version: 66.03
glider: 126
mission: 7
dive: 388
start: 5 13 108 9 20 12
data:
$ID,126
$MISSION,7
$DIVE,388
$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,330
$T_MISSION,396
$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,175
$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,500
$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,-626787.56
$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,44
$R_STBD_OVSHOOT,48
$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
$GPS1,091137,1250.656,12023.109,31,1.2,31,-0.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,-7.09
$_SM_ANGLEo,-56.1
$GPS2,091939,1250.669,12023.143,13,1.3,13,-0.8
$SPEED_LIMITS,0.173,0.198
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,90.7,35404,-16.9,-10.000
$D_GRID,1028
$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,23,begin dive
$GC,26,-2.05,-170.3,0.0,0.0,0,110,0.00,0.00,-80.32,0.000,6,0.000,0.000,418,2389,3522
$GC,114,-2.05,-170.3,1.7,-27.0,16,131,10.45,1.77,0.00,0.000,4,0.166,0.039,2279,3414,3523
$GC,223,-1.85,-170.3,24.6,-14.7,35,229,0.22,1.73,0.00,0.000,6,0.107,0.023,2322,2331,3524
$GC,567,-1.85,-170.3,66.5,-11.8,96,574,0.00,1.88,0.00,0.000,4,0.000,0.038,2322,3406,3524
$GC,626,-1.79,-170.3,73.2,-11.5,106,632,0.00,1.85,0.00,0.000,6,0.000,0.022,2322,2258,3524
$GC,970,-1.79,-170.3,109.8,-10.0,167,976,0.00,1.98,0.00,0.000,4,0.000,0.038,2322,3420,3526
$GC,1051,-1.76,-170.3,118.0,-9.4,181,1058,0.12,1.92,0.00,0.000,6,0.108,0.022,2346,2217,3526
$GC,1397,-1.85,-170.3,149.8,-9.0,242,1403,0.00,1.45,0.00,0.000,4,0.000,0.034,2346,1346,3527
$GC,1457,-1.91,-170.3,155.2,-9.6,252,1464,0.10,1.42,0.00,0.000,6,0.044,0.022,2305,2227,3527
$GC,1802,-1.95,-170.3,187.4,-8.6,313,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2228,3527
$GC,2146,-1.99,-170.3,217.9,-9.4,374,2152,0.00,1.50,0.00,0.000,4,0.000,0.035,2304,1351,3527
$GC,2277,-1.99,-170.3,230.2,-9.2,397,2284,0.00,1.35,0.00,0.000,6,0.000,0.024,2304,2180,3528
$GC,2616,-2.04,-170.3,260.4,-8.9,447,2620,0.00,2.10,0.00,0.000,4,0.000,0.042,2304,3409,3526
$GC,2745,-2.04,-170.3,272.7,-9.3,458,2752,0.00,1.95,0.00,0.000,6,0.000,0.026,2304,2214,3525
$GC,3073,-2.12,-170.3,302.7,-8.9,489,3077,0.15,1.42,0.00,0.000,4,0.054,0.038,2259,1356,3524
$GC,3175,-2.12,-170.3,312.3,-9.0,498,3178,0.00,1.42,0.00,0.000,6,0.000,0.025,2259,2217,3524
$GC,3508,-2.12,-170.3,341.7,-8.8,529,3511,0.00,1.50,0.00,0.000,4,0.000,0.039,2258,1353,3522
$GC,3644,-2.12,-170.3,353.8,-9.0,541,3648,0.00,1.25,0.00,0.000,6,0.000,0.025,2258,2114,3521
$GC,3979,-2.12,-170.3,383.8,-9.2,572,3983,0.00,2.25,0.00,0.000,4,0.000,0.044,2259,3416,3518
$GC,4080,-2.08,-170.3,394.2,-10.3,580,4086,0.00,2.17,0.00,0.000,6,0.000,0.029,2259,2119,3518
$GC,4407,-2.08,-170.3,425.5,-9.5,611,4411,0.00,2.28,0.00,0.000,4,0.000,0.045,2258,3415,3516
$GC,4516,-2.08,-170.3,435.9,-9.1,620,4520,0.00,2.30,0.00,0.000,6,0.000,0.030,2259,2060,3515
$GC,4843,-2.08,-170.3,466.2,-9.5,650,4846,0.00,1.23,0.00,0.000,4,0.000,0.054,2259,1368,3512
$GC,4905,-2.08,-170.3,472.3,-9.8,655,4910,0.00,1.12,0.00,0.000,6,0.000,0.030,2259,2042,3512
$GC,5242,-2.08,-170.3,504.2,-9.7,685,5246,0.00,2.40,0.00,0.000,4,0.000,0.051,2258,3406,3509
$GC,5292,-2.05,-170.3,509.6,-9.6,687,5297,0.12,2.33,0.00,0.000,6,0.100,0.034,2284,2056,3509
$GC,5611,-2.11,-170.3,539.0,-9.3,702,5614,0.00,1.27,0.00,0.000,4,0.000,0.073,2284,1369,3507
$GC,5645,-2.14,-170.3,542.5,-9.3,703,5648,0.00,1.10,0.00,0.000,6,0.000,0.043,2284,1993,3507
$GC,5969,-2.19,-170.3,572.6,-9.4,719,5974,0.15,2.45,0.00,0.000,4,0.061,0.045,2238,3402,3504
$GC,6081,-2.14,-170.3,584.3,-10.1,724,6086,0.12,2.10,0.00,0.000,6,0.102,0.031,2263,2158,3503
$GC,6411,-2.14,-170.3,614.9,-9.1,740,6415,0.00,2.22,0.00,0.000,4,0.000,0.049,2263,3413,3501
$GC,6475,-2.14,-170.3,620.8,-9.2,743,6479,0.00,2.30,0.00,0.000,6,0.000,0.032,2263,2072,3501
$GC,6802,-2.14,-170.3,649.9,-8.9,759,6807,0.00,2.38,0.00,0.000,4,0.000,0.051,2263,3406,3500
$GC,6897,-2.14,-170.3,658.5,-9.3,763,6901,0.00,2.33,0.00,0.000,6,0.000,0.033,2263,2054,3499
$GC,7220,-2.14,-170.3,685.7,-8.4,779,7224,0.00,2.40,0.00,0.000,4,0.000,0.051,2263,3402,3496
$GC,7309,-2.14,-170.3,693.5,-8.3,783,7313,0.00,2.33,0.00,0.000,6,0.000,0.033,2263,2051,3496
$GC,7632,-2.14,-170.3,720.9,-8.6,799,7636,0.00,2.40,0.00,0.000,4,0.000,0.051,2263,3398,3495
$GC,7722,-2.14,-170.3,729.2,-9.6,803,7726,0.00,2.33,0.00,0.000,6,0.000,0.033,2263,2048,3494
$GC,8045,-2.18,-170.3,757.7,-9.1,819,8049,0.00,2.40,0.00,0.000,4,0.000,0.050,2263,3398,3493
$GC,8158,-2.18,-170.3,768.3,-9.2,824,8162,0.00,2.30,0.00,0.000,6,0.000,0.033,2263,2051,3492
$GC,8486,-2.18,-170.3,797.6,-9.0,840,8491,0.00,2.42,0.00,0.000,4,0.000,0.051,2263,3412,3491
$GC,8565,-2.18,-170.3,805.0,-8.9,843,8571,0.00,2.35,0.00,0.000,6,0.000,0.034,2263,2047,3491
$GC,8884,-2.18,-170.3,831.3,-8.0,859,8888,0.00,2.42,0.00,0.000,4,0.000,0.050,2263,3408,3489
$GC,8974,-2.18,-170.3,838.9,-7.8,863,8978,0.00,2.33,0.00,0.000,6,0.000,0.034,2263,2055,3489
$GC,9301,-2.18,-170.3,864.0,-7.8,879,9305,0.00,2.40,0.00,0.000,4,0.000,0.051,2263,3402,3488
$GC,9368,-2.18,-170.3,869.2,-7.9,882,9372,0.00,2.33,0.00,0.000,6,0.000,0.035,2263,2059,3487
$GC,9693,-2.21,-170.3,895.8,-8.7,898,9697,0.00,2.40,0.00,0.000,4,0.000,0.051,2263,3403,3486
$GC,9816,-2.21,-170.3,906.8,-8.6,903,9822,0.00,2.33,0.00,0.000,6,0.000,0.035,2263,2057,3486
$GC,10135,-2.24,-170.3,934.5,-8.9,919,10139,0.00,2.40,0.00,0.000,4,0.000,0.051,2262,3403,3485
$GC,10236,-2.24,-170.3,944.2,-9.7,923,10242,0.00,2.33,0.00,0.000,6,0.000,0.035,2263,2058,3485
$GC,10553,-2.24,-170.3,972.3,-9.0,939,10557,0.00,1.25,0.00,0.000,4,0.000,0.054,2263,1355,3484
$GC,10638,-2.24,-170.3,979.9,-8.9,942,10644,0.00,1.30,0.00,0.000,6,0.000,0.032,2263,2119,3484
$STATE,10766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10766,begin apogee
$GC,10773,-0.52,0.0,991.9,9.4,949,10922,1.65,0.00,145.30,1.437,6,0.089,0.000,2614,2119,2825
$STATE,10923,end apogee,CONTROL_FINISHED_OK
$STATE,10923,begin climb
$GC,10926,2.05,170.3,1000.3,0.0,956,11091,2.50,2.00,152.62,1.395,4,0.058,0.061,3181,1065,2130
$GC,11281,1.99,225.6,983.9,7.1,972,11338,0.00,1.70,50.22,1.357,6,0.000,0.031,3182,2063,1905
$GC,11651,1.91,248.8,952.8,8.8,990,11679,0.15,2.00,21.73,1.321,4,0.107,0.051,3149,3128,1810
$GC,11766,1.87,270.7,942.3,8.8,995,11806,0.00,1.75,25.12,1.134,6,0.000,0.044,3149,2127,1721
$GC,12131,1.85,291.9,910.5,8.9,1013,12154,0.00,0.00,20.77,1.310,6,0.000,0.000,3149,2126,1634
$GC,12458,1.83,305.9,880.3,9.3,1029,12479,0.00,1.88,14.15,1.269,4,0.000,0.050,3149,3122,1577
$GC,12543,1.78,310.2,871.6,9.8,1032,12553,0.17,1.73,5.43,1.006,6,0.102,0.035,3115,2131,1561
$GC,12878,1.83,317.5,840.0,9.6,1049,12892,0.00,1.85,8.23,1.160,4,0.000,0.050,3115,3121,1530
$GC,12990,1.83,317.5,829.0,10.1,1054,12993,0.00,1.92,0.00,0.000,6,0.000,0.036,3114,2023,1529
$GC,13323,1.90,320.7,796.5,9.8,1070,13332,0.12,2.00,4.65,0.933,4,0.071,0.050,3149,3123,1517
$GC,13345,1.90,323.0,794.1,9.9,1071,13354,0.00,2.25,4.03,0.841,6,0.000,0.038,3149,1847,1508
$GC,13677,1.90,323.0,761.0,10.0,1087,13681,0.00,1.50,0.00,0.000,4,0.000,0.063,3149,1027,1507
$GC,13693,1.90,323.0,759.1,10.2,1087,13699,0.00,1.73,0.00,0.000,6,0.000,0.031,3149,2046,1507
$GC,14010,1.91,331.4,728.8,9.6,1103,14024,0.00,1.95,8.90,1.145,4,0.000,0.048,3149,3108,1474
$GC,14071,1.91,345.6,723.0,9.2,1105,14090,0.00,1.67,14.75,1.206,6,0.000,0.036,3149,2145,1416
$GC,14407,1.92,350.9,690.8,9.7,1122,14418,0.00,2.10,6.47,1.035,4,0.000,0.055,3149,1018,1394
$GC,14487,1.89,351.7,682.6,10.0,1125,14492,0.00,1.70,0.00,0.000,6,0.000,0.030,3149,2022,1394
$GC,14803,1.93,351.7,649.8,10.6,1141,14806,0.00,1.92,0.00,0.000,4,0.000,0.048,3149,3119,1392
$GC,14864,1.93,351.7,643.0,10.6,1143,14870,0.00,1.67,0.00,0.000,6,0.000,0.035,3149,2147,1392
$GC,15180,1.97,351.7,608.8,10.9,1159,15184,0.00,2.00,0.00,0.000,4,0.000,0.056,3149,1022,1392
$GC,15226,1.97,351.7,603.8,11.2,1161,15229,0.00,1.73,0.00,0.000,6,0.000,0.031,3149,2044,1392
$GC,15559,2.02,351.7,568.8,10.3,1177,15560,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2044,1392
$GC,15868,2.09,360.5,538.9,9.5,1192,15883,0.15,1.88,10.02,1.062,4,0.064,0.053,3195,1023,1354
$GC,15895,2.05,360.5,536.0,10.6,1193,15898,0.00,1.92,0.00,0.000,6,0.000,0.031,3195,2150,1354
$GC,16222,2.05,360.5,503.0,10.2,1209,16226,0.00,2.03,0.00,0.000,4,0.000,0.051,3195,1011,1354
$GC,16279,2.01,361.5,497.1,9.9,1212,16283,0.15,1.73,0.00,0.000,6,0.097,0.031,3165,2035,1354
$GC,16609,2.06,363.8,463.0,9.9,1243,16621,0.00,1.92,4.62,0.802,4,0.000,0.048,3165,3121,1341
$GC,16671,2.07,366.9,456.5,9.8,1248,16680,0.00,1.67,4.57,0.796,6,0.000,0.033,3165,2145,1329
$GC,17007,2.12,382.0,423.5,9.2,1280,17027,0.12,0.00,15.35,1.032,6,0.071,0.000,3201,2145,1267
$GC,17345,2.12,382.0,387.9,10.8,1312,17346,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2145,1266
$GC,17665,2.12,382.0,354.6,10.6,1342,17666,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2144,1266
$GC,17982,2.12,382.0,321.1,10.5,1372,17983,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2144,1266
$GC,18303,2.15,398.8,288.8,9.1,1402,18324,0.00,1.80,16.12,0.933,4,0.000,0.046,3200,3119,1199
$GC,18366,2.20,426.2,282.5,8.5,1408,18397,0.00,1.88,25.95,0.930,6,0.000,0.032,3200,2035,1087
$GC,18718,2.26,433.5,245.7,9.6,1444,18730,0.00,1.88,7.50,0.799,4,0.000,0.053,3200,1020,1057
$GC,18822,2.27,441.8,234.6,9.6,1462,18839,0.12,1.98,9.02,0.817,6,0.067,0.028,3238,2193,1023
$GC,19179,2.27,441.8,195.3,10.3,1525,19185,0.00,1.62,0.00,0.000,4,0.000,0.047,3238,3122,1021
$GC,19213,2.27,441.8,191.1,10.6,1531,19219,0.00,1.90,0.00,0.000,6,0.000,0.031,3237,2011,1021
$GC,19558,2.31,464.8,154.8,8.8,1592,19584,0.00,1.77,20.92,0.821,4,0.000,0.050,3238,1022,929
$GC,19701,2.34,484.1,140.5,9.0,1617,19723,0.00,1.62,18.00,0.792,6,0.000,0.026,3238,2010,851
$GC,20064,2.42,484.1,104.7,10.2,1681,20070,0.00,1.75,0.00,0.000,4,0.000,0.046,3238,1015,848
$GC,20185,2.53,518.4,93.3,8.2,1702,20224,0.15,1.75,30.02,0.759,6,0.042,0.025,3290,2065,711
$GC,20566,2.58,529.3,56.7,9.4,1769,20583,0.00,1.85,10.15,0.666,4,0.000,0.043,3290,1023,667
$GC,20688,2.64,539.0,45.3,9.5,1790,20705,0.00,1.62,9.93,0.647,6,0.000,0.024,3289,2012,626
$GC,21048,2.76,556.8,11.5,9.1,1853,21066,0.15,1.77,9.70,0.608,4,0.054,0.041,3346,1018,586
$STATE,21144,end climb,SURFACE_DEPTH_REACHED
$STATE,21144,begin surface coast
$FINISH,0.4,1.020615
$STATE,21161,end surface coast,CONTROL_FINISHED_OK
$STATE,21161,begin surface
$SM_CCo,21247,0.00,0.000,0,0,585,549.47
$SM_GC,-6.88,12.80,0.00,0.00,0.051,0.000,0.000,416,2365,585,-10.59,-0.06,549.47
$IRIDIUM_FIX,1247.67,12021.43,070897,030348
$TT8_MAMPS,0.026078
$HUMID,2010
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,473
$24V_AH,22.6,66.916
$10V_AH,10.1,46.453
$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,29.700,172.800,674.275,0.000,0.000,29.793,33.420,259.830,130.750,0.000,0.000,13.709,3103.592,13481.578,766.577,3520.822,848.660,0.000,2531.373,0.000,3448.063,0.000,91.511
$DEVICE_MAMPS,166.439,72.865,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1267.793,445.585,697.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101070,1873
$CAP_FILE_SIZE,216077,0
$CFSIZE,260165632,222248960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130508,151538,1250.816,12023.316,43,1.1,43,-0.8