.7,753,8157,1.80,0.00,53.47,1.318,6,0.101,0.000,2597,1992,2824
$STATE,8157,end apogee,CONTROL_FINISHED_OK
$STATE,8158,begin climb
$GC,8160,2.33,67.0,831.0,0.0,756,8224,2.83,0.00,58.92,1.283,6,0.063,0.000,3220,1992,2551
$GC,8524,2.31,82.2,811.0,6.6,774,8543,0.00,0.00,14.02,1.204,6,0.000,0.000,3220,1992,2490
$GC,8853,2.29,92.5,788.2,7.0,790,8866,0.00,0.00,10.50,1.164,6,0.000,0.000,3220,1992,2448
$GC,9162,2.27,98.5,765.7,7.4,805,9173,0.00,2.03,6.65,1.047,4,0.000,0.061,3220,916,2423
$GC,9330,2.22,102.7,752.1,7.6,812,9341,0.12,1.83,5.43,0.972,6,0.117,0.031,3197,1993,2406
$GC,9663,2.23,106.6,727.2,7.6,829,9672,0.00,1.98,5.15,0.945,4,0.000,0.056,3197,915,2390
$GC,9791,2.20,106.6,716.7,8.6,835,9795,0.00,1.77,0.00,0.000,6,0.000,0.031,3197,1945,2389
$GC,10123,2.21,111.0,690.7,7.6,851,10130,0.00,0.00,5.32,0.951,6,0.000,0.000,3197,1945,2372
$GC,10432,2.21,111.0,664.7,8.4,866,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1945,2372
$GC,10741,2.21,111.4,640.1,8.0,881,10745,0.00,1.85,0.00,0.000,4,0.000,0.048,3197,3015,2371
$GC,10954,2.20,116.1,623.1,7.5,890,10966,0.00,1.88,5.95,0.971,6,0.000,0.035,3197,1933,2351
$GC,11274,2.20,116.1,597.6,8.3,906,11278,0.00,1.88,0.00,0.000,4,0.000,0.045,3197,3005,2351
$GC,11301,2.20,116.1,595.1,9.3,907,11305,0.00,1.88,0.00,0.000,6,0.000,0.035,3197,1927,2350
$GC,11628,2.20,116.1,569.4,8.0,923,11631,0.00,1.80,0.00,0.000,4,0.000,0.060,3197,916,2350
$GC,11802,2.18,125.5,555.6,7.1,930,11817,0.00,1.70,9.48,1.065,6,0.000,0.030,3197,1933,2313
$GC,12138,2.19,129.3,530.1,7.6,947,12145,0.00,0.00,5.32,0.890,6,0.000,0.000,3197,1933,2297
$GC,12447,2.19,129.3,504.2,8.5,962,12451,0.00,1.85,0.00,0.000,4,0.000,0.055,3197,907,2297
$GC,12633,2.17,129.3,488.7,8.5,975,12638,0.00,1.70,0.00,0.000,6,0.000,0.029,3197,1918,2297
$GC,12958,2.17,129.6,463.8,8.0,1006,12961,0.00,1.88,0.00,0.000,4,0.000,0.045,3197,3010,2297
$GC,13018,2.17,129.6,458.4,9.1,1011,13025,0.00,1.90,0.00,0.000,6,0.000,0.034,3197,1912,2296
$GC,13344,2.17,129.6,433.6,8.0,1042,13348,0.00,1.90,0.00,0.000,4,0.000,0.044,3197,3007,2296
$GC,13400,2.18,137.9,429.3,7.2,1047,13415,0.00,1.85,8.93,0.973,6,0.000,0.035,3197,1918,2261
$GC,13739,2.19,141.7,402.1,7.6,1079,13751,0.00,1.83,4.60,0.768,4,0.000,0.059,3197,921,2247
$GC,13853,2.19,141.7,393.0,8.0,1089,13857,0.00,1.67,0.00,0.000,6,0.000,0.028,3197,1922,2247
$GC,14184,2.20,148.3,368.3,7.4,1120,14196,0.00,1.95,7.20,0.887,4,0.000,0.046,3197,3007,2220
$GC,14349,2.21,155.5,355.4,7.3,1134,14365,0.00,1.85,7.82,0.897,6,0.000,0.038,3197,1917,2191
$GC,14683,2.21,155.5,328.9,8.5,1166,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1917,2190
$GC,15001,2.21,155.5,302.6,8.4,1196,15005,0.00,1.88,0.00,0.000,4,0.000,0.042,3197,3002,2190
$GC,15159,2.22,157.2,289.9,7.8,1210,15162,0.00,1.88,0.00,0.000,6,0.000,0.033,3197,1913,2190
$GC,15489,2.22,157.2,263.2,8.2,1241,15490,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1913,2190
$GC,15815,2.23,166.9,239.0,7.1,1284,15832,0.00,1.92,11.25,0.868,4,0.000,0.040,3197,3010,2143
$GC,15912,2.23,166.9,231.3,8.3,1301,15918,0.00,1.85,0.00,0.000,6,0.000,0.032,3197,1921,2143
$GC,16256,2.26,168.9,205.0,7.8,1362,16262,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1920,2143
$GC,16601,2.33,193.6,180.9,5.7,1423,16629,0.00,1.88,23.12,0.855,4,0.000,0.055,3197,912,2035
$GC,16715,2.37,204.3,172.8,7.0,1443,16733,0.12,1.75,10.25,0.786,6,0.070,0.026,3231,1967,1992
$GC,17072,2.42,221.3,146.3,6.4,1506,17095,0.00,1.80,15.12,0.798,4,0.000,0.039,3231,2989,1923
$GC,17286,2.48,241.5,132.3,6.1,1544,17309,0.00,1.75,18.08,0.785,6,0.000,0.028,3230,1955,1840
$GC,17648,2.54,248.4,107.7,7.3,1608,17661,0.15,1.85,7.05,0.662,4,0.059,0.036,3279,3001,1812
$GC,17728,2.54,248.4,100.8,8.6,1622,17735,0.00,1.75,0.00,0.000,6,0.000,0.027,3279,1958,1811
$GC,18072,2.55,252.1,76.5,7.6,1683,18084,0.00,1.83,4.93,0.555,4,0.000,0.047,3279,923,1797
$GC,18336,2.57,263.9,57.9,6.9,1730,18354,0.00,1.65,11.32,0.671,6,0.000,0.024,3279,1930,1749
$GC,18693,2.66,293.6,37.1,5.2,1793,18727,0.00,1.83,25.15,0.676,4,0.000,0.044,3279,920,1628
$GC,18936,2.72,305.7,21.4,6.8,1836,18955,0.08,1.60,11.30,0.622,6,0.052,0.023,3313,1908,1578
$STATE,19183,end climb,SURFACE_DEPTH_REACHED
$STATE,19183,begin surface coast
$FINISH,-0.3,1.021410
$STATE,19215,end surface coast,CONTROL_FINISHED_OK
$STATE,19215,begin surface
$SM_CCo,19236,115.93,0.624,0,0,785,500.17
$SM_GC,-5.78,0.00,0.00,115.93,0.000,0.000,0.624,415,2333,785,-10.56,0.20,500.17
$IRIDIUM_FIX,1243.25,12018.41,100697,131320
$TT8_MAMPS,0.026078
$HUMID,1732
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.70
$XPDR_PINGS,432
$24V_AH,23.2,20.647
$10V_AH,10.2,16.756
$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,28.100,110.850,346.350,115.925,0.000,31.017,33.505,177.864,116.250,0.000,0.000,33.439,3056.260,12110.402,599.093,3424.212,564.388,0.000,2177.174,0.000,3384.675,0.000,60.702
$DEVICE_MAMPS,171.041,115.050,1318.473,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1278.033,831.927,784.095,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104326,1885
$CAP_FILE_SIZE,182860,0
$CFSIZE,260165632,245628928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170308,000837,1247.057,12021.323,39,0.8,39,-0.8