version: 66.03
glider: 126
mission: 7
dive: 29
start: 2 22 108 13 14 43
data:
$ID,126
$MISSION,7
$DIVE,29
$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,413
$T_MISSION,496
$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,-620188.38
$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,26
$R_STBD_OVSHOOT,37
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,130126,1309.631,12026.824,41,1.9,41,-0.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.90
$_SM_ANGLEo,-55.4
$GPS2,131351,1309.776,12026.642,14,1.5,14,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,TUBILE
$TGT_LATLONG,1312.400,12024.730
$TGT_RADIUS,2000.000
$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,325.6,5957,-22.0,-7.990
$D_GRID,1119
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-65.07,0.000,6,0.000,0.000,418,2328,3101
$GC,91,-2.33,-67.0,0.7,-15.2,13,108,10.18,1.80,0.00,0.000,4,0.176,0.039,2195,3376,3101
$GC,361,-2.20,-67.0,70.7,-21.5,61,367,0.17,1.75,0.00,0.000,6,0.131,0.025,2226,2292,3102
$GC,704,-2.15,-67.0,127.2,-15.4,122,710,0.00,1.88,0.00,0.000,4,0.000,0.041,2226,3372,3104
$GC,963,-2.13,-67.0,162.9,-12.5,168,969,0.00,1.73,0.00,0.000,6,0.000,0.026,2226,2322,3105
$GC,1308,-2.13,-67.0,203.3,-10.8,229,1313,0.00,1.83,0.00,0.000,4,0.000,0.043,2226,3382,3105
$GC,1425,-2.13,-67.0,217.7,-12.1,250,1432,0.00,1.73,0.00,0.000,6,0.000,0.028,2226,2336,3105
$GC,1766,-2.13,-67.0,256.3,-10.8,306,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2331,3105
$GC,2084,-2.13,-67.0,291.1,-9.7,336,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2331,3103
$GC,2403,-2.13,-67.0,324.2,-10.0,366,2406,0.00,1.80,0.00,0.000,4,0.000,0.048,2226,3370,3102
$GC,2458,-2.13,-67.0,329.9,-10.1,371,2462,0.00,1.70,0.00,0.000,6,0.000,0.030,2226,2337,3102
$GC,2788,-2.13,-67.0,361.2,-9.7,402,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2333,3100
$GC,3106,-2.13,-67.0,391.8,-9.5,432,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2332,3097
$GC,3424,-2.13,-67.0,423.3,-9.8,462,3428,0.00,1.80,0.00,0.000,4,0.000,0.048,2226,1293,3095
$GC,3485,-2.13,-67.0,429.1,-9.8,467,3492,0.00,1.80,0.00,0.000,6,0.000,0.033,2226,2348,3094
$GC,3811,-2.15,-67.0,459.4,-9.1,498,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2348,3092
$GC,4129,-2.17,-67.0,490.6,-9.9,528,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2348,3090
$GC,4451,-2.20,-67.0,522.2,-9.3,548,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2348,3088
$GC,4763,-2.22,-67.0,551.0,-9.8,563,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2348,3086
$GC,5072,-2.25,-67.0,580.5,-9.4,578,5075,0.00,1.88,0.00,0.000,4,0.000,0.075,2226,3372,3084
$GC,5183,-2.25,-67.0,591.2,-9.6,583,5187,0.00,1.85,0.00,0.000,6,0.000,0.052,2226,2334,3084
$GC,5516,-2.29,-72.7,617.7,-7.5,599,5520,0.00,1.98,0.00,0.000,4,0.000,0.087,2226,1274,3082
$GC,5583,-2.32,-74.6,622.9,-7.8,602,5587,0.00,1.90,0.00,0.000,6,0.000,0.067,2226,2298,3081
$GC,5917,-2.35,-78.8,648.0,-7.6,618,5919,0.12,0.00,0.00,0.000,6,0.081,0.000,2196,2298,3079
$GC,6224,-2.35,-78.8,674.3,-8.9,633,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2298,3078
$GC,6533,-2.35,-78.8,702.1,-9.3,648,6537,0.00,2.12,0.00,0.000,4,0.000,0.127,2196,1267,3077
$GC,6622,-2.35,-78.8,710.8,-9.4,652,6626,0.00,2.10,0.00,0.000,6,0.000,0.106,2196,2325,3076
$GC,6956,-2.35,-78.8,740.3,-8.9,668,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2325,3075
$GC,7263,-2.35,-78.8,768.3,-9.0,683,7267,0.00,2.35,0.00,0.000,4,0.000,0.163,2197,3389,3073
$GC,7401,-2.35,-78.8,781.2,-9.0,689,7406,0.00,2.20,0.00,0.000,6,0.000,0.121,2196,2310,3072
$GC,7723,-2.36,-80.8,806.9,-7.8,705,7727,0.00,1.80,0.00,0.000,4,0.000,0.056,2196,1280,3072
$GC,7800,-2.36,-83.0,813.4,-7.8,708,7805,0.00,1.83,0.00,0.000,6,0.000,0.036,2196,2341,3072
$GC,8122,-2.36,-83.0,840.1,-8.6,724,8126,0.00,1.83,0.00,0.000,4,0.000,0.058,2197,3375,3071
$GC,8166,-2.36,-83.0,844.1,-8.6,726,8170,0.00,1.85,0.00,0.000,6,0.000,0.038,2197,2312,3070
$GC,8498,-2.37,-89.2,868.9,-7.4,742,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2312,3069
$GC,8807,-2.39,-103.4,889.8,-6.7,757,8812,0.00,1.90,0.00,0.000,4,0.000,0.058,2196,3373,3068
$GC,8957,-2.40,-108.5,900.8,-7.5,763,8964,0.00,1.83,0.00,0.000,6,0.000,0.038,2196,2330,3068
$GC,9273,-2.41,-115.2,924.9,-7.4,779,9276,0.00,1.88,0.00,0.000,4,0.000,0.064,2196,1278,3067
$GC,9378,-2.42,-119.5,932.7,-7.6,783,9385,0.00,1.80,0.00,0.000,6,0.000,0.040,2196,2313,3066
$GC,9693,-2.43,-127.7,955.2,-7.2,799,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2314,3065
$GC,10002,-2.43,-127.7,978.8,-8.4,814,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2314,3065
$STATE,10146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10146,begin apogee
$GC,10150,-0.51,0.0,991.6,8.8,821,10208,1.95,0.00,52.20,1.456,6,0.112,0.000,2595,1954,2825
$STATE,10209,end apogee,CONTROL_FINISHED_OK
$STATE,10209,begin climb
$GC,10211,2.44,127.7,993.2,0.0,824,10332,3.00,2.03,112.53,1.430,4,0.071,0.077,3243,905,2304
$GC,10382,2.36,127.7,983.0,10.9,832,10386,0.00,1.85,0.00,0.000,6,0.000,0.036,3243,1971,2301
$GC,10703,2.31,127.7,947.1,11.5,848,10707,0.15,1.98,0.00,0.000,4,0.124,0.067,3216,911,2298
$GC,10774,2.26,127.7,938.8,12.2,851,10779,0.00,1.83,0.00,0.000,6,0.000,0.036,3216,1955,2297
$GC,11101,2.23,127.7,903.7,10.5,867,11105,0.12,1.95,0.00,0.000,4,0.126,0.073,3194,901,2296
$GC,11172,2.20,127.7,896.4,9.8,870,11177,0.00,1.80,0.00,0.000,6,0.000,0.036,3194,1937,2296
$GC,11498,2.20,127.7,866.5,8.9,886,11502,0.00,1.90,0.00,0.000,4,0.000,0.054,3194,3019,2295
$GC,11598,2.18,127.7,857.3,9.2,890,11603,0.00,1.92,0.00,0.000,6,0.000,0.044,3194,1941,2295
$GC,11920,2.18,127.7,826.5,10.0,906,11924,0.00,1.90,0.00,0.000,4,0.000,0.069,3194,899,2295
$GC,12032,2.15,127.7,815.5,8.8,911,12036,0.00,1.77,0.00,0.000,6,0.000,0.036,3194,1939,2294
$GC,12363,2.15,127.7,785.8,8.7,927,12367,0.00,1.90,0.00,0.000,4,0.000,0.075,3194,909,2294
$GC,12453,2.12,127.7,777.7,8.6,931,12457,0.12,1.75,0.00,0.000,6,0.128,0.036,3172,1934,2294
$GC,12784,2.12,127.7,748.0,9.1,947,12787,0.00,1.88,0.00,0.000,4,0.000,0.053,3172,3005,2293
$GC,12873,2.12,127.7,739.7,10.3,951,12877,0.00,1.85,0.00,0.000,6,0.000,0.044,3172,1947,2293
$GC,13204,2.12,127.7,708.9,9.1,967,13208,0.00,1.90,0.00,0.000,4,0.000,0.068,3172,902,2293
$GC,13271,2.12,127.7,702.5,9.4,970,13275,0.00,1.77,0.00,0.000,6,0.000,0.035,3172,1946,2293
$GC,13602,2.12,127.7,672.4,9.2,986,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1946,2293
$GC,13912,2.12,127.7,645.4,8.5,1001,13915,0.00,1.90,0.00,0.000,4,0.000,0.066,3171,908,2293
$GC,14001,2.12,127.7,637.6,8.7,1005,14005,0.00,1.77,0.00,0.000,6,0.000,0.035,3172,1936,2293
$GC,14332,2.12,127.7,610.0,8.6,1021,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1937,2293
$GC,14641,2.12,127.7,583.1,8.7,1036,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1937,2293
$GC,14950,2.12,127.7,556.8,8.7,1051,14954,0.00,1.88,0.00,0.000,4,0.000,0.051,3172,3015,2293
$GC,15055,2.12,127.7,547.9,8.4,1055,15062,0.00,1.92,0.00,0.000,6,0.000,0.047,3171,1928,2293
$GC,15372,2.12,130.8,523.0,7.7,1071,15373,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1928,2292
$GC,15680,2.14,141.7,500.9,7.0,1086,15696,0.00,1.90,11.40,1.055,4,0.000,0.067,3172,900,2247
$GC,15848,2.14,141.7,487.7,8.3,1099,15853,0.00,1.77,0.00,0.000,6,0.000,0.034,3172,1944,2247
$GC,16172,2.14,141.7,460.1,8.5,1130,16175,0.00,1.88,0.00,0.000,4,0.000,0.052,3172,3019,2247
$GC,16431,2.14,141.7,437.4,8.2,1153,16434,0.00,1.88,0.00,0.000,6,0.000,0.042,3172,1942,2247
$GC,16761,2.15,148.5,412.0,7.3,1184,16773,0.00,1.95,7.35,0.923,4,0.000,0.067,3171,908,2219
$GC,16811,2.16,152.8,407.8,7.6,1188,16821,0.00,1.83,5.75,0.854,6,0.000,0.034,3171,1960,2201
$GC,17146,2.18,152.8,379.8,8.3,1220,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1960,2201
$GC,17465,2.21,152.8,353.1,9.4,1250,17469,0.00,1.92,0.00,0.000,4,0.000,0.061,3172,911,2201
$GC,17565,2.21,152.8,343.9,9.0,1259,17569,0.00,1.83,0.00,0.000,6,0.000,0.032,3171,1995,2201
$GC,17895,2.24,152.8,315.0,8.6,1290,17897,0.12,0.00,0.00,0.000,6,0.084,0.000,3202,1995,2201
$GC,18214,2.24,152.8,287.5,8.7,1320,18215,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1996,2201
$GC,18532,2.24,156.4,261.8,7.7,1350,18543,0.00,1.98,4.62,0.682,4,0.000,0.058,3202,908,2187
$GC,18599,2.24,156.4,255.8,9.4,1356,18603,0.00,1.80,0.00,0.000,6,0.000,0.031,3203,1969,2187
$GC,18938,2.24,156.4,226.8,8.1,1410,18943,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1969,2187
$GC,19281,2.26,166.2,202.5,7.1,1471,19298,0.00,1.83,10.20,0.828,4,0.000,0.049,3202,3009,2147
$GC,19517,2.26,166.2,183.0,8.4,1513,19523,0.00,1.80,0.00,0.000,6,0.000,0.034,3202,1945,2146
$GC,19860,2.28,175.0,158.8,7.2,1574,19873,0.00,1.90,9.02,0.765,4,0.000,0.055,3202,908,2111
$GC,19985,2.30,188.3,149.4,6.7,1596,20003,0.00,1.75,12.23,0.788,6,0.000,0.028,3202,1956,2057
$GC,20343,2.36,203.8,124.6,6.5,1659,20366,0.00,1.83,14.05,0.770,4,0.000,0.043,3202,2991,1994
$GC,20551,2.42,216.2,110.3,6.8,1696,20570,0.10,1.73,11.75,0.742,6,0.056,0.031,3238,1975,1943
$GC,20910,2.50,247.9,88.6,5.0,1759,20942,0.00,0.00,26.75,0.749,6,0.000,0.000,3238,1974,1813
$GC,21281,2.58,264.3,63.7,6.4,1825,21304,0.15,1.90,14.73,0.696,4,0.061,0.048,3285,918,1747
$GC,21388,2.59,274.2,56.2,7.1,1844,21406,0.00,1.80,9.50,0.650,6,0.000,0.026,3285,2000,1706
$GC,21745,2.63,281.1,30.1,7.3,1907,21757,0.00,1.75,7.03,0.584,4,0.000,0.041,3285,2996,1678
$GC,21898,2.65,281.1,16.6,9.0,1934,21904,0.00,1.62,0.00,0.000,6,0.000,0.028,3285,2024,1678
$STATE,22077,end climb,SURFACE_DEPTH_REACHED
$STATE,22077,begin surface coast
$FINISH,-0.1,1.021851
$STATE,22100,end surface coast,CONTROL_FINISHED_OK
$STATE,22100,begin surface
$SM_CCo,22119,117.47,0.645,0,0,887,475.15
$SM_GC,-5.13,0.00,0.00,117.47,0.000,0.000,0.645,419,2324,887,-10.54,-0.03,475.15
$IRIDIUM_FIX,1307.59,12024.79,180597,131315
$TT8_MAMPS,0.026078
$HUMID,1670
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.40
$XPDR_PINGS,460
$24V_AH,23.1,4.559
$10V_AH,10.1,3.716
$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,28.725,124.075,309.100,117.475,0.000,76.029,43.419,379.166,127.500,0.000,0.000,14.677,3248.790,14819.378,561.470,3599.859,768.083,0.000,2231.045,0.000,3555.701,0.000,91.511
$DEVICE_MAMPS,176.410,162.604,1455.766,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1339.165,780.934,739.412,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107238,1970
$CAP_FILE_SIZE,204653,0
$CFSIZE,260165632,254783488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,192631,1311.817,12025.444,37,1.3,37,-0.9