version: 66.03
glider: 126
mission: 7
dive: 164
start: 3 22 108 8 11 31
data:
$ID,126
$MISSION,7
$DIVE,164
$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,366
$T_MISSION,439
$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,475
$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,-622536.38
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,080425,1249.471,12024.728,24,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.18
$_SM_ANGLEo,-58.0
$GPS2,081039,1249.481,12024.713,12,1.5,12,-0.8
$SPEED_LIMITS,0.156,0.166
$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,247.5,18113,-22.8,-9.016
$D_GRID,943
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-63.75,0.000,6,0.000,0.000,414,2329,3141
$GC,95,-2.43,-76.7,0.7,-19.7,13,112,10.05,1.77,0.00,0.000,4,0.174,0.037,2175,3377,3142
$GC,220,-2.29,-76.7,37.9,-22.1,35,227,0.17,1.75,0.00,0.000,6,0.130,0.023,2206,2277,3143
$GC,564,-2.22,-76.7,105.3,-17.6,96,570,0.00,1.90,0.00,0.000,4,0.000,0.038,2206,3378,3144
$GC,610,-2.15,-76.7,113.0,-16.7,104,617,0.12,1.67,0.00,0.000,6,0.110,0.023,2235,2337,3144
$GC,954,-2.15,-76.7,156.0,-9.2,165,960,0.00,1.70,0.00,0.000,4,0.000,0.034,2235,1306,3146
$GC,999,-2.15,-76.7,160.5,-10.1,173,1005,0.00,1.65,0.00,0.000,6,0.000,0.024,2235,2330,3146
$GC,1344,-2.15,-76.7,193.2,-9.5,234,1349,0.00,1.75,0.00,0.000,4,0.000,0.041,2235,3370,3147
$GC,1569,-2.15,-76.7,218.5,-10.7,274,1575,0.00,1.67,0.00,0.000,6,0.000,0.025,2235,2316,3147
$GC,1910,-2.17,-76.7,253.6,-10.1,332,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2309,3147
$GC,2230,-2.21,-83.6,282.8,-8.4,362,2233,0.00,1.80,0.00,0.000,4,0.000,0.044,2235,3360,3145
$GC,2280,-2.21,-88.1,287.4,-8.6,366,2286,0.00,1.67,0.00,0.000,6,0.000,0.026,2235,2338,3144
$GC,2605,-2.24,-88.1,321.1,-11.5,397,2609,0.00,1.77,0.00,0.000,4,0.000,0.046,2235,3364,3143
$GC,2650,-2.24,-88.1,326.4,-11.2,401,2653,0.00,1.67,0.00,0.000,6,0.000,0.028,2235,2333,3142
$GC,2983,-2.27,-88.1,360.0,-9.9,432,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2328,3140
$GC,3309,-2.30,-88.1,392.5,-9.9,463,3313,0.12,1.80,0.00,0.000,4,0.068,0.047,2201,3364,3138
$GC,3387,-2.30,-88.1,400.9,-10.3,470,3390,0.00,1.67,0.00,0.000,6,0.000,0.029,2202,2350,3138
$GC,3717,-2.30,-88.1,433.5,-9.8,501,3721,0.00,1.85,0.00,0.000,4,0.000,0.048,2201,1279,3136
$GC,3767,-2.30,-88.1,438.7,-9.8,505,3773,0.00,1.80,0.00,0.000,6,0.000,0.032,2201,2333,3135
$GC,4093,-2.30,-88.1,472.9,-11.5,536,4096,0.00,1.80,0.00,0.000,4,0.000,0.053,2201,3370,3133
$GC,4171,-2.30,-88.1,481.9,-11.2,543,4175,0.00,1.70,0.00,0.000,6,0.000,0.032,2201,2374,3133
$GC,4498,-2.30,-88.1,515.5,-9.9,567,4502,0.00,1.98,0.00,0.000,4,0.000,0.064,2201,1285,3131
$GC,4564,-2.30,-88.1,522.1,-9.5,570,4568,0.00,1.85,0.00,0.000,6,0.000,0.040,2201,2359,3131
$GC,4896,-2.30,-88.1,557.1,-12.0,586,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2360,3128
$GC,5206,-2.30,-88.1,592.1,-10.8,601,5210,0.00,1.88,0.00,0.000,4,0.000,0.081,2201,3374,3126
$GC,5318,-2.30,-88.1,604.3,-10.9,606,5322,0.00,1.73,0.00,0.000,6,0.000,0.032,2201,2364,3125
$GC,5650,-2.30,-88.1,637.3,-9.5,622,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2363,3124
$GC,5962,-2.30,-88.1,671.3,-11.1,637,5966,0.00,1.80,0.00,0.000,4,0.000,0.055,2202,3379,3122
$GC,6034,-2.30,-88.1,679.6,-10.7,640,6039,0.00,1.75,0.00,0.000,6,0.000,0.031,2201,2355,3121
$GC,6363,-2.30,-88.1,711.5,-9.5,656,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2355,3120
$GC,6672,-2.30,-88.1,741.2,-9.4,671,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2355,3118
$GC,6980,-2.30,-88.1,772.1,-10.1,686,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2354,3117
$GC,7288,-2.30,-88.1,803.0,-9.7,701,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2354,3116
$GC,7597,-2.30,-88.1,832.8,-9.7,716,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2353,3115
$GC,7906,-2.30,-88.1,865.2,-10.3,731,7910,0.00,1.83,0.00,0.000,4,0.000,0.058,2201,3381,3114
$GC,8012,-2.30,-88.1,876.1,-10.1,735,8018,0.00,1.73,0.00,0.000,6,0.000,0.033,2201,2372,3113
$GC,8328,-2.33,-88.1,906.1,-9.2,751,8331,0.00,1.95,0.00,0.000,4,0.000,0.060,2201,1274,3112
$GC,8452,-2.33,-88.1,917.3,-9.1,756,8455,0.00,1.88,0.00,0.000,6,0.000,0.035,2201,2378,3112
$STATE,8751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8751,begin apogee
$GC,8757,-0.51,0.0,944.8,9.3,771,8823,1.90,0.00,61.90,1.404,6,0.098,0.000,2600,1952,2825
$STATE,8824,end apogee,CONTROL_FINISHED_OK
$STATE,8824,begin climb
$GC,8826,2.45,88.1,946.3,0.0,774,8913,2.88,0.00,78.18,1.368,6,0.062,0.000,3244,1952,2466
$GC,9222,2.41,88.8,917.8,8.9,794,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1952,2461
$GC,9531,2.39,98.7,891.3,8.1,809,9546,0.00,1.92,10.10,1.225,4,0.000,0.062,3244,912,2422
$GC,9799,2.34,103.8,868.0,8.6,820,9809,0.12,1.80,5.88,1.063,6,0.117,0.032,3221,1970,2401
$GC,10120,2.37,119.5,844.3,7.6,835,10139,0.00,0.00,15.43,1.283,6,0.000,0.000,3221,1970,2337
$GC,10448,2.37,120.6,815.3,8.9,851,10452,0.00,1.83,0.00,0.000,4,0.000,0.050,3221,3017,2335
$GC,10565,2.38,127.1,804.6,8.4,856,10582,0.00,1.83,8.10,1.156,6,0.000,0.037,3221,1956,2306
$GC,10890,2.41,146.0,777.0,7.3,872,10914,0.00,1.98,18.02,1.264,4,0.000,0.064,3221,912,2229
$GC,10993,2.41,146.0,767.3,9.3,876,10999,0.00,1.85,0.00,0.000,6,0.000,0.031,3221,1976,2228
$GC,11308,2.41,146.0,738.6,9.9,892,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1976,2227
$GC,11617,2.41,146.0,707.5,10.1,907,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1976,2226
$GC,11927,2.41,146.0,676.7,10.2,922,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1977,2226
$GC,12236,2.41,146.0,645.7,10.3,937,12239,0.00,1.92,0.00,0.000,4,0.000,0.058,3221,913,2226
$GC,12285,2.41,146.0,640.6,10.4,939,12289,0.00,1.85,0.00,0.000,6,0.000,0.031,3221,1986,2226
$GC,12612,2.41,146.0,608.7,9.6,955,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1986,2225
$GC,12921,2.41,146.0,579.3,9.5,970,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1986,2225
$GC,13232,2.42,151.1,552.1,8.6,985,13239,0.00,0.00,5.20,0.893,6,0.000,0.000,3221,1986,2209
$GC,13540,2.42,151.5,524.7,9.0,1000,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1987,2209
$GC,13849,2.42,151.5,496.8,9.1,1016,13853,0.00,1.95,0.00,0.000,4,0.000,0.058,3221,906,2209
$GC,13963,2.42,151.5,486.2,9.6,1026,13966,0.00,1.80,0.00,0.000,6,0.000,0.032,3221,1968,2208
$GC,14294,2.42,151.5,453.5,9.6,1057,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1969,2209
$GC,14612,2.43,158.1,425.7,8.4,1087,14622,0.00,0.00,7.82,0.951,6,0.000,0.000,3221,1969,2180
$GC,14941,2.44,160.8,396.7,8.8,1118,14950,0.00,0.00,4.25,0.735,6,0.000,0.000,3221,1970,2169
$GC,15270,2.45,171.1,368.9,8.1,1149,15285,0.10,1.95,10.57,0.963,4,0.079,0.055,3249,907,2126
$GC,15420,2.46,172.7,355.6,8.9,1162,15424,0.00,1.80,0.00,0.000,6,0.000,0.031,3248,1968,2126
$GC,15751,2.46,172.7,326.2,9.3,1193,15755,0.00,1.90,0.00,0.000,4,0.000,0.055,3249,911,2126
$GC,15846,2.46,175.1,317.1,8.8,1201,15855,0.00,1.77,4.88,0.746,6,0.000,0.031,3249,1947,2111
$GC,16181,2.47,179.5,286.4,8.6,1233,16191,0.00,0.00,5.72,0.782,6,0.000,0.000,3248,1948,2093
$GC,16511,2.47,180.2,258.7,9.0,1264,16514,0.00,1.88,0.00,0.000,4,0.000,0.054,3248,900,2092
$GC,16612,2.47,181.2,249.7,8.9,1273,16618,0.00,1.77,0.00,0.000,6,0.000,0.031,3249,1958,2092
$GC,16956,2.48,187.6,219.8,8.4,1334,16967,0.00,0.00,8.50,0.822,6,0.000,0.000,3248,1959,2060
$GC,17304,2.50,198.6,190.7,8.0,1396,17321,0.00,1.92,10.68,0.828,4,0.000,0.055,3249,900,2014
$GC,17355,2.53,214.2,186.8,7.6,1405,17377,0.00,1.80,14.68,0.834,6,0.000,0.029,3249,1968,1950
$GC,17716,2.58,222.8,156.2,8.2,1469,17733,0.10,1.95,8.50,0.765,4,0.074,0.051,3278,910,1916
$GC,17761,2.59,232.1,152.1,8.2,1477,17778,0.00,1.73,9.38,0.762,6,0.000,0.036,3278,1939,1877
$GC,18116,2.71,284.5,127.6,4.3,1540,18166,0.00,0.00,43.38,0.802,6,0.000,0.000,3278,1940,1664
$GC,18506,2.78,293.6,97.4,8.2,1609,18524,0.15,1.88,8.50,0.689,4,0.059,0.046,3326,908,1628
$GC,18777,2.83,310.0,72.9,7.5,1657,18800,0.00,1.80,15.18,0.708,6,0.000,0.025,3326,2012,1560
$GC,19140,2.89,327.9,49.2,7.4,1721,19162,0.00,1.98,15.88,0.677,4,0.000,0.042,3326,893,1487
$GC,19388,2.92,330.6,27.0,8.8,1765,19400,0.00,1.83,3.88,0.451,6,0.000,0.023,3326,2021,1477
$STATE,19673,end climb,SURFACE_DEPTH_REACHED
$STATE,19673,begin surface coast
$FINISH,-0.0,1.021698
$STATE,19697,end surface coast,CONTROL_FINISHED_OK
$STATE,19697,begin surface
$SM_CCo,19718,91.18,0.635,0,0,887,475.15
$SM_GC,-6.04,0.00,0.00,91.18,0.000,0.000,0.635,413,2331,887,-10.57,0.17,475.15
$IRIDIUM_FIX,1243.25,12027.48,160697,020240
$TT8_MAMPS,0.026078
$HUMID,1804
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.70
$XPDR_PINGS,412
$24V_AH,23.1,24.404
$10V_AH,10.1,19.833
$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,28.375,95.675,374.575,91.175,0.000,25.324,36.685,188.924,114.250,0.000,0.000,13.518,2948.616,12978.614,591.546,3118.857,567.525,0.000,2077.656,0.000,3082.222,0.000,82.431
$DEVICE_MAMPS,174.109,81.302,1403.610,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1234.365,423.200,710.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97793,1820
$CAP_FILE_SIZE,176377,0
$CFSIZE,260165632,243388416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220308,134255,1248.771,12022.721,38,1.2,38,-0.8