version: 66.03
glider: 126
mission: 7
dive: 196
start: 3 28 108 22 19 45
data:
$ID,126
$MISSION,7
$DIVE,196
$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,-623147.69
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,42
$R_STBD_OVSHOOT,60
$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
$GPS1,221237,1247.229,12026.604,38,2.0,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.72
$_SM_ANGLEo,-57.9
$GPS2,221853,1247.243,12026.608,12,2.1,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB
$TGT_LATLONG,1248.170,12029.140
$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,70.2,4883,-19.0,-9.016
$D_GRID,790
$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,23,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-67.35,0.000,6,0.000,0.000,418,2330,3321
$GC,96,-2.18,-120.8,1.7,-22.7,13,113,10.23,1.80,0.00,0.000,4,0.167,0.033,2248,1274,3322
$GC,170,-1.97,-120.8,26.2,-21.7,26,176,0.22,1.73,0.00,0.000,6,0.104,0.025,2297,2312,3323
$GC,514,-1.87,-120.8,85.6,-15.6,87,520,0.12,0.00,0.00,0.000,6,0.118,0.000,2320,2312,3325
$GC,857,-1.87,-120.8,127.6,-11.5,148,864,0.00,1.83,0.00,0.000,4,0.000,0.043,2320,3377,3326
$GC,909,-1.87,-120.8,132.8,-10.0,157,915,0.00,1.75,0.00,0.000,6,0.000,0.023,2320,2272,3326
$GC,1252,-1.91,-120.8,165.9,-10.4,218,1258,0.00,1.88,0.00,0.000,4,0.000,0.040,2320,3372,3327
$GC,1331,-1.91,-121.9,173.3,-8.9,232,1337,0.00,1.67,0.00,0.000,6,0.000,0.025,2320,2310,3327
$GC,1675,-1.96,-121.9,204.2,-9.8,293,1681,0.00,1.83,0.00,0.000,4,0.000,0.042,2320,3377,3327
$GC,1765,-2.00,-121.9,213.0,-10.2,309,1772,0.12,1.60,0.00,0.000,6,0.061,0.025,2282,2363,3327
$GC,2109,-2.00,-121.9,246.9,-9.6,370,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2357,3327
$GC,2440,-2.00,-121.9,280.4,-9.7,404,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2356,3326
$GC,2758,-2.00,-121.9,311.8,-10.2,434,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2357,3323
$GC,3077,-2.00,-121.9,343.0,-9.8,464,3080,0.00,1.75,0.00,0.000,4,0.000,0.048,2282,3372,3322
$GC,3121,-2.00,-121.9,347.8,-10.4,468,3125,0.00,1.60,0.00,0.000,6,0.000,0.028,2282,2389,3322
$GC,3452,-2.00,-121.9,381.7,-10.0,499,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2385,3319
$GC,3770,-2.00,-121.9,413.2,-9.9,529,3774,0.00,1.73,0.00,0.000,4,0.000,0.050,2282,3376,3317
$GC,3848,-2.00,-121.9,420.9,-9.7,536,3852,0.00,1.60,0.00,0.000,6,0.000,0.031,2282,2411,3317
$GC,4180,-2.00,-121.9,452.6,-9.7,567,4184,0.00,1.95,0.00,0.000,4,0.000,0.056,2282,1321,3315
$GC,4240,-2.00,-121.9,458.8,-10.0,572,4247,0.00,1.80,0.00,0.000,6,0.000,0.036,2281,2362,3315
$GC,4568,-2.00,-121.9,488.9,-9.2,603,4572,0.00,1.77,0.00,0.000,4,0.000,0.058,2282,3375,3312
$GC,4629,-2.00,-121.9,495.2,-9.6,608,4635,0.00,1.62,0.00,0.000,6,0.000,0.031,2281,2419,3312
$GC,4956,-2.00,-121.9,526.2,-9.5,627,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2418,3309
$GC,5266,-2.00,-121.9,556.4,-9.7,642,5269,0.00,2.00,0.00,0.000,4,0.000,0.074,2282,1324,3308
$GC,5355,-2.00,-121.9,565.2,-9.8,646,5359,0.00,1.88,0.00,0.000,6,0.000,0.051,2282,2380,3307
$GC,5688,-2.00,-121.9,596.8,-9.4,662,5691,0.00,1.85,0.00,0.000,4,0.000,0.085,2282,3365,3306
$GC,5748,-2.00,-121.9,602.7,-9.4,664,5754,0.00,1.65,0.00,0.000,6,0.000,0.058,2282,2467,3305
$GC,6064,-2.01,-129.3,629.6,-8.6,680,6068,0.00,2.15,0.00,0.000,4,0.000,0.090,2282,1326,3303
$GC,6137,-2.02,-130.4,635.8,-8.9,683,6141,0.00,1.98,0.00,0.000,6,0.000,0.077,2281,2383,3303
$GC,6458,-2.03,-139.0,663.8,-8.5,699,6462,0.00,1.92,0.00,0.000,4,0.000,0.112,2282,3365,3302
$GC,6536,-2.03,-139.0,671.0,-9.6,702,6539,0.00,1.77,0.00,0.000,6,0.000,0.091,2282,2465,3302
$GC,6856,-2.03,-139.0,702.2,-9.3,718,6860,0.00,2.30,0.00,0.000,4,0.000,0.125,2282,1332,3300
$GC,6911,-2.03,-139.0,707.3,-9.4,720,6918,0.00,2.12,0.00,0.000,6,0.000,0.108,2282,2375,3300
$GC,7228,-2.04,-146.0,733.8,-8.1,736,7231,0.00,1.85,0.00,0.000,4,0.000,0.046,2282,1319,3298
$GC,7277,-2.04,-146.0,738.2,-8.7,738,7281,0.00,1.88,0.00,0.000,6,0.000,0.033,2282,2410,3298
$GC,7606,-2.07,-146.0,766.0,-8.7,754,7610,0.00,1.73,0.00,0.000,4,0.000,0.054,2282,3403,3297
$GC,7656,-2.07,-146.0,770.2,-8.6,756,7659,0.00,1.65,0.00,0.000,6,0.000,0.033,2282,2416,3296
$STATE,7904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7904,begin apogee
$GC,7909,-0.52,0.0,791.0,8.4,768,8013,1.55,0.00,99.28,1.285,6,0.090,0.000,2612,2011,2825
$STATE,8013,end apogee,CONTROL_FINISHED_OK
$STATE,8013,begin climb
$GC,8016,2.22,146.0,793.6,0.0,773,8151,2.67,2.12,124.93,1.249,4,0.061,0.070,3217,918,2229
$GC,8208,2.09,146.0,783.3,11.7,782,8213,0.12,1.88,0.00,0.000,6,0.098,0.031,3188,1990,2225
$GC,8535,2.01,146.0,752.5,9.3,798,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1990,2222
$GC,8844,1.93,148.9,725.3,8.8,813,8846,0.17,0.00,0.00,0.000,6,0.105,0.000,3153,1990,2221
$GC,9153,1.90,148.9,696.4,9.2,828,9157,0.00,1.98,0.00,0.000,4,0.000,0.058,3153,903,2220
$GC,9237,1.85,148.9,688.5,9.3,831,9243,0.00,1.83,0.00,0.000,6,0.000,0.031,3153,1961,2219
$GC,9553,1.85,174.1,662.7,7.4,847,9578,0.00,0.00,23.80,1.190,6,0.000,0.000,3153,1961,2115
$GC,9882,1.87,183.9,635.2,8.4,863,9896,0.00,1.85,9.65,1.082,4,0.000,0.048,3153,3003,2075
$GC,9960,1.84,188.6,628.2,8.7,866,9972,0.12,1.83,5.68,0.931,6,0.110,0.037,3130,1945,2056
$GC,10280,1.85,195.6,598.5,8.6,882,10294,0.00,1.95,7.75,1.022,4,0.000,0.061,3129,908,2027
$GC,10328,1.87,206.2,594.3,8.4,884,10345,0.00,1.77,10.70,1.066,6,0.000,0.031,3129,1935,1984
$GC,10654,1.87,206.2,565.3,9.5,900,10657,0.00,1.85,0.00,0.000,4,0.000,0.048,3130,3003,1982
$GC,10722,1.87,206.2,558.5,10.3,903,10725,0.00,1.85,0.00,0.000,6,0.000,0.038,3129,1932,1982
$GC,11054,1.89,217.5,528.2,8.3,919,11069,0.00,1.88,11.23,1.057,4,0.000,0.061,3129,908,1937
$GC,11114,1.90,224.0,523.1,8.6,921,11128,0.00,1.75,7.38,0.963,6,0.000,0.031,3130,1937,1911
$GC,11448,1.94,227.5,495.6,8.8,939,11456,0.10,0.00,4.43,0.786,6,0.077,0.000,3158,1938,1897
$GC,11774,1.94,227.5,463.1,9.9,970,11777,0.00,1.85,0.00,0.000,4,0.000,0.048,3158,3007,1896
$GC,11879,1.94,227.5,452.2,9.9,979,11885,0.00,1.95,0.00,0.000,6,0.000,0.039,3158,1894,1896
$GC,12206,1.94,231.2,421.4,8.8,1010,12214,0.00,0.00,4.70,0.784,6,0.000,0.000,3158,1895,1882
$GC,12534,1.94,231.2,392.3,10.0,1041,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1895,1881
$GC,12851,1.94,231.2,361.2,9.0,1071,12855,0.00,1.95,0.00,0.000,4,0.000,0.045,3158,3016,1881
$GC,13002,1.96,238.5,347.7,8.6,1084,13018,0.00,1.92,8.10,0.900,6,0.000,0.036,3158,1905,1852
$GC,13336,1.96,239.7,318.2,8.9,1116,13337,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1905,1852
$GC,13654,1.96,239.7,290.1,9.6,1146,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1904,1852
$GC,13975,1.97,246.6,260.9,8.6,1176,13989,0.00,1.98,8.70,0.854,4,0.000,0.045,3158,3000,1818
$GC,14045,1.97,246.6,254.1,9.5,1182,14051,0.00,1.90,0.00,0.000,6,0.000,0.035,3158,1911,1818
$GC,14386,2.03,263.5,224.4,8.0,1239,14407,0.00,1.95,15.73,0.883,4,0.000,0.044,3158,3005,1749
$GC,14475,2.03,263.5,216.3,9.3,1255,14481,0.00,1.88,0.00,0.000,6,0.000,0.035,3158,1913,1748
$GC,14818,2.09,269.9,185.8,8.6,1316,14831,0.12,1.98,6.70,0.749,4,0.067,0.044,3193,3005,1724
$GC,14960,2.09,269.9,172.9,9.2,1341,14966,0.00,1.80,0.00,0.000,6,0.000,0.032,3193,1942,1724
$GC,15304,2.10,276.7,143.3,8.6,1402,15316,0.00,1.90,7.18,0.730,4,0.000,0.054,3193,907,1697
$GC,15356,2.12,290.9,138.7,8.1,1411,15374,0.00,1.77,13.45,0.789,6,0.000,0.028,3193,1971,1639
$GC,15714,2.22,312.3,110.7,7.7,1474,15738,0.00,1.85,18.77,0.779,4,0.000,0.041,3193,3008,1552
$GC,15907,2.37,349.3,98.7,6.7,1508,15946,0.20,1.73,31.73,0.765,6,0.041,0.028,3257,1991,1399
$GC,16288,2.44,369.0,70.6,7.8,1575,16310,0.00,1.90,17.08,0.713,4,0.000,0.046,3257,916,1320
$GC,16564,2.51,383.0,47.9,8.1,1624,16582,0.00,1.80,12.82,0.669,6,0.000,0.025,3257,2002,1263
$GC,16922,2.62,402.2,21.0,7.8,1687,16945,0.15,1.65,17.25,0.649,4,0.054,0.035,3309,2994,1185
$GC,17074,2.62,402.2,6.2,9.7,1714,17080,0.00,1.73,0.00,0.000,6,0.000,0.025,3309,1954,1184
$STATE,17118,end climb,SURFACE_DEPTH_REACHED
$STATE,17118,begin surface coast
$FINISH,-0.3,1.021382
$STATE,17142,end surface coast,CONTROL_FINISHED_OK
$STATE,17142,begin surface
$SM_CCo,17164,49.40,0.637,0,0,887,475.15
$SM_GC,-5.54,0.00,0.00,49.40,0.000,0.000,0.637,416,2336,887,-10.64,0.31,475.15
$IRIDIUM_FIX,1243.25,12024.46,220697,181834
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.60
$XPDR_PINGS,306
$24V_AH,23.2,29.249
$10V_AH,10.2,23.245
$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,28.450,111.925,467.000,49.400,0.000,29.155,32.269,178.947,84.250,0.000,0.000,32.436,2766.188,10715.854,603.069,2989.533,543.152,0.000,2054.514,0.000,2937.977,0.000,58.210
$DEVICE_MAMPS,167.206,125.021,1284.725,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.436,455.525,728.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91557,1726
$CAP_FILE_SIZE,167010,0
$CFSIZE,260165632,240721920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290308,030756,1247.796,12029.160,41,1.1,41,-0.8