version: 66.03
glider: 126
mission: 7
dive: 167
start: 3 23 108 0 41 48
data:
$ID,126
$MISSION,7
$DIVE,167
$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,-622596.31
$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
$GPS1,003437,1247.825,12018.844,34,0.9,34,-0.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.92
$_SM_ANGLEo,-58.3
$GPS2,004056,1247.899,12018.794,12,1.1,12,-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,235.5,7295,-22.8,-9.016
$D_GRID,951
$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,-64.70,0.000,6,0.000,0.000,414,2328,3140
$GC,95,-2.43,-76.7,0.8,-20.4,13,112,10.05,1.75,0.00,0.000,4,0.175,0.038,2175,3361,3141
$GC,366,-2.28,-76.7,72.4,-24.4,61,373,0.20,1.70,0.00,0.000,6,0.127,0.024,2211,2293,3143
$GC,710,-2.24,-76.7,129.3,-13.7,122,716,0.00,1.85,0.00,0.000,4,0.000,0.038,2211,3365,3144
$GC,918,-2.22,-76.7,159.2,-11.5,159,924,0.00,1.60,0.00,0.000,6,0.000,0.023,2211,2343,3145
$GC,1262,-2.22,-76.7,194.6,-11.4,220,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2336,3146
$GC,1605,-2.22,-76.7,233.8,-11.4,281,1610,0.00,1.73,0.00,0.000,4,0.000,0.038,2211,1311,3146
$GC,1717,-2.22,-76.7,246.3,-10.7,301,1723,0.00,1.73,0.00,0.000,6,0.000,0.026,2211,2363,3146
$GC,2044,-2.22,-76.7,281.5,-11.1,335,2048,0.00,1.73,0.00,0.000,4,0.000,0.045,2211,3374,3145
$GC,2180,-2.22,-76.7,297.1,-10.6,347,2184,0.00,1.60,0.00,0.000,6,0.000,0.027,2211,2375,3145
$GC,2511,-2.22,-76.7,332.1,-10.5,378,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2369,3143
$GC,2828,-2.22,-76.7,365.1,-9.8,408,2832,0.00,1.83,0.00,0.000,4,0.000,0.043,2211,1305,3141
$GC,2884,-2.22,-76.7,370.6,-10.0,413,2888,0.00,1.80,0.00,0.000,6,0.000,0.030,2211,2384,3141
$GC,3215,-2.22,-76.7,402.4,-10.0,444,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2384,3139
$GC,3532,-2.22,-76.7,434.0,-9.6,474,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2383,3137
$GC,3851,-2.22,-76.7,468.2,-11.9,504,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2384,3134
$GC,4169,-2.22,-76.7,504.9,-11.4,532,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2384,3133
$GC,4478,-2.22,-76.7,538.9,-10.9,547,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2385,3131
$GC,4789,-2.22,-76.7,570.4,-10.3,562,4793,0.00,1.98,0.00,0.000,4,0.000,0.072,2211,1316,3128
$GC,4838,-2.22,-76.7,575.8,-11.2,564,4843,0.00,1.90,0.00,0.000,6,0.000,0.054,2211,2366,3128
$GC,5166,-2.22,-76.7,608.8,-10.1,580,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2367,3126
$GC,5477,-2.22,-76.7,638.6,-9.3,595,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2367,3124
$GC,5784,-2.24,-76.7,667.3,-9.1,610,5788,0.00,1.80,0.00,0.000,4,0.000,0.053,2211,3388,3123
$GC,5867,-2.24,-76.7,675.1,-9.6,613,5874,0.00,1.67,0.00,0.000,6,0.000,0.031,2211,2400,3122
$GC,6184,-2.26,-76.7,705.7,-10.4,629,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2399,3121
$GC,6492,-2.28,-76.7,738.4,-10.8,644,6496,0.00,1.75,0.00,0.000,4,0.000,0.054,2211,3389,3119
$GC,6644,-2.28,-76.7,755.5,-11.0,650,6650,0.00,1.62,0.00,0.000,6,0.000,0.031,2211,2415,3119
$GC,6959,-2.31,-76.7,788.8,-10.1,666,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2414,3117
$GC,7269,-2.33,-76.7,818.5,-9.2,681,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2414,3116
$GC,7578,-2.36,-76.7,847.8,-9.6,696,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2414,3115
$GC,7887,-2.39,-76.7,877.9,-9.6,711,7891,0.00,1.95,0.00,0.000,4,0.000,0.058,2211,1313,3114
$GC,8012,-2.41,-76.7,889.6,-9.4,716,8017,0.12,1.90,0.00,0.000,6,0.071,0.036,2180,2427,3113
$GC,8333,-2.41,-76.7,923.8,-11.1,732,8337,0.00,1.98,0.00,0.000,4,0.000,0.048,2180,1302,3113
$GC,8406,-2.41,-76.7,931.8,-11.5,735,8409,0.00,1.90,0.00,0.000,6,0.000,0.035,2180,2417,3112
$STATE,8588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8588,begin apogee
$GC,8594,-0.51,0.0,951.8,11.0,744,8661,2.03,0.00,62.25,1.405,6,0.107,0.000,2597,1990,2825
$STATE,8661,end apogee,CONTROL_FINISHED_OK
$STATE,8662,begin climb
$GC,8664,2.43,76.7,954.7,0.0,747,8740,2.88,2.00,67.82,1.371,4,0.063,0.065,3243,924,2512
$GC,8943,2.40,99.6,942.0,6.9,759,8968,0.00,1.83,21.15,1.322,6,0.000,0.032,3243,1989,2419
$GC,9291,2.37,103.2,913.5,8.7,776,9298,0.00,0.00,4.40,0.921,6,0.000,0.000,3243,1989,2404
$GC,9599,2.33,103.2,884.1,10.2,791,9603,0.12,1.95,0.00,0.000,4,0.117,0.056,3220,918,2403
$GC,9856,2.31,112.6,863.2,8.2,802,9870,0.00,1.80,10.00,1.229,6,0.000,0.032,3221,1976,2365
$GC,10197,2.31,112.6,831.8,9.2,819,10201,0.00,1.92,0.00,0.000,4,0.000,0.057,3220,913,2363
$GC,10275,2.28,112.6,825.0,9.1,822,10279,0.00,1.80,0.00,0.000,6,0.000,0.032,3220,1956,2363
$GC,10596,2.30,123.4,799.8,8.0,838,10608,0.00,0.00,10.40,1.221,6,0.000,0.000,3220,1956,2322
$GC,10905,2.32,137.7,773.8,7.7,853,10927,0.00,1.92,14.48,1.253,4,0.000,0.051,3220,3027,2263
$GC,10989,2.34,146.6,767.0,8.2,856,11004,0.00,1.88,9.25,1.159,6,0.000,0.037,3220,1945,2227
$GC,11325,2.34,146.6,736.1,9.5,873,11329,0.00,1.88,0.00,0.000,4,0.000,0.048,3220,3008,2225
$GC,11375,2.34,146.6,731.2,9.8,875,11379,0.00,1.85,0.00,0.000,6,0.000,0.038,3220,1953,2225
$GC,11701,2.34,146.6,699.6,9.8,891,11705,0.00,1.88,0.00,0.000,4,0.000,0.049,3220,3017,2224
$GC,11796,2.34,146.6,690.2,9.8,895,11800,0.00,1.85,0.00,0.000,6,0.000,0.037,3220,1960,2224
$GC,12123,2.34,146.6,659.6,9.8,911,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1960,2224
$GC,12432,2.34,146.6,629.4,9.8,926,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1960,2224
$GC,12741,2.34,146.6,600.1,9.3,941,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1960,2224
$GC,13050,2.34,146.7,571.8,9.0,956,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1960,2223
$GC,13360,2.36,160.2,545.6,7.8,971,13381,0.00,1.95,12.77,1.109,4,0.000,0.048,3220,3013,2171
$GC,13494,2.38,168.9,534.7,8.2,977,13508,0.00,1.83,9.23,1.042,6,0.000,0.036,3220,1968,2135
$GC,13824,2.38,168.9,504.7,9.7,993,13827,0.00,1.90,0.00,0.000,4,0.000,0.061,3220,907,2134
$GC,13868,2.38,168.9,500.4,10.3,995,13872,0.00,1.83,0.00,0.000,6,0.000,0.031,3221,1980,2134
$GC,14198,2.38,168.9,470.6,9.2,1025,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1981,2134
$GC,14519,2.39,175.8,442.6,8.4,1055,14531,0.00,2.00,7.32,0.943,4,0.000,0.056,3220,917,2108
$GC,14576,2.39,175.8,437.0,9.1,1060,14580,0.00,1.85,0.00,0.000,6,0.000,0.031,3220,2004,2108
$GC,14906,2.39,176.5,406.8,9.0,1091,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2004,2108
$GC,15226,2.40,181.7,378.2,8.5,1121,15238,0.00,2.05,6.75,0.885,4,0.000,0.055,3220,910,2084
$GC,15276,2.40,181.7,373.5,9.4,1125,15282,0.00,1.85,0.00,0.000,6,0.000,0.031,3220,1983,2084
$GC,15602,2.41,187.4,345.6,8.5,1156,15614,0.00,1.85,6.78,0.866,4,0.000,0.048,3220,3010,2061
$GC,15664,2.41,187.4,339.9,9.1,1161,15670,0.00,1.80,0.00,0.000,6,0.000,0.042,3220,1979,2060
$GC,15991,2.43,187.4,309.4,9.1,1192,15994,0.00,1.90,0.00,0.000,4,0.000,0.058,3220,910,2060
$GC,16215,2.43,187.4,287.3,9.7,1212,16219,0.00,1.83,0.00,0.000,6,0.000,0.030,3220,1997,2059
$GC,16545,2.46,187.4,257.2,9.3,1243,16549,0.12,1.95,0.00,0.000,4,0.071,0.052,3255,903,2060
$GC,16802,2.46,187.4,232.6,10.1,1282,16808,0.00,1.80,0.00,0.000,6,0.000,0.029,3255,1980,2060
$GC,17146,2.46,188.9,201.1,8.9,1343,17151,0.00,1.90,0.00,0.000,4,0.000,0.052,3255,910,2060
$GC,17299,2.48,201.2,188.8,7.9,1370,17320,0.00,1.80,13.05,0.847,6,0.000,0.028,3255,1993,2004
$GC,17658,2.48,201.2,157.6,9.6,1434,17664,0.00,1.73,0.00,0.000,4,0.000,0.044,3255,3005,2003
$GC,17709,2.49,207.7,153.2,8.4,1443,17721,0.00,1.70,6.90,0.734,6,0.000,0.031,3255,1991,1978
$GC,18061,2.62,260.6,134.7,4.2,1505,18111,0.12,1.85,44.42,0.814,4,0.069,0.039,3292,3011,1762
$GC,18246,2.66,284.4,122.0,6.9,1538,18275,0.00,1.73,20.50,0.773,6,0.000,0.028,3291,1999,1665
$GC,18615,2.74,310.5,94.3,6.7,1603,18643,0.00,1.98,22.35,0.740,4,0.000,0.047,3292,915,1559
$GC,18896,2.81,322.6,71.0,7.9,1653,18914,0.12,1.75,11.50,0.683,6,0.065,0.025,3331,1991,1509
$GC,19254,2.87,334.5,43.4,7.9,1716,19272,0.00,1.90,11.02,0.649,4,0.000,0.043,3331,906,1461
$GC,19525,2.90,334.5,20.0,9.3,1764,19531,0.00,1.77,0.00,0.000,6,0.000,0.024,3331,1986,1461
$STATE,19743,end climb,SURFACE_DEPTH_REACHED
$STATE,19743,begin surface coast
$FINISH,-0.3,1.021523
$STATE,19772,end surface coast,CONTROL_FINISHED_OK
$STATE,19772,begin surface
$SM_CCo,19794,87.90,0.632,0,0,887,475.15
$SM_GC,-6.29,0.00,0.00,87.90,0.000,0.000,0.632,416,2330,887,-10.55,0.14,475.15
$IRIDIUM_FIX,1243.25,12021.43,160697,191938
$TT8_MAMPS,0.026078
$HUMID,1784
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.70
$XPDR_PINGS,431
$24V_AH,23.1,24.869
$10V_AH,10.1,20.169
$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,28.450,104.050,372.350,87.900,0.000,24.287,31.288,203.592,119.250,0.000,0.000,13.012,2956.650,12967.103,551.597,3206.169,602.626,0.000,2089.155,0.000,3171.932,0.000,84.241
$DEVICE_MAMPS,174.876,72.098,1405.144,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1227.259,435.091,701.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97754,1808
$CAP_FILE_SIZE,179521,0
$CFSIZE,260165632,243122176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230308,061425,1247.348,12016.904,39,1.7,39,-0.8