version: 66.03
glider: 126
mission: 7
dive: 211
start: 4 1 108 13 7 48
data:
$ID,126
$MISSION,7
$DIVE,211
$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,-623401.5
$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,46
$R_STBD_OVSHOOT,58
$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
$GPS1,130038,1249.612,12033.951,34,1.1,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.41
$_SM_ANGLEo,-58.5
$GPS2,130656,1249.695,12033.915,10,1.1,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S4
$TGT_LATLONG,1249.450,12035.960
$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,97.8,3720,-19.0,-9.016
$D_GRID,1474
$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,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-66.78,0.000,6,0.000,0.000,416,2337,3320
$GC,97,-2.18,-120.8,1.2,-22.9,13,114,10.40,1.80,0.00,0.000,4,0.172,0.033,2250,1277,3322
$GC,279,-2.00,-120.8,46.3,-20.2,45,286,0.22,1.67,0.00,0.000,6,0.116,0.024,2293,2314,3323
$GC,623,-1.92,-120.8,99.1,-13.4,106,629,0.00,1.80,0.00,0.000,4,0.000,0.040,2294,3367,3325
$GC,802,-1.87,-120.8,123.1,-12.9,137,808,0.15,1.65,0.00,0.000,6,0.107,0.022,2323,2310,3325
$GC,1147,-1.91,-120.8,158.5,-9.7,198,1152,0.00,1.80,0.00,0.000,4,0.000,0.039,2323,3371,3326
$GC,1276,-1.91,-120.8,170.7,-9.5,221,1282,0.00,1.60,0.00,0.000,6,0.000,0.024,2323,2342,3326
$GC,1620,-1.95,-120.8,202.6,-9.1,282,1626,0.00,1.75,0.00,0.000,4,0.000,0.041,2323,3367,3326
$GC,1775,-1.99,-122.3,217.0,-8.9,309,1781,0.08,1.52,0.00,0.000,6,0.050,0.025,2282,2403,3326
$GC,2120,-1.99,-122.4,250.3,-9.0,370,2123,0.00,1.65,0.00,0.000,4,0.000,0.044,2282,3369,3326
$GC,2226,-1.99,-122.4,260.5,-9.9,379,2232,0.00,1.48,0.00,0.000,6,0.000,0.026,2282,2442,3326
$GC,2552,-1.99,-122.4,289.9,-9.4,410,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2442,3325
$GC,2869,-1.99,-122.4,320.5,-9.8,440,2873,0.00,1.60,0.00,0.000,4,0.000,0.047,2282,3376,3322
$GC,2981,-1.99,-122.4,331.9,-10.4,450,2985,0.00,1.45,0.00,0.000,6,0.000,0.028,2282,2476,3322
$GC,3313,-1.99,-122.4,363.2,-9.0,481,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2471,3319
$GC,3631,-1.99,-122.4,392.5,-9.6,511,3635,0.00,1.98,0.00,0.000,4,0.000,0.052,2282,1333,3318
$GC,3732,-1.99,-122.4,402.3,-10.0,520,3736,0.00,1.92,0.00,0.000,6,0.000,0.031,2282,2469,3317
$GC,4064,-1.99,-122.4,432.7,-9.1,551,4067,0.00,1.58,0.00,0.000,4,0.000,0.052,2282,3366,3315
$GC,4136,-1.99,-122.4,439.8,-9.3,557,4142,0.00,1.38,0.00,0.000,6,0.000,0.029,2282,2538,3314
$GC,4462,-1.99,-122.4,471.2,-9.5,588,4466,0.00,2.12,0.00,0.000,4,0.000,0.054,2282,1333,3311
$GC,4511,-1.99,-122.4,476.4,-9.5,592,4518,0.00,2.00,0.00,0.000,6,0.000,0.035,2282,2488,3311
$GC,4846,-1.99,-122.4,508.1,-9.1,620,4850,0.00,2.05,0.00,0.000,4,0.000,0.054,2282,1339,3309
$GC,4884,-1.99,-122.4,511.8,-9.5,621,4891,0.00,1.98,0.00,0.000,6,0.000,0.039,2282,2470,3308
$GC,5201,-1.99,-122.4,540.7,-9.1,637,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2470,3307
$GC,5509,-1.99,-122.4,569.2,-9.2,652,5513,0.00,2.05,0.00,0.000,4,0.000,0.065,2282,1338,3305
$GC,5577,-1.99,-122.4,575.3,-9.3,655,5580,0.00,2.00,0.00,0.000,6,0.000,0.055,2282,2453,3305
$GC,5909,-1.99,-122.4,606.0,-9.3,671,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2453,3303
$GC,6218,-1.99,-122.4,635.7,-10.1,686,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2453,3302
$GC,6527,-1.99,-122.4,665.2,-9.1,701,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2453,3300
$GC,6837,-2.03,-122.4,693.4,-9.1,716,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2453,3298
$GC,7147,-2.07,-129.9,720.9,-8.5,731,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2454,3297
$GC,7456,-2.11,-131.3,748.4,-8.9,746,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2454,3295
$GC,7766,-2.14,-131.3,776.4,-9.2,761,7770,0.00,2.03,0.00,0.000,4,0.000,0.060,2282,1338,3294
$GC,7821,-2.17,-131.3,781.7,-9.3,763,7825,0.12,1.95,0.00,0.000,6,0.071,0.041,2249,2467,3294
$GC,8142,-2.17,-131.3,813.4,-10.2,779,8145,0.00,1.58,0.00,0.000,4,0.000,0.055,2249,3377,3293
$GC,8211,-2.17,-131.3,820.3,-10.2,782,8215,0.00,1.45,0.00,0.000,6,0.000,0.032,2249,2518,3293
$GC,8543,-2.17,-131.3,853.1,-9.9,798,8547,0.00,2.10,0.00,0.000,4,0.000,0.059,2249,1342,3292
$GC,8598,-2.17,-131.3,858.7,-9.9,800,8602,0.00,1.95,0.00,0.000,6,0.000,0.038,2249,2459,3292
$GC,8921,-2.17,-131.3,890.6,-10.1,816,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2460,3291
$GC,9229,-2.17,-131.3,922.7,-10.7,831,9232,0.00,1.58,0.00,0.000,4,0.000,0.054,2249,3373,3290
$GC,9274,-2.17,-131.3,927.5,-10.6,833,9277,0.00,1.45,0.00,0.000,6,0.000,0.032,2249,2505,3290
$GC,9607,-2.17,-131.3,960.9,-10.0,849,9611,0.00,2.08,0.00,0.000,4,0.000,0.058,2249,1338,3289
$GC,9668,-2.17,-131.3,967.1,-10.1,851,9674,0.00,1.92,0.00,0.000,6,0.000,0.037,2249,2442,3289
$STATE,9920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9920,begin apogee
$GC,9926,-0.52,0.0,990.6,9.0,864,10031,1.73,0.00,100.55,1.440,6,0.092,0.000,2615,2018,2825
$STATE,10032,end apogee,CONTROL_FINISHED_OK
$STATE,10032,begin climb
$GC,10035,2.20,131.3,993.2,0.0,869,10161,2.62,2.08,116.12,1.401,4,0.059,0.087,3212,983,2289
$GC,10302,2.06,131.3,975.3,9.7,881,10307,0.17,1.67,0.00,0.000,6,0.107,0.031,3179,1962,2285
$GC,10623,1.99,137.9,946.6,8.6,897,10632,0.00,0.00,6.40,1.099,6,0.000,0.000,3178,1962,2262
$GC,10933,1.91,140.3,919.2,8.9,912,10942,0.15,1.88,3.92,0.851,4,0.107,0.062,3146,975,2252
$GC,11051,1.87,145.1,909.1,8.7,917,11060,0.00,1.67,5.60,1.056,6,0.000,0.031,3146,1957,2233
$GC,11376,1.86,158.9,881.3,8.2,933,11396,0.00,0.00,14.18,1.293,6,0.000,0.000,3146,1958,2177
$GC,11706,1.88,170.7,853.4,8.3,949,11722,0.00,1.90,11.90,1.256,4,0.000,0.060,3145,978,2130
$GC,11806,1.84,170.7,843.9,9.2,952,11812,0.00,1.70,0.00,0.000,6,0.000,0.031,3146,1958,2127
$GC,12122,1.84,171.8,815.7,8.9,968,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1958,2127
$GC,12431,1.84,172.7,788.3,9.0,983,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1958,2126
$GC,12740,1.85,177.7,761.1,8.7,998,12753,0.00,1.88,7.35,1.118,4,0.000,0.059,3146,978,2100
$GC,12818,1.82,177.7,753.7,9.5,1001,12822,0.00,1.65,0.00,0.000,6,0.000,0.031,3146,1949,2099
$GC,13139,1.83,183.8,725.6,8.6,1017,13148,0.00,0.00,7.15,1.096,6,0.000,0.000,3146,1950,2075
$GC,13448,1.86,202.3,699.9,7.9,1032,13468,0.00,0.00,17.83,1.230,6,0.000,0.000,3146,1950,2001
$GC,13777,1.86,202.3,670.9,9.0,1048,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1951,1998
$GC,14086,1.86,202.3,643.7,9.1,1063,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1951,1998
$GC,14396,1.88,216.9,617.1,8.1,1078,14416,0.00,0.00,14.38,1.160,6,0.000,0.000,3146,1953,1940
$GC,14725,1.89,220.3,588.2,8.8,1094,14734,0.00,1.83,4.20,0.812,4,0.000,0.057,3146,976,1927
$GC,14807,1.90,224.9,580.6,8.7,1097,14817,0.00,1.65,6.10,0.966,6,0.000,0.031,3146,1932,1908
$GC,15139,1.91,232.7,550.9,8.5,1114,15153,0.00,1.80,8.52,1.042,4,0.000,0.057,3146,978,1876
$GC,15198,1.91,232.7,545.4,9.1,1116,15204,0.00,1.67,0.00,0.000,6,0.000,0.031,3146,1943,1875
$GC,15514,1.92,237.2,518.7,8.7,1132,15524,0.00,1.77,5.80,0.920,4,0.000,0.056,3146,976,1856
$GC,15563,1.92,237.2,513.9,9.8,1134,15567,0.00,1.65,0.00,0.000,6,0.000,0.031,3146,1926,1856
$GC,15889,1.92,237.2,483.5,9.3,1158,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1926,1856
$GC,16208,1.92,237.2,454.5,9.7,1188,16209,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1926,1856
$GC,16526,1.92,237.2,423.3,9.5,1218,16529,0.00,1.73,0.00,0.000,4,0.000,0.056,3146,968,1855
$GC,16605,1.92,237.2,415.5,10.3,1225,16608,0.00,1.62,0.00,0.000,6,0.000,0.030,3146,1927,1856
$GC,16935,1.92,237.2,384.5,9.3,1256,16939,0.00,1.90,0.00,0.000,4,0.000,0.048,3146,3014,1856
$GC,16997,1.94,249.8,378.6,8.2,1261,17014,0.00,1.75,12.27,0.990,6,0.000,0.035,3146,1986,1806
$GC,17331,1.94,251.5,349.0,8.9,1293,17335,0.00,1.92,0.00,0.000,4,0.000,0.060,3146,914,1805
$GC,17421,1.94,251.5,340.7,9.3,1301,17425,0.00,1.73,0.00,0.000,6,0.000,0.034,3146,1933,1805
$GC,17752,1.98,253.3,310.7,8.9,1332,17763,0.00,1.88,4.57,0.723,4,0.000,0.051,3146,3013,1792
$GC,17798,2.01,254.7,306.4,8.9,1336,17802,0.00,1.88,0.00,0.000,6,0.000,0.042,3146,1921,1791
$GC,18130,2.06,256.8,277.0,8.9,1367,18142,0.15,1.90,4.70,0.714,4,0.065,0.042,3187,3005,1778
$GC,18210,2.06,256.8,268.6,10.5,1374,18213,0.00,1.80,0.00,0.000,6,0.000,0.041,3187,1946,1777
$GC,18542,2.06,256.8,234.9,10.0,1418,18548,0.00,1.85,0.00,0.000,4,0.000,0.041,3187,3018,1778
$GC,18622,2.06,256.8,227.1,10.2,1432,18628,0.00,1.77,0.00,0.000,6,0.000,0.031,3187,1970,1778
$GC,18966,2.08,271.0,196.5,8.1,1493,18983,0.00,0.00,13.98,0.861,6,0.000,0.000,3187,1970,1720
$GC,19321,2.08,272.5,164.7,8.9,1556,19326,0.00,1.80,0.00,0.000,4,0.000,0.040,3187,3017,1719
$GC,19530,2.12,295.7,147.4,7.6,1593,19557,0.00,1.73,21.80,0.828,6,0.000,0.030,3187,1992,1619
$GC,19896,2.25,331.5,121.2,6.8,1658,19936,0.15,1.83,30.65,0.796,4,0.058,0.038,3238,3012,1472
$GC,20118,2.26,341.5,103.8,8.4,1697,20135,0.00,1.73,9.50,0.718,6,0.000,0.028,3238,1983,1431
$GC,20474,2.35,360.9,75.7,7.8,1760,20497,0.00,1.80,17.40,0.726,4,0.000,0.035,3238,3021,1352
$GC,20559,2.41,364.9,68.3,8.8,1775,20572,0.00,1.73,4.80,0.547,6,0.000,0.026,3238,1985,1336
$GC,20913,2.50,378.1,39.1,8.2,1837,20931,0.15,1.92,12.60,0.661,4,0.054,0.047,3291,921,1283
$GC,20971,2.50,378.1,33.2,9.2,1847,20977,0.00,1.83,0.00,0.000,6,0.000,0.024,3291,2041,1282
$GC,21315,2.54,401.5,6.3,7.6,1908,21343,0.00,1.67,20.50,0.645,4,0.000,0.037,3291,3007,1188
$STATE,21364,end climb,SURFACE_DEPTH_REACHED
$STATE,21364,begin surface coast
$FINISH,1.5,1.021302
$STATE,21372,end surface coast,CONTROL_FINISHED_OK
$STATE,21372,begin surface
$SM_CCo,21394,51.33,0.640,0,0,888,475.15
$SM_GC,-6.05,0.00,0.00,51.33,0.000,0.000,0.640,415,2272,888,-10.65,-1.50,475.15
$IRIDIUM_FIX,1245.46,12034.32,260697,070726
$TT8_MAMPS,0.025311
$HUMID,1848
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.90
$XPDR_PINGS,415
$24V_AH,23.0,31.993
$10V_AH,10.1,24.995
$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,28.650,121.375,482.775,51.325,0.000,31.014,32.549,183.651,116.250,0.000,0.000,15.208,3112.311,14158.784,636.376,3316.157,620.434,0.000,2252.154,0.000,3275.312,0.000,91.468
$DEVICE_MAMPS,171.808,87.438,1440.426,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1301.741,441.922,724.213,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101050,1918
$CAP_FILE_SIZE,193140,0
$CFSIZE,260165632,239288320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010408,190632,1250.612,12035.768,40,2.0,40,-0.8