version: 66.03
glider: 126
mission: 7
dive: 151
start: 3 19 108 15 16 59
data:
$ID,126
$MISSION,7
$DIVE,151
$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,-622310.25
$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,6
$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
$GPS1,150637,1251.405,12041.305,38,1.2,38,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.78
$_SM_ANGLEo,-57.9
$GPS2,151608,1251.504,12041.308,10,1.2,15,-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,120.3,2991,-24.2,-7.990
$D_GRID,952
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.54,-56.0,0.0,0.0,0,90,0.00,0.00,-65.38,0.000,6,0.000,0.000,414,2382,3056
$GC,92,-2.54,-56.0,0.2,-16.9,13,104,9.88,0.00,0.00,0.000,6,0.173,0.000,2154,2382,3057
$GC,443,-2.44,-56.0,84.1,-19.9,75,449,0.12,1.73,0.00,0.000,4,0.137,0.038,2175,3411,3058
$GC,592,-2.37,-56.0,110.4,-17.0,101,598,0.00,1.77,0.00,0.000,6,0.000,0.023,2175,2293,3059
$GC,936,-2.37,-56.0,158.5,-11.1,162,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2286,3060
$GC,1279,-2.37,-56.0,196.7,-11.4,223,1284,0.00,1.90,0.00,0.000,4,0.000,0.041,2175,3405,3061
$GC,1341,-2.35,-56.0,204.2,-12.4,234,1348,0.08,1.73,0.00,0.000,6,0.112,0.025,2193,2340,3060
$GC,1685,-2.35,-56.0,240.9,-10.3,295,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2337,3060
$GC,2019,-2.35,-56.0,275.0,-9.7,334,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2337,3060
$GC,2338,-2.35,-56.0,307.6,-9.8,364,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2337,3058
$GC,2657,-2.35,-56.0,338.8,-9.7,394,2660,0.00,1.85,0.00,0.000,4,0.000,0.047,2193,3405,3056
$GC,2791,-2.35,-56.0,351.9,-9.9,406,2794,0.00,1.65,0.00,0.000,6,0.000,0.028,2193,2388,3055
$GC,3122,-2.37,-56.0,384.8,-10.1,437,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2387,3053
$GC,3441,-2.40,-56.0,417.2,-10.2,467,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2387,3051
$GC,3758,-2.42,-56.0,449.8,-10.3,497,3762,0.00,1.88,0.00,0.000,4,0.000,0.054,2193,1320,3049
$GC,3826,-2.45,-56.0,457.0,-10.1,503,3829,0.00,1.85,0.00,0.000,6,0.000,0.035,2193,2407,3048
$GC,4159,-2.47,-56.0,489.0,-9.8,534,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2407,3045
$GC,4479,-2.50,-56.0,520.5,-10.0,555,4481,0.12,0.00,0.00,0.000,6,0.071,0.000,2162,2407,3043
$GC,4787,-2.50,-56.0,552.4,-10.7,570,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2407,3041
$GC,5098,-2.50,-56.0,585.3,-10.4,585,5101,0.00,2.03,0.00,0.000,4,0.000,0.073,2161,1313,3039
$GC,5240,-2.50,-56.0,600.2,-10.4,591,5243,0.00,1.95,0.00,0.000,6,0.000,0.061,2161,2396,3038
$GC,5567,-2.50,-56.0,631.5,-10.1,607,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2396,3036
$GC,5878,-2.50,-56.0,661.6,-9.6,622,5881,0.00,2.10,0.00,0.000,4,0.000,0.100,2161,1318,3034
$GC,5938,-2.50,-56.0,668.2,-10.2,624,5945,0.00,2.05,0.00,0.000,6,0.000,0.087,2161,2373,3034
$GC,6253,-2.50,-56.0,703.3,-11.3,640,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2374,3033
$GC,6563,-2.50,-56.0,733.8,-8.7,655,6567,0.00,1.85,0.00,0.000,4,0.000,0.047,2161,1318,3032
$STATE,6802,end dive,NO_VERTICAL_VELOCITY
$STATE,6802,begin apogee
$GC,6807,-0.51,0.0,743.5,0.0,665,6856,2.00,0.00,43.92,1.244,6,0.088,0.000,2600,2004,2825
$STATE,6856,end apogee,CONTROL_FINISHED_OK
$STATE,6856,begin climb
$GC,6859,2.54,56.0,743.2,0.0,668,6914,3.10,0.00,48.95,1.216,6,0.076,0.000,3262,2004,2596
$GC,7223,2.57,90.1,730.9,4.3,686,7255,0.00,0.00,30.25,1.211,6,0.000,0.000,3262,2004,2457
$GC,7552,2.59,102.7,708.9,6.6,702,7566,0.00,0.00,11.85,1.128,6,0.000,0.000,3262,2004,2406
$GC,7860,2.59,104.2,684.0,7.8,717,7864,0.00,1.90,0.00,0.000,4,0.000,0.058,3262,955,2404
$GC,7932,2.57,105.3,677.9,7.9,720,7936,0.00,1.73,0.00,0.000,6,0.000,0.030,3262,1958,2404
$GC,8259,2.57,109.6,652.9,7.5,736,8268,0.00,0.00,7.03,1.016,6,0.000,0.000,3262,1958,2378
$GC,8568,2.58,114.1,629.4,7.5,751,8578,0.00,1.83,5.88,0.953,4,0.000,0.047,3262,3003,2358
$GC,8678,2.58,114.1,619.7,8.6,756,8682,0.00,1.73,0.00,0.000,6,0.000,0.035,3262,2014,2357
$GC,9005,2.58,114.1,593.3,8.3,772,9008,0.00,1.90,0.00,0.000,4,0.000,0.058,3262,947,2357
$GC,9100,2.55,114.1,585.4,8.9,776,9103,0.00,1.75,0.00,0.000,6,0.000,0.031,3262,1985,2357
$GC,9426,2.55,114.1,557.8,8.5,792,9430,0.00,1.85,0.00,0.000,4,0.000,0.055,3262,954,2356
$GC,9611,2.56,114.7,542.0,7.9,800,9615,0.00,1.70,0.00,0.000,6,0.000,0.031,3262,1954,2356
$GC,9937,2.56,117.1,516.7,7.7,816,9946,0.00,1.85,3.67,0.691,4,0.000,0.048,3262,2996,2347
$GC,10171,2.56,117.1,497.3,8.2,827,10175,0.00,1.70,0.00,0.000,6,0.000,0.037,3262,2000,2346
$GC,10501,2.56,117.1,471.2,8.3,858,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2000,2346
$GC,10821,2.57,124.8,447.5,7.1,888,10835,0.00,2.03,7.90,0.956,4,0.000,0.058,3262,908,2316
$GC,10913,2.57,124.8,439.8,8.4,896,10920,0.00,1.83,0.00,0.000,6,0.000,0.031,3262,1971,2316
$GC,11239,2.59,135.7,414.8,6.8,927,11255,0.00,1.95,11.20,0.997,4,0.000,0.054,3262,909,2270
$GC,11349,2.59,135.7,405.6,9.9,936,11356,0.00,1.80,0.00,0.000,6,0.000,0.031,3262,1958,2269
$GC,11675,2.59,135.7,379.4,8.6,967,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1958,2269
$GC,11996,2.59,136.5,353.2,7.9,997,11999,0.00,1.88,0.00,0.000,4,0.000,0.054,3262,911,2269
$GC,12146,2.59,136.5,340.5,8.1,1010,12153,0.00,1.77,0.00,0.000,6,0.000,0.030,3262,1953,2269
$GC,12474,2.60,138.6,315.8,7.8,1041,12485,0.00,1.85,3.83,0.635,4,0.000,0.047,3262,3001,2260
$GC,12738,2.62,151.2,296.1,6.6,1064,12755,0.00,1.77,12.18,0.921,6,0.000,0.035,3262,1973,2208
$GC,13072,2.62,155.5,269.9,7.5,1096,13084,0.00,1.83,5.25,0.736,4,0.000,0.043,3262,3016,2190
$GC,13201,2.64,162.2,259.7,7.3,1107,13212,0.00,1.75,7.25,0.812,6,0.000,0.032,3262,1998,2163
$GC,13544,2.66,164.1,232.1,7.8,1157,13551,0.12,1.92,0.00,0.000,4,0.071,0.053,3297,906,2162
$GC,13714,2.66,164.1,216.7,8.6,1187,13720,0.00,1.80,0.00,0.000,6,0.000,0.028,3297,1988,2162
$GC,14057,2.68,176.0,190.2,6.7,1248,14074,0.00,0.00,13.07,0.837,6,0.000,0.000,3297,1989,2106
$GC,14413,2.72,198.6,165.7,5.6,1311,14440,0.00,2.00,19.73,0.828,4,0.000,0.050,3297,908,2015
$GC,14463,2.74,214.7,162.4,6.2,1320,14486,0.00,1.83,14.85,0.785,6,0.000,0.028,3297,1986,1949
$GC,14826,2.80,227.3,137.7,6.6,1384,14843,0.00,1.73,11.50,0.760,4,0.000,0.038,3297,2994,1898
$GC,15096,2.85,238.1,117.7,6.8,1432,15114,0.10,1.67,10.32,0.726,6,0.051,0.028,3333,2003,1854
$GC,15454,2.90,253.7,93.6,6.3,1495,15476,0.00,1.75,14.25,0.722,4,0.000,0.037,3334,2995,1790
$GC,15500,2.94,258.4,90.0,7.5,1503,15512,0.00,1.60,5.40,0.579,6,0.000,0.026,3334,2030,1770
$GC,15851,3.01,277.9,65.9,5.9,1565,15874,0.15,1.67,17.40,0.696,4,0.059,0.035,3378,3010,1690
$GC,16128,3.04,292.0,47.0,6.5,1614,16145,0.00,1.50,12.80,0.657,6,0.000,0.025,3378,2100,1633
$GC,16484,3.06,292.0,16.5,8.8,1677,16490,0.00,1.55,0.00,0.000,4,0.000,0.035,3378,3006,1633
$STATE,16658,end climb,SURFACE_DEPTH_REACHED
$STATE,16658,begin surface coast
$FINISH,-0.4,1.021673
$STATE,16680,end surface coast,CONTROL_FINISHED_OK
$STATE,16681,begin surface
$SM_CCo,16703,126.05,0.627,0,0,785,500.17
$SM_GC,-5.75,0.00,0.00,126.05,0.000,0.000,0.627,416,2283,785,-10.55,-1.19,500.17
$IRIDIUM_FIX,1245.46,12040.38,130697,151518
$TT8_MAMPS,0.026078
$HUMID,1774
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.80
$XPDR_PINGS,369
$ALTIM_BOTTOM_PING,680.1,77.9
$24V_AH,23.3,22.483
$10V_AH,10.2,18.322
$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,28.550,82.050,318.475,126.050,0.000,62.800,82.058,237.012,97.250,0.000,0.000,15.279,2764.125,10344.513,556.452,3076.639,678.226,0.000,1963.288,0.000,3066.422,0.000,38.166
$DEVICE_MAMPS,173.342,100.477,1244.074,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1160.232,778.304,745.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94625,1712
$CAP_FILE_SIZE,161528,0
$CFSIZE,260165632,244518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190308,195837,1251.777,12042.236,33,1.4,33,-0.8