version: 66.03
glider: 126
mission: 7
dive: 261
start: 4 12 108 1 46 31
data:
$ID,126
$MISSION,7
$DIVE,261
$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,-624356.75
$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,65
$R_STBD_OVSHOOT,37
$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
$GPS1,013902,1245.957,12023.301,41,1.2,41,-0.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.43
$_SM_ANGLEo,-56.3
$GPS2,014539,1245.993,12023.345,14,1.0,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S2
$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,313.0,2499,-21.3,-9.016
$D_GRID,797
$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,22,begin dive
$GC,24,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-66.28,0.000,6,0.000,0.000,418,2263,3243
$GC,97,-2.39,-101.9,0.1,-19.7,13,114,10.10,1.90,0.00,0.000,4,0.170,0.035,2204,3379,3245
$GC,205,-2.20,-101.9,30.2,-21.4,32,212,0.20,1.73,0.00,0.000,6,0.115,0.023,2247,2308,3247
$GC,551,-2.13,-101.9,85.8,-13.8,93,557,0.00,1.83,0.00,0.000,4,0.000,0.038,2247,3385,3248
$GC,603,-2.05,-101.9,94.3,-16.6,102,610,0.12,1.55,0.00,0.000,6,0.110,0.024,2276,2399,3248
$GC,948,-2.05,-101.9,134.0,-9.6,163,954,0.00,1.80,0.00,0.000,4,0.000,0.032,2276,1309,3249
$GC,1052,-2.05,-101.9,144.7,-10.2,181,1058,0.00,1.77,0.00,0.000,6,0.000,0.025,2276,2400,3249
$GC,1396,-2.11,-109.4,175.0,-8.5,242,1402,0.00,1.83,0.00,0.000,4,0.000,0.033,2277,1308,3250
$GC,1504,-2.16,-114.4,184.7,-8.7,261,1510,0.00,1.75,0.00,0.000,6,0.000,0.025,2276,2382,3250
$GC,1850,-2.21,-114.4,215.4,-9.4,322,1856,0.12,1.67,0.00,0.000,4,0.061,0.041,2238,3375,3252
$GC,1924,-2.21,-114.4,223.6,-10.5,335,1930,0.00,1.60,0.00,0.000,6,0.000,0.026,2238,2356,3252
$GC,2265,-2.23,-124.4,253.9,-8.3,392,2268,0.00,1.75,0.00,0.000,4,0.000,0.044,2238,3379,3251
$GC,2343,-2.25,-138.4,260.8,-8.0,399,2347,0.00,1.55,0.00,0.000,6,0.000,0.027,2238,2424,3251
$GC,2676,-2.25,-138.4,291.8,-10.2,430,2679,0.00,1.88,0.00,0.000,4,0.000,0.038,2238,1313,3250
$GC,2743,-2.25,-138.4,298.5,-9.6,436,2747,0.00,1.83,0.00,0.000,6,0.000,0.028,2238,2413,3250
$GC,3075,-2.25,-138.4,329.8,-9.6,467,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2414,3248
$GC,3391,-2.25,-138.4,361.7,-10.4,497,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2414,3245
$GC,3710,-2.26,-145.6,390.8,-8.5,527,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2414,3243
$GC,4028,-2.26,-145.6,419.0,-9.1,557,4032,0.00,1.90,0.00,0.000,4,0.000,0.045,2238,1324,3242
$GC,4107,-2.26,-145.6,426.4,-9.1,564,4111,0.00,1.83,0.00,0.000,6,0.000,0.031,2238,2393,3241
$GC,4438,-2.26,-146.0,456.6,-9.0,595,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2393,3239
$GC,4756,-2.26,-146.0,486.8,-9.5,625,4759,0.00,1.88,0.00,0.000,4,0.000,0.051,2237,1333,3236
$GC,4840,-2.26,-146.0,494.4,-8.8,632,4845,0.00,1.75,0.00,0.000,6,0.000,0.036,2238,2365,3236
$GC,5160,-2.26,-146.0,520.8,-8.7,651,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2366,3235
$GC,5466,-2.26,-146.0,548.7,-9.5,666,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2366,3232
$GC,5777,-2.26,-146.0,576.4,-8.4,681,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2366,3231
$GC,6085,-2.26,-146.0,602.9,-8.3,696,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2366,3229
$GC,6394,-2.26,-146.0,629.2,-8.3,711,6397,0.00,1.90,0.00,0.000,4,0.000,0.093,2238,3367,3228
$GC,6567,-2.26,-146.0,644.0,-8.2,718,6573,0.00,1.75,0.00,0.000,6,0.000,0.076,2237,2433,3227
$GC,6883,-2.26,-146.0,669.8,-7.8,734,6891,0.00,2.15,0.00,0.000,4,0.000,0.110,2237,1340,3224
$GC,6958,-2.26,-146.0,675.6,-7.9,737,6961,0.00,1.95,0.00,0.000,6,0.000,0.093,2238,2346,3224
$GC,7287,-2.30,-146.0,702.9,-9.0,753,7291,0.00,2.08,0.00,0.000,4,0.000,0.124,2238,1337,3223
$GC,7354,-2.30,-146.0,709.3,-9.1,756,7357,0.00,2.08,0.00,0.000,6,0.000,0.110,2238,2369,3222
$GC,7689,-2.34,-146.0,740.1,-10.0,772,7693,0.00,2.17,0.00,0.000,4,0.000,0.146,2237,3389,3221
$GC,7739,-2.34,-146.0,745.8,-10.9,774,7742,0.00,1.73,0.00,0.000,6,0.000,0.044,2238,2403,3220
$GC,8068,-2.37,-146.0,776.5,-9.0,790,8070,0.10,0.00,0.00,0.000,6,0.077,0.000,2211,2402,3220
$STATE,8290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8290,begin apogee
$GC,8296,-0.52,0.0,798.0,9.2,801,8384,1.92,0.00,83.82,1.282,6,0.095,0.000,2617,2014,2825
$STATE,8385,end apogee,CONTROL_FINISHED_OK
$STATE,8385,begin climb
$GC,8387,2.47,146.0,800.3,0.0,805,8519,2.90,0.00,126.62,1.250,6,0.061,0.000,3270,2014,2229
$GC,8825,2.36,146.0,769.8,9.9,827,8829,0.15,2.00,0.00,0.000,4,0.110,0.087,3242,970,2222
$GC,8965,2.26,146.0,755.7,9.9,833,8970,0.08,1.77,0.00,0.000,6,0.110,0.035,3225,1986,2222
$GC,9287,2.22,160.0,728.2,8.0,849,9307,0.00,1.90,12.15,1.142,4,0.000,0.051,3225,3022,2172
$GC,9421,2.14,160.0,716.4,9.1,855,9425,0.10,1.75,0.00,0.000,6,0.102,0.038,3201,2032,2170
$GC,9753,2.13,167.4,690.2,8.5,871,9763,0.00,0.00,7.78,1.052,6,0.000,0.000,3201,2032,2142
$GC,10062,2.11,175.2,663.4,8.5,886,10076,0.00,1.80,8.30,1.065,4,0.000,0.048,3201,3012,2110
$GC,10129,2.08,181.3,657.7,8.6,889,10140,0.00,1.73,7.15,1.013,6,0.000,0.037,3201,2034,2086
$GC,10455,2.08,181.3,627.8,9.7,905,10459,0.00,1.73,0.00,0.000,4,0.000,0.048,3201,3015,2084
$GC,10591,2.08,181.6,614.8,9.0,911,10594,0.00,1.60,0.00,0.000,6,0.000,0.036,3201,2083,2084
$GC,10923,2.08,181.6,583.0,9.9,927,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2083,2083
$GC,11232,2.10,190.1,555.1,8.4,942,11243,0.00,0.00,8.98,1.035,6,0.000,0.000,3201,2083,2049
$GC,11542,2.14,215.0,530.8,7.3,957,11567,0.00,0.00,23.15,1.112,6,0.000,0.000,3201,2083,1948
$GC,11871,2.14,217.3,501.6,8.9,973,11874,0.00,1.65,0.00,0.000,4,0.000,0.048,3201,3019,1945
$GC,11955,2.16,225.1,494.2,8.5,979,11971,0.00,1.58,9.85,1.012,6,0.000,0.035,3201,2096,1907
$GC,12289,2.16,225.9,463.1,9.0,1011,12293,0.00,2.03,0.00,0.000,4,0.000,0.060,3201,967,1906
$GC,12335,2.16,226.3,459.0,9.0,1015,12338,0.00,1.88,0.00,0.000,6,0.000,0.033,3201,2068,1905
$GC,12667,2.16,226.5,429.5,9.0,1046,12670,0.00,1.62,0.00,0.000,4,0.000,0.048,3201,3013,1905
$GC,12705,2.16,226.5,425.7,9.4,1049,12711,0.00,1.60,0.00,0.000,6,0.000,0.035,3201,2093,1905
$GC,13033,2.16,226.5,397.4,9.3,1080,13037,0.00,2.03,0.00,0.000,4,0.000,0.058,3201,959,1905
$GC,13094,2.16,226.5,390.8,10.5,1085,13100,0.00,1.88,0.00,0.000,6,0.000,0.031,3201,2050,1905
$GC,13421,2.16,226.5,360.3,9.4,1116,13425,0.00,1.65,0.00,0.000,4,0.000,0.047,3201,3015,1905
$GC,13477,2.16,226.5,354.8,9.6,1121,13481,0.00,1.60,0.00,0.000,6,0.000,0.035,3201,2075,1904
$GC,13809,2.16,227.1,325.3,9.0,1152,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2075,1904
$GC,14127,2.19,245.0,299.0,7.8,1182,14147,0.00,0.00,18.10,0.947,6,0.000,0.000,3201,2075,1826
$GC,14465,2.24,258.3,271.3,8.1,1214,14485,0.00,1.73,12.40,0.895,4,0.000,0.045,3200,3013,1772
$GC,14524,2.27,271.4,265.9,8.1,1219,14542,0.05,1.62,13.02,0.877,6,0.075,0.032,3224,2079,1718
$GC,14868,2.27,271.4,233.0,9.5,1267,14874,0.00,1.65,0.00,0.000,4,0.000,0.044,3224,3026,1716
$GC,14953,2.27,271.4,224.4,9.8,1282,14959,0.00,1.58,0.00,0.000,6,0.000,0.032,3223,2110,1716
$GC,15297,2.30,271.4,194.3,9.2,1343,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2110,1716
$GC,15639,2.33,271.4,162.7,9.0,1404,15645,0.00,2.03,0.00,0.000,4,0.000,0.061,3224,954,1716
$GC,15837,2.37,275.4,144.9,8.7,1439,15849,0.10,1.98,4.75,0.621,6,0.073,0.028,3254,2140,1701
$GC,16190,2.46,304.9,117.9,7.0,1501,16222,0.00,0.00,25.70,0.802,6,0.000,0.000,3254,2142,1582
$GC,16563,2.60,345.1,93.7,6.2,1567,16607,0.15,2.15,34.12,0.762,4,0.060,0.047,3302,960,1418
$GC,16670,2.61,351.3,84.9,8.6,1586,16682,0.00,2.03,6.80,0.637,6,0.000,0.027,3302,2175,1392
$GC,17020,2.72,379.4,58.1,7.1,1648,17048,0.00,0.00,24.08,0.706,6,0.000,0.000,3303,2175,1278
$GC,17388,2.85,408.9,34.7,7.0,1713,17421,0.17,2.15,25.40,0.670,4,0.051,0.042,3361,953,1158
$GC,17508,2.85,409.3,23.9,9.0,1734,17514,0.00,1.92,0.00,0.000,6,0.000,0.024,3361,2118,1157
$STATE,17755,end climb,SURFACE_DEPTH_REACHED
$STATE,17755,begin surface coast
$FINISH,-0.1,1.021168
$STATE,17777,end surface coast,CONTROL_FINISHED_OK
$STATE,17777,begin surface
$SM_CCo,17800,44.97,0.636,0,0,888,475.15
$SM_GC,-5.96,0.00,0.00,44.97,0.000,0.000,0.636,414,2355,888,-10.65,0.85,475.15
$IRIDIUM_FIX,1243.25,12023.34,060797,202029
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.00
$XPDR_PINGS,411
$24V_AH,23.1,40.776
$10V_AH,10.2,30.460
$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,29.050,99.200,452.175,44.975,0.000,25.019,33.781,200.743,110.250,0.000,0.000,14.657,2868.161,11124.042,610.750,3024.629,634.134,0.000,2057.821,0.000,2995.032,0.000,55.266
$DEVICE_MAMPS,170.274,146.497,1282.424,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.528,467.634,752.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94482,1782
$CAP_FILE_SIZE,170437,0
$CFSIZE,260165632,235028480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,064508,1246.495,12022.406,34,1.3,34,-0.8