version: 66.03
glider: 126
mission: 7
dive: 189
start: 3 27 108 12 3 56
data:
$ID,126
$MISSION,7
$DIVE,189
$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,-622986.31
$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,32
$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
$GPS1,115707,1248.008,12021.222,36,0.9,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.18
$_SM_ANGLEo,-57.9
$GPS2,120302,1247.997,12021.196,13,1.5,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S4
$TGT_LATLONG,1246.900,12022.320
$TGT_RADIUS,9999.000
$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,135.8,2872,-24.7,-9.016
$D_GRID,870
$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,-2.60,-65.8,0.0,0.0,0,88,0.00,0.00,-62.90,0.000,6,0.000,0.000,418,2348,3096
$GC,91,-2.60,-65.8,-0.7,-16.6,12,108,9.77,1.85,0.00,0.000,4,0.173,0.032,2139,1260,3098
$GC,328,-2.49,-65.8,60.2,-21.7,54,335,0.10,1.75,0.00,0.000,6,0.130,0.024,2160,2327,3099
$GC,673,-2.45,-65.8,120.4,-14.2,115,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2327,3100
$GC,1015,-2.45,-65.8,163.3,-11.2,176,1020,0.00,1.75,0.00,0.000,4,0.000,0.040,2160,3370,3102
$GC,1212,-2.42,-65.8,185.1,-10.7,211,1219,0.12,1.67,0.00,0.000,6,0.127,0.024,2182,2304,3102
$GC,1556,-2.42,-65.8,222.3,-11.2,272,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2297,3102
$GC,1899,-2.42,-65.8,259.7,-10.2,326,1902,0.00,1.83,0.00,0.000,4,0.000,0.043,2182,3370,3102
$GC,2027,-2.42,-65.8,272.6,-9.6,337,2033,0.00,1.65,0.00,0.000,6,0.000,0.026,2182,2357,3102
$GC,2353,-2.42,-65.8,304.3,-10.5,368,2356,0.00,1.80,0.00,0.000,4,0.000,0.041,2182,1295,3100
$GC,2409,-2.42,-65.8,310.2,-10.4,373,2413,0.00,1.73,0.00,0.000,6,0.000,0.028,2182,2342,3100
$GC,2740,-2.42,-65.8,344.8,-10.5,404,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2342,3098
$GC,3059,-2.44,-65.8,377.8,-10.4,434,3062,0.00,1.77,0.00,0.000,4,0.000,0.049,2183,3370,3095
$GC,3149,-2.44,-65.8,387.3,-10.2,442,3152,0.00,1.65,0.00,0.000,6,0.000,0.029,2182,2372,3095
$GC,3480,-2.47,-65.8,418.2,-9.2,473,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2371,3093
$GC,3799,-2.49,-65.8,448.8,-9.9,503,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2368,3090
$GC,4117,-2.51,-65.8,482.4,-11.0,533,4121,0.00,1.92,0.00,0.000,4,0.000,0.058,2182,1285,3088
$GC,4156,-2.54,-65.8,486.9,-11.2,536,4162,0.12,1.85,0.00,0.000,6,0.069,0.036,2151,2370,3087
$GC,4484,-2.54,-65.8,525.4,-12.0,558,4488,0.00,1.77,0.00,0.000,4,0.000,0.060,2151,3378,3086
$GC,4574,-2.54,-65.8,536.1,-12.2,562,4578,0.00,1.73,0.00,0.000,6,0.000,0.036,2151,2383,3085
$GC,4907,-2.54,-65.8,573.9,-11.1,578,4910,0.00,1.83,0.00,0.000,4,0.000,0.071,2151,3377,3083
$GC,5001,-2.54,-65.8,584.7,-10.8,582,5005,0.00,1.77,0.00,0.000,6,0.000,0.051,2151,2392,3082
$GC,5328,-2.54,-65.8,619.1,-10.1,598,5331,0.00,1.85,0.00,0.000,4,0.000,0.087,2151,3368,3081
$GC,5440,-2.54,-65.8,630.9,-10.3,603,5444,0.00,1.80,0.00,0.000,6,0.000,0.071,2151,2413,3080
$GC,5772,-2.54,-65.8,664.1,-10.3,619,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2412,3078
$GC,6080,-2.54,-65.8,697.0,-10.9,634,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2412,3076
$GC,6392,-2.54,-65.8,728.2,-9.7,649,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2412,3075
$GC,6701,-2.54,-65.8,758.1,-10.3,664,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2403,3074
$GC,7009,-2.54,-65.8,789.9,-10.2,679,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2404,3073
$GC,7318,-2.54,-65.8,819.8,-9.4,694,7325,0.00,1.70,0.00,0.000,4,0.000,0.052,2151,3382,3071
$GC,7352,-2.54,-65.8,823.5,-10.9,695,7356,0.00,1.70,0.00,0.000,6,0.000,0.031,2151,2382,3071
$GC,7674,-2.54,-65.8,855.3,-9.8,711,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2382,3069
$STATE,7838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7838,begin apogee
$GC,7844,-0.51,0.0,871.8,10.0,719,7901,2.15,0.00,52.75,1.341,6,0.104,0.000,2597,1976,2825
$STATE,7902,end apogee,CONTROL_FINISHED_OK
$STATE,7902,begin climb
$GC,7904,2.60,65.8,873.5,0.0,722,7968,3.10,0.00,58.50,1.309,6,0.061,0.000,3286,1976,2556
$GC,8269,2.62,97.2,855.3,5.8,740,8303,0.00,2.17,28.20,1.284,4,0.000,0.100,3286,918,2427
$GC,8450,2.59,108.0,841.8,7.9,748,8467,0.00,1.80,10.88,1.182,6,0.000,0.032,3287,1970,2384
$GC,8776,2.56,109.0,813.6,8.9,764,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1970,2381
$GC,9085,2.55,121.6,788.4,7.7,779,9106,0.00,1.90,12.77,1.214,4,0.000,0.048,3286,3011,2329
$GC,9191,2.53,125.3,779.3,8.6,783,9200,0.15,1.88,4.85,0.928,6,0.117,0.036,3259,1922,2314
$GC,9528,2.53,130.4,751.1,8.5,800,9536,0.00,0.00,6.30,1.040,6,0.000,0.000,3259,1922,2293
$GC,9836,2.53,130.4,722.7,9.3,815,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1922,2292
$GC,10145,2.53,130.4,692.2,9.9,830,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1922,2291
$GC,10455,2.54,132.2,663.4,8.8,845,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1922,2290
$GC,10766,2.54,134.0,636.0,8.8,860,10775,0.00,1.95,4.22,0.820,4,0.000,0.047,3259,3007,2278
$GC,10893,2.54,134.0,623.8,9.3,865,10899,0.00,1.92,0.00,0.000,6,0.000,0.037,3259,1906,2277
$GC,11208,2.56,143.3,596.3,8.1,881,11220,0.00,0.00,9.82,1.093,6,0.000,0.000,3259,1907,2240
$GC,11518,2.56,143.3,568.8,9.4,896,11521,0.00,1.92,0.00,0.000,4,0.000,0.046,3259,3009,2239
$GC,11634,2.56,143.3,557.6,9.8,901,11638,0.00,1.88,0.00,0.000,6,0.000,0.043,3259,1937,2239
$GC,11963,2.56,145.6,527.5,8.8,917,11967,0.00,1.88,0.00,0.000,4,0.000,0.046,3259,3012,2239
$GC,12069,2.56,145.6,517.2,9.3,921,12075,0.00,1.83,0.00,0.000,6,0.000,0.036,3259,1961,2239
$GC,12388,2.58,155.4,489.4,8.0,942,12404,0.00,1.98,11.60,1.052,4,0.000,0.061,3259,915,2191
$GC,12600,2.58,158.2,470.5,8.7,960,12609,0.00,1.75,4.15,0.752,6,0.000,0.030,3259,1939,2180
$GC,12936,2.61,164.6,442.8,8.4,992,12947,0.00,1.95,7.10,0.936,4,0.000,0.057,3258,906,2154
$GC,13008,2.61,164.6,436.0,9.5,998,13015,0.00,1.75,0.00,0.000,6,0.000,0.029,3259,1925,2154
$GC,13335,2.64,164.6,405.9,9.4,1029,13340,0.12,1.85,0.00,0.000,4,0.073,0.054,3292,915,2153
$GC,13441,2.62,164.6,394.7,10.4,1038,13447,0.00,1.70,0.00,0.000,6,0.000,0.029,3292,1909,2153
$GC,13767,2.62,164.6,362.6,10.4,1069,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1909,2153
$GC,14084,2.62,164.6,332.2,9.4,1099,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1910,2154
$GC,14404,2.62,164.6,302.2,9.3,1129,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1910,2153
$GC,14721,2.62,164.6,272.9,9.4,1159,14725,0.00,1.77,0.00,0.000,4,0.000,0.054,3292,915,2153
$GC,14883,2.62,164.6,257.6,9.1,1173,14889,0.00,1.67,0.00,0.000,6,0.000,0.028,3292,1897,2153
$GC,15224,2.62,167.5,227.6,8.7,1226,15235,0.00,1.95,4.32,0.647,4,0.000,0.047,3292,3004,2142
$GC,15371,2.65,187.6,215.7,7.0,1252,15393,0.00,1.88,18.15,0.889,6,0.000,0.034,3292,1897,2060
$GC,15730,2.65,187.6,184.6,9.2,1316,15736,0.00,1.75,0.00,0.000,4,0.000,0.056,3291,906,2059
$GC,15855,2.68,200.8,173.9,7.7,1338,15872,0.00,1.67,12.38,0.828,6,0.000,0.028,3292,1910,2006
$GC,16211,2.76,230.2,151.0,6.0,1401,16244,0.00,1.83,25.60,0.829,4,0.000,0.050,3292,905,1885
$GC,16364,2.80,235.0,139.1,8.5,1428,16376,0.08,1.65,5.47,0.654,6,0.060,0.027,3323,1889,1866
$GC,16717,2.87,253.6,115.0,7.1,1490,16740,0.00,1.95,16.75,0.767,4,0.000,0.038,3322,3020,1789
$GC,16982,2.91,259.1,92.8,8.5,1537,16994,0.00,2.05,5.90,0.624,6,0.000,0.028,3322,1794,1768
$GC,17335,3.01,283.9,72.7,6.5,1599,17363,0.15,1.55,21.52,0.718,4,0.058,0.048,3371,910,1667
$GC,17493,3.04,283.9,60.9,9.5,1627,17499,0.00,1.45,0.00,0.000,6,0.000,0.024,3372,1813,1666
$GC,17837,3.13,319.6,37.4,5.4,1688,17871,0.00,1.67,30.12,0.673,4,0.000,0.045,3371,903,1521
$GC,17963,3.17,321.1,27.0,8.9,1710,17970,0.08,1.42,0.00,0.000,6,0.053,0.024,3406,1798,1521
$STATE,18237,end climb,SURFACE_DEPTH_REACHED
$STATE,18237,begin surface coast
$FINISH,-0.2,1.021339
$STATE,18266,end surface coast,CONTROL_FINISHED_OK
$STATE,18267,begin surface
$SM_CCo,18289,98.05,0.633,0,0,887,475.15
$SM_GC,-6.21,0.00,0.00,98.05,0.000,0.000,0.633,413,2349,887,-10.56,0.68,475.15
$IRIDIUM_FIX,1243.25,12024.46,210697,060653
$TT8_MAMPS,0.026078
$HUMID,1789
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.00
$XPDR_PINGS,439
$24V_AH,23.2,28.097
$10V_AH,10.2,22.492
$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,28.975,91.325,351.375,98.050,0.000,22.321,33.081,174.597,119.250,0.000,0.000,13.925,2852.601,11760.597,558.641,3050.646,545.270,0.000,2001.668,0.000,3014.895,0.000,69.755
$DEVICE_MAMPS,172.575,100.477,1340.716,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1195.703,443.636,716.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94630,1764
$CAP_FILE_SIZE,169017,0
$CFSIZE,260165632,241303552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270308,171137,1246.914,12022.675,37,1.6,37,-0.8