version: 66.03
glider: 126
mission: 7
dive: 328
start: 4 27 108 9 13 56
data:
$ID,126
$MISSION,7
$DIVE,328
$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,-625662.81
$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,50
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,090631,1246.716,12023.138,38,2.0,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.26
$_SM_ANGLEo,-59.4
$GPS2,091303,1246.812,12023.051,11,2.0,11,-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,261.6,13816,-19.0,-9.016
$D_GRID,797
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-66.75,0.000,6,0.000,0.000,417,2334,3320
$GC,98,-2.18,-120.8,0.5,-19.8,13,115,10.25,1.73,0.00,0.000,4,0.166,0.037,2249,3354,3321
$GC,270,-1.98,-120.8,36.2,-18.1,43,276,0.25,1.67,0.00,0.000,6,0.109,0.023,2298,2289,3322
$GC,615,-1.91,-120.8,78.8,-11.4,104,621,0.00,1.65,0.00,0.000,4,0.000,0.032,2298,1302,3324
$GC,667,-1.85,-120.8,84.6,-11.5,113,673,0.15,1.67,0.00,0.000,6,0.109,0.024,2327,2344,3324
$GC,1012,-1.91,-120.8,119.2,-11.1,174,1018,0.00,1.75,0.00,0.000,4,0.000,0.032,2327,1307,3326
$GC,1111,-2.00,-145.5,127.7,-7.5,191,1117,0.15,1.65,0.00,0.000,6,0.054,0.023,2281,2337,3326
$GC,1456,-2.00,-145.5,158.8,-9.2,252,1461,0.00,1.73,0.00,0.000,4,0.000,0.039,2281,3369,3327
$GC,1490,-2.00,-145.5,162.1,-9.3,258,1496,0.00,1.73,0.00,0.000,6,0.000,0.024,2281,2262,3328
$GC,1836,-2.03,-146.0,190.2,-8.3,319,1841,0.00,1.60,0.00,0.000,4,0.000,0.035,2281,1296,3328
$GC,1967,-2.03,-146.0,201.0,-8.8,342,1973,0.00,1.58,0.00,0.000,6,0.000,0.025,2281,2257,3328
$GC,2311,-2.08,-146.0,231.3,-8.9,403,2318,0.00,1.60,0.00,0.000,4,0.000,0.035,2281,1304,3328
$GC,2348,-2.08,-146.0,234.6,-9.2,409,2354,0.00,1.55,0.00,0.000,6,0.000,0.025,2281,2246,3328
$GC,2683,-2.11,-146.0,265.4,-9.3,455,2686,0.00,1.58,0.00,0.000,4,0.000,0.037,2281,1315,3326
$GC,2739,-2.11,-146.0,270.6,-9.4,460,2743,0.00,1.45,0.00,0.000,6,0.000,0.025,2281,2196,3326
$GC,3072,-2.15,-146.0,298.9,-8.5,491,3075,0.00,1.52,0.00,0.000,4,0.000,0.039,2281,1317,3324
$GC,3151,-2.15,-146.0,305.6,-8.3,498,3155,0.00,1.55,0.00,0.000,6,0.000,0.026,2280,2250,3324
$GC,3485,-2.20,-146.0,333.9,-8.9,529,3489,0.15,1.60,0.00,0.000,4,0.058,0.038,2237,1314,3322
$GC,3564,-2.16,-146.0,341.3,-8.9,536,3568,0.08,1.50,0.00,0.000,6,0.096,0.026,2257,2216,3321
$GC,3894,-2.16,-146.0,370.6,-9.1,567,3897,0.00,1.58,0.00,0.000,4,0.000,0.041,2257,1298,3319
$GC,3989,-2.16,-146.0,379.0,-8.1,575,3995,0.00,1.62,0.00,0.000,6,0.000,0.028,2257,2287,3319
$GC,4316,-2.16,-146.0,407.3,-8.8,606,4319,0.00,1.67,0.00,0.000,4,0.000,0.041,2257,1313,3316
$GC,4422,-2.16,-146.0,417.1,-8.9,615,4428,0.00,1.70,0.00,0.000,6,0.000,0.028,2257,2343,3315
$GC,4750,-2.16,-146.0,446.8,-9.0,646,4753,0.00,1.77,0.00,0.000,4,0.000,0.042,2257,1316,3313
$GC,4878,-2.16,-146.0,458.2,-9.0,657,4884,0.00,1.62,0.00,0.000,6,0.000,0.029,2257,2294,3313
$GC,5206,-2.16,-146.0,484.2,-7.5,688,5209,0.00,1.73,0.00,0.000,4,0.000,0.048,2257,1324,3311
$GC,5307,-2.16,-146.0,492.1,-7.8,697,5311,0.00,1.73,0.00,0.000,6,0.000,0.034,2257,2345,3310
$GC,5645,-2.20,-146.0,520.0,-8.7,718,5650,0.00,1.83,0.00,0.000,4,0.000,0.055,2257,3371,3308
$GC,5751,-2.20,-146.0,529.8,-8.5,722,5758,0.00,1.62,0.00,0.000,6,0.000,0.031,2257,2400,3307
$GC,6067,-2.20,-146.0,557.8,-9.7,738,6071,0.00,1.75,0.00,0.000,4,0.000,0.063,2257,3369,3306
$GC,6185,-2.20,-146.0,568.8,-8.8,743,6188,0.00,1.73,0.00,0.000,6,0.000,0.042,2257,2373,3305
$GC,6514,-2.20,-146.0,597.7,-8.7,759,6518,0.00,2.03,0.00,0.000,4,0.000,0.077,2257,1274,3303
$GC,6654,-2.20,-146.0,609.2,-7.8,765,6658,0.00,1.83,0.00,0.000,6,0.000,0.061,2257,2286,3303
$GC,6984,-2.23,-146.0,633.7,-7.3,781,6988,0.00,2.08,0.00,0.000,4,0.000,0.090,2257,3384,3302
$GC,7017,-2.23,-146.0,636.5,-7.5,782,7021,0.00,2.00,0.00,0.000,6,0.000,0.068,2257,2301,3301
$GC,7342,-2.27,-146.0,661.5,-8.0,798,7345,0.00,2.00,0.00,0.000,4,0.000,0.105,2257,1271,3300
$GC,7526,-2.27,-146.0,676.4,-8.0,806,7530,0.00,1.70,0.00,0.000,6,0.000,0.029,2257,2289,3299
$GC,7861,-2.30,-146.0,703.9,-8.1,822,7865,0.12,1.80,0.00,0.000,4,0.067,0.044,2221,1256,3296
$GC,7986,-2.25,-146.0,714.6,-8.4,827,7990,0.00,1.62,0.00,0.000,6,0.000,0.030,2221,2213,3296
$GC,8307,-2.21,-146.0,742.7,-9.0,843,8312,0.15,2.03,0.00,0.000,4,0.107,0.048,2255,3378,3295
$GC,8346,-2.21,-146.0,746.4,-9.0,845,8350,0.00,2.03,0.00,0.000,6,0.000,0.032,2255,2183,3295
$GC,8679,-2.21,-146.0,775.8,-8.7,861,8683,0.00,2.10,0.00,0.000,4,0.000,0.049,2255,3377,3294
$GC,8752,-2.21,-146.0,782.4,-9.1,864,8755,0.00,2.00,0.00,0.000,6,0.000,0.032,2255,2200,3294
$STATE,8933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8933,begin apogee
$GC,8940,-0.52,0.0,798.1,8.7,873,9044,1.70,0.00,100.00,1.279,6,0.092,0.000,2615,1939,2825
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9047,2.22,146.0,802.5,0.0,878,9183,2.65,1.92,126.60,1.244,4,0.058,0.061,3220,924,2229
$GC,9298,2.08,148.6,791.7,8.9,889,9305,0.17,1.77,0.00,0.000,6,0.104,0.030,3186,1970,2224
$GC,9615,2.04,165.0,766.3,8.0,905,9637,0.00,1.90,16.90,1.178,4,0.000,0.045,3186,3013,2152
$GC,9757,1.99,188.1,754.5,7.6,911,9783,0.08,1.80,21.45,1.187,6,0.103,0.034,3167,1980,2058
$GC,10102,1.98,211.1,728.1,7.6,928,10128,0.00,1.83,21.27,1.189,4,0.000,0.044,3168,3002,1964
$GC,10209,1.96,229.0,719.7,7.9,933,10231,0.00,1.75,17.20,1.156,6,0.000,0.035,3168,1989,1891
$GC,10540,1.96,229.0,690.7,9.3,949,10544,0.00,1.77,0.00,0.000,4,0.000,0.044,3168,3002,1887
$GC,10653,1.92,229.0,680.7,9.1,954,10657,0.00,1.70,0.00,0.000,6,0.000,0.034,3168,2012,1887
$GC,10988,1.92,229.0,651.2,9.3,970,10991,0.00,1.75,0.00,0.000,4,0.000,0.044,3168,3014,1886
$GC,11116,1.88,229.0,638.6,9.5,975,11123,0.15,1.65,0.00,0.000,6,0.117,0.035,3140,2045,1886
$GC,11435,1.97,248.0,612.2,7.8,991,11457,0.00,1.77,17.10,1.145,4,0.000,0.044,3140,3002,1814
$GC,11583,2.00,269.1,601.0,7.7,997,11608,0.12,1.58,20.17,1.137,6,0.067,0.034,3174,2079,1727
$GC,11927,2.02,276.0,571.9,8.6,1014,11940,0.00,1.70,7.25,0.991,4,0.000,0.045,3174,3002,1699
$GC,11992,2.02,276.0,565.5,9.1,1017,11996,0.00,1.70,0.00,0.000,6,0.000,0.034,3174,2030,1699
$GC,12325,2.05,276.0,535.4,9.0,1033,12328,0.00,2.00,0.00,0.000,4,0.000,0.058,3174,909,1698
$GC,12448,2.05,276.0,523.9,9.1,1038,12452,0.00,1.83,0.00,0.000,6,0.000,0.030,3174,1996,1698
$GC,12771,2.05,276.0,492.6,9.6,1057,12774,0.00,1.95,0.00,0.000,4,0.000,0.054,3174,910,1697
$GC,12850,2.05,276.0,485.0,10.5,1064,12854,0.00,1.70,0.00,0.000,6,0.000,0.030,3174,1918,1697
$GC,13181,2.10,276.0,453.3,9.9,1095,13184,0.00,1.83,0.00,0.000,4,0.000,0.054,3174,905,1697
$GC,13298,2.10,276.0,441.1,10.5,1105,13304,0.00,1.80,0.00,0.000,6,0.000,0.029,3174,1979,1697
$GC,13625,2.14,276.0,409.6,9.5,1136,13629,0.00,1.92,0.00,0.000,4,0.000,0.052,3174,905,1696
$GC,13709,2.14,276.7,401.5,9.0,1143,13715,0.00,1.67,0.00,0.000,6,0.000,0.029,3174,1902,1696
$GC,14038,2.18,276.7,372.5,9.5,1174,14042,0.15,1.88,0.00,0.000,4,0.064,0.042,3221,3006,1696
$GC,14129,2.14,276.7,363.4,9.8,1182,14133,0.12,1.90,0.00,0.000,6,0.104,0.042,3196,1894,1696
$GC,14459,2.14,276.7,331.6,9.4,1213,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1894,1696
$GC,14780,2.14,279.2,301.6,8.9,1243,14791,0.00,1.77,4.03,0.644,4,0.000,0.057,3196,916,1686
$GC,14848,2.14,281.6,295.4,8.9,1249,14860,0.00,1.70,4.12,0.659,6,0.000,0.030,3196,1924,1676
$GC,15178,2.16,292.3,267.3,8.4,1280,15193,0.00,1.92,10.80,0.881,4,0.000,0.046,3196,3019,1633
$GC,15239,2.18,300.3,262.1,8.5,1285,15253,0.00,1.95,8.55,0.834,6,0.000,0.033,3196,1898,1599
$GC,15585,2.22,300.3,231.3,9.1,1334,15591,0.00,1.75,0.00,0.000,4,0.000,0.056,3196,910,1599
$GC,15665,2.23,308.5,224.4,8.5,1348,15682,0.00,1.70,8.55,0.811,6,0.000,0.028,3196,1927,1566
$GC,16022,2.30,314.4,193.3,8.7,1411,16035,0.15,1.88,6.68,0.743,4,0.061,0.042,3245,3010,1542
$GC,16123,2.26,314.4,184.2,9.2,1428,16129,0.12,1.85,0.00,0.000,6,0.103,0.030,3221,1917,1541
$GC,16468,2.30,314.4,154.7,9.0,1489,16473,0.00,1.88,0.00,0.000,4,0.000,0.038,3220,3008,1542
$GC,16604,2.33,329.0,142.9,8.1,1513,16622,0.00,1.77,13.73,0.796,6,0.000,0.030,3221,1950,1483
$GC,16963,2.46,373.2,116.7,6.3,1576,17008,0.17,1.85,38.28,0.785,4,0.054,0.038,3277,3003,1302
$GC,17105,2.46,373.2,104.8,9.1,1601,17111,0.00,1.73,0.00,0.000,6,0.000,0.028,3277,1975,1299
$GC,17450,2.53,388.8,77.1,8.0,1662,17472,0.00,1.90,14.05,0.714,4,0.000,0.048,3277,923,1239
$GC,17564,2.60,413.8,68.5,7.5,1682,17593,0.00,1.77,21.95,0.709,6,0.000,0.025,3277,1997,1137
$GC,17936,2.74,441.7,41.5,7.3,1747,17969,0.17,1.95,24.27,0.678,4,0.048,0.043,3340,920,1024
$GC,18027,2.77,457.2,34.1,8.1,1763,18050,0.00,1.73,14.07,0.641,6,0.000,0.025,3340,1986,960
$GC,18390,2.78,463.1,2.5,8.6,1827,18396,0.00,0.00,4.80,0.478,2,0.000,0.000,3340,1986,944
$STATE,18397,end climb,SURFACE_DEPTH_REACHED
$STATE,18397,begin surface coast
$FINISH,-0.4,1.021068
$STATE,18419,end surface coast,CONTROL_FINISHED_OK
$STATE,18419,begin surface
$SM_CCo,18442,12.43,0.610,0,0,888,475.15
$SM_GC,-5.02,0.00,0.00,12.43,0.000,0.000,0.610,412,2320,888,-10.66,-0.14,475.15
$IRIDIUM_FIX,1243.25,12024.46,220797,040447
$TT8_MAMPS,0.026078
$HUMID,1947
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.00
$XPDR_PINGS,468
$24V_AH,23.0,53.419
$10V_AH,10.1,38.357
$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,29.775,145.750,521.825,12.425,0.000,24.051,31.468,194.558,124.500,0.000,0.000,11.376,3041.748,11088.742,612.978,3414.968,710.617,0.000,2296.810,0.000,3372.931,0.000,55.281
$DEVICE_MAMPS,165.672,105.079,1278.589,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.623,488.497,772.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98001,1832
$CAP_FILE_SIZE,197407,0
$CFSIZE,260165632,228749312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,142255,1246.971,12022.541,27,1.4,44,-0.8