version: 66.03
glider: 126
mission: 7
dive: 185
start: 3 26 108 16 3 20
data:
$ID,126
$MISSION,7
$DIVE,185
$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,-622920.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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
$GPS1,155638,1246.389,12023.054,25,1.3,25,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.98
$_SM_ANGLEo,-57.3
$GPS2,160227,1246.418,12023.065,11,1.8,11,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB
$TGT_LATLONG,1246.900,12022.320
$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,304.3,1615,-24.7,-9.016
$D_GRID,797
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.60,-65.8,0.0,0.0,0,93,0.00,0.00,-63.70,0.000,6,0.000,0.000,414,2352,3094
$GC,95,-2.60,-65.8,0.6,-19.9,13,107,9.77,0.00,0.00,0.000,6,0.173,0.000,2135,2352,3095
$GC,447,-2.51,-65.8,86.0,-19.2,75,453,0.15,1.70,0.00,0.000,4,0.138,0.037,2165,3369,3097
$GC,612,-2.44,-65.8,115.7,-18.0,104,619,0.00,1.73,0.00,0.000,6,0.000,0.023,2165,2300,3098
$GC,957,-2.42,-65.8,160.3,-12.6,165,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2294,3100
$GC,1300,-2.42,-65.8,199.8,-11.1,226,1306,0.00,1.80,0.00,0.000,4,0.000,0.039,2165,3362,3101
$GC,1558,-2.42,-65.8,228.1,-10.8,272,1564,0.00,1.60,0.00,0.000,6,0.000,0.025,2165,2355,3101
$GC,1895,-2.42,-65.8,265.2,-11.4,321,1899,0.00,1.77,0.00,0.000,4,0.000,0.039,2165,1299,3101
$GC,1939,-2.42,-65.8,270.4,-11.8,325,1943,0.00,1.77,0.00,0.000,6,0.000,0.027,2165,2376,3101
$GC,2270,-2.42,-65.8,308.1,-11.3,356,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2376,3099
$GC,2587,-2.42,-65.8,342.6,-10.7,386,2591,0.00,1.85,0.00,0.000,4,0.000,0.042,2165,1304,3097
$GC,2632,-2.42,-65.8,347.7,-11.8,390,2636,0.00,1.75,0.00,0.000,6,0.000,0.029,2165,2355,3097
$GC,2963,-2.42,-65.8,384.3,-11.1,421,2967,0.00,1.75,0.00,0.000,4,0.000,0.050,2165,3371,3094
$GC,3098,-2.42,-65.8,400.5,-11.5,433,3101,0.00,1.62,0.00,0.000,6,0.000,0.030,2165,2387,3094
$GC,3429,-2.42,-65.8,437.5,-10.8,464,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2386,3091
$GC,3746,-2.42,-65.8,472.5,-10.7,494,3750,0.00,1.75,0.00,0.000,4,0.000,0.052,2165,3381,3089
$GC,3874,-2.42,-65.8,486.7,-10.8,505,3880,0.00,1.65,0.00,0.000,6,0.000,0.031,2165,2411,3088
$GC,4193,-2.42,-65.8,519.6,-10.7,527,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2410,3086
$GC,4504,-2.42,-65.8,552.1,-10.3,542,4507,0.00,2.00,0.00,0.000,4,0.000,0.075,2165,1321,3083
$GC,4558,-2.42,-65.8,558.2,-10.7,544,4563,0.00,1.88,0.00,0.000,6,0.000,0.049,2165,2368,3083
$GC,4883,-2.42,-65.8,590.7,-9.7,560,4886,0.00,1.88,0.00,0.000,4,0.000,0.081,2165,3385,3080
$GC,4950,-2.42,-65.8,597.4,-9.1,563,4953,0.00,1.70,0.00,0.000,6,0.000,0.059,2165,2444,3080
$GC,5281,-2.42,-65.8,628.2,-9.4,579,5285,0.00,2.12,0.00,0.000,4,0.000,0.090,2165,1318,3079
$GC,5331,-2.42,-65.8,633.2,-9.7,581,5335,0.00,2.05,0.00,0.000,6,0.000,0.074,2165,2402,3078
$GC,5657,-2.42,-65.8,663.6,-9.3,597,5661,0.00,1.90,0.00,0.000,4,0.000,0.110,2165,3374,3077
$GC,5836,-2.42,-65.8,680.8,-9.7,605,5840,0.00,1.80,0.00,0.000,6,0.000,0.097,2166,2472,3075
$GC,6167,-2.42,-65.8,711.9,-9.6,621,6171,0.00,2.35,0.00,0.000,4,0.000,0.129,2165,1324,3074
$GC,6325,-2.42,-65.8,728.5,-10.4,628,6328,0.00,1.85,0.00,0.000,6,0.000,0.031,2165,2423,3073
$GC,6651,-2.42,-65.8,762.7,-10.0,644,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2424,3072
$GC,6960,-2.44,-65.8,793.8,-9.8,659,6964,0.00,1.95,0.00,0.000,4,0.000,0.047,2165,1309,3070
$STATE,6991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6991,begin apogee
$GC,6997,-0.51,0.0,797.3,10.2,660,7054,2.05,0.00,52.50,1.285,6,0.104,0.000,2599,1992,2825
$STATE,7055,end apogee,CONTROL_FINISHED_OK
$STATE,7055,begin climb
$GC,7057,2.60,65.8,798.7,0.0,663,7120,3.12,0.00,57.70,1.253,6,0.067,0.000,3283,1991,2556
$GC,7418,2.62,96.0,780.8,5.9,681,7449,0.00,1.85,26.77,1.230,4,0.000,0.048,3283,3004,2433
$GC,7528,2.62,118.1,772.9,6.8,686,7552,0.00,1.75,20.40,1.198,6,0.000,0.036,3283,1988,2343
$GC,7874,2.62,118.1,741.9,9.7,703,7877,0.00,1.95,0.00,0.000,4,0.000,0.061,3283,907,2340
$GC,7979,2.59,118.1,729.8,12.0,707,7986,0.00,1.80,0.00,0.000,6,0.000,0.031,3283,1949,2339
$GC,8296,2.59,118.1,697.3,9.5,723,8300,0.00,1.88,0.00,0.000,4,0.000,0.057,3283,913,2338
$GC,8488,2.55,118.1,678.0,9.7,731,8491,0.00,1.73,0.00,0.000,6,0.000,0.031,3283,1936,2337
$GC,8810,2.56,125.5,650.0,8.3,747,8821,0.00,1.92,6.80,1.012,4,0.000,0.046,3283,3005,2313
$GC,8952,2.55,133.5,638.3,8.2,753,8966,0.00,1.85,8.75,1.071,6,0.000,0.037,3283,1928,2279
$GC,9294,2.55,133.5,606.8,9.2,770,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1928,2278
$GC,9603,2.55,134.7,578.3,8.9,785,9606,0.00,1.80,0.00,0.000,4,0.000,0.059,3283,916,2277
$GC,9686,2.53,134.7,570.8,9.1,788,9692,0.08,1.77,0.00,0.000,6,0.114,0.031,3265,1950,2277
$GC,10002,2.55,146.9,543.5,7.8,804,10016,0.00,0.00,12.38,1.084,6,0.000,0.000,3265,1951,2226
$GC,10310,2.57,155.8,517.3,8.1,819,10324,0.00,1.95,9.38,1.025,4,0.000,0.057,3265,915,2189
$GC,10456,2.57,159.5,505.2,8.6,825,10467,0.00,1.73,4.78,0.823,6,0.000,0.031,3265,1936,2174
$GC,10785,2.58,162.4,478.6,8.7,853,10794,0.00,0.00,4.35,0.772,6,0.000,0.000,3264,1937,2161
$GC,11113,2.58,162.4,451.1,9.2,884,11117,0.00,1.85,0.00,0.000,4,0.000,0.047,3265,3012,2161
$GC,11196,2.58,162.4,443.1,9.6,891,11203,0.00,1.88,0.00,0.000,6,0.000,0.036,3265,1935,2160
$GC,11524,2.59,168.6,413.3,8.4,922,11533,0.00,0.00,6.95,0.904,6,0.000,0.000,3265,1934,2137
$GC,11852,2.59,171.1,384.6,8.8,953,11863,0.00,1.88,3.92,0.682,4,0.000,0.059,3265,913,2127
$GC,12017,2.59,171.1,369.3,9.4,967,12023,0.00,1.70,0.00,0.000,6,0.000,0.031,3265,1918,2127
$GC,12343,2.61,171.1,339.6,9.6,998,12347,0.00,1.90,0.00,0.000,4,0.000,0.048,3265,3022,2127
$GC,12415,2.61,171.1,332.5,9.2,1004,12421,0.00,1.90,0.00,0.000,6,0.000,0.036,3265,1927,2126
$GC,12743,2.64,171.1,301.9,9.0,1035,12744,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1927,2127
$GC,13060,2.66,172.4,272.8,8.9,1065,13064,0.12,1.80,0.00,0.000,4,0.074,0.057,3299,910,2127
$GC,13126,2.66,172.4,266.5,9.4,1071,13130,0.00,1.75,0.00,0.000,6,0.000,0.030,3299,1955,2127
$GC,13459,2.66,172.4,233.3,9.6,1116,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1955,2127
$GC,13802,2.68,179.1,202.3,8.3,1177,13819,0.00,1.92,8.27,0.806,4,0.000,0.053,3300,913,2095
$GC,13897,2.68,179.1,193.7,9.5,1194,13903,0.00,1.70,0.00,0.000,6,0.000,0.029,3299,1924,2095
$GC,14241,2.72,203.4,168.3,6.5,1255,14268,0.00,1.98,21.50,0.850,4,0.000,0.046,3300,3015,1995
$GC,14302,2.74,216.1,163.6,7.7,1266,14319,0.00,1.80,11.93,0.791,6,0.000,0.032,3299,1956,1944
$GC,14659,2.82,246.2,138.1,5.9,1329,14692,0.10,1.88,25.83,0.810,4,0.077,0.039,3330,3021,1821
$GC,14884,2.84,246.2,119.1,9.8,1369,14890,0.00,1.62,0.00,0.000,6,0.000,0.029,3330,2050,1818
$GC,15227,2.96,293.1,99.2,4.2,1430,15272,0.10,2.08,38.92,0.763,4,0.071,0.048,3361,916,1630
$GC,15354,2.96,293.1,89.6,9.0,1452,15361,0.00,1.92,0.00,0.000,6,0.000,0.025,3361,2060,1628
$GC,15700,3.07,329.7,64.5,5.3,1513,15739,0.00,1.70,30.50,0.710,4,0.000,0.038,3361,3024,1480
$GC,15874,3.13,339.1,53.2,8.1,1544,15893,0.10,1.75,9.05,0.634,6,0.048,0.026,3400,1981,1441
$GC,16233,3.16,339.1,20.5,9.5,1607,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1981,1441
$STATE,16416,end climb,SURFACE_DEPTH_REACHED
$STATE,16418,begin surface coast
$FINISH,-0.1,1.021564
$STATE,16440,end surface coast,CONTROL_FINISHED_OK
$STATE,16440,begin surface
$SM_CCo,16462,85.40,0.635,0,0,887,475.15
$SM_GC,-5.91,0.00,0.00,85.40,0.000,0.000,0.635,416,2357,887,-10.55,0.90,475.15
$IRIDIUM_FIX,1241.04,12021.43,200697,111110
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,428
$24V_AH,23.2,27.504
$10V_AH,10.2,22.054
$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,28.625,98.975,360.675,85.400,0.000,27.582,33.952,171.183,114.500,0.000,0.000,11.802,2681.028,10231.373,547.859,2931.811,529.647,0.000,1948.749,0.000,2897.332,0.000,55.261
$DEVICE_MAMPS,173.342,128.856,1284.725,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1113.415,426.430,690.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88415,1644
$CAP_FILE_SIZE,159963,0
$CFSIZE,260165632,241668096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260308,204025,1247.364,12022.120,41,0.9,41,-0.8