version: 66.03
glider: 126
mission: 7
dive: 168
start: 3 23 108 6 21 45
data:
$ID,126
$MISSION,7
$DIVE,168
$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,0.0020000001
$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,-622633.44
$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,38
$R_STBD_OVSHOOT,54
$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
$GPS1,061425,1247.348,12016.904,39,1.7,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.13
$_SM_ANGLEo,-57.7
$GPS2,062053,1247.406,12016.865,15,5.9,34,-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,217.5,4126,-22.8,-9.016
$D_GRID,933
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-64.85,0.000,6,0.000,0.000,416,2330,3140
$GC,95,-2.43,-76.7,0.3,-18.7,13,113,10.02,1.75,0.00,0.000,4,0.175,0.038,2175,3358,3141
$GC,299,-2.28,-76.7,55.8,-22.2,49,305,0.20,1.70,0.00,0.000,6,0.128,0.023,2211,2286,3142
$GC,642,-2.24,-76.7,118.7,-14.9,110,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2280,3143
$GC,985,-2.24,-76.7,163.9,-9.9,171,990,0.00,1.83,0.00,0.000,4,0.000,0.038,2211,3361,3145
$GC,1091,-2.24,-76.7,176.2,-11.5,190,1097,0.00,1.67,0.00,0.000,6,0.000,0.024,2210,2300,3145
$GC,1434,-2.24,-76.7,212.3,-10.4,251,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2293,3145
$GC,1781,-2.24,-76.7,251.5,-12.1,312,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2294,3145
$GC,2099,-2.24,-76.7,285.7,-10.8,342,2103,0.00,1.67,0.00,0.000,4,0.000,0.041,2210,1307,3144
$GC,2144,-2.24,-76.7,290.6,-10.6,346,2148,0.00,1.62,0.00,0.000,6,0.000,0.027,2211,2297,3144
$GC,2475,-2.24,-76.7,325.9,-10.8,377,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2298,3142
$GC,2792,-2.24,-76.7,359.4,-10.8,407,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2298,3140
$GC,3110,-2.24,-76.7,393.6,-11.1,437,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2298,3138
$GC,3429,-2.24,-76.7,427.5,-10.9,467,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2297,3135
$GC,3748,-2.24,-76.7,459.2,-9.5,497,3751,0.00,1.85,0.00,0.000,4,0.000,0.052,2211,3366,3133
$GC,3830,-2.24,-76.7,467.9,-10.4,504,3837,0.00,1.73,0.00,0.000,6,0.000,0.032,2211,2357,3133
$GC,4157,-2.24,-78.2,498.0,-8.9,535,4161,0.00,1.92,0.00,0.000,4,0.000,0.064,2211,1278,3131
$GC,4224,-2.25,-85.5,504.0,-8.4,539,4228,0.00,1.73,0.00,0.000,6,0.000,0.038,2211,2292,3130
$GC,4556,-2.25,-85.5,533.8,-9.9,555,4560,0.00,1.92,0.00,0.000,4,0.000,0.062,2211,3377,3127
$GC,4628,-2.25,-85.5,541.4,-10.6,558,4632,0.00,1.85,0.00,0.000,6,0.000,0.038,2210,2318,3127
$GC,4955,-2.25,-85.5,575.1,-10.8,574,4959,0.00,1.95,0.00,0.000,4,0.000,0.073,2211,3376,3125
$GC,5010,-2.25,-85.5,581.2,-10.8,576,5014,0.00,1.88,0.00,0.000,6,0.000,0.051,2211,2337,3124
$GC,5331,-2.25,-85.5,615.5,-10.7,592,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2336,3123
$GC,5642,-2.25,-85.5,650.2,-10.7,607,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2336,3121
$GC,5950,-2.27,-85.5,682.9,-11.0,622,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2336,3119
$GC,6261,-2.29,-85.5,716.1,-10.0,637,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2328,3118
$GC,6568,-2.32,-85.5,744.8,-9.4,652,6572,0.00,1.85,0.00,0.000,4,0.000,0.053,2211,3369,3117
$GC,6658,-2.32,-85.5,753.8,-10.2,656,6662,0.00,1.77,0.00,0.000,6,0.000,0.033,2211,2313,3116
$GC,6993,-2.35,-85.5,786.4,-9.4,672,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2313,3115
$GC,7300,-2.37,-85.5,815.8,-9.5,687,7304,0.00,1.85,0.00,0.000,4,0.000,0.061,2211,1289,3114
$GC,7377,-2.39,-85.5,823.5,-9.5,690,7381,0.00,1.80,0.00,0.000,6,0.000,0.035,2211,2327,3113
$GC,7699,-2.42,-85.5,853.7,-9.2,706,7703,0.12,1.85,0.00,0.000,4,0.072,0.054,2179,3384,3112
$GC,7769,-2.42,-85.5,860.1,-9.3,709,7772,0.00,1.80,0.00,0.000,6,0.000,0.034,2179,2323,3112
$GC,8100,-2.42,-85.5,893.1,-9.9,725,8104,0.00,1.83,0.00,0.000,4,0.000,0.055,2179,1284,3111
$GC,8194,-2.42,-85.5,902.9,-10.6,729,8198,0.00,1.80,0.00,0.000,6,0.000,0.033,2179,2330,3111
$STATE,8498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8498,begin apogee
$GC,8504,-0.51,0.0,934.1,10.3,744,8570,2.03,0.00,61.55,1.391,6,0.106,0.000,2598,1963,2825
$STATE,8570,end apogee,CONTROL_FINISHED_OK
$STATE,8570,begin climb
$GC,8573,2.44,85.5,935.9,0.0,747,8658,2.88,2.08,75.10,1.358,4,0.062,0.085,3246,923,2476
$GC,8743,2.39,90.2,926.7,8.6,755,8753,0.00,1.80,5.50,1.014,6,0.000,0.031,3247,1971,2457
$GC,9069,2.37,103.3,900.8,7.8,771,9090,0.00,1.90,12.77,1.256,4,0.000,0.050,3247,3006,2403
$GC,9163,2.32,103.3,892.6,9.2,775,9167,0.12,1.83,0.00,0.000,6,0.105,0.038,3219,1966,2402
$GC,9489,2.35,119.3,866.3,7.6,791,9511,0.00,1.98,15.40,1.276,4,0.000,0.066,3219,912,2338
$GC,9641,2.32,119.3,852.3,10.1,797,9647,0.00,1.80,0.00,0.000,6,0.000,0.032,3219,1970,2336
$GC,9956,2.32,119.7,822.2,9.0,813,9959,0.00,1.80,0.00,0.000,4,0.000,0.049,3219,3008,2335
$GC,10046,2.32,119.7,813.7,9.7,817,10049,0.00,1.80,0.00,0.000,6,0.000,0.038,3219,1965,2335
$GC,10377,2.32,119.7,784.1,9.1,833,10381,0.00,1.90,0.00,0.000,4,0.000,0.064,3219,914,2334
$GC,10479,2.30,119.7,775.0,9.6,837,10483,0.00,1.77,0.00,0.000,6,0.000,0.032,3218,1962,2334
$GC,10800,2.30,123.6,745.4,8.7,853,10806,0.00,0.00,4.53,0.903,6,0.000,0.000,3219,1963,2321
$GC,11109,2.31,125.2,718.2,8.9,868,11113,0.00,1.83,0.00,0.000,4,0.000,0.049,3219,3017,2320
$GC,11366,2.31,126.2,694.9,8.9,879,11378,0.00,1.77,4.15,0.838,6,0.000,0.045,3219,2000,2310
$GC,11687,2.31,126.2,665.3,9.8,895,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2000,2309
$GC,11996,2.31,127.0,636.9,8.9,910,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1999,2309
$GC,12306,2.32,135.0,611.0,8.3,925,12320,0.00,1.85,9.30,1.095,4,0.000,0.048,3219,3009,2274
$GC,12399,2.33,140.0,602.7,8.6,929,12409,0.00,1.80,6.00,0.971,6,0.000,0.037,3219,1966,2254
$GC,12719,2.33,141.6,573.9,8.9,944,12723,0.00,1.90,0.00,0.000,4,0.000,0.064,3219,913,2253
$GC,12814,2.33,141.6,565.1,9.3,948,12818,0.00,1.85,0.00,0.000,6,0.000,0.031,3219,1986,2253
$GC,13140,2.33,141.6,537.1,9.1,964,13143,0.00,1.75,0.00,0.000,4,0.000,0.048,3219,3003,2253
$GC,13239,2.35,152.9,528.4,8.0,968,13256,0.00,1.77,12.57,1.085,6,0.000,0.044,3219,1982,2201
$GC,13567,2.35,152.9,498.9,9.0,985,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1981,2200
$GC,13887,2.37,162.5,471.4,8.1,1015,13898,0.00,0.00,9.55,1.006,6,0.000,0.000,3219,1981,2163
$GC,14217,2.37,162.5,441.3,9.2,1046,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1982,2161
$GC,14536,2.39,172.2,413.6,8.1,1076,14550,0.00,1.80,10.15,0.985,4,0.000,0.044,3219,3003,2122
$GC,14681,2.39,172.2,399.6,9.9,1089,14685,0.00,1.67,0.00,0.000,6,0.000,0.035,3219,2024,2121
$GC,15012,2.39,172.2,369.6,9.2,1120,15015,0.00,2.00,0.00,0.000,4,0.000,0.061,3219,908,2121
$GC,15129,2.39,172.2,358.5,9.6,1130,15135,0.00,1.92,0.00,0.000,6,0.000,0.031,3219,2031,2121
$GC,15455,2.39,177.8,329.4,8.5,1161,15464,0.00,0.00,6.12,0.828,6,0.000,0.000,3219,2032,2100
$GC,15784,2.42,177.8,299.6,9.1,1192,15787,0.00,2.00,0.00,0.000,4,0.000,0.054,3219,914,2100
$GC,15851,2.42,178.9,293.2,8.9,1198,15855,0.00,1.88,0.00,0.000,6,0.000,0.030,3219,2013,2100
$GC,16181,2.45,185.7,264.4,8.4,1229,16196,0.12,2.03,8.32,0.855,4,0.074,0.054,3254,917,2068
$GC,16359,2.45,185.7,246.6,10.0,1247,16365,0.00,1.83,0.00,0.000,6,0.000,0.030,3254,2001,2068
$GC,16703,2.46,187.3,214.3,8.9,1308,16709,0.00,1.95,0.00,0.000,4,0.000,0.054,3254,911,2068
$GC,16961,2.48,201.4,193.5,7.7,1354,16983,0.00,1.80,14.60,0.860,6,0.000,0.029,3254,1990,2004
$GC,17320,2.50,214.6,164.2,7.8,1418,17336,0.00,0.00,12.52,0.820,6,0.000,0.000,3254,1990,1950
$GC,17674,2.61,251.6,141.8,5.7,1481,17714,0.10,2.00,31.52,0.817,4,0.075,0.051,3285,915,1799
$GC,17815,2.63,265.3,131.3,7.8,1506,17833,0.00,1.80,12.52,0.762,6,0.000,0.027,3285,1982,1743
$GC,18172,2.71,291.2,105.1,6.7,1569,18200,0.00,1.92,22.35,0.759,4,0.000,0.046,3284,900,1637
$GC,18341,2.75,291.2,91.1,9.6,1599,18348,0.10,1.73,0.00,0.000,6,0.070,0.025,3317,1956,1636
$GC,18687,2.86,330.7,70.0,5.4,1660,18726,0.00,1.77,33.20,0.715,4,0.000,0.035,3317,3000,1475
$GC,18964,2.92,345.0,48.2,7.7,1709,18982,0.12,1.77,12.73,0.656,6,0.062,0.026,3356,1920,1418
$GC,19321,2.95,345.0,13.5,9.9,1772,19327,0.00,1.73,0.00,0.000,4,0.000,0.045,3356,926,1417
$STATE,19432,end climb,SURFACE_DEPTH_REACHED
$STATE,19432,begin surface coast
$FINISH,-0.6,1.021524
$STATE,19457,end surface coast,CONTROL_FINISHED_OK
$STATE,19458,begin surface
$SM_CCo,19480,80.88,0.633,0,0,887,475.15
$SM_GC,-6.00,0.00,0.00,80.88,0.000,0.000,0.633,415,2316,887,-10.56,-0.25,475.15
$IRIDIUM_FIX,1241.04,12018.41,170697,000011
$TT8_MAMPS,0.026078
$HUMID,1803
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.70
$XPDR_PINGS,291
$24V_AH,23.1,25.021
$10V_AH,10.2,20.282
$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,28.600,107.375,380.475,80.875,0.000,31.241,36.417,177.510,83.750,0.000,0.000,36.471,2931.753,12691.812,543.479,3245.998,557.940,0.000,2093.345,0.000,3178.814,0.000,80.614
$DEVICE_MAMPS,174.876,85.137,1390.571,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1218.801,423.121,701.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94676,1796
$CAP_FILE_SIZE,179962,0
$CFSIZE,260165632,243032064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230308,114902,1246.923,12015.184,40,1.2,40,-0.8