version: 66.03
glider: 126
mission: 7
dive: 234
start: 4 6 108 6 1 43
data:
$ID,126
$MISSION,7
$DIVE,234
$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,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,-623842
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,59
$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
$GPS1,055425,1250.820,12029.651,25,1.0,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.69
$_SM_ANGLEo,-56.3
$GPS2,060051,1250.823,12029.699,13,1.1,13,-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,250.2,27398,-19.0,-9.016
$D_GRID,1337
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.70,0.000,6,0.000,0.000,416,2359,3321
$GC,97,-2.18,-120.8,0.1,-20.0,13,114,10.32,1.70,0.00,0.000,4,0.169,0.038,2251,3363,3323
$GC,177,-1.97,-120.8,24.4,-21.4,27,184,0.25,1.73,0.00,0.000,6,0.110,0.023,2300,2275,3323
$GC,521,-1.88,-120.8,82.1,-14.3,88,527,0.00,1.88,0.00,0.000,4,0.000,0.038,2300,3362,3325
$GC,781,-1.83,-120.8,115.3,-12.0,134,787,0.10,1.52,0.00,0.000,6,0.100,0.023,2324,2381,3326
$GC,1125,-1.87,-120.8,150.3,-9.6,195,1131,0.00,1.65,0.00,0.000,4,0.000,0.040,2324,3362,3328
$GC,1267,-1.91,-126.0,163.2,-8.7,220,1273,0.00,1.52,0.00,0.000,6,0.000,0.025,2324,2391,3328
$GC,1610,-1.96,-126.2,194.0,-9.0,281,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2390,3328
$GC,1954,-2.02,-126.2,224.3,-9.4,342,1960,0.15,0.00,0.00,0.000,6,0.057,0.000,2277,2390,3328
$GC,2298,-2.02,-126.2,257.2,-9.1,397,2302,0.00,1.83,0.00,0.000,4,0.000,0.037,2277,1310,3328
$GC,2366,-2.02,-126.2,263.4,-9.2,403,2369,0.00,1.85,0.00,0.000,6,0.000,0.027,2276,2429,3328
$GC,2697,-2.02,-126.2,295.4,-9.6,434,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2430,3326
$GC,3014,-2.02,-126.2,325.4,-9.8,464,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2430,3323
$GC,3332,-2.02,-126.2,358.8,-11.4,494,3336,0.00,1.92,0.00,0.000,4,0.000,0.041,2276,1315,3322
$GC,3360,-2.02,-126.2,361.6,-11.0,496,3366,0.00,1.83,0.00,0.000,6,0.000,0.030,2276,2406,3322
$GC,3685,-2.02,-126.2,393.1,-9.3,527,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2407,3319
$GC,4003,-2.02,-126.2,422.3,-9.1,557,4006,0.00,1.90,0.00,0.000,4,0.000,0.046,2277,1319,3317
$GC,4059,-2.02,-126.9,427.4,-9.0,562,4063,0.00,1.83,0.00,0.000,6,0.000,0.031,2276,2402,3317
$GC,4390,-2.02,-126.9,457.4,-9.5,593,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2403,3314
$GC,4709,-2.02,-126.9,488.7,-10.1,623,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2403,3312
$GC,5033,-2.02,-126.9,521.7,-9.9,644,5037,0.00,1.95,0.00,0.000,4,0.000,0.058,2276,1316,3310
$GC,5066,-2.02,-126.9,525.5,-10.7,645,5070,0.00,1.85,0.00,0.000,6,0.000,0.039,2276,2375,3310
$GC,5387,-2.02,-127.7,555.1,-9.0,661,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2375,3308
$GC,5696,-2.02,-127.7,583.4,-9.4,676,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2375,3306
$GC,6007,-2.02,-129.3,611.5,-8.9,691,6011,0.00,1.98,0.00,0.000,4,0.000,0.080,2276,1324,3305
$GC,6079,-2.02,-129.3,618.1,-9.1,694,6083,0.00,1.98,0.00,0.000,6,0.000,0.068,2276,2397,3304
$GC,6406,-2.04,-137.6,645.9,-8.5,710,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2397,3303
$GC,6715,-2.04,-137.6,673.9,-9.6,725,6718,0.00,2.15,0.00,0.000,4,0.000,0.107,2276,1320,3302
$GC,6805,-2.04,-137.6,682.8,-10.3,729,6808,0.00,2.08,0.00,0.000,6,0.000,0.096,2276,2381,3301
$GC,7137,-2.04,-137.6,713.5,-9.2,745,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2381,3299
$GC,7446,-2.05,-146.0,738.7,-8.1,760,7449,0.00,1.88,0.00,0.000,4,0.000,0.046,2276,1313,3298
$GC,7496,-2.05,-146.0,743.0,-8.4,762,7500,0.00,1.83,0.00,0.000,6,0.000,0.031,2277,2399,3297
$GC,7823,-2.05,-146.0,770.0,-8.4,778,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2399,3296
$GC,8132,-2.05,-146.0,795.7,-8.4,793,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2398,3295
$GC,8441,-2.05,-146.0,822.6,-9.3,808,8445,0.00,1.92,0.00,0.000,4,0.000,0.050,2276,1323,3294
$GC,8496,-2.05,-146.0,827.9,-9.9,810,8500,0.00,1.83,0.00,0.000,6,0.000,0.036,2276,2373,3294
$GC,8818,-2.05,-146.0,856.2,-8.6,826,8821,0.00,1.88,0.00,0.000,4,0.000,0.049,2276,1311,3293
$GC,8858,-2.05,-146.0,859.6,-8.4,827,8865,0.00,1.80,0.00,0.000,6,0.000,0.036,2276,2368,3293
$GC,9173,-2.05,-146.0,886.4,-8.4,843,9176,0.00,1.77,0.00,0.000,4,0.000,0.056,2276,3380,3292
$GC,9220,-2.05,-146.0,890.3,-9.2,845,9223,0.00,1.67,0.00,0.000,6,0.000,0.034,2276,2388,3292
$GC,9554,-2.08,-146.0,919.2,-8.8,861,9557,0.00,1.88,0.00,0.000,4,0.000,0.054,2276,1320,3291
$GC,9623,-2.08,-146.0,925.2,-8.1,864,9627,0.00,1.77,0.00,0.000,6,0.000,0.037,2276,2357,3291
$GC,9955,-2.08,-146.0,953.8,-8.4,880,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2357,3289
$GC,10268,-2.11,-146.0,980.7,-8.7,895,10272,0.00,1.80,0.00,0.000,4,0.000,0.058,2276,3384,3288
$GC,10323,-2.11,-146.0,986.1,-8.7,897,10327,0.00,1.73,0.00,0.000,6,0.000,0.034,2277,2382,3288
$STATE,10377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10377,begin apogee
$GC,10383,-0.52,0.0,990.7,8.9,900,10488,1.60,0.00,100.88,1.437,6,0.091,0.000,2617,2007,2825
$STATE,10488,end apogee,CONTROL_FINISHED_OK
$STATE,10488,begin climb
$GC,10491,2.22,146.0,994.2,0.0,905,10629,2.65,2.10,129.20,1.399,4,0.061,0.073,3217,907,2229
$GC,10731,2.09,146.0,981.3,10.3,915,10736,0.17,1.85,0.00,0.000,6,0.106,0.032,3183,1981,2224
$GC,11053,2.01,146.0,951.3,9.0,931,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1981,2222
$GC,11362,1.94,154.4,924.3,8.5,946,11377,0.15,2.05,7.32,1.151,4,0.112,0.060,3150,911,2195
$GC,11444,1.89,154.4,917.1,9.4,949,11450,0.00,1.77,0.00,0.000,6,0.000,0.032,3150,1949,2195
$GC,11760,1.89,173.2,891.9,7.9,965,11780,0.00,0.00,18.33,1.322,6,0.000,0.000,3150,1949,2119
$GC,12089,1.89,173.2,862.7,9.4,981,12092,0.00,1.85,0.00,0.000,4,0.000,0.050,3150,3013,2117
$GC,12150,1.85,173.2,856.7,9.7,983,12156,0.00,1.85,0.00,0.000,6,0.000,0.038,3151,1946,2116
$GC,12465,1.85,173.2,826.0,9.9,999,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1944,2115
$GC,12775,1.85,174.0,797.6,9.0,1014,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1945,2114
$GC,13084,1.85,175.0,769.9,9.0,1029,13087,0.00,1.88,0.00,0.000,4,0.000,0.048,3151,3013,2114
$GC,13169,1.83,184.8,762.0,8.4,1032,13185,0.00,1.83,11.23,1.215,6,0.000,0.037,3150,1952,2071
$GC,13500,1.83,184.8,731.6,9.2,1049,13504,0.00,1.88,0.00,0.000,4,0.000,0.048,3150,3015,2070
$GC,13600,1.84,190.2,722.2,8.7,1053,13612,0.00,1.83,6.35,1.052,6,0.000,0.037,3150,1973,2049
$GC,13922,1.86,202.4,695.2,8.3,1069,13936,0.00,0.00,12.32,1.190,6,0.000,0.000,3150,1973,2000
$GC,14230,1.88,214.3,669.0,8.3,1084,14251,0.00,1.92,12.27,1.168,4,0.000,0.047,3150,3011,1951
$GC,14301,1.88,214.3,662.5,9.2,1087,14305,0.00,1.80,0.00,0.000,6,0.000,0.036,3150,1989,1951
$GC,14628,1.88,214.3,631.8,9.7,1103,14632,0.00,1.80,0.00,0.000,4,0.000,0.047,3150,3015,1950
$GC,14689,1.88,214.3,625.9,9.2,1105,14695,0.00,1.80,0.00,0.000,6,0.000,0.037,3150,1988,1949
$GC,15004,1.88,214.3,596.5,9.2,1121,15008,0.00,1.80,0.00,0.000,4,0.000,0.047,3150,3015,1949
$GC,15072,1.88,214.3,589.9,9.7,1124,15075,0.00,1.75,0.00,0.000,6,0.000,0.038,3150,2000,1949
$GC,15404,1.88,215.2,559.0,9.0,1140,15408,0.00,1.77,0.00,0.000,4,0.000,0.047,3150,3015,1949
$GC,15453,1.88,215.2,554.1,10.0,1142,15457,0.00,1.75,0.00,0.000,6,0.000,0.036,3150,2013,1949
$GC,15782,1.89,221.5,525.8,8.6,1158,15796,0.00,1.83,7.75,1.005,4,0.000,0.046,3150,3008,1921
$GC,15875,1.89,221.5,517.3,9.1,1162,15879,0.00,1.70,0.00,0.000,6,0.000,0.044,3150,2040,1921
$GC,16196,1.92,237.7,489.8,8.0,1183,16215,0.00,0.00,15.70,1.082,6,0.000,0.000,3150,2040,1855
$GC,16535,1.95,256.9,460.8,7.8,1215,16557,0.00,1.80,17.92,1.062,4,0.000,0.046,3150,3008,1777
$GC,16619,1.96,261.8,453.3,8.7,1222,16629,0.00,1.67,5.80,0.861,6,0.000,0.035,3150,2035,1757
$GC,16949,1.99,262.6,424.3,9.0,1253,16950,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2035,1756
$GC,17269,2.03,262.6,395.4,9.4,1283,17273,0.00,2.03,0.00,0.000,4,0.000,0.061,3150,903,1756
$GC,17347,2.03,262.6,387.7,9.9,1290,17351,0.00,1.95,0.00,0.000,6,0.000,0.030,3150,2056,1756
$GC,17680,2.07,268.1,358.9,8.7,1321,17692,0.15,1.73,6.88,0.866,4,0.065,0.048,3191,3014,1732
$GC,17776,2.07,268.1,349.6,9.2,1329,17782,0.00,1.67,0.00,0.000,6,0.000,0.034,3191,2054,1732
$GC,18102,2.07,268.1,318.5,9.8,1360,18106,0.00,2.05,0.00,0.000,4,0.000,0.058,3191,904,1732
$GC,18174,2.07,268.1,311.1,9.2,1366,18180,0.00,1.98,0.00,0.000,6,0.000,0.030,3191,2058,1732
$GC,18501,2.07,268.1,280.6,9.6,1397,18502,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2058,1732
$GC,18819,2.07,268.1,249.3,9.3,1427,18825,0.00,2.05,0.00,0.000,4,0.000,0.053,3191,906,1732
$GC,18927,2.07,268.1,238.9,9.7,1446,18932,0.00,1.88,0.00,0.000,6,0.000,0.030,3191,2023,1732
$GC,19271,2.08,272.2,206.6,8.8,1507,19282,0.00,2.00,5.45,0.712,4,0.000,0.051,3191,903,1715
$GC,19424,2.08,272.2,192.4,9.2,1534,19430,0.00,1.83,0.00,0.000,6,0.000,0.028,3191,1994,1715
$GC,19768,2.11,288.0,163.7,8.0,1595,19789,0.00,1.75,15.07,0.835,4,0.000,0.042,3191,2999,1649
$GC,19876,2.13,302.9,154.9,8.1,1614,19897,0.00,1.67,13.90,0.809,6,0.000,0.037,3191,2009,1590
$GC,20238,2.28,349.6,125.3,6.1,1678,20287,0.15,2.03,39.88,0.807,4,0.062,0.052,3240,918,1399
$GC,20338,2.28,349.6,116.6,9.2,1696,20345,0.00,1.85,0.00,0.000,6,0.000,0.027,3239,2013,1397
$GC,20683,2.39,389.6,89.8,6.5,1757,20721,0.00,1.75,33.78,0.759,4,0.000,0.038,3240,2998,1236
$GC,20842,2.48,402.7,76.8,8.2,1785,20860,0.12,1.65,11.93,0.698,6,0.061,0.026,3281,2000,1183
$GC,21200,2.57,427.1,50.7,7.5,1848,21228,0.00,1.73,21.45,0.695,4,0.000,0.034,3281,3001,1082
$GC,21369,2.62,427.1,36.9,9.1,1878,21376,0.00,1.52,0.00,0.000,6,0.000,0.023,3281,2073,1081
$GC,21714,2.71,435.3,8.9,8.5,1939,21731,0.15,2.05,8.27,0.581,4,0.051,0.042,3337,916,1050
$STATE,21783,end climb,SURFACE_DEPTH_REACHED
$STATE,21783,begin surface coast
$FINISH,-0.1,1.021130
$STATE,21801,end surface coast,CONTROL_FINISHED_OK
$STATE,21801,begin surface
$SM_CCo,21824,30.83,0.637,0,0,887,475.15
$SM_GC,-7.13,0.00,0.00,30.83,0.000,0.000,0.637,415,2332,887,-10.65,0.20,475.15
$IRIDIUM_FIX,1245.46,12032.42,300697,232355
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.90
$XPDR_PINGS,398
$24V_AH,23.0,35.933
$10V_AH,10.1,27.439
$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,28.650,133.325,501.675,30.825,0.000,30.219,33.263,187.580,112.000,0.000,0.000,14.914,3179.472,14415.790,631.365,3411.143,621.197,0.000,2294.759,0.000,3350.908,0.000,91.492
$DEVICE_MAMPS,168.740,107.380,1436.591,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1325.348,450.480,733.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104087,1954
$CAP_FILE_SIZE,199739,0
$CFSIZE,260165632,237383680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,120708,1250.217,12027.963,33,1.0,33,-0.8