version: 66.03
glider: 126
mission: 7
dive: 330
start: 4 27 108 20 10 38
data:
$ID,126
$MISSION,7
$DIVE,330
$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,-625694.81
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,200032,1247.113,12021.884,41,1.0,41,-0.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-6.75
$_SM_ANGLEo,-57.4
$GPS2,200945,1247.166,12021.827,13,1.0,13,-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,256.7,11782,-19.0,-9.016
$D_GRID,821
$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,-120.8,0.0,0.0,0,106,0.00,0.00,-76.68,0.000,6,0.000,0.000,414,2327,3321
$GC,109,-2.18,-120.8,0.6,-21.4,15,126,10.27,1.80,0.00,0.000,4,0.165,0.031,2253,1264,3322
$GC,228,-2.01,-120.8,27.0,-16.0,36,235,0.15,1.75,0.00,0.000,6,0.107,0.024,2286,2325,3323
$GC,574,-1.92,-120.8,74.6,-14.4,97,580,0.12,1.77,0.00,0.000,4,0.116,0.031,2309,1250,3324
$GC,615,-1.85,-120.8,79.9,-12.3,104,621,0.00,1.77,0.00,0.000,6,0.000,0.024,2309,2332,3324
$GC,960,-1.86,-125.7,115.4,-8.7,165,966,0.00,1.80,0.00,0.000,4,0.000,0.032,2309,1251,3325
$GC,1074,-1.86,-125.7,126.1,-9.0,185,1080,0.00,1.73,0.00,0.000,6,0.000,0.024,2309,2319,3325
$GC,1418,-1.94,-146.0,156.3,-7.6,246,1424,0.00,1.77,0.00,0.000,4,0.000,0.033,2309,1254,3326
$GC,1466,-1.98,-146.0,159.6,-7.5,254,1472,0.00,1.65,0.00,0.000,6,0.000,0.024,2309,2279,3326
$GC,1810,-2.04,-146.0,186.1,-8.1,315,1817,0.12,1.83,0.00,0.000,4,0.060,0.039,2269,3362,3326
$GC,1868,-2.04,-146.0,191.3,-9.6,325,1874,0.00,1.85,0.00,0.000,6,0.000,0.025,2269,2205,3327
$GC,2211,-2.04,-146.0,220.8,-9.1,386,2217,0.00,1.58,0.00,0.000,4,0.000,0.038,2269,1258,3326
$GC,2325,-2.04,-146.0,231.0,-8.4,406,2331,0.00,1.75,0.00,0.000,6,0.000,0.025,2269,2329,3326
$GC,2662,-2.07,-146.0,259.9,-8.1,456,2666,0.00,1.80,0.00,0.000,4,0.000,0.044,2269,3369,3325
$GC,2757,-2.07,-146.0,267.5,-7.5,464,2763,0.00,1.75,0.00,0.000,6,0.000,0.027,2269,2273,3325
$GC,3084,-2.07,-146.0,293.1,-8.2,495,3088,0.00,1.88,0.00,0.000,4,0.000,0.044,2269,3365,3323
$GC,3112,-2.07,-146.0,295.7,-8.9,497,3118,0.00,1.62,0.00,0.000,6,0.000,0.028,2269,2340,3322
$GC,3440,-2.11,-146.0,323.3,-8.1,528,3443,0.00,1.75,0.00,0.000,4,0.000,0.040,2269,1310,3320
$GC,3490,-2.11,-146.0,327.8,-8.3,532,3496,0.00,1.88,0.00,0.000,6,0.000,0.028,2269,2441,3320
$GC,3818,-2.14,-146.0,354.6,-8.5,563,3821,0.00,1.92,0.00,0.000,4,0.000,0.040,2269,1323,3317
$GC,3953,-2.14,-146.0,365.9,-8.0,575,3957,0.00,1.77,0.00,0.000,6,0.000,0.028,2269,2389,3317
$GC,4288,-2.18,-146.0,391.4,-8.1,606,4292,0.00,1.85,0.00,0.000,4,0.000,0.043,2269,1323,3315
$GC,4412,-2.18,-146.0,402.0,-9.5,617,4416,0.00,1.70,0.00,0.000,6,0.000,0.029,2269,2346,3313
$GC,4746,-2.23,-146.0,432.1,-9.0,648,4750,0.12,1.77,0.00,0.000,4,0.063,0.047,2232,3375,3311
$GC,4814,-2.17,-146.0,438.6,-8.8,654,4818,0.12,1.67,0.00,0.000,6,0.106,0.031,2256,2370,3311
$GC,5144,-2.17,-146.0,466.4,-8.0,685,5148,0.00,1.77,0.00,0.000,4,0.000,0.049,2256,3370,3309
$GC,5245,-2.17,-146.0,474.6,-8.2,694,5249,0.00,1.62,0.00,0.000,6,0.000,0.031,2256,2392,3308
$GC,5580,-2.20,-146.0,501.8,-8.4,724,5583,0.00,1.73,0.00,0.000,4,0.000,0.054,2256,3368,3306
$GC,5641,-2.20,-146.0,507.6,-9.1,726,5647,0.00,1.60,0.00,0.000,6,0.000,0.031,2256,2427,3307
$GC,5957,-2.20,-146.0,533.9,-8.4,742,5961,0.00,1.67,0.00,0.000,4,0.000,0.059,2257,3364,3304
$GC,6070,-2.17,-146.0,543.5,-8.1,747,6074,0.00,1.67,0.00,0.000,6,0.000,0.035,2256,2382,3304
$GC,6407,-2.21,-146.0,571.3,-8.6,763,6411,0.00,1.83,0.00,0.000,4,0.000,0.068,2256,3362,3302
$GC,6510,-2.21,-146.0,580.3,-8.6,767,6513,0.00,1.62,0.00,0.000,6,0.000,0.045,2256,2430,3302
$GC,6834,-2.21,-146.0,606.8,-7.8,783,6837,0.00,1.75,0.00,0.000,4,0.000,0.080,2256,3359,3300
$GC,6930,-2.21,-146.0,614.5,-7.7,787,6934,0.00,1.77,0.00,0.000,6,0.000,0.058,2256,2381,3299
$GC,7258,-2.24,-146.0,638.3,-7.3,803,7261,0.00,2.08,0.00,0.000,4,0.000,0.092,2256,1286,3298
$GC,7387,-2.24,-146.0,648.1,-8.5,808,7392,0.00,1.73,0.00,0.000,6,0.000,0.029,2256,2323,3297
$GC,7702,-2.27,-146.0,676.0,-9.5,824,7706,0.00,1.80,0.00,0.000,4,0.000,0.044,2256,1284,3295
$GC,7827,-2.27,-146.0,688.2,-10.1,829,7831,0.00,1.65,0.00,0.000,6,0.000,0.030,2256,2275,3295
$GC,8150,-2.31,-146.0,719.5,-9.1,845,8155,0.15,1.75,0.00,0.000,4,0.063,0.048,2210,1281,3293
$GC,8190,-2.25,-146.0,723.2,-9.2,846,8196,0.15,1.62,0.00,0.000,6,0.107,0.031,2240,2252,3294
$GC,8509,-2.25,-146.0,750.7,-8.7,862,8512,0.00,1.70,0.00,0.000,4,0.000,0.049,2240,1284,3293
$GC,8565,-2.25,-146.0,755.9,-8.8,864,8568,0.00,1.58,0.00,0.000,6,0.000,0.032,2240,2224,3292
$GC,8886,-2.25,-146.0,783.1,-8.7,880,8890,0.00,2.00,0.00,0.000,4,0.000,0.052,2240,3369,3291
$GC,9000,-2.21,-146.0,792.8,-8.2,885,9003,0.00,1.95,0.00,0.000,6,0.000,0.034,2240,2222,3291
$GC,9336,-2.21,-146.0,820.4,-8.0,901,9339,0.00,2.03,0.00,0.000,4,0.000,0.051,2240,3368,3290
$STATE,9344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9344,begin apogee
$GC,9353,-0.52,0.0,821.6,7.9,901,9456,1.73,0.00,99.50,1.296,6,0.091,0.000,2615,1972,2825
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9460,2.22,146.0,825.4,0.0,906,9596,2.65,2.00,127.28,1.260,4,0.055,0.065,3218,907,2229
$GC,9705,2.14,173.4,815.6,7.3,917,9737,0.12,1.83,24.48,1.206,6,0.110,0.031,3195,1978,2118
$GC,10049,2.11,204.4,791.7,7.1,934,10079,0.00,0.00,28.05,1.219,6,0.000,0.000,3194,1978,1991
$GC,10395,2.05,207.9,760.5,8.8,951,10404,0.00,1.85,4.07,0.795,4,0.000,0.047,3194,3013,1977
$GC,10441,1.99,220.2,756.8,8.3,953,10463,0.17,1.85,12.75,1.155,6,0.104,0.037,3161,1945,1927
$GC,10774,2.01,235.3,731.5,8.1,969,10795,0.00,1.92,14.85,1.177,4,0.000,0.046,3161,3005,1865
$GC,10869,2.00,249.9,723.2,8.1,973,10889,0.00,1.77,14.32,1.154,6,0.000,0.041,3161,1977,1806
$GC,11219,2.01,251.0,692.8,8.9,990,11222,0.00,1.83,0.00,0.000,4,0.000,0.045,3161,3015,1803
$GC,11303,2.01,251.0,684.5,9.1,993,11309,0.00,1.75,0.00,0.000,6,0.000,0.035,3161,1997,1803
$GC,11619,2.01,251.0,655.7,9.0,1009,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1997,1802
$GC,11930,2.04,251.0,626.6,9.2,1024,11933,0.00,1.95,0.00,0.000,4,0.000,0.058,3161,909,1802
$GC,12021,2.06,264.1,618.4,8.2,1028,12043,0.00,1.90,13.62,1.131,6,0.000,0.031,3161,2013,1748
$GC,12354,2.11,265.3,588.8,8.9,1044,12358,0.12,2.00,0.00,0.000,4,0.069,0.054,3196,907,1746
$GC,12467,2.06,265.3,578.0,9.1,1049,12471,0.00,1.98,0.00,0.000,6,0.000,0.031,3197,2067,1746
$GC,12799,2.06,265.3,546.5,9.4,1065,12803,0.00,2.08,0.00,0.000,4,0.000,0.054,3197,917,1745
$GC,12907,2.01,268.4,536.5,8.8,1069,12917,0.15,1.83,4.93,0.850,6,0.100,0.031,3167,1999,1731
$GC,13247,2.06,275.2,506.7,8.6,1086,13261,0.00,2.05,7.60,0.982,4,0.000,0.054,3166,909,1703
$GC,13347,2.12,306.2,498.5,7.1,1091,13382,0.10,1.75,28.83,1.091,6,0.074,0.031,3196,1940,1576
$GC,13708,2.16,315.8,468.6,8.4,1125,13722,0.00,1.92,9.68,0.989,4,0.000,0.055,3196,917,1537
$GC,13797,2.18,322.4,460.7,8.6,1133,13809,0.00,1.83,7.40,0.924,6,0.000,0.031,3196,1992,1510
$GC,14127,2.22,322.4,427.1,11.1,1164,14131,0.00,1.95,0.00,0.000,4,0.000,0.054,3196,912,1508
$GC,14201,2.22,322.4,418.9,10.9,1170,14207,0.00,1.70,0.00,0.000,6,0.000,0.030,3196,1920,1508
$GC,14527,2.26,322.4,382.9,10.5,1201,14532,0.12,1.85,0.00,0.000,4,0.065,0.054,3234,909,1508
$GC,14607,2.19,322.4,374.2,10.5,1208,14611,0.15,1.62,0.00,0.000,6,0.100,0.029,3204,1879,1508
$GC,14937,2.23,322.4,342.9,9.1,1239,14940,0.00,1.75,0.00,0.000,4,0.000,0.054,3204,904,1508
$GC,14976,2.23,322.4,339.1,9.8,1242,14982,0.00,1.55,0.00,0.000,6,0.000,0.029,3204,1824,1508
$GC,15303,2.26,322.4,306.3,9.8,1273,15306,0.00,1.65,0.00,0.000,4,0.000,0.054,3204,902,1508
$GC,15376,2.26,322.4,298.8,9.0,1279,15381,0.00,1.45,0.00,0.000,6,0.000,0.028,3203,1775,1508
$GC,15703,2.30,322.4,268.1,9.7,1310,15707,0.12,1.55,0.00,0.000,4,0.064,0.053,3241,906,1508
$GC,15738,2.25,322.4,264.3,10.2,1313,15741,0.00,1.58,0.00,0.000,6,0.000,0.028,3241,1841,1508
$GC,16072,2.25,322.4,230.6,10.0,1360,16078,0.00,1.67,0.00,0.000,4,0.000,0.054,3241,903,1508
$GC,16108,2.20,322.4,227.0,10.3,1366,16115,0.17,1.70,0.00,0.000,6,0.095,0.029,3205,1913,1508
$GC,16453,2.26,322.4,194.3,10.1,1427,16459,0.00,1.80,0.00,0.000,4,0.000,0.052,3205,902,1508
$GC,16538,2.26,322.4,186.1,9.0,1442,16544,0.00,1.60,0.00,0.000,6,0.000,0.028,3205,1865,1508
$GC,16883,2.34,334.6,155.3,8.3,1503,16900,0.15,2.05,11.60,0.805,4,0.059,0.042,3255,3011,1460
$GC,17010,2.37,350.5,144.3,8.0,1525,17033,0.00,1.92,15.02,0.807,6,0.000,0.031,3255,1877,1395
$GC,17377,2.44,369.0,112.9,7.9,1589,17399,0.00,2.00,16.77,0.779,4,0.000,0.037,3255,3016,1319
$GC,17563,2.53,404.2,99.8,6.8,1622,17602,0.08,1.90,30.98,0.767,6,0.054,0.028,3289,1904,1175
$GC,17944,2.59,440.6,71.2,6.7,1689,17982,0.00,1.92,31.25,0.724,4,0.000,0.035,3289,3015,1027
$GC,18066,2.64,444.1,61.6,8.8,1710,18077,0.00,1.88,4.20,0.497,6,0.000,0.027,3289,1909,1014
$GC,18419,2.74,452.4,33.0,8.5,1772,18437,0.15,1.92,8.45,0.610,4,0.054,0.034,3346,3013,979
$GC,18536,2.75,460.9,22.4,8.5,1792,18548,0.00,1.75,8.52,0.599,6,0.000,0.025,3345,1961,946
$STATE,18755,end climb,SURFACE_DEPTH_REACHED
$STATE,18755,begin surface coast
$FINISH,-0.4,1.021151
$STATE,18780,end surface coast,CONTROL_FINISHED_OK
$STATE,18780,begin surface
$SM_CCo,18803,12.70,0.617,0,0,888,475.15
$SM_GC,-5.59,0.00,0.00,12.70,0.000,0.000,0.617,417,2353,888,-10.64,0.79,475.15
$IRIDIUM_FIX,1241.04,12021.43,220797,141456
$TT8_MAMPS,0.026078
$HUMID,1950
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.60
$XPDR_PINGS,535
$24V_AH,23.0,53.830
$10V_AH,10.1,38.604
$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,29.925,155.275,524.150,12.700,0.000,23.454,26.426,356.539,142.000,0.000,0.000,14.798,3039.979,11460.976,630.718,3374.114,882.158,0.000,2305.058,0.000,3331.689,0.000,60.703
$DEVICE_MAMPS,164.905,92.040,1296.230,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.822,478.170,763.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97823,1835
$CAP_FILE_SIZE,204695,0
$CFSIZE,260165632,228556800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,012532,1246.675,12021.167,38,1.1,38,-0.8