version: 66.03
glider: 126
mission: 7
dive: 214
start: 4 2 108 7 9 12
data:
$ID,126
$MISSION,7
$DIVE,214
$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,-623446.56
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,070207,1251.422,12035.233,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.44
$_SM_ANGLEo,-57.4
$GPS2,070820,1251.509,12035.216,10,1.5,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S7
$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,161.4,4042,-19.0,-9.016
$D_GRID,1609
$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,-67.85,0.000,6,0.000,0.000,413,2346,3320
$GC,97,-2.18,-120.8,0.4,-20.4,13,114,10.32,1.73,0.00,0.000,4,0.169,0.036,2249,3369,3321
$GC,368,-2.00,-120.8,62.9,-18.3,61,374,0.22,1.70,0.00,0.000,6,0.110,0.023,2293,2292,3324
$GC,712,-1.94,-120.8,113.3,-13.3,122,718,0.00,1.85,0.00,0.000,4,0.000,0.038,2293,3369,3325
$GC,971,-1.91,-120.8,146.9,-11.9,168,977,0.08,1.60,0.00,0.000,6,0.109,0.024,2311,2357,3326
$GC,1315,-1.91,-120.8,180.9,-9.9,229,1321,0.00,1.73,0.00,0.000,4,0.000,0.035,2311,1315,3326
$GC,1355,-1.91,-120.8,184.7,-9.8,236,1360,0.00,1.75,0.00,0.000,6,0.000,0.025,2312,2388,3326
$GC,1698,-1.95,-120.8,216.6,-9.8,297,1704,0.00,1.65,0.00,0.000,4,0.000,0.043,2311,3368,3326
$GC,1732,-1.95,-120.8,219.9,-10.0,303,1738,0.00,1.55,0.00,0.000,6,0.000,0.025,2311,2385,3326
$GC,2080,-1.99,-120.8,252.2,-9.3,363,2083,0.00,1.67,0.00,0.000,4,0.000,0.044,2311,3366,3326
$GC,2136,-1.99,-123.0,257.5,-8.9,368,2139,0.00,1.55,0.00,0.000,6,0.000,0.026,2311,2407,3326
$GC,2468,-2.03,-123.0,288.8,-9.4,399,2470,0.12,0.00,0.00,0.000,6,0.061,0.000,2275,2400,3325
$GC,2786,-2.03,-123.0,319.5,-9.3,429,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2401,3323
$GC,3103,-2.03,-123.0,350.9,-9.9,459,3106,0.00,1.67,0.00,0.000,4,0.000,0.048,2275,3371,3321
$GC,3163,-2.03,-123.0,357.2,-10.1,464,3170,0.00,1.55,0.00,0.000,6,0.000,0.028,2275,2434,3321
$GC,3490,-2.03,-123.0,388.7,-9.3,495,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2434,3318
$GC,3807,-2.03,-123.0,418.9,-9.6,525,3810,0.00,1.62,0.00,0.000,4,0.000,0.051,2275,3365,3316
$GC,3901,-2.03,-123.0,428.7,-10.7,533,3907,0.00,1.58,0.00,0.000,6,0.000,0.030,2275,2434,3316
$GC,4227,-2.03,-123.0,461.0,-10.5,564,4230,0.00,1.92,0.00,0.000,4,0.000,0.054,2275,1337,3314
$GC,4271,-2.03,-123.0,465.9,-11.1,568,4275,0.00,1.77,0.00,0.000,6,0.000,0.035,2275,2381,3314
$GC,4603,-2.03,-123.0,498.0,-9.4,599,4607,0.00,1.73,0.00,0.000,4,0.000,0.057,2275,3367,3311
$GC,4652,-2.03,-123.0,503.1,-9.8,602,4656,0.00,1.55,0.00,0.000,6,0.000,0.031,2275,2455,3310
$GC,4979,-2.03,-123.0,533.6,-9.2,618,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2456,3308
$GC,5288,-2.03,-123.0,562.4,-9.3,633,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2456,3307
$GC,5600,-2.03,-123.0,590.6,-9.4,648,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2455,3305
$GC,5909,-2.03,-123.0,620.6,-9.6,663,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2455,3303
$GC,6216,-2.03,-123.0,649.7,-9.1,678,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2447,3302
$GC,6526,-2.04,-123.6,677.2,-9.0,693,6529,0.00,1.95,0.00,0.000,4,0.000,0.047,2275,1333,3300
$GC,6564,-2.04,-123.6,681.0,-9.8,694,6570,0.00,1.83,0.00,0.000,6,0.000,0.035,2275,2393,3300
$GC,6880,-2.04,-127.0,709.3,-8.8,710,6883,0.00,1.67,0.00,0.000,4,0.000,0.054,2275,3360,3298
$GC,6941,-2.05,-133.1,714.5,-8.6,712,6947,0.00,1.55,0.00,0.000,6,0.000,0.033,2275,2449,3297
$GC,7259,-2.06,-136.9,741.7,-8.8,728,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2448,3296
$GC,7566,-2.06,-136.9,769.5,-9.0,743,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2447,3295
$GC,7874,-2.06,-136.9,798.0,-9.3,758,7878,0.00,1.62,0.00,0.000,4,0.000,0.054,2275,3369,3294
$GC,7969,-2.06,-136.9,807.3,-9.8,762,7973,0.00,1.58,0.00,0.000,6,0.000,0.034,2275,2448,3294
$GC,8298,-2.10,-141.1,836.6,-8.8,778,8302,0.00,1.95,0.00,0.000,4,0.000,0.054,2275,1337,3293
$GC,8337,-2.10,-145.2,840.4,-8.8,779,8343,0.00,1.77,0.00,0.000,6,0.000,0.036,2275,2379,3292
$GC,8653,-2.10,-145.2,868.9,-9.3,795,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2381,3292
$GC,8962,-2.13,-145.2,898.6,-9.5,810,8965,0.00,1.70,0.00,0.000,4,0.000,0.055,2275,3358,3290
$GC,9053,-2.13,-145.2,907.5,-9.9,814,9057,0.00,1.58,0.00,0.000,6,0.000,0.034,2275,2434,3290
$GC,9387,-2.17,-146.0,938.0,-8.9,830,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2435,3289
$GC,9695,-2.20,-146.0,965.6,-8.8,845,9697,0.10,0.00,0.00,0.000,6,0.077,0.000,2249,2434,3288
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9967,-0.52,0.0,990.5,9.2,858,10072,1.75,0.00,100.85,1.442,6,0.097,0.000,2616,2010,2825
$STATE,10073,end apogee,CONTROL_FINISHED_OK
$STATE,10073,begin climb
$GC,10075,2.22,146.0,993.2,0.0,863,10213,2.70,2.12,128.85,1.405,4,0.066,0.069,3218,919,2229
$GC,10282,2.07,146.0,981.6,10.7,872,10287,0.20,1.80,0.00,0.000,6,0.107,0.032,3180,1958,2226
$GC,10615,2.00,146.0,950.6,9.4,888,10619,0.00,1.90,0.00,0.000,4,0.000,0.058,3180,916,2222
$GC,10729,1.89,146.0,939.6,9.8,893,10733,0.20,1.77,0.00,0.000,6,0.113,0.032,3143,1951,2222
$GC,11062,1.88,160.4,911.2,8.1,909,11083,0.00,1.95,12.50,1.284,4,0.000,0.048,3143,3016,2171
$GC,11134,1.86,168.9,904.9,8.5,912,11150,0.00,1.85,9.55,1.219,6,0.000,0.036,3143,1947,2135
$GC,11459,1.88,181.0,877.9,8.3,928,11473,0.00,0.00,12.20,1.269,6,0.000,0.000,3143,1947,2087
$GC,11768,1.88,181.0,849.9,9.2,943,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1947,2085
$GC,12077,1.88,181.0,820.7,9.8,958,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1947,2084
$GC,12386,1.88,181.0,788.8,10.2,973,12389,0.00,1.88,0.00,0.000,4,0.000,0.047,3143,3012,2084
$GC,12436,1.88,181.0,783.6,10.5,975,12439,0.00,1.85,0.00,0.000,6,0.000,0.044,3143,1938,2083
$GC,12762,1.88,181.0,751.1,9.7,991,12766,0.00,1.88,0.00,0.000,4,0.000,0.048,3143,3006,2083
$GC,12852,1.88,181.0,742.1,9.5,995,12855,0.00,1.80,0.00,0.000,6,0.000,0.036,3142,1960,2082
$GC,13184,1.88,184.5,711.4,8.8,1011,13190,0.00,0.00,4.03,0.838,6,0.000,0.000,3143,1960,2072
$GC,13493,1.90,192.2,684.6,8.5,1026,13507,0.00,1.90,8.43,1.129,4,0.000,0.048,3143,3001,2041
$GC,13592,1.92,205.7,675.8,8.2,1030,13611,0.00,1.80,13.75,1.194,6,0.000,0.036,3143,1959,1985
$GC,13933,1.92,205.7,644.4,9.3,1047,13936,0.00,1.90,0.00,0.000,4,0.000,0.061,3143,906,1984
$GC,13993,1.92,205.7,638.6,9.6,1049,13999,0.00,1.83,0.00,0.000,6,0.000,0.032,3143,1959,1984
$GC,14310,1.93,214.1,611.3,8.5,1065,14324,0.00,1.90,8.93,1.094,4,0.000,0.048,3143,3009,1951
$GC,14380,1.93,214.1,604.8,9.5,1068,14385,0.00,1.85,0.00,0.000,6,0.000,0.036,3142,1959,1950
$GC,14707,1.93,214.1,575.2,9.2,1084,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1960,1950
$GC,15016,1.93,214.1,546.3,9.0,1099,15020,0.00,1.85,0.00,0.000,4,0.000,0.047,3142,3016,1950
$GC,15085,1.94,215.7,540.0,8.9,1102,15089,0.00,1.80,0.00,0.000,6,0.000,0.036,3142,1967,1949
$GC,15417,1.94,215.7,509.5,9.0,1118,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1967,1949
$GC,15732,1.94,215.7,480.9,9.1,1142,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1967,1949
$GC,16052,1.96,231.4,454.3,8.0,1172,16074,0.00,1.88,16.30,1.066,4,0.000,0.046,3142,3013,1880
$GC,16124,1.97,234.9,447.6,8.8,1178,16133,0.00,1.80,4.75,0.802,6,0.000,0.035,3142,1983,1867
$GC,16460,1.98,243.8,417.9,8.5,1210,16471,0.00,0.00,9.30,0.979,6,0.000,0.000,3143,1984,1831
$GC,16788,1.98,243.8,389.3,9.6,1241,16791,0.00,1.80,0.00,0.000,4,0.000,0.045,3142,3014,1830
$GC,16860,2.00,250.7,382.4,8.6,1247,16876,0.00,1.73,7.62,0.917,6,0.000,0.034,3142,2001,1802
$GC,17194,2.03,250.7,351.1,9.2,1279,17196,0.12,0.00,0.00,0.000,6,0.071,0.000,3178,2001,1801
$GC,17514,2.03,250.7,319.3,10.1,1309,17518,0.00,1.98,0.00,0.000,4,0.000,0.059,3178,911,1801
$GC,17547,2.03,250.7,315.8,9.5,1312,17551,0.00,1.88,0.00,0.000,6,0.000,0.031,3178,2015,1801
$GC,17879,2.03,250.7,282.7,9.9,1343,17880,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2015,1801
$GC,18195,2.03,250.7,251.4,9.8,1373,18199,0.00,2.00,0.00,0.000,4,0.000,0.054,3178,913,1801
$GC,18285,2.03,254.2,243.0,8.8,1387,18297,0.00,1.83,4.70,0.690,6,0.000,0.030,3178,1997,1788
$GC,18634,2.06,268.9,212.1,8.1,1449,18650,0.00,0.00,14.18,0.875,6,0.000,0.000,3178,1998,1728
$GC,18987,2.07,277.8,180.2,8.5,1512,19004,0.00,1.77,8.65,0.796,4,0.000,0.044,3179,3000,1692
$GC,19067,2.09,286.7,173.2,8.5,1526,19083,0.00,1.75,9.15,0.788,6,0.000,0.031,3178,1966,1655
$GC,19423,2.14,286.9,143.2,9.0,1589,19429,0.00,1.85,0.00,0.000,4,0.000,0.052,3178,914,1655
$GC,19543,2.21,308.9,132.5,7.6,1610,19571,0.10,1.80,20.23,0.809,6,0.050,0.028,3219,1980,1564
$GC,19911,2.34,358.5,105.6,5.9,1675,19959,0.00,0.00,41.45,0.779,6,0.000,0.000,3219,1981,1362
$GC,20299,2.46,376.8,76.8,7.9,1744,20318,0.15,0.00,15.88,0.720,6,0.056,0.000,3271,1981,1289
$GC,20656,2.49,376.8,44.5,9.1,1807,20662,0.00,1.70,0.00,0.000,4,0.000,0.037,3271,3003,1288
$GC,20741,2.49,376.8,36.4,9.8,1822,20748,0.00,1.75,0.00,0.000,6,0.000,0.025,3271,1954,1288
$GC,21087,2.58,396.4,10.3,7.8,1883,21109,0.00,1.85,17.50,0.646,4,0.000,0.043,3271,923,1209
$STATE,21188,end climb,SURFACE_DEPTH_REACHED
$STATE,21189,begin surface coast
$FINISH,0.6,1.021154
$STATE,21206,end surface coast,CONTROL_FINISHED_OK
$STATE,21206,begin surface
$SM_CCo,21229,53.67,0.644,0,0,888,475.15
$SM_GC,-6.14,0.00,0.00,53.67,0.000,0.000,0.644,415,2338,888,-10.65,0.37,475.15
$IRIDIUM_FIX,1243.25,12036.22,270697,010146
$TT8_MAMPS,0.025311
$HUMID,1848
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.20
$XPDR_PINGS,408
$24V_AH,23.0,32.536
$10V_AH,10.1,25.343
$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,28.475,111.450,468.775,53.675,0.000,23.913,32.003,185.626,114.500,0.000,0.000,15.561,3088.926,14090.419,611.187,3273.261,613.257,0.000,2203.411,0.000,3226.881,0.000,91.474
$DEVICE_MAMPS,168.740,69.030,1441.960,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1292.389,431.859,719.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100910,1904
$CAP_FILE_SIZE,189382,0
$CFSIZE,260165632,239017984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020408,130507,1249.678,12036.097,34,1.7,34,-0.8