version: 66.03
glider: 126
mission: 7
dive: 118
start: 3 12 108 11 36 41
data:
$ID,126
$MISSION,7
$DIVE,118
$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,-621747.12
$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,60
$R_STBD_OVSHOOT,45
$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
$GPS1,112938,1250.807,12042.000,41,1.6,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.32
$_SM_ANGLEo,-54.0
$GPS2,113550,1250.762,12042.023,11,1.6,16,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,259.6,48846,-22.0,-7.990
$D_GRID,1246
$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,-2.33,-67.0,0.0,0.0,0,91,0.00,0.00,-66.82,0.000,6,0.000,0.000,418,2288,3101
$GC,93,-2.33,-67.0,1.6,-16.6,13,111,10.02,1.83,0.00,0.000,4,0.172,0.035,2198,3366,3103
$GC,364,-2.22,-67.0,67.6,-20.1,61,371,0.15,1.67,0.00,0.000,6,0.123,0.024,2225,2311,3104
$GC,707,-2.17,-67.0,122.1,-13.0,122,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2305,3104
$GC,1050,-2.17,-67.0,164.1,-10.8,183,1056,0.00,1.80,0.00,0.000,4,0.000,0.041,2225,3365,3105
$GC,1298,-2.15,-67.0,194.1,-10.8,227,1304,0.00,1.67,0.00,0.000,6,0.000,0.025,2225,2310,3107
$GC,1641,-2.15,-67.0,233.6,-11.8,288,1648,0.00,1.85,0.00,0.000,4,0.000,0.045,2225,3368,3106
$GC,1682,-2.15,-67.0,238.5,-12.4,295,1688,0.00,1.73,0.00,0.000,6,0.000,0.026,2225,2296,3106
$GC,2019,-2.15,-67.0,273.9,-10.7,336,2023,0.00,1.67,0.00,0.000,4,0.000,0.038,2225,1292,3106
$GC,2114,-2.15,-67.0,284.4,-11.0,344,2120,0.00,1.73,0.00,0.000,6,0.000,0.028,2225,2323,3105
$GC,2439,-2.15,-67.0,316.7,-9.8,375,2443,0.00,1.75,0.00,0.000,4,0.000,0.039,2225,1293,3103
$GC,2522,-2.15,-67.0,325.6,-10.6,382,2528,0.00,1.70,0.00,0.000,6,0.000,0.028,2225,2312,3102
$GC,2848,-2.15,-67.0,360.2,-11.0,413,2851,0.00,1.75,0.00,0.000,4,0.000,0.042,2225,1289,3101
$GC,2903,-2.15,-67.0,366.7,-11.7,418,2907,0.00,1.67,0.00,0.000,6,0.000,0.029,2225,2302,3101
$GC,3234,-2.15,-67.0,402.1,-10.7,449,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2302,3098
$GC,3552,-2.15,-67.0,432.1,-9.3,479,3555,0.00,1.88,0.00,0.000,4,0.000,0.058,2225,3367,3096
$GC,3713,-2.15,-67.0,448.3,-9.6,493,3720,0.00,1.77,0.00,0.000,6,0.000,0.035,2225,2338,3095
$GC,4039,-2.15,-67.0,478.8,-9.6,524,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2338,3093
$GC,4354,-2.15,-67.0,508.9,-9.5,550,4357,0.00,1.95,0.00,0.000,4,0.000,0.076,2225,1273,3090
$GC,4398,-2.15,-67.0,513.1,-9.3,552,4402,0.00,1.77,0.00,0.000,6,0.000,0.042,2225,2306,3090
$GC,4730,-2.15,-67.0,544.8,-9.6,568,4733,0.00,1.95,0.00,0.000,4,0.000,0.078,2224,3372,3087
$GC,4819,-2.15,-67.0,553.7,-10.0,572,4823,0.00,1.83,0.00,0.000,6,0.000,0.053,2225,2346,3086
$GC,5150,-2.15,-67.0,586.4,-9.8,588,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2346,3085
$GC,5460,-2.17,-67.0,613.8,-8.4,603,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2346,3083
$GC,5769,-2.17,-67.0,645.0,-9.4,618,5773,0.00,2.05,0.00,0.000,4,0.000,0.110,2225,3371,3082
$GC,5824,-2.17,-67.0,650.4,-9.4,620,5828,0.00,1.98,0.00,0.000,6,0.000,0.091,2225,2353,3081
$GC,6146,-2.17,-67.0,680.6,-10.4,636,6150,0.00,2.15,0.00,0.000,4,0.000,0.120,2225,1267,3079
$GC,6229,-2.17,-67.0,689.4,-9.9,639,6235,0.00,2.12,0.00,0.000,6,0.000,0.100,2225,2333,3078
$GC,6544,-2.20,-67.0,718.8,-8.7,655,6548,0.00,2.25,0.00,0.000,4,0.000,0.149,2225,3388,3076
$GC,6606,-2.20,-67.0,723.9,-8.8,658,6610,0.00,2.15,0.00,0.000,6,0.000,0.129,2224,2368,3076
$GC,6932,-2.22,-67.0,753.9,-9.3,674,6936,0.00,2.42,0.00,0.000,4,0.000,0.160,2225,1258,3076
$GC,7056,-2.26,-74.1,764.0,-7.3,679,7062,0.00,2.33,0.00,0.000,6,0.000,0.138,2225,2350,3075
$GC,7371,-2.28,-74.1,788.2,-9.3,695,7375,0.00,2.42,0.00,0.000,4,0.000,0.189,2225,3384,3074
$GC,7571,-2.31,-88.1,805.2,-6.7,704,7576,0.00,1.80,0.00,0.000,6,0.000,0.037,2225,2349,3073
$GC,7900,-2.34,-93.5,832.0,-7.5,720,7902,0.12,0.00,0.00,0.000,6,0.074,0.000,2194,2349,3072
$GC,8209,-2.34,-93.5,861.5,-9.5,735,8212,0.00,1.88,0.00,0.000,4,0.000,0.054,2194,1273,3071
$GC,8246,-2.34,-93.5,865.2,-9.0,736,8253,0.00,1.98,0.00,0.000,6,0.000,0.036,2194,2409,3071
$GC,8562,-2.34,-93.5,891.9,-8.6,752,8565,0.00,2.00,0.00,0.000,4,0.000,0.050,2194,1272,3070
$GC,8736,-2.35,-100.5,905.5,-7.3,759,8742,0.00,1.92,0.00,0.000,6,0.000,0.037,2194,2400,3069
$GC,9050,-2.36,-107.5,928.7,-7.3,775,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2401,3068
$GC,9359,-2.36,-107.5,953.3,-9.7,790,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2401,3067
$GC,9668,-2.36,-107.5,984.4,-10.2,805,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2401,3067
$STATE,9729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9729,begin apogee
$GC,9734,-0.51,0.0,990.7,10.2,808,9792,1.95,0.00,52.75,1.444,6,0.105,0.000,2599,1953,2825
$STATE,9793,end apogee,CONTROL_FINISHED_OK
$STATE,9793,begin climb
$GC,9795,2.40,107.5,993.0,0.0,811,9897,2.83,0.00,94.82,1.415,6,0.063,0.000,3237,1953,2386
$GC,10205,2.35,107.5,961.7,9.3,831,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1953,2381
$GC,10515,2.30,107.5,934.3,8.9,846,10517,0.15,0.00,0.00,0.000,6,0.114,0.000,3209,1953,2379
$GC,10824,2.27,107.5,907.6,8.9,861,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1953,2378
$GC,11135,2.25,107.5,878.6,8.6,876,11138,0.00,1.90,0.00,0.000,4,0.000,0.064,3209,902,2378
$GC,11285,2.20,107.5,865.3,10.2,882,11292,0.00,1.90,0.00,0.000,6,0.000,0.033,3209,1998,2377
$GC,11601,2.18,107.5,836.9,8.5,898,11603,0.12,0.00,0.00,0.000,6,0.119,0.000,3186,1998,2376
$GC,11910,2.18,107.5,811.7,8.0,913,11913,0.00,1.98,0.00,0.000,4,0.000,0.058,3186,910,2376
$GC,12022,2.17,116.9,802.7,7.1,918,12036,0.00,1.77,7.80,1.152,6,0.000,0.034,3186,1956,2348
$GC,12352,2.17,116.9,775.3,8.9,934,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1956,2348
$GC,12661,2.17,116.9,749.1,8.4,949,12664,0.00,1.90,0.00,0.000,4,0.000,0.059,3186,908,2347
$GC,12901,2.15,116.9,727.8,8.7,959,12907,0.00,1.77,0.00,0.000,6,0.000,0.034,3186,1935,2347
$GC,13216,2.15,116.9,700.9,8.4,975,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1936,2347
$GC,13526,2.15,117.5,676.3,7.9,990,13529,0.00,1.85,0.00,0.000,4,0.000,0.059,3186,911,2347
$GC,13676,2.15,117.5,663.9,8.8,996,13682,0.00,1.75,0.00,0.000,6,0.000,0.034,3186,1927,2347
$GC,13991,2.15,117.5,638.6,8.3,1012,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1927,2347
$GC,14301,2.15,117.5,610.3,9.2,1027,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1928,2347
$GC,14610,2.15,117.5,583.8,8.0,1042,14613,0.00,1.85,0.00,0.000,4,0.000,0.059,3186,901,2347
$GC,14664,2.15,117.5,579.4,8.2,1044,14669,0.00,1.80,0.00,0.000,6,0.000,0.034,3186,1944,2347
$GC,14986,2.16,124.8,555.5,7.3,1060,14996,0.00,0.00,8.30,1.039,6,0.000,0.000,3186,1944,2316
$GC,15295,2.17,128.2,532.1,7.7,1075,15304,0.00,1.90,4.80,0.855,4,0.000,0.060,3186,907,2302
$GC,15430,2.17,128.2,520.8,8.0,1081,15434,0.00,1.75,0.00,0.000,6,0.000,0.034,3186,1939,2302
$GC,15753,2.18,132.8,494.8,7.6,1099,15763,0.00,0.00,5.82,0.909,6,0.000,0.000,3186,1939,2283
$GC,16082,2.18,132.8,467.7,8.3,1130,16085,0.00,1.88,0.00,0.000,4,0.000,0.054,3186,3010,2283
$GC,16149,2.18,132.8,462.1,8.3,1136,16153,0.00,1.88,0.00,0.000,6,0.000,0.044,3186,1933,2283
$GC,16480,2.20,143.8,436.1,6.9,1167,16495,0.00,1.95,10.98,1.017,4,0.000,0.052,3186,3009,2237
$GC,16720,2.21,149.8,416.3,7.4,1188,16731,0.00,1.85,6.57,0.900,6,0.000,0.044,3186,1948,2214
$GC,17049,2.21,150.0,390.0,8.0,1219,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1948,2213
$GC,17368,2.23,150.0,363.5,8.6,1249,17372,0.00,1.90,0.00,0.000,4,0.000,0.052,3186,3003,2213
$GC,17529,2.23,150.0,349.7,8.9,1263,17535,0.00,1.85,0.00,0.000,6,0.000,0.041,3186,1952,2213
$GC,17857,2.26,154.7,324.7,7.5,1294,17864,0.00,0.00,5.95,0.811,6,0.000,0.000,3186,1951,2193
$GC,18184,2.30,166.3,299.7,6.9,1325,18198,0.10,0.00,11.40,0.918,6,0.081,0.000,3212,1951,2147
$GC,18511,2.30,166.3,273.0,8.4,1356,18512,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1951,2146
$GC,18833,2.30,168.4,246.0,7.8,1390,18840,0.00,0.00,3.58,0.571,6,0.000,0.000,3212,1951,2138
$GC,19179,2.31,173.3,219.2,7.5,1451,19190,0.00,0.00,6.10,0.746,6,0.000,0.000,3212,1950,2117
$GC,19529,2.31,173.3,192.6,8.1,1513,19535,0.00,1.85,0.00,0.000,4,0.000,0.058,3212,906,2117
$GC,19608,2.31,176.3,186.3,7.7,1527,19620,0.00,1.75,4.40,0.623,6,0.000,0.030,3212,1954,2105
$GC,19960,2.39,205.8,161.4,5.2,1589,19993,0.00,1.95,25.58,0.832,4,0.000,0.053,3212,908,1985
$GC,20195,2.44,221.6,144.7,6.5,1631,20219,0.12,1.70,14.38,0.784,6,0.069,0.028,3248,1932,1920
$GC,20558,2.49,237.8,120.7,6.5,1695,20580,0.00,1.90,14.52,0.759,4,0.000,0.045,3248,2998,1854
$GC,20833,2.55,249.2,100.9,6.9,1744,20850,0.00,1.92,10.68,0.713,6,0.000,0.031,3248,1866,1808
$GC,21191,2.62,261.1,77.4,6.9,1807,21209,0.12,1.98,11.35,0.688,4,0.062,0.039,3288,3000,1759
$GC,21462,2.64,273.1,58.7,6.9,1855,21479,0.00,1.83,11.45,0.668,6,0.000,0.029,3288,1896,1710
$GC,21819,2.71,291.0,32.5,6.3,1918,21841,0.00,1.95,16.00,0.655,4,0.000,0.038,3288,3015,1638
$GC,22096,2.76,296.7,12.8,7.5,1967,22107,0.00,1.90,6.18,0.545,6,0.000,0.027,3288,1861,1615
$STATE,22242,end climb,SURFACE_DEPTH_REACHED
$STATE,22243,begin surface coast
$FINISH,0.0,1.021508
$STATE,22276,end surface coast,CONTROL_FINISHED_OK
$STATE,22276,begin surface
$SM_CCo,22297,123.38,0.627,0,0,785,500.17
$SM_GC,-6.03,0.00,0.00,123.38,0.000,0.000,0.627,414,2333,785,-10.56,0.23,500.17
$IRIDIUM_FIX,1245.46,12045.31,060697,080847
$TT8_MAMPS,0.026078
$HUMID,1758
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.00
$XPDR_PINGS,438
$ALTIM_BOTTOM_PING,960.9,51.7
$24V_AH,23.1,17.689
$10V_AH,10.2,14.225
$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,28.150,115.150,333.400,123.375,0.000,29.038,36.389,203.501,121.750,0.000,0.000,16.269,3268.990,14727.272,585.748,3674.743,565.488,0.000,2281.793,0.000,3617.322,0.000,91.685
$DEVICE_MAMPS,171.808,189.449,1444.261,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1357.665,803.531,753.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110211,1999
$CAP_FILE_SIZE,198783,0
$CFSIZE,260165632,247390208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120308,175137,1250.172,12040.150,39,1.4,39,-0.8