version: 66.03
glider: 126
mission: 7
dive: 112
start: 3 11 108 12 29 47
data:
$ID,126
$MISSION,7
$DIVE,112
$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,-621657.69
$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,41
$R_STBD_OVSHOOT,51
$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
$GPS1,121331,1246.967,12042.104,37,1.2,43,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.74
$_SM_ANGLEo,-58.8
$GPS2,122856,1246.820,12042.175,17,1.6,34,-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,9.0,7279,-22.0,-7.990
$D_GRID,1290
$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,-67.0,0.0,0.0,0,89,0.00,0.00,-65.70,0.000,6,0.000,0.000,417,2341,3101
$GC,91,-2.33,-67.0,0.5,-17.3,13,108,10.15,1.75,0.00,0.000,4,0.176,0.039,2195,3369,3102
$GC,148,-2.18,-67.0,21.4,-26.4,23,155,0.20,1.73,0.00,0.000,6,0.123,0.025,2232,2297,3103
$GC,494,-2.11,-67.0,85.9,-16.8,84,500,0.00,1.85,0.00,0.000,4,0.000,0.042,2232,3359,3104
$GC,658,-2.06,-67.0,113.0,-15.9,113,665,0.15,1.65,0.00,0.000,6,0.120,0.025,2260,2321,3104
$GC,1002,-2.06,-67.0,159.1,-11.5,174,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2319,3105
$GC,1344,-2.08,-67.0,191.3,-10.3,235,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2319,3105
$GC,1687,-2.11,-67.0,225.8,-9.9,296,1693,0.00,1.83,0.00,0.000,4,0.000,0.049,2260,3354,3105
$GC,1800,-2.11,-67.0,236.9,-9.5,316,1806,0.00,1.67,0.00,0.000,6,0.000,0.027,2260,2330,3105
$GC,2138,-2.14,-67.0,268.4,-9.9,360,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2330,3103
$GC,2458,-2.17,-67.0,298.5,-9.3,390,2461,0.00,1.75,0.00,0.000,4,0.000,0.041,2260,1291,3101
$GC,2715,-2.20,-67.0,322.5,-8.5,413,2719,0.12,1.65,0.00,0.000,6,0.066,0.030,2224,2285,3099
$GC,3045,-2.20,-67.0,351.0,-8.2,444,3048,0.00,1.70,0.00,0.000,4,0.000,0.043,2224,1295,3096
$GC,3302,-2.20,-67.0,372.1,-8.8,467,3306,0.00,1.65,0.00,0.000,6,0.000,0.031,2225,2285,3095
$GC,3633,-2.20,-67.0,402.2,-9.6,498,3637,0.00,1.73,0.00,0.000,4,0.000,0.048,2224,1293,3093
$GC,3891,-2.20,-67.0,426.5,-9.3,521,3895,0.00,1.60,0.00,0.000,6,0.000,0.034,2224,2241,3091
$GC,4221,-2.20,-67.0,456.2,-8.4,552,4225,0.00,1.65,0.00,0.000,4,0.000,0.051,2224,1300,3088
$GC,4457,-2.20,-67.0,475.9,-8.5,573,4460,0.00,1.58,0.00,0.000,6,0.000,0.035,2223,2215,3086
$GC,4786,-2.20,-67.0,503.8,-8.6,602,4790,0.00,1.65,0.00,0.000,4,0.000,0.054,2224,1297,3084
$GC,4830,-2.20,-67.0,508.1,-9.7,604,4833,0.00,1.58,0.00,0.000,6,0.000,0.039,2224,2201,3084
$GC,5161,-2.20,-67.0,538.0,-9.0,620,5165,0.00,2.15,0.00,0.000,4,0.000,0.076,2224,3372,3082
$GC,5217,-2.20,-67.0,543.2,-9.2,622,5221,0.00,2.00,0.00,0.000,6,0.000,0.049,2224,2235,3082
$GC,5538,-2.20,-67.0,575.1,-10.5,638,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2233,3079
$GC,5847,-2.20,-67.0,605.1,-9.3,653,5850,0.00,2.17,0.00,0.000,4,0.000,0.094,2224,3362,3077
$GC,5977,-2.20,-67.0,618.6,-10.8,659,5981,0.00,2.05,0.00,0.000,6,0.000,0.076,2224,2269,3076
$GC,6308,-2.20,-67.0,653.8,-10.6,675,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2268,3075
$GC,6618,-2.20,-67.0,685.5,-9.9,690,6622,0.00,2.28,0.00,0.000,4,0.000,0.127,2224,3367,3074
$GC,6724,-2.20,-67.0,696.3,-10.7,695,6728,0.00,2.20,0.00,0.000,6,0.000,0.112,2224,2282,3074
$GC,7050,-2.22,-67.0,728.3,-9.6,711,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2282,3072
$GC,7359,-2.25,-67.0,756.8,-8.9,726,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2281,3071
$GC,7668,-2.27,-67.0,784.7,-9.0,741,7672,0.00,2.53,0.00,0.000,4,0.000,0.181,2224,3358,3070
$GC,7745,-2.27,-67.0,791.8,-9.0,744,7751,0.00,2.10,0.00,0.000,6,0.000,0.070,2224,2223,3069
$GC,8060,-2.30,-67.0,818.5,-8.5,760,8064,0.00,2.08,0.00,0.000,4,0.000,0.064,2224,3367,3068
$GC,8218,-2.30,-67.0,832.7,-9.2,767,8222,0.00,1.95,0.00,0.000,6,0.000,0.040,2224,2236,3068
$GC,8551,-2.33,-67.0,862.5,-8.9,783,8554,0.00,2.05,0.00,0.000,4,0.000,0.067,2224,3369,3066
$GC,8731,-2.33,-67.0,879.2,-9.5,791,8734,0.00,1.92,0.00,0.000,6,0.000,0.042,2224,2258,3065
$GC,9064,-2.36,-70.5,906.4,-7.7,807,9066,0.12,0.00,0.00,0.000,6,0.075,0.000,2193,2258,3065
$GC,9372,-2.36,-70.5,933.5,-9.6,822,9375,0.00,2.05,0.00,0.000,4,0.000,0.070,2193,3376,3063
$GC,9528,-2.36,-70.5,949.1,-9.9,829,9532,0.00,1.92,0.00,0.000,6,0.000,0.044,2193,2269,3063
$GC,9862,-2.36,-70.5,980.3,-9.2,845,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2268,3062
$STATE,9963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9963,begin apogee
$GC,9968,-0.51,0.0,990.7,10.2,850,10024,1.95,0.00,51.97,1.446,6,0.107,0.000,2596,1940,2825
$STATE,10025,end apogee,CONTROL_FINISHED_OK
$STATE,10025,begin climb
$GC,10026,2.34,70.5,993.4,0.0,853,10095,2.85,0.00,63.12,1.418,6,0.066,0.000,3220,1940,2537
$GC,10393,2.31,77.9,973.1,7.3,871,10407,0.00,1.98,7.50,1.180,4,0.000,0.068,3220,908,2507
$GC,10564,2.25,77.9,958.9,8.8,878,10571,0.00,1.83,0.00,0.000,6,0.000,0.035,3220,1947,2506
$GC,10881,2.22,86.3,935.8,7.2,894,10892,0.15,0.00,8.95,1.237,6,0.115,0.000,3192,1947,2473
$GC,11189,2.25,106.1,916.2,6.1,909,11210,0.00,0.00,19.12,1.348,6,0.000,0.000,3192,1947,2392
$GC,11518,2.25,106.1,888.8,8.6,925,11522,0.00,1.90,0.00,0.000,4,0.000,0.059,3192,3017,2390
$GC,11579,2.23,106.1,883.7,8.1,927,11585,0.00,1.95,0.00,0.000,6,0.000,0.048,3192,1935,2389
$GC,11895,2.23,106.1,858.2,8.0,943,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1935,2389
$GC,12204,2.24,110.7,834.4,7.6,958,12210,0.00,0.00,5.18,1.012,6,0.000,0.000,3192,1935,2373
$GC,12513,2.24,110.9,809.7,8.0,973,12516,0.00,1.95,0.00,0.000,4,0.000,0.062,3192,3010,2373
$GC,12579,2.24,110.9,804.3,8.3,976,12583,0.00,1.90,0.00,0.000,6,0.000,0.049,3192,1937,2372
$GC,12911,2.24,112.8,777.6,7.8,992,12915,0.00,1.85,0.00,0.000,4,0.000,0.066,3192,912,2372
$GC,13011,2.24,112.8,768.6,8.9,996,13015,0.00,1.80,0.00,0.000,6,0.000,0.034,3191,1948,2372
$GC,13333,2.24,115.0,743.0,7.8,1012,13343,0.00,1.92,5.53,1.009,4,0.000,0.061,3191,899,2356
$GC,13510,2.22,115.6,729.1,7.9,1020,13514,0.00,1.83,0.00,0.000,6,0.000,0.035,3192,1945,2355
$GC,13837,2.24,125.1,705.1,7.1,1036,13850,0.00,0.00,10.55,1.177,6,0.000,0.000,3192,1946,2314
$GC,14146,2.25,129.0,682.0,7.6,1051,14155,0.00,1.92,4.90,0.929,4,0.000,0.061,3191,908,2299
$GC,14222,2.25,129.0,675.8,8.4,1054,14226,0.00,1.80,0.00,0.000,6,0.000,0.034,3192,1943,2299
$GC,14544,2.25,133.9,651.9,7.5,1070,14552,0.00,0.00,6.22,1.012,6,0.000,0.000,3192,1943,2278
$GC,14852,2.25,133.9,625.2,9.1,1085,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1943,2277
$GC,15162,2.26,135.4,599.6,7.9,1100,15165,0.00,1.90,0.00,0.000,4,0.000,0.061,3191,899,2277
$GC,15246,2.26,135.4,592.5,8.3,1103,15252,0.00,1.77,0.00,0.000,6,0.000,0.035,3192,1941,2277
$GC,15561,2.26,135.4,565.5,8.8,1119,15564,0.00,1.88,0.00,0.000,4,0.000,0.058,3191,3005,2277
$GC,15610,2.26,135.4,561.1,8.9,1121,15614,0.00,1.92,0.00,0.000,6,0.000,0.046,3191,1921,2277
$GC,15937,2.26,135.4,532.4,8.7,1137,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1921,2278
$GC,16246,2.26,135.4,505.5,8.6,1152,16247,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1922,2277
$GC,16562,2.26,135.4,479.9,8.3,1178,16566,0.00,1.92,0.00,0.000,4,0.000,0.055,3191,3005,2277
$GC,16653,2.26,137.1,472.6,7.8,1186,16664,0.00,1.90,4.53,0.788,6,0.000,0.044,3191,1915,2266
$GC,16982,2.26,137.5,445.2,8.0,1217,16985,0.00,1.80,0.00,0.000,4,0.000,0.064,3192,911,2266
$GC,17038,2.26,140.4,440.7,7.7,1222,17049,0.00,1.75,4.82,0.808,6,0.000,0.034,3192,1942,2252
$GC,17367,2.27,144.9,415.8,7.6,1253,17379,0.00,1.90,5.50,0.848,4,0.000,0.054,3192,3013,2234
$GC,17406,2.27,144.9,412.4,8.8,1256,17412,0.00,1.92,0.00,0.000,6,0.000,0.044,3192,1928,2233
$GC,17732,2.28,151.0,388.0,7.4,1287,17743,0.00,1.90,6.82,0.896,4,0.000,0.063,3192,914,2209
$GC,17961,2.28,151.0,369.8,8.2,1307,17968,0.00,1.73,0.00,0.000,6,0.000,0.031,3192,1912,2209
$GC,18289,2.28,151.0,343.3,8.6,1338,18290,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1914,2209
$GC,18606,2.31,156.5,318.1,7.5,1368,18615,0.00,0.00,6.38,0.828,6,0.000,0.000,3191,1913,2186
$GC,18935,2.36,170.2,294.2,6.7,1399,18956,0.15,1.98,13.20,0.927,4,0.071,0.053,3235,2999,2131
$GC,19084,2.36,170.2,281.4,8.6,1412,19091,0.00,1.95,0.00,0.000,6,0.000,0.042,3235,1896,2130
$GC,19411,2.36,170.2,255.4,8.6,1443,19412,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1896,2130
$GC,19742,2.36,170.2,225.5,10.0,1496,19748,0.00,1.98,0.00,0.000,4,0.000,0.050,3235,3002,2130
$GC,19849,2.36,170.2,215.5,8.9,1515,19855,0.00,1.92,0.00,0.000,6,0.000,0.039,3235,1880,2130
$GC,20192,2.37,177.2,188.1,7.3,1576,20203,0.00,0.00,7.62,0.764,6,0.000,0.000,3235,1881,2102
$GC,20540,2.37,178.1,162.6,7.9,1638,20547,0.00,2.00,0.00,0.000,4,0.000,0.048,3235,3023,2102
$GC,20771,2.39,190.6,145.8,6.8,1679,20789,0.00,1.92,12.75,0.790,6,0.000,0.036,3235,1893,2047
$GC,21127,2.48,227.0,126.8,4.5,1742,21166,0.00,1.83,30.92,0.794,4,0.000,0.057,3235,908,1899
$GC,21419,2.56,253.9,111.5,5.4,1794,21447,0.10,1.67,22.83,0.761,6,0.054,0.028,3272,1906,1789
$GC,21786,2.60,258.7,84.9,7.5,1859,21798,0.00,1.77,5.43,0.584,4,0.000,0.049,3272,907,1769
$GC,21849,2.61,264.6,80.4,7.4,1870,21861,0.00,1.67,6.57,0.618,6,0.000,0.026,3272,1908,1746
$GC,22200,2.70,292.3,60.1,5.4,1932,22230,0.12,2.00,23.80,0.694,4,0.067,0.048,3311,3012,1633
$GC,22389,2.70,292.3,45.3,8.8,1965,22395,0.00,1.90,0.00,0.000,6,0.000,0.031,3310,1878,1631
$GC,22733,2.77,312.0,18.1,6.1,2026,22756,0.00,1.70,17.20,0.640,4,0.000,0.046,3310,903,1553
$STATE,22935,end climb,SURFACE_DEPTH_REACHED
$STATE,22936,begin surface coast
$FINISH,0.0,1.021534
$STATE,22957,end surface coast,CONTROL_FINISHED_OK
$STATE,22957,begin surface
$SM_CCo,22980,114.82,0.624,0,0,785,500.17
$SM_GC,-5.71,0.00,0.00,114.82,0.000,0.000,0.624,416,2324,785,-10.55,-0.03,500.17
$IRIDIUM_FIX,1243.25,12042.28,050697,121227
$TT8_MAMPS,0.026078
$HUMID,1744
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.60
$XPDR_PINGS,493
$24V_AH,23.1,16.900
$10V_AH,10.1,13.572
$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,28.675,128.675,351.425,114.825,0.000,140.162,166.814,236.113,135.750,0.000,0.000,34.131,3410.899,15263.368,613.371,3855.567,893.732,0.000,2380.655,0.000,3799.128,0.000,91.478
$DEVICE_MAMPS,175.643,181.012,1445.795,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1404.184,824.247,788.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113568,2066
$CAP_FILE_SIZE,210085,0
$CFSIZE,260165632,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110308,185601,1248.185,12042.973,37,1.4,43,-0.8