version: 66.03
glider: 126
mission: 7
dive: 157
start: 3 20 108 13 3 31
data:
$ID,126
$MISSION,7
$DIVE,157
$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,-622420.12
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,125638,1250.788,12041.573,31,0.9,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.30
$_SM_ANGLEo,-56.5
$GPS2,130238,1250.770,12041.597,12,1.3,17,-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,259.4,48092,-22.0,-7.990
$D_GRID,1169
$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,-67.0,0.0,0.0,0,90,0.00,0.00,-66.20,0.000,6,0.000,0.000,413,2333,3102
$GC,93,-2.33,-67.0,0.9,-17.4,13,110,10.05,1.75,0.00,0.000,4,0.170,0.036,2198,3364,3104
$GC,296,-2.19,-67.0,53.5,-22.7,49,302,0.17,1.70,0.00,0.000,6,0.128,0.023,2230,2293,3104
$GC,639,-2.14,-67.0,110.8,-14.1,110,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2286,3106
$GC,982,-2.12,-67.0,154.3,-10.6,171,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2286,3106
$GC,1324,-2.12,-67.0,189.4,-9.8,232,1331,0.00,1.85,0.00,0.000,4,0.000,0.040,2230,3365,3107
$GC,1506,-2.12,-67.0,209.7,-11.6,264,1512,0.00,1.65,0.00,0.000,6,0.000,0.025,2230,2336,3107
$GC,1849,-2.12,-67.0,247.3,-11.2,325,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2330,3107
$GC,2175,-2.12,-67.0,282.5,-9.4,358,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2330,3107
$GC,2493,-2.12,-67.0,313.4,-9.5,388,2497,0.00,1.73,0.00,0.000,4,0.000,0.041,2230,1314,3104
$GC,2542,-2.12,-67.0,318.0,-8.7,392,2549,0.00,1.75,0.00,0.000,6,0.000,0.028,2230,2354,3104
$GC,2870,-2.12,-67.0,349.5,-9.5,423,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2354,3102
$GC,3185,-2.12,-67.0,380.6,-9.4,453,3189,0.00,1.75,0.00,0.000,4,0.000,0.049,2230,3372,3100
$GC,3309,-2.12,-67.0,392.6,-10.4,464,3312,0.00,1.60,0.00,0.000,6,0.000,0.030,2230,2395,3098
$GC,3639,-2.12,-67.0,423.6,-9.5,495,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2395,3097
$GC,3957,-2.12,-67.0,454.0,-9.5,525,3960,0.00,1.73,0.00,0.000,4,0.000,0.052,2230,3377,3094
$GC,4024,-2.12,-67.0,461.1,-11.3,531,4027,0.00,1.62,0.00,0.000,6,0.000,0.032,2230,2403,3094
$GC,4355,-2.12,-67.0,494.2,-9.3,562,4358,0.00,1.92,0.00,0.000,4,0.000,0.062,2230,1323,3091
$GC,4454,-2.12,-67.0,503.8,-9.1,569,4458,0.00,1.77,0.00,0.000,6,0.000,0.039,2230,2347,3090
$GC,4775,-2.12,-67.0,532.1,-8.8,585,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2347,3089
$GC,5086,-2.12,-67.0,561.1,-9.5,600,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2347,3086
$GC,5394,-2.12,-67.0,589.9,-9.3,615,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2347,3084
$GC,5704,-2.14,-67.0,619.4,-9.4,630,5708,0.00,1.95,0.00,0.000,4,0.000,0.085,2230,1333,3082
$GC,5787,-2.14,-67.0,627.5,-9.3,633,5793,0.00,1.90,0.00,0.000,6,0.000,0.071,2230,2349,3082
$GC,6103,-2.16,-67.0,657.7,-9.7,649,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2348,3080
$GC,6412,-2.18,-67.0,685.2,-8.8,664,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2349,3078
$GC,6721,-2.21,-67.0,713.2,-9.5,679,6724,0.00,2.12,0.00,0.000,4,0.000,0.129,2230,1329,3077
$GC,6856,-2.23,-67.0,725.9,-9.1,685,6860,0.00,2.08,0.00,0.000,6,0.000,0.117,2230,2348,3076
$GC,7189,-2.26,-67.0,756.7,-8.8,701,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2348,3075
$GC,7498,-2.28,-67.0,782.9,-8.5,716,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2353,3074
$GC,7809,-2.31,-67.0,811.1,-9.5,731,7813,0.12,1.83,0.00,0.000,4,0.071,0.050,2198,1320,3073
$GC,7893,-2.31,-67.0,820.4,-10.7,734,7899,0.00,1.80,0.00,0.000,6,0.000,0.036,2198,2379,3073
$GC,8210,-2.31,-67.0,851.1,-9.6,750,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2380,3071
$GC,8517,-2.31,-67.0,879.8,-8.8,765,8522,0.00,1.90,0.00,0.000,4,0.000,0.051,2198,1322,3070
$GC,8618,-2.31,-67.0,888.7,-9.4,769,8621,0.00,1.77,0.00,0.000,6,0.000,0.037,2198,2367,3070
$GC,8938,-2.31,-67.0,918.2,-9.2,785,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2368,3069
$GC,9248,-2.31,-67.0,947.7,-9.7,800,9251,0.00,1.88,0.00,0.000,4,0.000,0.053,2198,1325,3068
$GC,9354,-2.31,-67.0,957.9,-9.8,804,9360,0.00,1.73,0.00,0.000,6,0.000,0.038,2198,2334,3068
$GC,9670,-2.32,-73.3,983.3,-7.4,820,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2334,3067
$STATE,9773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9773,begin apogee
$GC,9778,-0.51,0.0,991.0,7.5,825,9835,1.92,0.00,52.97,1.448,6,0.106,0.000,2597,2000,2826
$STATE,9836,end apogee,CONTROL_FINISHED_OK
$STATE,9836,begin climb
$GC,9838,2.34,73.3,992.0,0.0,828,9913,2.85,0.00,65.62,1.413,6,0.063,0.000,3225,2000,2526
$GC,10223,2.31,78.8,966.8,7.5,847,10230,0.00,0.00,5.90,1.097,6,0.000,0.000,3225,2000,2503
$GC,10531,2.27,83.8,943.9,7.5,862,10542,0.00,2.03,6.25,1.126,4,0.000,0.070,3225,917,2482
$GC,10743,2.21,83.8,926.7,8.7,871,10750,0.12,1.83,0.00,0.000,6,0.104,0.033,3197,1970,2482
$GC,11060,2.23,95.3,904.3,6.9,887,11079,0.00,0.00,11.68,1.298,6,0.000,0.000,3196,1970,2436
$GC,11388,2.25,105.6,880.6,7.0,903,11400,0.00,0.00,10.70,1.272,6,0.000,0.000,3196,1970,2394
$GC,11696,2.25,105.6,854.8,8.5,918,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1970,2392
$GC,12005,2.25,105.6,827.9,9.0,933,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1970,2392
$GC,12315,2.25,105.6,800.8,8.3,948,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1970,2392
$GC,12626,2.25,107.2,775.6,7.8,963,12629,0.00,1.92,0.00,0.000,4,0.000,0.060,3196,912,2391
$GC,12743,2.23,107.2,766.0,8.3,968,12746,0.00,1.83,0.00,0.000,6,0.000,0.033,3196,1964,2391
$GC,13071,2.26,126.0,743.5,6.2,984,13096,0.00,1.90,18.60,1.280,4,0.000,0.051,3196,3003,2311
$GC,13222,2.27,131.4,732.6,7.5,990,13233,0.00,1.80,6.50,1.070,6,0.000,0.048,3196,1965,2289
$GC,13554,2.27,131.4,706.6,8.2,1007,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1965,2288
$GC,13863,2.27,131.4,680.4,8.7,1022,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1965,2287
$GC,14174,2.27,131.4,653.5,8.9,1037,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1965,2287
$GC,14481,2.27,131.4,626.3,9.3,1052,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1965,2287
$GC,14790,2.27,131.4,600.0,8.3,1067,14794,0.00,1.85,0.00,0.000,4,0.000,0.052,3196,3017,2287
$GC,14896,2.27,131.4,591.4,8.0,1071,14902,0.00,1.83,0.00,0.000,6,0.000,0.038,3196,1972,2287
$GC,15211,2.28,140.0,568.0,7.2,1087,15222,0.00,0.00,8.85,1.069,6,0.000,0.000,3196,1971,2254
$GC,15520,2.28,140.0,542.1,8.3,1102,15524,0.00,1.83,0.00,0.000,4,0.000,0.048,3196,3012,2254
$GC,15598,2.28,140.0,535.1,8.9,1105,15602,0.00,1.77,0.00,0.000,6,0.000,0.036,3196,1991,2254
$GC,15919,2.28,140.0,508.1,8.0,1121,15920,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1991,2254
$GC,16234,2.28,140.0,482.9,8.1,1146,16238,0.00,1.92,0.00,0.000,4,0.000,0.061,3196,915,2254
$GC,16340,2.28,140.0,473.9,8.1,1155,16346,0.00,1.83,0.00,0.000,6,0.000,0.031,3196,1977,2254
$GC,16666,2.29,142.6,449.4,7.7,1186,16678,0.00,1.83,4.12,0.741,4,0.000,0.048,3196,3009,2243
$GC,16757,2.31,154.5,442.2,6.9,1194,16773,0.00,1.75,11.75,1.033,6,0.000,0.037,3196,1987,2195
$GC,17092,2.31,155.9,415.7,7.9,1225,17095,0.00,1.80,0.00,0.000,4,0.000,0.047,3196,3016,2194
$GC,17204,2.32,163.4,406.6,7.3,1235,17218,0.00,1.73,9.27,0.969,6,0.000,0.035,3196,2007,2158
$GC,17544,2.33,165.1,379.7,7.8,1267,17547,0.00,1.95,0.00,0.000,4,0.000,0.060,3197,914,2158
$GC,17612,2.33,165.1,374.1,8.4,1273,17616,0.00,1.83,0.00,0.000,6,0.000,0.031,3196,1999,2158
$GC,17943,2.36,169.5,348.8,7.6,1304,17953,0.12,0.00,6.57,0.857,6,0.072,0.000,3229,1999,2134
$GC,18270,2.36,169.5,320.0,8.7,1335,18274,0.00,1.95,0.00,0.000,4,0.000,0.055,3228,912,2134
$GC,18465,2.36,169.5,302.7,8.7,1352,18472,0.00,1.83,0.00,0.000,6,0.000,0.030,3229,1980,2134
$GC,18792,2.36,169.8,275.4,8.0,1383,18795,0.00,1.92,0.00,0.000,4,0.000,0.054,3229,904,2134
$GC,18950,2.38,182.2,263.0,6.8,1397,18971,0.00,1.77,12.55,0.901,6,0.000,0.030,3229,1965,2082
$GC,19300,2.38,182.2,235.0,8.1,1445,19306,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1966,2081
$GC,19643,2.38,183.5,207.6,7.9,1506,19649,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1967,2081
$GC,19986,2.39,189.1,182.5,7.5,1567,19999,0.00,1.95,7.40,0.761,4,0.000,0.051,3229,910,2054
$GC,20251,2.40,197.6,162.3,7.2,1614,20269,0.00,1.80,8.88,0.774,6,0.000,0.028,3229,1981,2019
$GC,20610,2.47,217.3,139.2,6.1,1677,20632,0.00,2.00,17.50,0.800,4,0.000,0.048,3229,904,1939
$GC,20870,2.57,248.8,124.0,5.0,1723,20904,0.17,1.73,27.00,0.785,6,0.058,0.026,3278,1956,1810
$GC,21242,2.62,266.0,98.5,6.4,1789,21259,0.00,0.00,15.25,0.735,6,0.000,0.000,3278,1956,1740
$GC,21598,2.69,282.0,74.6,6.5,1852,21615,0.00,0.00,14.10,0.700,6,0.000,0.000,3278,1956,1675
$GC,21955,2.78,307.4,52.4,5.6,1915,21983,0.15,1.92,22.30,0.686,4,0.055,0.045,3329,907,1570
$GC,22236,2.79,309.0,30.5,7.8,1965,22242,0.00,1.67,0.00,0.000,6,0.000,0.024,3328,1945,1569
$GC,22580,2.83,315.8,5.2,7.3,2026,22593,0.00,1.80,8.43,0.578,4,0.000,0.034,3329,2995,1537
$STATE,22636,end climb,SURFACE_DEPTH_REACHED
$STATE,22636,begin surface coast
$FINISH,-0.4,1.021200
$STATE,22682,end surface coast,CONTROL_FINISHED_OK
$STATE,22683,begin surface
$SM_CCo,22705,113.57,0.627,0,0,785,500.17
$SM_GC,-6.44,0.00,0.00,113.57,0.000,0.000,0.627,414,2260,785,-10.56,-1.84,500.17
$IRIDIUM_FIX,1247.67,12042.28,140697,090957
$TT8_MAMPS,0.026078
$HUMID,1772
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.90
$XPDR_PINGS,393
$24V_AH,23.1,23.272
$10V_AH,10.2,18.978
$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,28.350,95.075,352.200,113.575,0.000,30.004,34.230,174.713,110.750,0.000,0.000,17.451,3328.417,15064.066,597.318,3631.767,583.234,0.000,2263.365,0.000,3588.940,0.000,91.485
$DEVICE_MAMPS,170.274,128.856,1448.096,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1389.505,826.097,772.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110340,2044
$CAP_FILE_SIZE,194489,0
$CFSIZE,260165632,244023296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200308,192508,1250.880,12039.163,42,1.2,42,-0.8