version: 66.03
glider: 126
mission: 7
dive: 338
start: 4 29 108 18 23 31
data:
$ID,126
$MISSION,7
$DIVE,338
$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,-625807.69
$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,2368
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,181537,1248.199,12014.399,40,1.3,40,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.83
$_SM_ANGLEo,-60.1
$GPS2,182239,1248.314,12014.378,12,1.4,12,-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,158.7,5386,-19.0,-9.016
$D_GRID,898
$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,-66.90,0.000,6,0.000,0.000,414,2387,3319
$GC,99,-2.18,-120.8,-0.1,-19.6,13,116,10.30,1.75,0.00,0.000,4,0.166,0.037,2249,3414,3321
$GC,265,-1.99,-120.8,31.8,-15.3,42,272,0.20,1.75,0.00,0.000,6,0.104,0.023,2293,2326,3321
$GC,610,-1.96,-120.8,76.7,-12.3,103,616,0.00,1.60,0.00,0.000,4,0.000,0.032,2293,1349,3323
$GC,679,-1.89,-120.8,85.1,-11.8,115,686,0.12,1.65,0.00,0.000,6,0.114,0.024,2316,2375,3323
$GC,1024,-1.89,-120.8,119.7,-9.4,176,1030,0.00,1.75,0.00,0.000,4,0.000,0.031,2315,1343,3325
$GC,1156,-1.95,-136.8,130.8,-8.0,199,1162,0.00,1.65,0.00,0.000,6,0.000,0.024,2316,2373,3326
$GC,1500,-2.03,-146.0,159.8,-7.9,260,1507,0.12,1.73,0.00,0.000,4,0.058,0.031,2276,1341,3328
$GC,1565,-2.03,-146.0,164.9,-8.2,271,1570,0.00,1.67,0.00,0.000,6,0.000,0.025,2276,2376,3327
$GC,1911,-2.06,-146.0,193.0,-8.2,332,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2376,3328
$GC,2255,-2.10,-146.0,221.9,-8.4,393,2261,0.00,1.75,0.00,0.000,4,0.000,0.044,2276,3408,3328
$GC,2391,-2.10,-146.0,233.4,-8.2,417,2397,0.00,1.67,0.00,0.000,6,0.000,0.026,2276,2354,3328
$GC,2733,-2.14,-146.0,261.8,-8.2,466,2737,0.00,1.80,0.00,0.000,4,0.000,0.044,2276,3404,3326
$GC,2847,-2.14,-146.0,270.9,-7.2,476,2851,0.00,1.65,0.00,0.000,6,0.000,0.027,2276,2368,3325
$GC,3180,-2.18,-146.0,295.5,-7.9,507,3183,0.00,1.80,0.00,0.000,4,0.000,0.045,2276,3407,3324
$GC,3295,-2.18,-146.0,305.2,-8.3,517,3299,0.00,1.67,0.00,0.000,6,0.000,0.028,2276,2367,3323
$GC,3628,-2.23,-146.0,334.5,-8.7,548,3632,0.15,1.83,0.00,0.000,4,0.057,0.044,2232,3401,3321
$GC,3741,-2.16,-146.0,344.9,-9.1,558,3745,0.12,1.67,0.00,0.000,6,0.105,0.028,2256,2370,3320
$GC,4072,-2.16,-146.0,372.1,-7.9,589,4075,0.00,1.80,0.00,0.000,4,0.000,0.046,2256,3405,3318
$GC,4156,-2.16,-146.0,378.9,-8.0,596,4162,0.00,1.70,0.00,0.000,6,0.000,0.029,2256,2366,3317
$GC,4485,-2.16,-146.0,404.1,-7.9,627,4488,0.00,1.83,0.00,0.000,4,0.000,0.048,2256,3412,3316
$GC,4586,-2.16,-146.0,412.8,-8.3,636,4590,0.00,1.73,0.00,0.000,6,0.000,0.030,2256,2369,3315
$GC,4920,-2.16,-146.0,440.1,-8.1,667,4923,0.00,1.83,0.00,0.000,4,0.000,0.049,2256,3411,3313
$GC,5003,-2.16,-146.0,447.5,-8.1,674,5009,0.00,1.73,0.00,0.000,6,0.000,0.030,2256,2369,3312
$GC,5332,-2.16,-146.0,475.3,-8.9,705,5335,0.00,1.83,0.00,0.000,4,0.000,0.050,2256,3406,3310
$GC,5411,-2.16,-146.0,482.6,-9.2,712,5415,0.00,1.75,0.00,0.000,6,0.000,0.031,2257,2377,3310
$GC,5753,-2.16,-146.0,510.6,-8.0,738,5757,0.00,1.83,0.00,0.000,4,0.000,0.053,2257,3407,3308
$GC,5854,-2.16,-146.0,519.3,-8.0,742,5858,0.00,1.75,0.00,0.000,6,0.000,0.032,2256,2371,3308
$GC,6176,-2.16,-146.0,543.6,-7.3,758,6180,0.00,1.85,0.00,0.000,4,0.000,0.060,2256,3398,3306
$GC,6270,-2.16,-146.0,550.3,-7.7,762,6273,0.00,1.77,0.00,0.000,6,0.000,0.035,2256,2361,3305
$GC,6605,-2.19,-146.0,576.7,-8.4,778,6609,0.00,1.90,0.00,0.000,4,0.000,0.068,2256,3397,3304
$GC,6689,-2.19,-146.0,584.3,-9.6,781,6695,0.00,1.80,0.00,0.000,6,0.000,0.043,2256,2366,3303
$GC,7010,-2.23,-146.0,610.6,-8.3,797,7013,0.00,1.92,0.00,0.000,4,0.000,0.079,2257,3391,3302
$GC,7117,-2.23,-146.0,619.6,-8.3,801,7122,0.00,1.75,0.00,0.000,6,0.000,0.032,2256,2346,3301
$GC,7434,-2.26,-146.0,644.8,-8.3,817,7438,0.00,1.88,0.00,0.000,4,0.000,0.051,2256,3406,3300
$GC,7553,-2.26,-146.0,655.5,-8.8,822,7556,0.00,1.77,0.00,0.000,6,0.000,0.032,2256,2364,3299
$GC,7881,-2.30,-146.0,685.1,-9.4,838,7885,0.12,1.85,0.00,0.000,4,0.068,0.056,2222,3406,3298
$GC,7988,-2.23,-146.0,695.7,-9.4,842,7995,0.12,1.75,0.00,0.000,6,0.110,0.032,2245,2368,3297
$GC,8306,-2.23,-146.0,723.6,-8.4,858,8309,0.00,1.85,0.00,0.000,4,0.000,0.054,2245,3405,3296
$GC,8419,-2.23,-146.0,732.5,-7.8,863,8422,0.00,1.77,0.00,0.000,6,0.000,0.034,2245,2365,3295
$GC,8751,-2.23,-146.0,757.6,-7.4,879,8755,0.00,1.88,0.00,0.000,4,0.000,0.054,2245,3401,3294
$GC,8853,-2.23,-146.0,765.5,-7.5,883,8857,0.00,1.77,0.00,0.000,6,0.000,0.033,2245,2355,3294
$GC,9174,-2.23,-146.0,791.9,-8.6,899,9178,0.00,1.88,0.00,0.000,4,0.000,0.054,2245,3408,3293
$GC,9313,-2.19,-146.0,804.3,-8.9,905,9316,0.00,1.83,0.00,0.000,6,0.000,0.035,2245,2359,3293
$GC,9645,-2.19,-146.0,836.2,-9.6,921,9648,0.00,1.83,0.00,0.000,4,0.000,0.051,2245,1316,3292
$GC,9804,-2.19,-146.0,850.5,-9.2,928,9808,0.00,1.77,0.00,0.000,6,0.000,0.033,2245,2361,3291
$GC,10137,-2.19,-146.0,877.3,-7.8,944,10140,0.00,1.83,0.00,0.000,4,0.000,0.048,2245,1325,3290
$GC,10170,-2.19,-146.0,880.0,-8.3,945,10175,0.00,1.77,0.00,0.000,6,0.000,0.035,2245,2371,3290
$STATE,10406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10406,begin apogee
$GC,10413,-0.52,0.0,898.5,7.6,957,10518,1.75,0.00,101.38,1.362,6,0.094,0.000,2614,2057,2825
$STATE,10519,end apogee,CONTROL_FINISHED_OK
$STATE,10519,begin climb
$GC,10522,2.22,146.0,902.5,0.0,962,10664,2.65,1.98,129.38,1.326,4,0.054,0.060,3222,1022,2229
$GC,10762,2.10,155.6,891.9,8.4,973,10779,0.17,1.83,9.43,1.147,6,0.104,0.033,3188,2086,2190
$GC,11091,2.07,182.8,867.9,7.3,989,11121,0.00,1.88,25.35,1.274,4,0.000,0.051,3188,3126,2079
$GC,11189,2.01,196.7,859.2,8.2,993,11208,0.00,1.85,13.65,1.206,6,0.000,0.036,3188,2064,2022
$GC,11527,1.95,199.4,830.1,8.8,1010,11531,0.17,1.90,0.00,0.000,4,0.107,0.048,3152,3131,2019
$GC,11588,1.93,209.5,824.9,8.4,1012,11607,0.00,1.85,12.73,1.213,6,0.000,0.035,3152,2060,1970
$GC,11924,1.96,226.5,797.9,8.0,1029,11946,0.00,2.00,16.50,1.237,4,0.000,0.048,3152,3127,1901
$GC,11980,1.97,230.4,793.1,8.8,1031,11991,0.00,1.85,5.18,0.941,6,0.000,0.035,3152,2065,1885
$GC,12300,1.97,230.4,764.9,9.1,1047,12304,0.00,1.88,0.00,0.000,4,0.000,0.048,3152,3122,1883
$GC,12362,1.97,233.6,759.2,8.8,1049,12371,0.00,1.83,4.55,0.897,6,0.000,0.044,3152,2066,1871
$GC,12699,1.97,233.6,727.8,9.5,1066,12702,0.00,1.88,0.00,0.000,4,0.000,0.048,3152,3126,1870
$GC,12754,1.97,233.6,722.2,9.8,1068,12758,0.00,1.83,0.00,0.000,6,0.000,0.038,3152,2067,1870
$GC,13076,2.02,238.6,693.0,8.7,1084,13087,0.00,1.90,5.95,1.001,4,0.000,0.048,3152,3124,1851
$GC,13230,2.04,252.3,680.5,8.2,1091,13251,0.00,1.83,13.85,1.179,6,0.000,0.045,3152,2072,1796
$GC,13561,2.10,259.8,653.3,8.5,1107,13576,0.15,1.92,8.23,1.081,4,0.063,0.050,3193,3114,1765
$GC,13684,2.05,259.8,641.8,9.1,1112,13688,0.00,1.83,0.00,0.000,6,0.000,0.035,3192,2060,1765
$GC,14006,2.05,259.8,611.4,9.4,1128,14009,0.00,1.88,0.00,0.000,4,0.000,0.049,3192,3120,1764
$GC,14119,2.05,259.8,600.3,9.6,1133,14122,0.00,1.83,0.00,0.000,6,0.000,0.036,3193,2065,1764
$GC,14451,2.05,259.8,567.9,9.6,1149,14454,0.00,1.88,0.00,0.000,4,0.000,0.050,3192,3126,1763
$GC,14546,2.05,261.3,559.0,8.9,1153,14550,0.00,1.85,0.00,0.000,6,0.000,0.035,3192,2068,1763
$GC,14872,2.09,288.3,532.2,7.3,1169,14903,0.00,1.98,26.40,1.127,4,0.000,0.049,3192,3122,1649
$GC,14988,2.10,291.5,521.8,8.8,1174,14999,0.00,1.83,4.30,0.781,6,0.000,0.035,3192,2070,1635
$GC,15311,2.10,291.5,490.9,9.9,1194,15314,0.00,1.88,0.00,0.000,4,0.000,0.048,3192,3127,1635
$GC,15406,2.10,291.5,481.2,10.2,1202,15412,0.00,1.83,0.00,0.000,6,0.000,0.035,3192,2068,1635
$GC,15733,2.14,291.5,448.4,9.7,1233,15736,0.00,1.88,0.00,0.000,4,0.000,0.048,3192,3128,1634
$GC,15816,2.14,291.5,440.2,9.2,1240,15822,0.00,1.83,0.00,0.000,6,0.000,0.035,3192,2065,1634
$GC,16144,2.17,293.6,410.3,8.9,1271,16148,0.00,1.88,0.00,0.000,4,0.000,0.048,3193,3114,1634
$GC,16223,2.17,295.8,402.8,8.9,1278,16235,0.00,1.80,5.12,0.802,6,0.000,0.034,3192,2067,1619
$GC,16553,2.22,298.9,373.4,8.8,1309,16565,0.00,1.90,4.70,0.759,4,0.000,0.048,3192,3128,1606
$GC,16626,2.24,307.3,366.8,8.5,1315,16643,0.10,1.83,9.30,0.929,6,0.076,0.033,3222,2064,1571
$GC,16961,2.24,309.3,336.4,8.9,1347,16965,0.00,1.88,0.00,0.000,4,0.000,0.047,3222,3127,1570
$GC,17022,2.24,309.3,330.9,9.0,1352,17028,0.00,1.83,0.00,0.000,6,0.000,0.033,3222,2058,1570
$GC,17349,2.24,309.3,300.6,10.3,1383,17353,0.00,1.88,0.00,0.000,4,0.000,0.046,3222,3126,1570
$GC,17417,2.24,309.3,293.6,11.8,1389,17421,0.00,1.85,0.00,0.000,6,0.000,0.033,3222,2065,1570
$GC,17749,2.24,309.3,260.3,10.2,1420,17753,0.00,1.85,0.00,0.000,4,0.000,0.045,3222,3122,1570
$GC,17829,2.25,318.2,252.6,8.5,1427,17844,0.00,1.80,11.05,0.871,6,0.000,0.032,3222,2067,1527
$GC,18182,2.28,335.2,222.7,8.0,1486,18204,0.00,1.90,15.95,0.870,4,0.000,0.044,3222,3126,1457
$GC,18233,2.29,341.9,218.0,8.6,1495,18245,0.00,1.83,7.32,0.762,6,0.000,0.032,3222,2065,1431
$GC,18583,2.34,341.9,184.0,9.9,1557,18589,0.00,1.85,0.00,0.000,4,0.000,0.044,3222,3122,1429
$GC,18629,2.34,341.9,179.3,9.6,1565,18635,0.00,1.80,0.00,0.000,6,0.000,0.031,3222,2058,1429
$GC,18974,2.40,351.5,148.3,8.4,1626,18991,0.12,1.88,9.65,0.772,4,0.062,0.052,3261,1024,1392
$GC,19121,2.42,360.1,135.2,8.5,1652,19138,0.00,1.80,9.18,0.753,6,0.000,0.028,3261,2092,1356
$GC,19480,2.50,381.2,105.9,7.7,1715,19507,0.00,1.98,18.85,0.773,4,0.000,0.044,3260,1023,1271
$GC,19543,2.58,403.3,100.7,7.6,1726,19571,0.10,1.77,20.75,0.752,6,0.047,0.026,3299,2083,1179
$GC,19913,2.67,436.2,70.2,7.0,1791,19947,0.00,1.90,28.33,0.729,4,0.000,0.044,3299,1012,1045
$GC,20040,2.75,458.9,60.4,7.6,1813,20069,0.12,1.75,20.02,0.698,6,0.061,0.025,3341,2087,953
$GC,20412,2.80,458.9,28.3,9.4,1878,20418,0.00,1.88,0.00,0.000,4,0.000,0.041,3341,1015,951
$GC,20538,2.81,463.4,17.1,8.7,1900,20549,0.00,1.73,5.18,0.513,6,0.000,0.023,3341,2073,934
$STATE,20704,end climb,SURFACE_DEPTH_REACHED
$STATE,20705,begin surface coast
$FINISH,-0.2,1.021066
$STATE,20730,end surface coast,CONTROL_FINISHED_OK
$STATE,20730,begin surface
$SM_CCo,20754,10.52,0.604,0,0,888,475.15
$SM_GC,-4.84,0.00,0.00,10.52,0.000,0.000,0.604,413,2359,888,-10.66,-0.25,475.15
$IRIDIUM_FIX,1243.25,12016.50,240797,121200
$TT8_MAMPS,0.026078
$HUMID,1958
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.70
$XPDR_PINGS,671
$24V_AH,22.9,55.450
$10V_AH,10.1,39.609
$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,29.325,171.725,542.250,10.525,0.000,31.515,27.573,210.419,177.750,0.000,0.000,12.477,3237.524,12860.613,647.890,3680.415,774.529,0.000,2468.801,0.000,3624.465,0.000,73.384
$DEVICE_MAMPS,166.439,79.001,1362.192,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1309.158,473.018,769.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104070,1934
$CAP_FILE_SIZE,214829,0
$CFSIZE,260165632,227733504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,001056,1248.482,12013.948,41,1.4,41,-0.8