version: 66.03
glider: 126
mission: 7
dive: 207
start: 3 31 108 13 10 48
data:
$ID,126
$MISSION,7
$DIVE,207
$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,-623335.06
$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,29
$R_STBD_OVSHOOT,55
$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
$GPS1,130337,1250.148,12035.405,37,0.9,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.42
$_SM_ANGLEo,-58.8
$GPS2,130956,1250.224,12035.433,9,1.4,9,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB
$TGT_LATLONG,1249.450,12035.960
$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,147.2,1721,-21.3,-9.016
$D_GRID,1707
$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,-2.39,-101.9,0.0,0.0,0,93,0.00,0.00,-65.72,0.000,6,0.000,0.000,416,2346,3243
$GC,96,-2.39,-101.9,0.8,-21.8,13,113,10.10,1.85,0.00,0.000,4,0.170,0.031,2203,1262,3245
$GC,304,-2.22,-101.9,56.1,-20.7,50,311,0.17,1.75,0.00,0.000,6,0.107,0.025,2242,2307,3246
$GC,650,-2.16,-101.9,114.1,-14.3,111,656,0.00,1.80,0.00,0.000,4,0.000,0.041,2242,3376,3247
$GC,685,-2.09,-101.9,119.6,-15.6,117,691,0.15,1.77,0.00,0.000,6,0.108,0.023,2272,2265,3247
$GC,1028,-2.09,-101.9,158.0,-10.9,178,1034,0.00,1.90,0.00,0.000,4,0.000,0.039,2271,3381,3249
$GC,1147,-2.09,-101.9,170.5,-10.9,199,1152,0.00,1.80,0.00,0.000,6,0.000,0.024,2271,2252,3249
$GC,1491,-2.14,-101.9,203.5,-9.2,260,1496,0.00,1.92,0.00,0.000,4,0.000,0.041,2272,3378,3249
$GC,1542,-2.14,-101.9,208.7,-10.3,269,1548,0.00,1.77,0.00,0.000,6,0.000,0.025,2271,2271,3249
$GC,1886,-2.19,-101.9,240.5,-9.4,330,1891,0.00,1.90,0.00,0.000,4,0.000,0.043,2272,3375,3249
$GC,1948,-2.22,-101.9,247.0,-10.1,341,1955,0.12,1.80,0.00,0.000,6,0.062,0.025,2234,2266,3249
$GC,2275,-2.22,-101.9,281.3,-10.7,374,2278,0.00,1.92,0.00,0.000,4,0.000,0.044,2235,3380,3249
$GC,2436,-2.22,-101.9,299.2,-11.1,388,2443,0.00,1.80,0.00,0.000,6,0.000,0.027,2234,2298,3248
$GC,2763,-2.22,-101.9,332.4,-9.7,419,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2296,3246
$GC,3079,-2.22,-101.9,364.6,-10.0,449,3083,0.00,1.88,0.00,0.000,4,0.000,0.047,2234,3375,3244
$GC,3253,-2.22,-101.9,383.0,-10.3,464,3259,0.00,1.75,0.00,0.000,6,0.000,0.029,2234,2335,3243
$GC,3577,-2.22,-101.9,415.9,-10.4,495,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2333,3241
$GC,3896,-2.22,-101.9,449.2,-10.1,525,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2333,3239
$GC,4216,-2.22,-101.9,480.7,-9.3,555,4219,0.00,1.83,0.00,0.000,4,0.000,0.052,2235,3369,3237
$GC,4344,-2.22,-101.9,493.8,-10.2,566,4350,0.00,1.80,0.00,0.000,6,0.000,0.031,2234,2326,3236
$GC,4661,-2.22,-101.9,524.0,-9.4,585,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2325,3234
$GC,4970,-2.22,-101.9,552.6,-9.2,600,4974,0.00,1.90,0.00,0.000,4,0.000,0.068,2234,3364,3232
$GC,5086,-2.22,-101.9,563.7,-9.3,605,5091,0.00,1.88,0.00,0.000,6,0.000,0.044,2234,2311,3232
$GC,5413,-2.22,-101.9,594.5,-9.9,621,5417,0.00,1.95,0.00,0.000,4,0.000,0.080,2234,3360,3230
$GC,5536,-2.22,-101.9,607.1,-10.0,626,5540,0.00,1.88,0.00,0.000,6,0.000,0.060,2234,2338,3228
$GC,5857,-2.22,-101.9,638.2,-9.6,642,5860,0.00,1.98,0.00,0.000,4,0.000,0.102,2234,3357,3226
$GC,5957,-2.22,-101.9,647.8,-9.3,646,5961,0.00,1.75,0.00,0.000,6,0.000,0.031,2234,2330,3226
$GC,6278,-2.22,-101.9,677.1,-9.1,662,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2330,3225
$GC,6588,-2.25,-101.9,706.8,-10.0,677,6591,0.00,1.85,0.00,0.000,4,0.000,0.052,2235,3379,3223
$GC,6682,-2.25,-101.9,717.0,-11.3,681,6686,0.00,1.75,0.00,0.000,6,0.000,0.031,2234,2358,3223
$GC,7009,-2.25,-101.9,749.0,-9.8,697,7013,0.00,1.80,0.00,0.000,4,0.000,0.056,2234,3375,3221
$GC,7099,-2.25,-101.9,758.0,-10.2,701,7102,0.00,1.73,0.00,0.000,6,0.000,0.031,2234,2353,3221
$GC,7435,-2.29,-101.9,790.8,-10.3,717,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2352,3220
$GC,7740,-2.32,-101.9,823.3,-10.3,732,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2352,3218
$GC,8049,-2.35,-101.9,853.9,-10.0,747,8053,0.00,1.80,0.00,0.000,4,0.000,0.053,2234,3370,3217
$GC,8127,-2.35,-101.9,862.0,-9.8,750,8131,0.00,1.75,0.00,0.000,6,0.000,0.032,2234,2355,3216
$GC,8448,-2.39,-101.9,891.9,-9.0,766,8452,0.12,1.80,0.00,0.000,4,0.069,0.052,2200,3371,3215
$GC,8515,-2.39,-101.9,898.7,-10.0,769,8518,0.00,1.73,0.00,0.000,6,0.000,0.032,2200,2351,3215
$GC,8851,-2.39,-101.9,932.1,-10.3,785,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2350,3214
$GC,9156,-2.39,-101.9,964.9,-10.8,800,9159,0.00,1.80,0.00,0.000,4,0.000,0.054,2200,3369,3213
$GC,9268,-2.39,-101.9,977.7,-11.1,805,9272,0.00,1.70,0.00,0.000,6,0.000,0.033,2200,2364,3212
$STATE,9394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9394,begin apogee
$GC,9399,-0.52,0.0,991.2,10.6,811,9488,1.98,0.00,84.40,1.438,6,0.099,0.000,2614,1966,2825
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9492,2.39,101.9,994.1,0.0,815,9588,2.83,0.00,91.32,1.401,6,0.057,0.000,3254,1966,2409
$GC,9889,2.32,121.7,970.7,7.6,835,9913,0.00,2.08,17.92,1.328,4,0.000,0.076,3254,913,2328
$GC,9964,2.19,121.7,963.6,9.5,838,9968,0.25,1.80,0.00,0.000,6,0.107,0.031,3206,1959,2327
$GC,10285,2.16,135.1,936.6,8.1,854,10306,0.00,1.90,13.32,1.295,4,0.000,0.048,3206,3008,2274
$GC,10352,2.11,135.1,930.6,9.3,857,10356,0.00,1.83,0.00,0.000,6,0.000,0.037,3206,1957,2273
$GC,10685,2.07,138.6,901.6,8.8,873,10694,0.12,1.95,4.35,0.927,4,0.113,0.062,3182,909,2261
$GC,10825,2.04,138.6,888.6,9.8,879,10828,0.00,1.77,0.00,0.000,6,0.000,0.031,3183,1949,2260
$GC,11151,2.04,138.6,859.3,9.3,895,11155,0.00,1.85,0.00,0.000,4,0.000,0.048,3182,3017,2259
$GC,11251,2.04,138.6,850.0,9.9,899,11255,0.00,1.88,0.00,0.000,6,0.000,0.036,3182,1945,2259
$GC,11572,2.04,138.6,820.9,9.0,915,11576,0.00,1.85,0.00,0.000,4,0.000,0.060,3183,913,2258
$GC,11656,2.04,138.6,813.2,9.0,918,11662,0.00,1.80,0.00,0.000,6,0.000,0.031,3182,1956,2259
$GC,11971,2.06,150.2,786.9,8.2,934,11984,0.00,0.00,11.50,1.236,6,0.000,0.000,3182,1956,2212
$GC,12281,2.08,161.6,759.8,8.2,949,12294,0.00,0.00,11.62,1.220,6,0.000,0.000,3183,1956,2166
$GC,12589,2.09,167.8,732.5,8.6,964,12598,0.00,0.00,7.28,1.102,6,0.000,0.000,3182,1956,2140
$GC,12899,2.09,167.8,704.0,9.0,979,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1957,2139
$GC,13208,2.09,167.8,675.5,9.4,994,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1957,2139
$GC,13517,2.09,167.8,646.2,9.2,1009,13520,0.00,1.83,0.00,0.000,4,0.000,0.048,3182,3014,2138
$GC,13586,2.09,171.1,639.7,8.8,1012,13595,0.00,1.83,4.47,0.867,6,0.000,0.036,3182,1952,2126
$GC,13917,2.09,171.1,608.7,9.0,1028,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1952,2126
$GC,14226,2.12,186.8,583.3,7.9,1043,14248,0.00,1.92,15.18,1.146,4,0.000,0.047,3182,3017,2062
$GC,14320,2.12,186.8,574.7,9.2,1047,14324,0.00,1.85,0.00,0.000,6,0.000,0.043,3182,1964,2061
$GC,14647,2.12,187.2,545.8,9.0,1063,14650,0.00,1.83,0.00,0.000,4,0.000,0.047,3182,3009,2061
$GC,14696,2.12,187.2,541.0,10.3,1065,14700,0.00,1.80,0.00,0.000,6,0.000,0.035,3183,1976,2061
$GC,15023,2.12,187.2,510.4,9.1,1081,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1976,2061
$GC,15340,2.13,197.2,483.6,8.3,1105,15352,0.00,0.00,10.60,1.040,6,0.000,0.000,3182,1976,2020
$GC,15666,2.13,197.2,454.3,9.4,1136,15669,0.00,1.83,0.00,0.000,4,0.000,0.047,3182,3016,2019
$GC,15726,2.13,197.2,448.4,10.3,1141,15732,0.00,1.80,0.00,0.000,6,0.000,0.035,3182,1983,2018
$GC,16053,2.18,207.0,418.8,8.3,1172,16068,0.10,1.85,9.77,0.985,4,0.083,0.046,3210,3017,1980
$GC,16101,2.18,207.0,414.1,9.5,1176,16107,0.00,1.80,0.00,0.000,6,0.000,0.035,3210,1990,1979
$GC,16427,2.18,207.0,382.9,10.0,1207,16431,0.00,1.95,0.00,0.000,4,0.000,0.060,3210,905,1979
$GC,16488,2.18,207.0,376.9,10.5,1212,16494,0.00,1.90,0.00,0.000,6,0.000,0.032,3210,2000,1979
$GC,16814,2.18,207.2,347.4,9.0,1243,16818,0.00,1.75,0.00,0.000,4,0.000,0.051,3210,3010,1979
$GC,16882,2.22,227.0,341.1,7.6,1249,16906,0.00,1.75,18.67,0.988,6,0.000,0.035,3210,2002,1899
$GC,17232,2.22,229.6,308.5,8.8,1282,17236,0.00,1.95,0.00,0.000,4,0.000,0.058,3210,913,1897
$GC,17402,2.22,229.6,292.5,11.3,1297,17406,0.00,1.83,0.00,0.000,6,0.000,0.030,3210,1991,1896
$GC,17732,2.22,229.6,261.0,9.1,1328,17733,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1991,1896
$GC,18062,2.22,230.6,231.4,9.0,1376,18073,0.00,1.98,4.45,0.663,4,0.000,0.054,3210,917,1885
$GC,18158,2.22,230.6,222.4,9.7,1393,18164,0.00,1.80,0.00,0.000,6,0.000,0.030,3210,1984,1885
$GC,18502,2.26,230.6,191.4,9.3,1454,18507,0.00,1.75,0.00,0.000,4,0.000,0.048,3210,3002,1885
$GC,18620,2.31,240.2,180.7,8.4,1475,18638,0.10,1.75,10.02,0.815,6,0.078,0.041,3240,1963,1845
$GC,18976,2.36,269.0,150.8,7.0,1538,19009,0.00,1.88,24.95,0.831,4,0.000,0.042,3240,3003,1728
$GC,19043,2.37,273.8,145.4,8.7,1550,19055,0.00,1.75,5.70,0.660,6,0.000,0.030,3240,1988,1708
$GC,19396,2.47,300.4,117.6,7.2,1612,19426,0.12,2.00,23.08,0.788,4,0.064,0.053,3278,909,1600
$GC,19443,2.52,325.3,114.2,7.3,1620,19471,0.00,1.90,22.20,0.757,6,0.000,0.027,3279,2027,1498
$GC,19812,2.60,337.8,85.2,8.2,1685,19829,0.00,2.00,11.27,0.709,4,0.000,0.045,3278,907,1446
$GC,20027,2.70,361.4,66.2,7.4,1723,20055,0.17,1.95,20.60,0.712,6,0.052,0.025,3330,2093,1351
$GC,20396,2.76,377.4,36.5,7.9,1788,20419,0.00,2.12,14.50,0.665,4,0.000,0.043,3330,915,1286
$GC,20487,2.76,379.2,28.2,8.9,1804,20493,0.00,1.92,0.00,0.000,6,0.000,0.024,3330,2075,1285
$STATE,20794,end climb,SURFACE_DEPTH_REACHED
$STATE,20794,begin surface coast
$FINISH,-0.2,1.021386
$STATE,20818,end surface coast,CONTROL_FINISHED_OK
$STATE,20818,begin surface
$SM_CCo,20840,64.95,0.645,0,0,887,475.15
$SM_GC,-6.85,0.00,0.00,64.95,0.000,0.000,0.645,414,2344,887,-10.65,0.54,475.15
$IRIDIUM_FIX,1243.25,12034.32,250697,070703
$TT8_MAMPS,0.026078
$HUMID,1837
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.50
$XPDR_PINGS,391
$24V_AH,23.1,31.258
$10V_AH,10.1,24.527
$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,29.025,130.325,437.200,64.950,0.000,28.970,36.414,186.597,110.250,0.000,0.000,11.027,3072.035,13684.130,629.277,3331.935,586.184,0.000,2232.244,0.000,3269.535,0.000,91.472
$DEVICE_MAMPS,170.274,102.011,1438.125,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1264.133,421.568,698.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97966,1863
$CAP_FILE_SIZE,193050,0
$CFSIZE,260165632,239665152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310308,190032,1249.251,12036.299,42,1.1,42,-0.8