version: 66.03
glider: 126
mission: 7
dive: 120
start: 3 13 108 0 25 37
data:
$ID,126
$MISSION,7
$DIVE,120
$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,-621779.62
$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,43
$R_STBD_OVSHOOT,54
$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
$GPS1,001537,1249.392,12038.255,30,1.3,30,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.48
$_SM_ANGLEo,-57.2
$GPS2,002445,1249.296,12038.297,17,1.3,17,-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,261.4,41736,-22.0,-7.990
$D_GRID,1659
$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,-67.45,0.000,6,0.000,0.000,418,2342,3102
$GC,92,-2.33,-67.0,-0.2,-14.8,13,109,10.05,1.83,0.00,0.000,4,0.171,0.034,2196,1270,3103
$GC,300,-2.21,-67.0,53.6,-22.0,50,307,0.12,1.73,0.00,0.000,6,0.110,0.025,2224,2312,3104
$GC,646,-2.15,-67.0,114.6,-15.1,111,651,0.00,1.80,0.00,0.000,4,0.000,0.045,2224,3370,3105
$GC,764,-2.08,-67.0,133.6,-15.0,132,771,0.12,1.75,0.00,0.000,6,0.107,0.025,2252,2298,3106
$GC,1108,-2.08,-67.0,176.9,-10.2,193,1114,0.00,1.85,0.00,0.000,4,0.000,0.045,2252,3367,3107
$GC,1345,-2.08,-67.0,202.7,-10.4,235,1351,0.00,1.67,0.00,0.000,6,0.000,0.026,2252,2324,3107
$GC,1687,-2.08,-67.0,238.8,-10.6,296,1694,0.00,1.75,0.00,0.000,4,0.000,0.040,2252,1299,3106
$GC,1762,-2.08,-67.0,246.2,-10.0,309,1768,0.00,1.67,0.00,0.000,6,0.000,0.029,2252,2309,3106
$GC,2090,-2.11,-67.0,280.0,-9.1,343,2094,0.00,1.75,0.00,0.000,4,0.000,0.041,2252,1285,3106
$GC,2150,-2.11,-67.0,286.1,-9.6,348,2157,0.00,1.70,0.00,0.000,6,0.000,0.029,2252,2290,3105
$GC,2477,-2.13,-67.0,317.0,-9.9,379,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2290,3103
$GC,2795,-2.16,-67.0,348.2,-9.6,409,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2290,3101
$GC,3115,-2.19,-67.0,379.4,-9.7,439,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2290,3100
$GC,3432,-2.23,-67.0,411.0,-9.9,469,3436,0.12,1.92,0.00,0.000,4,0.069,0.061,2218,3374,3097
$GC,3554,-2.23,-67.0,424.8,-11.5,480,3558,0.00,1.85,0.00,0.000,6,0.000,0.038,2218,2294,3096
$GC,3885,-2.23,-67.0,457.2,-9.6,511,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2294,3094
$GC,4202,-2.23,-67.0,489.0,-10.5,541,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2293,3092
$GC,4527,-2.23,-67.0,520.0,-9.8,562,4532,0.00,2.00,0.00,0.000,4,0.000,0.075,2218,3371,3090
$GC,4667,-2.23,-67.0,533.8,-9.6,568,4670,0.00,1.92,0.00,0.000,6,0.000,0.050,2218,2279,3089
$GC,4993,-2.23,-67.0,563.1,-8.7,584,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2277,3086
$GC,5304,-2.23,-67.0,591.6,-9.2,599,5308,0.00,2.10,0.00,0.000,4,0.000,0.093,2218,3368,3084
$GC,5404,-2.23,-67.0,601.5,-9.7,603,5408,0.00,2.03,0.00,0.000,6,0.000,0.072,2218,2293,3084
$GC,5726,-2.23,-67.0,630.9,-9.3,619,5729,0.00,1.98,0.00,0.000,4,0.000,0.098,2218,1257,3082
$GC,5797,-2.23,-67.0,637.9,-9.6,622,5802,0.00,1.92,0.00,0.000,6,0.000,0.079,2218,2264,3082
$GC,6124,-2.23,-67.0,668.2,-9.4,638,6128,0.00,2.22,0.00,0.000,4,0.000,0.124,2218,3364,3080
$GC,6235,-2.23,-67.0,679.4,-10.6,643,6240,0.00,2.15,0.00,0.000,6,0.000,0.107,2218,2301,3078
$GC,6565,-2.23,-67.0,710.3,-9.3,659,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2302,3077
$GC,6872,-2.25,-67.0,737.7,-8.7,674,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2301,3076
$GC,7181,-2.27,-67.0,763.8,-8.5,689,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2301,3075
$GC,7493,-2.29,-67.0,791.2,-8.6,704,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2297,3073
$GC,7800,-2.31,-67.6,817.0,-7.9,719,7803,0.00,1.95,0.00,0.000,4,0.000,0.067,2218,3370,3073
$GC,7894,-2.31,-67.6,825.0,-8.0,723,7898,0.00,1.90,0.00,0.000,6,0.000,0.039,2218,2281,3072
$GC,8222,-2.34,-67.6,853.4,-9.0,739,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2281,3071
$GC,8531,-2.36,-67.6,880.1,-8.7,754,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2281,3070
$GC,8839,-2.39,-67.6,907.2,-9.2,769,8841,0.12,0.00,0.00,0.000,6,0.078,0.000,2188,2281,3069
$GC,9150,-2.39,-67.6,937.4,-9.6,784,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2280,3068
$GC,9457,-2.39,-67.6,964.0,-8.8,799,9461,0.00,2.00,0.00,0.000,4,0.000,0.071,2188,3368,3067
$GC,9631,-2.39,-67.6,979.5,-9.3,806,9637,0.00,1.85,0.00,0.000,6,0.000,0.044,2188,2303,3067
$STATE,9759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9759,begin apogee
$GC,9764,-0.51,0.0,991.0,9.0,813,9821,1.98,0.00,53.00,1.450,6,0.104,0.000,2597,1965,2825
$STATE,9822,end apogee,CONTROL_FINISHED_OK
$STATE,9822,begin climb
$GC,9824,2.34,67.6,992.1,0.0,816,9894,2.78,2.05,60.40,1.417,4,0.065,0.076,3219,914,2548
$GC,9963,2.31,91.5,986.1,5.7,822,9993,0.00,1.83,22.17,1.360,6,0.000,0.036,3219,1965,2452
$GC,10303,2.27,91.5,955.7,9.1,839,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1965,2449
$GC,10611,2.23,91.5,928.7,8.4,854,10613,0.12,0.00,0.00,0.000,6,0.119,0.000,3197,1965,2448
$GC,10921,2.22,98.2,906.3,7.4,869,10929,0.00,0.00,6.82,1.152,6,0.000,0.000,3196,1965,2424
$GC,11230,2.20,98.2,881.6,8.2,884,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1965,2423
$GC,11539,2.18,98.2,856.7,8.0,899,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1965,2422
$GC,11848,2.20,109.6,832.9,6.9,914,11864,0.00,1.98,11.32,1.263,4,0.000,0.061,3197,908,2377
$GC,12044,2.17,109.6,817.0,9.1,922,12047,0.00,1.83,0.00,0.000,6,0.000,0.036,3197,1951,2376
$GC,12375,2.17,109.6,790.1,8.0,938,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1951,2376
$GC,12686,2.17,109.6,764.8,8.5,953,12689,0.00,1.88,0.00,0.000,4,0.000,0.058,3197,3011,2376
$GC,12798,2.14,109.6,754.9,8.8,958,12801,0.00,1.90,0.00,0.000,6,0.000,0.048,3196,1934,2375
$GC,13131,2.14,109.6,726.5,8.4,974,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1934,2375
$GC,13438,2.14,109.6,701.1,8.1,989,13442,0.00,1.95,0.00,0.000,4,0.000,0.058,3197,3015,2375
$GC,13612,2.12,109.6,687.8,8.4,996,13619,0.12,1.90,0.00,0.000,6,0.118,0.047,3174,1935,2374
$GC,13929,2.13,116.9,665.7,7.3,1012,13938,0.00,0.00,7.57,1.091,6,0.000,0.000,3174,1935,2349
$GC,14236,2.13,116.9,640.9,8.4,1027,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1935,2348
$GC,14546,2.14,123.9,617.0,7.3,1042,14555,0.00,0.00,7.80,1.071,6,0.000,0.000,3174,1935,2319
$GC,14854,2.14,123.9,592.8,8.2,1057,14858,0.00,1.92,0.00,0.000,4,0.000,0.056,3174,3011,2319
$GC,14971,2.14,123.9,582.7,8.5,1062,14975,0.00,1.90,0.00,0.000,6,0.000,0.045,3174,1945,2319
$GC,15299,2.15,125.9,556.2,7.8,1078,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1945,2319
$GC,15607,2.15,130.3,533.0,7.6,1093,15616,0.00,0.00,7.40,1.004,6,0.000,0.000,3174,1945,2293
$GC,15916,2.16,136.4,508.4,7.4,1108,15927,0.00,1.98,6.80,0.966,4,0.000,0.054,3174,3007,2269
$GC,16180,2.16,136.4,486.4,9.7,1126,16184,0.00,1.85,0.00,0.000,6,0.000,0.044,3174,1951,2268
$GC,16509,2.16,136.4,456.7,8.8,1157,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1951,2268
$GC,16828,2.16,136.4,430.4,8.4,1187,16831,0.00,1.88,0.00,0.000,4,0.000,0.054,3174,3006,2269
$GC,16985,2.16,136.4,417.7,8.4,1201,16989,0.00,1.88,0.00,0.000,6,0.000,0.045,3174,1949,2268
$GC,17316,2.18,136.4,392.8,8.0,1232,17317,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1949,2269
$GC,17634,2.22,158.9,371.9,5.9,1262,17659,0.00,1.92,20.52,1.016,4,0.000,0.052,3174,3005,2177
$GC,17805,2.22,158.9,357.9,8.5,1277,17809,0.00,1.85,0.00,0.000,6,0.000,0.041,3174,1960,2175
$GC,18135,2.25,159.5,330.3,7.9,1308,18136,0.12,0.00,0.00,0.000,6,0.076,0.000,3206,1960,2175
$GC,18455,2.25,159.5,302.6,8.6,1338,18458,0.00,1.88,0.00,0.000,4,0.000,0.062,3206,910,2175
$GC,18544,2.25,159.5,294.8,8.0,1346,18548,0.00,1.77,0.00,0.000,6,0.000,0.031,3206,1969,2175
$GC,18874,2.25,159.5,267.8,8.1,1377,18875,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1969,2175
$GC,19200,2.25,159.6,241.6,8.0,1416,19206,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1969,2176
$GC,19543,2.28,174.9,217.0,6.5,1477,19560,0.00,0.00,15.00,0.870,6,0.000,0.000,3206,1970,2111
$GC,19899,2.30,176.7,191.1,7.8,1540,19905,0.00,1.92,0.00,0.000,4,0.000,0.053,3205,905,2110
$GC,19933,2.31,181.1,188.4,7.6,1546,19946,0.00,1.77,6.80,0.745,6,0.000,0.030,3206,1955,2086
$GC,20285,2.41,222.3,164.6,4.1,1608,20329,0.12,1.90,35.08,0.834,4,0.070,0.048,3241,3000,1917
$GC,20582,2.41,222.3,140.3,8.4,1661,20588,0.00,1.70,0.00,0.000,6,0.000,0.033,3241,1990,1915
$GC,20926,2.45,226.0,117.6,7.6,1722,20938,0.00,1.80,4.30,0.549,4,0.000,0.043,3241,3002,1903
$GC,20973,2.49,233.6,114.1,7.3,1730,20985,0.00,1.73,7.93,0.692,6,0.000,0.031,3241,1986,1872
$GC,21324,2.53,233.6,90.7,9.0,1792,21330,0.00,1.88,0.00,0.000,4,0.000,0.048,3241,916,1872
$GC,21409,2.59,251.9,84.8,6.3,1807,21433,0.15,1.67,16.55,0.719,6,0.059,0.026,3285,1948,1798
$GC,21773,2.64,268.5,61.1,6.4,1871,21795,0.00,1.85,15.07,0.683,4,0.000,0.044,3285,922,1729
$GC,21835,2.66,277.4,56.7,7.1,1882,21852,0.00,1.65,8.77,0.627,6,0.000,0.025,3285,1925,1693
$GC,22192,2.73,299.2,32.5,5.9,1945,22220,0.00,1.88,18.98,0.658,4,0.000,0.041,3285,2983,1604
$GC,22474,2.78,302.8,11.6,7.7,1995,22487,0.15,1.67,4.72,0.484,6,0.057,0.027,3331,1956,1589
$STATE,22610,end climb,SURFACE_DEPTH_REACHED
$STATE,22610,begin surface coast
$FINISH,0.5,1.021402
$STATE,22632,end surface coast,CONTROL_FINISHED_OK
$STATE,22633,begin surface
$SM_CCo,22653,119.50,0.623,0,0,785,500.17
$SM_GC,-5.71,0.00,0.00,119.50,0.000,0.000,0.623,415,2325,785,-10.56,0.00,500.17
$IRIDIUM_FIX,1243.25,12042.28,070697,000013
$TT8_MAMPS,0.026078
$HUMID,1708
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,380
$24V_AH,23.1,17.997
$10V_AH,10.2,14.497
$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,28.775,102.050,337.025,119.500,0.000,56.101,64.272,232.090,107.500,0.000,0.000,17.474,3312.957,15148.591,569.216,3650.821,657.692,0.000,2248.497,0.000,3586.754,0.000,91.489
$DEVICE_MAMPS,171.041,124.254,1449.630,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1375.268,809.958,756.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110333,2023
$CAP_FILE_SIZE,201434,0
$CFSIZE,260165632,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130308,064625,1247.895,12036.917,40,1.0,40,-0.8