version: 66.03
glider: 126
mission: 7
dive: 76
start: 3 3 108 10 22 22
data:
$ID,126
$MISSION,7
$DIVE,76
$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,-620964.25
$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,42
$R_STBD_OVSHOOT,49
$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
$GPS1,101237,1314.591,12023.442,41,1.9,41,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.16
$_SM_ANGLEo,-57.9
$GPS2,102132,1314.583,12023.479,13,1.5,30,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,TUBILE_SB
$TGT_LATLONG,1312.400,12024.730
$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,151.7,4630,-22.0,-7.990
$D_GRID,1412
$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,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.40,0.000,6,0.000,0.000,417,2333,3100
$GC,92,-2.33,-67.0,1.1,-17.3,13,109,10.10,1.80,0.00,0.000,4,0.173,0.033,2196,1268,3102
$GC,165,-2.20,-67.0,24.6,-23.6,26,172,0.15,1.75,0.00,0.000,6,0.114,0.026,2228,2322,3103
$GC,510,-2.12,-67.0,88.7,-17.5,87,516,0.00,1.75,0.00,0.000,4,0.000,0.035,2228,1267,3104
$GC,556,-2.05,-67.0,97.0,-17.9,95,562,0.17,1.73,0.00,0.000,6,0.118,0.026,2260,2324,3104
$GC,900,-2.05,-67.0,148.2,-12.1,156,907,0.00,1.80,0.00,0.000,4,0.000,0.041,2260,3370,3105
$GC,1024,-2.05,-67.0,164.5,-12.8,178,1031,0.00,1.77,0.00,0.000,6,0.000,0.025,2260,2277,3105
$GC,1369,-2.08,-67.0,202.2,-9.3,239,1375,0.00,1.62,0.00,0.000,4,0.000,0.036,2260,1296,3106
$GC,1522,-2.11,-67.0,217.1,-10.4,266,1528,0.00,1.67,0.00,0.000,6,0.000,0.027,2260,2305,3106
$GC,1869,-2.13,-67.0,252.4,-10.2,326,1873,0.00,1.83,0.00,0.000,4,0.000,0.045,2261,3375,3106
$GC,1974,-2.13,-67.0,264.0,-10.9,335,1981,0.00,1.77,0.00,0.000,6,0.000,0.027,2260,2296,3105
$GC,2300,-2.16,-67.0,296.2,-9.2,366,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2289,3104
$GC,2619,-2.19,-67.0,327.7,-10.2,396,2621,0.12,0.00,0.00,0.000,6,0.068,0.000,2226,2289,3102
$GC,2937,-2.19,-67.0,361.1,-10.4,426,2940,0.00,1.88,0.00,0.000,4,0.000,0.048,2226,3370,3100
$GC,3003,-2.19,-67.0,368.4,-10.5,432,3007,0.00,1.75,0.00,0.000,6,0.000,0.030,2226,2304,3099
$GC,3334,-2.19,-67.0,402.3,-10.0,463,3337,0.00,1.73,0.00,0.000,4,0.000,0.045,2226,1291,3098
$GC,3378,-2.19,-67.0,406.7,-10.1,467,3382,0.00,1.67,0.00,0.000,6,0.000,0.031,2226,2283,3097
$GC,3708,-2.19,-67.0,440.0,-9.7,498,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2282,3095
$GC,4026,-2.19,-67.0,472.2,-10.0,528,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2283,3093
$GC,4343,-2.19,-67.0,504.5,-9.9,556,4347,0.00,1.90,0.00,0.000,4,0.000,0.056,2226,3365,3090
$GC,4465,-2.19,-67.0,517.1,-10.7,561,4469,0.00,1.85,0.00,0.000,6,0.000,0.037,2226,2305,3089
$GC,4786,-2.19,-67.0,546.9,-9.3,577,4789,0.00,1.92,0.00,0.000,4,0.000,0.064,2226,3368,3088
$GC,4930,-2.19,-67.0,561.2,-9.8,583,4935,0.00,1.90,0.00,0.000,6,0.000,0.042,2226,2291,3086
$GC,5253,-2.19,-67.0,591.6,-9.8,599,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2289,3084
$GC,5560,-2.19,-67.0,619.1,-9.1,614,5564,0.00,2.05,0.00,0.000,4,0.000,0.086,2226,3366,3082
$GC,5750,-2.19,-67.0,637.1,-9.4,622,5755,0.00,2.03,0.00,0.000,6,0.000,0.071,2226,2299,3081
$GC,6074,-2.21,-67.0,666.8,-9.2,638,6077,0.00,2.10,0.00,0.000,4,0.000,0.105,2226,3355,3080
$GC,6140,-2.21,-67.0,673.5,-9.6,641,6144,0.00,2.05,0.00,0.000,6,0.000,0.088,2226,2297,3079
$GC,6471,-2.21,-67.0,702.5,-8.7,657,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2294,3078
$GC,6781,-2.23,-67.0,729.2,-8.4,672,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2294,3076
$GC,7090,-2.26,-67.0,755.6,-8.4,687,7094,0.00,2.33,0.00,0.000,4,0.000,0.149,2226,3359,3075
$GC,7167,-2.26,-67.0,762.3,-8.4,690,7174,0.00,2.28,0.00,0.000,6,0.000,0.134,2226,2298,3074
$GC,7483,-2.28,-67.0,787.9,-8.5,706,7487,0.00,1.83,0.00,0.000,4,0.000,0.054,2226,1259,3073
$GC,7538,-2.30,-67.0,792.6,-8.6,708,7542,0.00,1.77,0.00,0.000,6,0.000,0.035,2226,2296,3073
$GC,7859,-2.33,-67.0,818.1,-8.0,724,7863,0.10,1.90,0.00,0.000,4,0.084,0.056,2201,3375,3072
$GC,7931,-2.33,-67.0,824.5,-9.4,727,7935,0.00,1.88,0.00,0.000,6,0.000,0.035,2201,2274,3071
$GC,8257,-2.33,-67.0,854.2,-9.4,743,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2274,3071
$GC,8566,-2.33,-67.0,883.6,-9.5,758,8570,0.00,1.98,0.00,0.000,4,0.000,0.058,2201,3376,3070
$GC,8643,-2.33,-67.0,890.7,-8.4,761,8648,0.00,1.88,0.00,0.000,6,0.000,0.037,2201,2295,3070
$GC,8964,-2.33,-67.0,918.4,-8.8,777,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2295,3069
$GC,9274,-2.33,-67.0,945.4,-8.1,792,9277,0.00,1.92,0.00,0.000,4,0.000,0.058,2201,3369,3068
$GC,9373,-2.33,-67.0,953.9,-9.0,796,9378,0.00,1.83,0.00,0.000,6,0.000,0.038,2201,2317,3067
$GC,9695,-2.33,-67.0,981.8,-8.5,812,9698,0.00,1.85,0.00,0.000,4,0.000,0.059,2201,1269,3066
$GC,9784,-2.33,-67.0,989.7,-9.0,816,9789,0.00,1.77,0.00,0.000,6,0.000,0.040,2201,2304,3066
$STATE,9791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9791,begin apogee
$GC,9796,-0.51,0.0,990.4,8.5,816,9853,1.90,0.00,52.58,1.440,6,0.109,0.000,2594,1953,2825
$STATE,9853,end apogee,CONTROL_FINISHED_OK
$STATE,9854,begin climb
$GC,9855,2.33,67.0,991.7,0.0,819,9927,2.92,2.03,59.95,1.403,4,0.076,0.071,3219,910,2551
$GC,10023,2.28,72.2,984.0,7.5,827,10033,0.00,1.85,5.93,1.088,6,0.000,0.036,3219,1983,2530
$GC,10343,2.26,85.7,962.4,6.7,842,10362,0.00,0.00,13.35,1.312,6,0.000,0.000,3220,1983,2475
$GC,10672,2.22,86.2,938.0,7.9,858,10676,0.12,1.98,0.00,0.000,4,0.121,0.062,3197,909,2473
$GC,10840,2.20,97.0,925.9,7.0,865,10856,0.00,1.83,11.35,1.283,6,0.000,0.036,3197,1974,2429
$GC,11176,2.21,99.7,901.2,7.7,882,11182,0.00,0.00,4.05,0.889,6,0.000,0.000,3197,1974,2418
$GC,11486,2.21,100.4,876.7,7.9,897,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1974,2417
$GC,11795,2.19,100.4,852.3,8.4,912,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1975,2417
$GC,12104,2.19,101.2,826.1,7.9,927,12108,0.00,1.95,0.00,0.000,4,0.000,0.062,3197,905,2416
$GC,12199,2.17,101.2,818.7,8.3,931,12203,0.00,1.83,0.00,0.000,6,0.000,0.037,3197,1955,2416
$GC,12525,2.18,109.3,793.7,7.2,947,12539,0.00,1.90,9.52,1.208,4,0.000,0.054,3197,3010,2379
$GC,12725,2.18,109.5,777.3,8.0,956,12728,0.00,1.83,0.00,0.000,6,0.000,0.052,3197,1965,2378
$GC,13056,2.19,113.5,751.5,7.6,972,13066,0.00,1.95,5.68,1.029,4,0.000,0.066,3197,901,2362
$GC,13192,2.17,117.4,741.3,7.6,978,13201,0.00,1.85,5.05,0.971,6,0.000,0.037,3197,1980,2346
$GC,13517,2.17,120.2,715.4,7.7,994,13526,0.00,1.85,4.38,0.886,4,0.000,0.053,3197,3004,2334
$GC,13610,2.17,120.2,707.2,8.9,998,13614,0.00,1.83,0.00,0.000,6,0.000,0.041,3197,1977,2334
$GC,13938,2.17,120.2,679.1,8.7,1014,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1977,2334
$GC,14246,2.17,120.2,653.0,8.3,1029,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1978,2334
$GC,14555,2.17,120.2,628.0,8.1,1044,14556,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1977,2334
$GC,14866,2.18,121.9,604.1,7.8,1059,14867,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1978,2333
$GC,15174,2.18,123.7,579.4,7.8,1074,15183,0.00,1.85,4.68,0.858,4,0.000,0.051,3197,3011,2320
$GC,15301,2.18,124.1,568.9,8.0,1079,15307,0.00,1.85,0.00,0.000,6,0.000,0.041,3197,1959,2320
$GC,15616,2.18,125.4,544.6,7.9,1095,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1959,2320
$GC,15925,2.18,125.4,519.1,8.4,1110,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1959,2320
$GC,16236,2.20,137.6,496.2,6.8,1127,16258,0.00,1.92,13.60,1.081,4,0.000,0.050,3197,3004,2264
$GC,16453,2.20,137.6,478.7,8.8,1146,16460,0.00,1.83,0.00,0.000,6,0.000,0.048,3197,1967,2263
$GC,16779,2.20,137.6,452.3,8.0,1177,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1967,2263
$GC,17099,2.21,142.6,427.7,7.5,1207,17111,0.00,1.85,5.95,0.877,4,0.000,0.048,3197,3008,2242
$GC,17144,2.21,142.6,423.7,9.3,1211,17148,0.00,1.80,0.00,0.000,6,0.000,0.038,3197,1966,2242
$GC,17475,2.21,142.6,396.1,8.6,1242,17478,0.00,1.90,0.00,0.000,4,0.000,0.064,3197,912,2242
$GC,17732,2.21,142.6,373.6,8.3,1265,17736,0.00,1.80,0.00,0.000,6,0.000,0.034,3197,1973,2242
$GC,18062,2.23,153.4,349.7,7.0,1296,18077,0.00,1.98,10.85,0.950,4,0.000,0.060,3197,905,2198
$GC,18295,2.23,153.4,331.3,8.8,1316,18302,0.00,1.77,0.00,0.000,6,0.000,0.033,3197,1933,2198
$GC,18622,2.23,154.8,305.4,7.9,1347,18623,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1934,2198
$GC,18940,2.26,158.6,280.1,7.6,1377,18951,0.00,1.88,6.05,0.784,4,0.000,0.059,3197,908,2177
$GC,19098,2.27,161.3,267.5,7.7,1391,19110,0.00,1.77,4.20,0.655,6,0.000,0.033,3197,1943,2166
$GC,19433,2.29,163.3,241.6,7.8,1432,19439,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1943,2166
$GC,19777,2.32,165.9,215.7,7.7,1493,19788,0.00,0.00,5.80,0.729,6,0.000,0.000,3197,1943,2148
$GC,20127,2.40,193.7,190.6,5.4,1555,20154,0.15,0.00,23.92,0.860,6,0.068,0.000,3241,1943,2035
$GC,20493,2.43,196.6,164.9,7.7,1620,20505,0.00,1.88,3.97,0.565,4,0.000,0.045,3241,3003,2023
$GC,20567,2.45,208.4,159.7,6.9,1633,20585,0.00,1.85,11.20,0.781,6,0.000,0.034,3241,1914,1975
$GC,20925,2.54,244.9,139.2,4.5,1696,20964,0.10,1.98,31.23,0.795,4,0.076,0.043,3270,3006,1825
$GC,21217,2.56,253.0,116.7,7.2,1748,21229,0.00,1.73,7.75,0.683,6,0.000,0.030,3270,1992,1793
$GC,21569,2.60,256.6,91.1,7.6,1810,21576,0.00,0.00,4.65,0.545,6,0.000,0.000,3270,1992,1779
$GC,21914,2.64,256.6,64.0,8.0,1871,21920,0.00,1.75,0.00,0.000,4,0.000,0.040,3270,3018,1779
$GC,22173,2.72,279.4,45.9,5.8,1917,22201,0.12,1.73,20.17,0.676,6,0.066,0.028,3310,1968,1685
$GC,22541,2.78,295.8,20.9,6.4,1982,22564,0.00,1.83,14.68,0.635,4,0.000,0.038,3310,3004,1619
$GC,22696,2.81,296.0,9.5,8.0,2009,22702,0.00,1.70,0.00,0.000,6,0.000,0.026,3310,1968,1618
$STATE,22790,end climb,SURFACE_DEPTH_REACHED
$STATE,22790,begin surface coast
$FINISH,-0.1,1.021617
$STATE,22823,end surface coast,CONTROL_FINISHED_OK
$STATE,22823,begin surface
$SM_CCo,22843,123.95,0.623,0,0,786,500.17
$SM_GC,-5.36,0.00,0.00,123.95,0.000,0.000,0.623,417,2340,786,-10.54,0.42,500.17
$IRIDIUM_FIX,1307.59,12022.88,280597,101013
$TT8_MAMPS,0.026078
$HUMID,1724
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.30
$XPDR_PINGS,364
$24V_AH,23.1,11.247
$10V_AH,10.1,9.056
$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,28.575,124.025,340.525,123.950,0.000,62.191,48.014,234.236,103.500,0.000,0.000,30.433,3365.716,15107.531,603.597,3799.411,642.636,0.000,2359.084,0.000,3736.617,0.000,91.495
$DEVICE_MAMPS,173.342,148.798,1439.659,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1379.957,811.897,760.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110526,2031
$CAP_FILE_SIZE,210233,0
$CFSIZE,260165632,250966016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030308,164626,1312.649,12025.138,42,1.3,42,-0.9