version: 66.03
glider: 126
mission: 7
dive: 415
start: 5 19 108 11 2 20
data:
$ID,126
$MISSION,7
$DIVE,415
$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,-627322
$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,37
$R_STBD_OVSHOOT,48
$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
$GPS1,105455,1257.409,12034.046,28,1.4,45,-0.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.46
$_SM_ANGLEo,-58.0
$GPS2,110145,1257.349,12034.056,15,2.0,15,-0.9
$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,140.8,25066,-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,-83.60,0.000,6,0.000,0.000,414,2394,3621
$GC,118,-2.34,-194.7,3.2,-28.5,17,135,10.07,1.83,0.00,0.000,4,0.165,0.032,2216,1319,3622
$GC,176,-2.17,-194.7,19.4,-17.2,27,182,0.20,1.73,0.00,0.000,6,0.117,0.024,2254,2377,3622
$GC,523,-2.17,-194.7,67.8,-14.0,88,529,0.00,1.80,0.00,0.000,4,0.000,0.040,2254,3419,3624
$GC,587,-2.12,-194.7,76.9,-13.8,99,593,0.00,1.95,0.00,0.000,6,0.000,0.022,2255,2210,3624
$GC,931,-2.12,-194.7,116.9,-11.4,160,937,0.00,2.08,0.00,0.000,4,0.000,0.038,2254,3422,3625
$GC,1034,-2.12,-194.7,128.1,-9.6,178,1041,0.00,2.03,0.00,0.000,6,0.000,0.023,2254,2186,3625
$GC,1379,-2.17,-194.7,163.3,-10.8,239,1385,0.00,2.10,0.00,0.000,4,0.000,0.038,2255,3413,3627
$GC,1405,-2.20,-194.7,166.0,-10.5,243,1411,0.00,1.92,0.00,0.000,6,0.000,0.023,2254,2215,3626
$GC,1749,-2.27,-194.7,197.9,-9.8,304,1755,0.00,1.52,0.00,0.000,4,0.000,0.038,2255,1316,3627
$GC,1774,-2.33,-194.7,200.1,-9.2,308,1781,0.10,1.50,0.00,0.000,6,0.046,0.024,2208,2232,3627
$GC,2119,-2.33,-194.7,234.1,-9.6,369,2125,0.00,1.58,0.00,0.000,4,0.000,0.038,2207,1304,3627
$GC,2244,-2.33,-194.7,245.8,-9.8,391,2250,0.00,1.60,0.00,0.000,6,0.000,0.025,2208,2288,3627
$GC,2572,-2.33,-194.7,275.9,-8.7,426,2576,0.00,1.65,0.00,0.000,4,0.000,0.039,2208,1324,3627
$GC,2663,-2.33,-194.7,284.2,-8.9,434,2667,0.00,1.40,0.00,0.000,6,0.000,0.025,2208,2172,3627
$GC,2998,-2.33,-194.7,315.5,-9.5,465,3002,0.00,1.50,0.00,0.000,4,0.000,0.042,2208,1319,3625
$GC,3112,-2.33,-194.7,326.7,-9.6,475,3115,0.00,1.50,0.00,0.000,6,0.000,0.027,2208,2216,3624
$GC,3446,-2.37,-194.7,358.6,-9.7,506,3449,0.00,1.58,0.00,0.000,4,0.000,0.044,2208,1306,3622
$GC,3519,-2.37,-194.7,365.8,-8.9,512,3525,0.00,1.40,0.00,0.000,6,0.000,0.026,2208,2152,3622
$GC,3848,-2.40,-194.7,396.0,-9.2,543,3852,0.00,1.48,0.00,0.000,4,0.000,0.046,2208,1327,3619
$GC,3921,-2.40,-194.7,403.1,-8.9,549,3926,0.00,1.23,0.00,0.000,6,0.000,0.028,2208,2067,3619
$GC,4248,-2.44,-194.7,433.5,-9.3,580,4252,0.00,1.33,0.00,0.000,4,0.000,0.050,2208,1332,3617
$GC,4340,-2.44,-194.7,442.7,-9.7,588,4343,0.00,1.33,0.00,0.000,6,0.000,0.030,2208,2117,3616
$GC,4675,-2.48,-194.7,475.2,-9.7,619,4679,0.00,1.42,0.00,0.000,4,0.000,0.054,2208,1333,3614
$GC,4760,-2.48,-194.7,483.9,-9.6,626,4766,0.00,1.45,0.00,0.000,6,0.000,0.034,2208,2176,3613
$GC,5083,-2.52,-194.7,514.6,-9.5,650,5088,0.12,1.55,0.00,0.000,4,0.065,0.059,2172,1334,3612
$GC,5199,-2.48,-194.7,526.2,-10.6,655,5203,0.00,1.58,0.00,0.000,6,0.000,0.040,2173,2231,3610
$GC,5532,-2.48,-194.7,559.3,-9.9,671,5536,0.00,2.12,0.00,0.000,4,0.000,0.067,2173,3399,3609
$GC,5618,-2.42,-194.7,567.8,-10.4,674,5624,0.15,2.05,0.00,0.000,6,0.104,0.045,2202,2244,3609
$GC,5936,-2.45,-194.7,598.1,-9.7,690,5940,0.00,1.70,0.00,0.000,4,0.000,0.086,2202,1333,3606
$GC,5983,-2.45,-194.7,602.9,-10.0,692,5987,0.00,1.58,0.00,0.000,6,0.000,0.062,2202,2183,3606
$GC,6318,-2.50,-194.7,637.2,-10.7,708,6322,0.00,1.67,0.00,0.000,4,0.000,0.100,2202,1330,3603
$GC,6381,-2.50,-194.7,644.2,-10.3,710,6387,0.00,1.73,0.00,0.000,6,0.000,0.078,2202,2248,3603
$GC,6701,-2.53,-194.7,677.4,-10.4,726,6705,0.10,1.88,0.00,0.000,4,0.072,0.115,2174,1329,3601
$GC,6827,-2.48,-194.7,690.7,-10.2,731,6831,0.00,1.42,0.00,0.000,6,0.000,0.031,2174,2168,3600
$GC,7149,-2.48,-194.7,723.1,-9.7,747,7152,0.00,1.52,0.00,0.000,4,0.000,0.063,2174,1328,3598
$GC,7177,-2.48,-194.7,725.9,-10.2,748,7181,0.00,1.62,0.00,0.000,6,0.000,0.033,2174,2275,3598
$GC,7505,-2.48,-194.7,759.2,-10.2,764,7508,0.00,2.00,0.00,0.000,4,0.000,0.051,2174,3413,3596
$GC,7618,-2.43,-194.7,771.0,-9.8,769,7623,0.12,2.15,0.00,0.000,6,0.112,0.034,2197,2161,3595
$GC,7951,-2.43,-194.7,800.9,-8.8,785,7955,0.00,2.22,0.00,0.000,4,0.000,0.051,2197,3409,3595
$GC,8029,-2.43,-194.7,808.3,-9.2,788,8035,0.00,2.28,0.00,0.000,6,0.000,0.035,2197,2088,3593
$GC,8346,-2.43,-194.7,836.1,-8.7,804,8349,0.00,1.40,0.00,0.000,4,0.000,0.072,2197,1335,3593
$GC,8437,-2.43,-194.7,844.5,-9.4,808,8440,0.00,1.50,0.00,0.000,6,0.000,0.038,2197,2197,3593
$STATE,8746,end dive,NO_VERTICAL_VELOCITY
$STATE,8747,begin apogee
$GC,8755,-0.52,0.0,854.7,0.0,823,8928,1.83,0.00,165.00,1.325,6,0.052,0.000,2620,2077,2825
$STATE,8929,end apogee,CONTROL_FINISHED_OK
$STATE,8929,begin climb
$GC,8932,2.34,194.7,854.2,0.0,832,9108,2.67,0.00,169.57,1.279,6,0.046,0.000,3245,2077,2031
$GC,9407,2.36,286.2,825.8,7.5,855,9493,0.00,2.05,81.00,1.254,4,0.000,0.084,3245,1029,1658
$GC,9628,2.30,328.7,803.7,9.9,865,9673,0.00,1.92,38.90,1.222,6,0.000,0.037,3245,2138,1484
$GC,9993,2.24,341.0,762.8,11.4,883,10014,0.15,2.17,11.77,1.131,4,0.107,0.061,3212,1016,1434
$GC,10113,2.18,343.1,748.6,11.9,888,10117,0.00,2.05,0.00,0.000,6,0.000,0.033,3211,2204,1433
$GC,10441,2.19,369.5,711.9,10.7,904,10482,0.00,2.25,28.67,1.137,4,0.000,0.058,3211,1028,1318
$GC,10529,2.13,369.5,701.2,12.2,908,10532,0.00,1.95,0.00,0.000,6,0.000,0.032,3211,2156,1317
$GC,10862,2.21,392.9,663.6,10.9,924,10891,0.00,2.17,22.45,1.174,4,0.000,0.058,3212,1026,1223
$GC,10921,2.25,422.0,656.7,10.6,926,10955,0.00,2.10,28.35,1.156,6,0.000,0.031,3212,2245,1104
$GC,11282,2.33,438.2,616.8,11.2,944,11304,0.12,2.30,15.55,1.118,4,0.068,0.057,3248,1014,1037
$GC,11360,2.27,438.2,606.5,12.7,947,11365,0.08,1.80,0.00,0.000,6,0.101,0.031,3229,2049,1036
$GC,11683,2.35,444.3,568.5,11.7,963,11694,0.00,1.98,6.57,0.952,4,0.000,0.049,3229,3123,1012
$GC,11750,2.35,444.3,560.1,12.2,966,11753,0.00,1.65,0.00,0.000,6,0.000,0.035,3229,2193,1012
$GC,12078,2.42,452.1,521.8,11.6,982,12093,0.12,2.20,8.27,0.996,4,0.070,0.061,3265,1019,982
$GC,12167,2.37,452.1,510.4,12.1,986,12171,0.00,1.75,0.00,0.000,6,0.000,0.030,3265,2049,982
$GC,12499,2.37,456.8,471.1,11.8,1012,12511,0.00,1.90,6.15,0.894,4,0.000,0.048,3265,3118,961
$GC,12568,2.33,456.8,462.5,12.0,1018,12572,0.15,1.65,0.00,0.000,6,0.105,0.035,3236,2168,961
$GC,12900,2.42,472.3,424.8,11.2,1049,12921,0.00,2.12,15.48,1.023,4,0.000,0.060,3236,1018,899
$GC,13002,2.49,486.8,413.0,11.3,1058,13024,0.15,1.73,14.52,0.996,6,0.064,0.030,3278,2036,840
$GC,13342,2.54,486.8,369.7,12.6,1090,13346,0.00,1.90,0.00,0.000,4,0.000,0.048,3278,3121,837
$GC,13426,2.54,486.8,358.7,13.0,1097,13432,0.00,1.60,0.00,0.000,6,0.000,0.035,3278,2195,836
$GC,13756,2.58,486.8,319.0,12.0,1128,13759,0.00,2.12,0.00,0.000,4,0.000,0.068,3277,1015,836
$GC,13828,2.58,486.8,309.5,12.9,1134,13834,0.00,1.73,0.00,0.000,6,0.000,0.029,3278,2044,836
$GC,14156,2.63,486.8,268.4,12.7,1165,14160,0.12,1.88,0.00,0.000,4,0.064,0.047,3316,3115,836
$GC,14202,2.59,486.8,262.3,12.9,1169,14206,0.12,1.65,0.00,0.000,6,0.105,0.033,3292,2157,835
$GC,14541,2.62,486.8,221.3,12.1,1220,14547,0.00,2.03,0.00,0.000,4,0.000,0.058,3292,1018,836
$GC,14610,2.64,495.4,212.9,11.6,1232,14626,0.00,1.67,8.27,0.802,6,0.000,0.028,3292,2025,805
$GC,14968,2.75,520.8,171.0,10.8,1295,15000,0.15,1.98,23.80,0.849,4,0.061,0.044,3341,3113,701
$GC,15013,2.76,529.8,165.5,11.6,1303,15029,0.00,2.10,9.35,0.755,6,0.000,0.040,3341,1905,665
$GC,15368,2.78,541.3,123.6,11.4,1366,15386,0.00,1.60,11.10,0.760,4,0.000,0.054,3341,1018,617
$GC,15399,2.82,563.3,120.2,10.9,1371,15411,0.00,1.77,8.23,0.702,6,0.000,0.027,3341,2079,587
$GC,15755,2.92,589.1,82.9,10.7,1433,15761,0.10,1.88,0.00,0.000,4,0.067,0.047,3376,1021,584
$GC,15802,2.96,617.5,77.0,10.6,1441,15808,0.00,1.52,0.00,0.000,6,0.000,0.024,3377,1947,584
$GC,16147,3.05,645.9,40.2,10.6,1502,16153,0.00,1.67,0.00,0.000,4,0.000,0.051,3377,1018,584
$GC,16247,3.10,675.2,29.3,10.6,1519,16253,0.12,1.60,0.00,0.000,6,0.058,0.024,3420,2008,584
$STATE,16494,end climb,SURFACE_DEPTH_REACHED
$STATE,16494,begin surface coast
$FINISH,-0.2,1.020952
$STATE,16511,end surface coast,CONTROL_FINISHED_OK
$STATE,16511,begin surface
$SM_CCo,16596,0.00,0.000,0,0,584,549.47
$SM_GC,-6.30,13.10,0.00,0.00,0.051,0.000,0.000,415,2374,584,-10.59,0.17,549.47
$IRIDIUM_FIX,1252.10,12035.45,130897,060653
$TT8_MAMPS,0.025311
$HUMID,2046
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.40
$XPDR_PINGS,470
$24V_AH,22.6,74.429
$10V_AH,10.1,49.516
$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,29.875,136.100,673.025,0.000,0.000,30.399,37.135,194.732,126.500,0.000,0.000,15.357,2582.736,10012.336,743.640,2941.606,728.373,0.000,2234.489,0.000,2884.210,0.000,66.136
$DEVICE_MAMPS,164.905,115.050,1325.376,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.509,392.608,631.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85205,1566
$CAP_FILE_SIZE,177509,0
$CFSIZE,260165632,219795456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190508,154007,1257.604,12034.084,34,1.9,34,-0.9