version: 66.03
glider: 126
mission: 7
dive: 331
start: 4 28 108 1 33 7
data:
$ID,126
$MISSION,7
$DIVE,331
$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,-625707.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,47
$R_STBD_OVSHOOT,54
$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
$GPS1,012532,1246.675,12021.167,38,1.1,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.61
$_SM_ANGLEo,-59.5
$GPS2,013215,1246.708,12021.130,10,1.4,10,-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,259.6,10367,-19.0,-9.016
$D_GRID,804
$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,-120.8,0.0,0.0,0,95,0.00,0.00,-67.97,0.000,6,0.000,0.000,417,2353,3321
$GC,99,-2.18,-120.8,-0.6,-18.2,13,116,10.27,1.73,0.00,0.000,4,0.167,0.036,2248,3368,3323
$GC,287,-1.99,-120.8,35.9,-16.6,46,294,0.20,1.73,0.00,0.000,6,0.107,0.023,2292,2294,3324
$GC,634,-1.91,-120.8,82.3,-10.5,107,640,0.10,1.62,0.00,0.000,4,0.118,0.031,2310,1303,3326
$GC,681,-1.86,-120.8,87.7,-11.1,115,687,0.00,1.65,0.00,0.000,6,0.000,0.024,2311,2329,3326
$GC,1025,-1.86,-120.8,122.6,-9.6,176,1032,0.00,1.73,0.00,0.000,4,0.000,0.032,2311,1308,3327
$GC,1108,-1.87,-124.4,129.7,-8.8,190,1114,0.00,1.58,0.00,0.000,6,0.000,0.023,2311,2275,3327
$GC,1453,-1.97,-145.0,160.2,-7.7,251,1459,0.00,1.83,0.00,0.000,4,0.000,0.039,2310,3365,3328
$GC,1500,-2.01,-146.0,164.1,-8.1,259,1506,0.00,1.77,0.00,0.000,6,0.000,0.024,2311,2229,3328
$GC,1845,-2.08,-146.0,192.3,-8.9,320,1851,0.15,1.55,0.00,0.000,4,0.054,0.035,2260,1298,3329
$GC,1989,-2.08,-146.0,205.1,-8.7,345,1994,0.00,1.50,0.00,0.000,6,0.000,0.025,2260,2217,3329
$GC,2332,-2.08,-146.0,235.0,-8.8,406,2338,0.00,1.95,0.00,0.000,4,0.000,0.041,2260,3366,3329
$GC,2475,-2.08,-146.0,247.6,-8.8,431,2480,0.00,1.83,0.00,0.000,6,0.000,0.026,2260,2239,3329
$GC,2803,-2.08,-146.0,277.4,-8.7,464,2807,0.00,1.95,0.00,0.000,4,0.000,0.042,2260,3367,3327
$GC,2849,-2.08,-146.0,281.5,-8.6,468,2853,0.00,1.85,0.00,0.000,6,0.000,0.028,2260,2232,3327
$GC,3182,-2.08,-146.0,308.0,-7.8,499,3185,0.00,1.95,0.00,0.000,4,0.000,0.044,2260,3360,3326
$GC,3273,-2.04,-146.0,315.1,-7.8,507,3277,0.12,1.77,0.00,0.000,6,0.102,0.028,2285,2273,3324
$GC,3604,-2.10,-146.0,341.3,-8.3,538,3608,0.00,1.62,0.00,0.000,4,0.000,0.042,2285,1314,3323
$GC,3729,-2.14,-146.0,351.1,-7.8,549,3733,0.00,1.52,0.00,0.000,6,0.000,0.028,2285,2224,3322
$GC,4062,-2.19,-146.0,379.8,-8.8,580,4066,0.15,1.58,0.00,0.000,4,0.058,0.041,2242,1313,3319
$GC,4164,-2.16,-146.0,389.6,-9.4,589,4167,0.00,1.45,0.00,0.000,6,0.000,0.028,2242,2185,3319
$GC,4494,-2.16,-146.0,420.5,-9.7,620,4498,0.00,2.03,0.00,0.000,4,0.000,0.046,2242,3363,3316
$GC,4608,-2.12,-146.0,431.2,-9.6,630,4612,0.08,1.90,0.00,0.000,6,0.096,0.031,2262,2243,3316
$GC,4938,-2.16,-146.0,458.1,-7.8,661,4942,0.00,1.95,0.00,0.000,4,0.000,0.049,2262,3355,3314
$GC,5074,-2.16,-146.0,468.8,-7.6,673,5078,0.00,1.98,0.00,0.000,6,0.000,0.033,2262,2195,3314
$GC,5407,-2.19,-146.0,493.9,-7.6,704,5411,0.00,2.08,0.00,0.000,4,0.000,0.053,2262,3364,3311
$GC,5553,-2.19,-146.0,506.7,-7.6,714,5557,0.00,1.88,0.00,0.000,6,0.000,0.033,2262,2259,3310
$GC,5875,-2.23,-146.0,535.0,-9.3,730,5878,0.00,1.70,0.00,0.000,4,0.000,0.074,2262,1325,3309
$GC,5898,-2.23,-146.0,537.1,-9.4,731,5902,0.00,1.45,0.00,0.000,6,0.000,0.041,2262,2151,3309
$GC,6233,-2.27,-146.0,564.1,-7.3,747,6238,0.12,2.17,0.00,0.000,4,0.064,0.064,2225,3359,3307
$GC,6343,-2.22,-146.0,572.8,-8.1,752,6347,0.08,1.90,0.00,0.000,6,0.100,0.044,2244,2289,3306
$GC,6678,-2.22,-146.0,600.4,-8.7,768,6681,0.00,1.88,0.00,0.000,4,0.000,0.077,2244,1270,3304
$GC,6801,-2.22,-146.0,611.3,-8.7,773,6805,0.00,1.55,0.00,0.000,6,0.000,0.030,2244,2191,3304
$GC,7123,-2.22,-146.0,637.1,-7.7,789,7126,0.00,1.62,0.00,0.000,4,0.000,0.047,2244,1257,3303
$GC,7173,-2.22,-146.0,641.2,-7.9,791,7177,0.00,1.50,0.00,0.000,6,0.000,0.030,2244,2149,3302
$GC,7501,-2.22,-146.0,669.5,-9.0,807,7506,0.00,1.58,0.00,0.000,4,0.000,0.050,2244,1269,3301
$GC,7595,-2.22,-146.0,678.1,-8.6,811,7599,0.00,1.60,0.00,0.000,6,0.000,0.031,2244,2212,3301
$GC,7925,-2.22,-146.0,706.9,-8.6,827,7928,0.00,1.67,0.00,0.000,4,0.000,0.051,2244,1259,3298
$GC,8025,-2.22,-146.0,715.4,-7.6,831,8028,0.00,1.70,0.00,0.000,6,0.000,0.033,2244,2268,3298
$GC,8349,-2.22,-146.0,740.3,-8.1,847,8353,0.00,1.77,0.00,0.000,4,0.000,0.051,2244,1261,3297
$GC,8433,-2.22,-146.0,747.5,-8.3,850,8439,0.00,1.62,0.00,0.000,6,0.000,0.031,2244,2234,3296
$GC,8750,-2.22,-146.0,772.7,-8.0,866,8753,0.00,1.95,0.00,0.000,4,0.000,0.051,2244,3355,3295
$GC,8856,-2.19,-146.0,781.4,-8.4,870,8862,0.00,1.85,0.00,0.000,6,0.000,0.035,2244,2266,3295
$GC,9172,-2.19,-146.0,803.5,-6.5,886,9176,0.00,1.92,0.00,0.000,4,0.000,0.052,2244,3354,3294
$STATE,9182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9182,begin apogee
$GC,9191,-0.52,0.0,804.2,6.1,886,9296,1.70,0.00,100.43,1.287,6,0.091,0.000,2614,1951,2824
$STATE,9297,end apogee,CONTROL_FINISHED_OK
$STATE,9297,begin climb
$GC,9299,2.22,146.0,806.8,0.0,891,9435,2.65,2.00,126.47,1.253,4,0.054,0.070,3221,917,2229
$GC,9534,2.10,152.1,793.8,8.6,902,9545,0.17,1.77,6.28,0.976,6,0.104,0.033,3188,1951,2204
$GC,9864,2.08,194.5,769.3,6.4,918,9903,0.00,0.00,37.80,1.221,6,0.000,0.000,3188,1950,2032
$GC,10212,2.02,203.2,741.6,8.5,935,10226,0.00,1.92,8.85,1.085,4,0.000,0.048,3188,3013,1996
$GC,10278,1.94,206.0,735.5,8.8,938,10288,0.10,1.85,4.10,0.791,6,0.103,0.037,3156,1962,1985
$GC,10612,1.97,220.4,708.7,8.1,954,10634,0.00,1.92,14.25,1.163,4,0.000,0.048,3156,3008,1926
$GC,10776,2.00,239.0,695.1,7.9,961,10800,0.00,1.75,17.95,1.170,6,0.000,0.036,3156,1990,1850
$GC,11124,2.01,243.6,665.9,8.7,978,11134,0.00,1.83,5.57,0.938,4,0.000,0.046,3156,3013,1830
$GC,11223,2.01,243.6,656.0,10.1,982,11229,0.00,1.75,0.00,0.000,6,0.000,0.035,3156,2014,1830
$GC,11541,2.04,243.6,624.4,10.0,998,11545,0.00,1.75,0.00,0.000,4,0.000,0.046,3156,3012,1829
$GC,11632,2.04,243.6,615.2,10.4,1002,11635,0.00,1.65,0.00,0.000,6,0.000,0.035,3156,2069,1829
$GC,11964,2.12,270.4,586.8,7.3,1018,11994,0.15,1.73,24.77,1.151,4,0.064,0.048,3202,3016,1722
$GC,12052,2.12,300.2,580.3,7.2,1022,12086,0.00,1.77,27.33,1.124,6,0.000,0.036,3202,2010,1601
$GC,12405,2.13,305.0,551.3,8.7,1039,12414,0.00,1.80,5.43,0.882,4,0.000,0.045,3202,3017,1580
$GC,12482,2.13,305.0,543.8,9.5,1042,12488,0.00,1.67,0.00,0.000,6,0.000,0.035,3202,2044,1580
$GC,12798,2.13,305.0,512.0,10.4,1058,12801,0.00,1.70,0.00,0.000,4,0.000,0.046,3202,3012,1579
$GC,12867,2.13,305.0,504.7,10.3,1061,12871,0.00,1.77,0.00,0.000,6,0.000,0.036,3202,1979,1578
$GC,13200,2.13,305.0,469.2,10.5,1090,13203,0.00,1.80,0.00,0.000,4,0.000,0.045,3202,3008,1578
$GC,13279,2.13,305.0,460.3,10.6,1097,13282,0.00,1.88,0.00,0.000,6,0.000,0.036,3202,1920,1578
$GC,13609,2.13,305.0,427.0,9.5,1128,13612,0.00,1.90,0.00,0.000,4,0.000,0.046,3202,3006,1578
$GC,13699,2.13,305.0,418.4,9.2,1136,13702,0.00,1.98,0.00,0.000,6,0.000,0.036,3202,1857,1578
$GC,14032,2.13,305.0,386.4,9.6,1167,14035,0.00,2.03,0.00,0.000,4,0.000,0.045,3202,3016,1578
$GC,14088,2.13,305.0,380.9,9.1,1172,14092,0.00,1.90,0.00,0.000,6,0.000,0.035,3202,1909,1578
$GC,14421,2.16,305.0,350.2,9.7,1203,14425,0.00,1.92,0.00,0.000,4,0.000,0.044,3202,3014,1578
$GC,14467,2.17,305.4,345.7,9.0,1207,14470,0.00,1.80,0.00,0.000,6,0.000,0.035,3202,1958,1578
$GC,14797,2.20,305.4,316.0,9.1,1238,14801,0.00,1.83,0.00,0.000,4,0.000,0.045,3202,3008,1578
$GC,14899,2.20,308.9,306.7,8.8,1247,14910,0.00,1.88,4.57,0.701,6,0.000,0.035,3202,1909,1565
$GC,15229,2.24,308.9,276.2,9.6,1278,15233,0.00,1.77,0.00,0.000,4,0.000,0.058,3202,908,1565
$GC,15358,2.24,308.9,264.0,9.4,1289,15363,0.00,1.70,0.00,0.000,6,0.000,0.031,3202,1896,1565
$GC,15693,2.27,308.9,231.9,9.5,1336,15698,0.00,1.92,0.00,0.000,4,0.000,0.047,3202,3010,1566
$GC,15761,2.27,308.9,225.0,9.9,1348,15767,0.00,1.95,0.00,0.000,6,0.000,0.034,3202,1865,1565
$GC,16106,2.33,310.4,192.5,8.9,1409,16113,0.15,2.00,0.00,0.000,4,0.060,0.041,3250,3018,1566
$GC,16257,2.28,312.8,178.5,8.9,1435,16269,0.12,2.05,5.35,0.684,6,0.101,0.032,3226,1808,1548
$GC,16609,2.28,312.8,147.7,9.5,1497,16615,0.00,2.05,0.00,0.000,4,0.000,0.039,3226,3014,1549
$GC,16669,2.31,330.9,142.7,7.9,1507,16691,0.00,1.98,16.83,0.812,6,0.000,0.031,3226,1842,1475
$GC,17034,2.40,352.7,113.9,7.7,1571,17062,0.12,2.10,19.83,0.783,4,0.065,0.038,3264,3013,1385
$GC,17098,2.44,374.3,108.7,7.7,1582,17125,0.00,1.98,19.02,0.761,6,0.000,0.030,3264,1867,1299
$GC,17468,2.57,412.8,81.4,6.6,1647,17506,0.12,0.00,33.17,0.739,6,0.063,0.000,3304,1865,1142
$GC,17846,2.60,433.3,52.4,7.7,1714,17868,0.00,1.75,18.10,0.690,4,0.000,0.049,3305,908,1058
$GC,17892,2.61,437.6,48.2,8.8,1722,17903,0.00,1.62,5.30,0.535,6,0.000,0.025,3304,1897,1040
$GC,18244,2.71,455.5,20.4,7.9,1784,18266,0.00,1.88,16.25,0.644,4,0.000,0.035,3304,3009,966
$GC,18321,2.78,469.1,14.0,8.2,1797,18338,0.12,1.90,12.40,0.614,6,0.058,0.025,3350,1854,912
$STATE,18451,end climb,SURFACE_DEPTH_REACHED
$STATE,18451,begin surface coast
$FINISH,0.4,1.021109
$STATE,18468,end surface coast,CONTROL_FINISHED_OK
$STATE,18469,begin surface
$SM_CCo,18492,6.05,0.530,0,0,888,475.15
$SM_GC,-2.82,0.00,0.00,6.05,0.000,0.000,0.530,416,2350,888,-10.64,0.74,475.15
$IRIDIUM_FIX,1243.25,12023.34,220797,202034
$TT8_MAMPS,0.026078
$HUMID,1947
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.50
$XPDR_PINGS,564
$24V_AH,23.0,54.023
$10V_AH,10.1,38.723
$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,29.450,152.875,530.050,6.050,0.000,25.848,29.102,201.460,148.750,0.000,0.000,11.901,3023.889,11194.728,611.339,3364.899,723.950,0.000,2272.884,0.000,3321.478,0.000,57.083
$DEVICE_MAMPS,167.206,77.467,1287.026,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.510,481.684,763.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97777,1823
$CAP_FILE_SIZE,196673,0
$CFSIZE,260165632,228462592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,064237,1246.274,12020.332,32,1.3,32,-0.8