version: 66.03
glider: 126
mission: 7
dive: 172
start: 3 24 108 1 11 50
data:
$ID,126
$MISSION,7
$DIVE,172
$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,366
$T_MISSION,439
$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,475
$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,-622708.88
$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,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
$GPS1,010502,1245.491,12016.548,38,1.3,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.78
$_SM_ANGLEo,-55.5
$GPS2,011057,1245.505,12016.498,16,0.9,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST_S2
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,9999.000
$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,277.5,1816,-24.7,-9.016
$D_GRID,872
$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,-2.60,-65.8,0.0,0.0,0,93,0.00,0.00,-64.25,0.000,6,0.000,0.000,415,2340,3094
$GC,95,-2.60,-65.8,0.4,-18.9,13,112,9.75,1.75,0.00,0.000,4,0.173,0.035,2137,3366,3096
$GC,255,-2.46,-65.8,46.5,-25.3,41,261,0.20,1.70,0.00,0.000,6,0.136,0.023,2172,2298,3096
$GC,599,-2.42,-65.8,116.1,-17.1,102,606,0.00,1.83,0.00,0.000,4,0.000,0.038,2172,3360,3098
$GC,685,-2.38,-65.8,129.4,-15.4,117,691,0.00,1.65,0.00,0.000,6,0.000,0.023,2173,2313,3099
$GC,1028,-2.38,-65.8,169.8,-10.4,178,1033,0.00,1.65,0.00,0.000,4,0.000,0.034,2172,1312,3100
$GC,1218,-2.38,-65.8,191.5,-13.3,212,1224,0.00,1.62,0.00,0.000,6,0.000,0.025,2172,2318,3100
$GC,1561,-2.38,-65.8,231.1,-11.4,273,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2319,3101
$GC,1895,-2.38,-65.8,266.4,-10.6,320,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2320,3101
$GC,2214,-2.38,-65.8,303.7,-11.6,350,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2319,3100
$GC,2532,-2.38,-65.8,343.1,-13.2,380,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2319,3097
$GC,2851,-2.38,-65.8,378.5,-11.0,410,2855,0.00,1.73,0.00,0.000,4,0.000,0.043,2172,1316,3095
$GC,2957,-2.38,-65.8,390.8,-11.6,419,2963,0.00,1.70,0.00,0.000,6,0.000,0.029,2172,2320,3095
$GC,3283,-2.38,-65.8,429.1,-12.4,450,3286,0.00,1.83,0.00,0.000,4,0.000,0.049,2172,3377,3093
$GC,3388,-2.38,-65.8,442.0,-11.6,459,3395,0.00,1.73,0.00,0.000,6,0.000,0.031,2172,2359,3092
$GC,3714,-2.38,-65.8,479.0,-11.3,490,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2358,3089
$GC,4039,-2.38,-65.8,513.0,-10.4,515,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2358,3087
$GC,4348,-2.40,-65.8,543.9,-9.9,530,4352,0.00,1.83,0.00,0.000,4,0.000,0.066,2173,3364,3085
$GC,4431,-2.40,-65.8,552.7,-10.7,533,4438,0.00,1.75,0.00,0.000,6,0.000,0.041,2172,2370,3085
$GC,4747,-2.42,-65.8,585.3,-11.0,549,4750,0.00,2.00,0.00,0.000,4,0.000,0.077,2172,1276,3083
$GC,4841,-2.42,-65.8,595.5,-11.2,553,4845,0.00,1.95,0.00,0.000,6,0.000,0.060,2172,2344,3082
$GC,5170,-2.44,-65.8,631.1,-10.7,569,5174,0.00,1.98,0.00,0.000,4,0.000,0.094,2172,3385,3079
$GC,5270,-2.44,-65.8,642.3,-11.3,573,5274,0.00,1.90,0.00,0.000,6,0.000,0.074,2172,2387,3079
$GC,5591,-2.46,-65.8,676.2,-10.5,589,5595,0.00,2.17,0.00,0.000,4,0.000,0.110,2172,1279,3078
$GC,5692,-2.49,-65.8,687.0,-11.4,593,5698,0.00,2.10,0.00,0.000,6,0.000,0.094,2172,2360,3077
$GC,6008,-2.51,-65.8,717.9,-9.2,609,6011,0.00,1.95,0.00,0.000,4,0.000,0.051,2172,1259,3075
$GC,6057,-2.51,-65.8,722.8,-9.9,611,6061,0.00,1.92,0.00,0.000,6,0.000,0.031,2172,2382,3076
$GC,6384,-2.53,-65.8,752.9,-9.7,627,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2382,3075
$GC,6693,-2.57,-72.1,779.6,-8.4,642,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2382,3072
$GC,7003,-2.60,-72.1,808.4,-9.5,657,7007,0.12,1.98,0.00,0.000,4,0.077,0.052,2141,1273,3071
$GC,7119,-2.60,-72.1,821.4,-10.8,662,7124,0.00,1.88,0.00,0.000,6,0.000,0.035,2142,2360,3071
$STATE,7403,end dive,NO_VERTICAL_VELOCITY
$STATE,7403,begin apogee
$GC,7409,-0.51,0.0,829.8,0.0,676,7466,2.10,0.00,52.53,1.316,6,0.082,0.000,2598,1950,2825
$STATE,7467,end apogee,CONTROL_FINISHED_OK
$STATE,7467,begin climb
$GC,7469,2.61,72.1,829.4,0.0,679,7538,3.03,0.00,62.88,1.282,6,0.059,0.000,3282,1950,2531
$GC,7841,2.64,101.8,812.7,6.0,697,7872,0.00,2.00,26.73,1.259,4,0.000,0.048,3281,3022,2409
$GC,7998,2.61,101.8,800.5,9.9,704,8002,0.00,1.88,0.00,0.000,6,0.000,0.038,3281,1943,2406
$GC,8325,2.61,101.8,768.1,9.7,720,8328,0.00,1.88,0.00,0.000,4,0.000,0.065,3281,908,2405
$GC,8442,2.57,101.8,756.6,9.7,725,8446,0.00,1.77,0.00,0.000,6,0.000,0.031,3281,1957,2404
$GC,8769,2.56,108.6,728.1,8.3,741,8780,0.00,1.90,6.47,1.030,4,0.000,0.048,3281,3010,2382
$GC,8858,2.53,108.6,719.6,10.4,745,8862,0.00,1.83,0.00,0.000,6,0.000,0.036,3281,1950,2381
$GC,9186,2.54,111.6,687.7,8.7,761,9195,0.00,1.90,4.22,0.838,4,0.000,0.046,3281,3003,2369
$GC,9349,2.52,113.7,672.9,8.8,768,9353,0.12,1.77,0.00,0.000,6,0.120,0.045,3258,1966,2368
$GC,9674,2.54,126.0,646.4,7.8,784,9696,0.00,1.98,13.80,1.163,4,0.000,0.061,3258,912,2311
$GC,9898,2.56,136.3,627.6,8.0,794,9913,0.00,1.75,10.52,1.108,6,0.000,0.031,3258,1947,2269
$GC,10223,2.58,149.7,601.7,7.6,809,10244,0.00,1.98,12.80,1.117,4,0.000,0.057,3258,912,2214
$GC,10323,2.58,152.5,593.0,8.7,813,10334,0.00,1.75,4.22,0.795,6,0.000,0.031,3259,1924,2202
$GC,10643,2.58,152.7,564.6,9.0,829,10647,0.00,1.88,0.00,0.000,4,0.000,0.047,3258,3009,2201
$GC,10703,2.58,152.7,558.9,9.2,831,10710,0.00,1.88,0.00,0.000,6,0.000,0.039,3258,1936,2201
$GC,11019,2.58,152.7,528.5,9.5,847,11020,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1935,2202
$GC,11328,2.58,152.7,499.9,9.2,862,11332,0.00,1.88,0.00,0.000,4,0.000,0.046,3258,3008,2201
$GC,11423,2.59,158.0,491.4,8.5,870,11433,0.00,1.80,6.07,0.913,6,0.000,0.045,3259,1957,2180
$GC,11753,2.63,166.7,463.9,8.1,901,11767,0.10,1.95,9.05,0.996,4,0.084,0.061,3285,912,2145
$GC,11846,2.63,166.7,454.6,10.6,909,11852,0.00,1.83,0.00,0.000,6,0.000,0.031,3285,1970,2144
$GC,12171,2.63,166.7,422.4,10.3,940,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1970,2144
$GC,12489,2.63,166.7,387.0,10.9,970,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1972,2144
$GC,12807,2.63,166.7,351.6,11.0,1000,12811,0.00,1.92,0.00,0.000,4,0.000,0.055,3285,914,2144
$GC,13064,2.63,166.7,324.1,10.1,1023,13068,0.00,1.75,0.00,0.000,6,0.000,0.030,3285,1957,2144
$GC,13396,2.63,170.2,294.5,8.7,1054,13407,0.00,1.90,4.72,0.721,4,0.000,0.054,3285,908,2131
$GC,13457,2.64,172.4,288.7,8.8,1059,13464,0.00,1.75,3.67,0.614,6,0.000,0.030,3285,1931,2122
$GC,13782,2.64,175.7,261.7,8.7,1090,13792,0.00,0.00,4.88,0.717,6,0.000,0.000,3285,1931,2107
$GC,14121,2.65,180.8,233.5,8.5,1138,14132,0.00,1.83,5.95,0.762,4,0.000,0.052,3285,908,2087
$GC,14259,2.65,181.1,220.4,9.0,1162,14265,0.00,1.73,0.00,0.000,6,0.000,0.028,3285,1938,2087
$GC,14603,2.70,194.2,190.0,7.7,1223,14619,0.00,0.00,12.77,0.844,6,0.000,0.000,3285,1938,2033
$GC,14957,2.75,208.3,159.9,7.6,1286,14975,0.10,1.92,12.90,0.815,4,0.077,0.051,3314,906,1975
$GC,15144,2.75,213.0,142.5,8.5,1319,15156,0.00,1.70,5.78,0.683,6,0.000,0.028,3314,1928,1956
$GC,15496,2.87,260.1,120.6,4.2,1381,15539,0.00,0.00,39.40,0.800,6,0.000,0.000,3314,1929,1763
$GC,15880,2.98,288.8,96.1,6.1,1449,15913,0.15,1.88,24.23,0.752,4,0.059,0.037,3361,3000,1646
$GC,16031,3.03,304.2,84.5,7.4,1476,16053,0.00,1.80,13.82,0.713,6,0.000,0.027,3361,1932,1583
$GC,16392,3.10,314.5,57.3,8.0,1540,16404,0.10,0.00,9.85,0.655,6,0.070,0.000,3393,1930,1542
$GC,16743,3.14,320.2,26.2,8.4,1602,16755,0.00,1.75,6.70,0.574,4,0.000,0.043,3393,913,1519
$GC,16936,3.16,320.2,6.6,11.2,1636,16943,0.00,1.77,0.00,0.000,6,0.000,0.023,3393,1998,1519
$STATE,16980,end climb,SURFACE_DEPTH_REACHED
$STATE,16980,begin surface coast
$FINISH,-0.1,1.021681
$STATE,17006,end surface coast,CONTROL_FINISHED_OK
$STATE,17006,begin surface
$SM_CCo,17027,95.80,0.637,0,0,888,475.15
$SM_GC,-6.26,0.00,0.00,95.80,0.000,0.000,0.637,414,2338,888,-10.56,0.37,475.15
$IRIDIUM_FIX,1241.04,12013.48,170697,202008
$TT8_MAMPS,0.026078
$HUMID,1801
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.60
$XPDR_PINGS,409
$ALTIM_BOTTOM_PING,800.6,36.3
$24V_AH,23.2,25.590
$10V_AH,10.2,20.690
$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,28.775,97.075,353.975,95.800,0.000,31.402,35.398,169.835,110.500,0.000,0.000,16.088,2699.931,10764.003,547.645,2974.370,518.893,0.000,1969.306,0.000,2931.075,0.000,62.695
$DEVICE_MAMPS,172.575,110.448,1316.172,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1116.720,421.298,672.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88442,1648
$CAP_FILE_SIZE,164848,0
$CFSIZE,260165632,242733056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240308,055831,1245.976,12015.031,41,1.0,41,-0.8