version: 66.03
glider: 126
mission: 7
dive: 267
start: 4 13 108 9 52 26
data:
$ID,126
$MISSION,7
$DIVE,267
$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,-624462.5
$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,29
$R_STBD_OVSHOOT,54
$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
$GPS1,094508,1246.325,12021.312,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.50
$_SM_ANGLEo,-58.3
$GPS2,095133,1246.417,12021.192,16,1.0,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S8
$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,67.1,2225,-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,21,begin dive
$GC,24,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.68,0.000,6,0.000,0.000,415,2344,3242
$GC,97,-2.39,-101.9,1.1,-22.8,13,114,10.07,1.83,0.00,0.000,4,0.169,0.031,2205,1263,3244
$GC,227,-2.22,-101.9,34.1,-19.1,36,234,0.17,1.75,0.00,0.000,6,0.110,0.024,2243,2318,3245
$GC,572,-2.15,-101.9,88.3,-13.4,97,578,0.00,1.77,0.00,0.000,4,0.000,0.038,2243,3379,3247
$GC,642,-2.08,-101.9,98.1,-14.4,109,648,0.17,1.73,0.00,0.000,6,0.107,0.023,2278,2287,3247
$GC,987,-2.08,-103.0,132.6,-8.9,170,993,0.00,1.88,0.00,0.000,4,0.000,0.038,2278,3377,3247
$GC,1165,-2.08,-103.0,149.9,-9.7,201,1171,0.00,1.67,0.00,0.000,6,0.000,0.023,2278,2307,3248
$GC,1510,-2.14,-111.1,180.4,-8.5,262,1515,0.00,1.80,0.00,0.000,4,0.000,0.040,2278,3374,3248
$GC,1657,-2.14,-112.3,193.6,-8.9,288,1663,0.00,1.62,0.00,0.000,6,0.000,0.025,2278,2337,3248
$GC,2001,-2.20,-116.9,223.5,-8.7,349,2006,0.12,0.00,0.00,0.000,6,0.061,0.000,2239,2331,3248
$GC,2345,-2.20,-116.9,257.8,-10.2,404,2348,0.00,1.77,0.00,0.000,4,0.000,0.043,2239,3370,3248
$GC,2380,-2.20,-116.9,261.3,-11.1,407,2384,0.00,1.62,0.00,0.000,6,0.000,0.026,2239,2344,3248
$GC,2712,-2.20,-116.9,293.6,-9.4,438,2716,0.00,1.75,0.00,0.000,4,0.000,0.039,2239,1322,3248
$GC,2750,-2.20,-116.9,297.7,-10.6,441,2756,0.00,1.73,0.00,0.000,6,0.000,0.027,2239,2353,3248
$GC,3076,-2.20,-116.9,329.5,-9.8,472,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2354,3246
$GC,3394,-2.20,-116.9,359.7,-9.6,502,3397,0.00,1.77,0.00,0.000,4,0.000,0.041,2239,1322,3244
$GC,3544,-2.20,-116.9,374.4,-9.5,515,3550,0.00,1.75,0.00,0.000,6,0.000,0.029,2239,2358,3243
$GC,3873,-2.20,-116.9,404.6,-9.5,546,3876,0.00,1.80,0.00,0.000,4,0.000,0.043,2239,1317,3241
$GC,3945,-2.20,-116.9,412.5,-10.1,552,3951,0.00,1.75,0.00,0.000,6,0.000,0.030,2238,2348,3241
$GC,4272,-2.21,-123.6,442.7,-8.6,583,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2348,3238
$GC,4588,-2.21,-125.1,470.6,-8.9,613,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2348,3237
$GC,4907,-2.23,-131.9,497.8,-8.5,643,4910,0.00,1.83,0.00,0.000,4,0.000,0.054,2239,1320,3235
$GC,5001,-2.24,-138.6,506.1,-8.6,649,5005,0.00,1.75,0.00,0.000,6,0.000,0.037,2239,2332,3234
$GC,5328,-2.24,-138.6,536.2,-9.6,665,5332,0.00,1.85,0.00,0.000,4,0.000,0.062,2239,3375,3232
$GC,5373,-2.24,-138.6,540.6,-10.0,667,5377,0.00,1.73,0.00,0.000,6,0.000,0.036,2239,2365,3232
$GC,5705,-2.24,-138.6,572.4,-9.4,683,5709,0.00,1.98,0.00,0.000,4,0.000,0.070,2239,1273,3230
$GC,5778,-2.24,-138.6,579.1,-9.3,686,5781,0.00,1.83,0.00,0.000,6,0.000,0.053,2239,2303,3230
$GC,6106,-2.27,-138.6,608.6,-9.0,702,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2303,3228
$GC,6414,-2.31,-145.0,635.5,-8.6,717,6418,0.00,1.98,0.00,0.000,4,0.000,0.092,2239,1277,3226
$GC,6460,-2.31,-146.0,639.5,-8.5,719,6463,0.00,1.95,0.00,0.000,6,0.000,0.076,2239,2320,3225
$GC,6796,-2.34,-146.0,670.1,-9.2,735,6800,0.00,2.10,0.00,0.000,4,0.000,0.110,2239,3386,3223
$GC,6830,-2.34,-146.0,673.8,-9.3,736,6833,0.00,2.00,0.00,0.000,6,0.000,0.088,2239,2350,3223
$GC,7153,-2.38,-146.0,702.2,-8.7,752,7157,0.12,1.90,0.00,0.000,4,0.067,0.045,2205,1247,3222
$GC,7258,-2.38,-146.0,712.4,-9.9,756,7264,0.00,1.83,0.00,0.000,6,0.000,0.031,2205,2336,3222
$GC,7573,-2.38,-146.0,744.1,-10.3,772,7577,0.00,1.90,0.00,0.000,4,0.000,0.049,2205,1253,3220
$GC,7642,-2.38,-146.0,751.4,-10.7,775,7646,0.00,1.75,0.00,0.000,6,0.000,0.032,2205,2293,3220
$GC,7975,-2.38,-146.0,784.7,-9.8,791,7978,0.00,1.88,0.00,0.000,4,0.000,0.051,2205,3374,3218
$GC,8087,-2.38,-146.0,795.7,-9.4,796,8091,0.00,1.88,0.00,0.000,6,0.000,0.032,2205,2263,3218
$STATE,8101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8101,begin apogee
$GC,8108,-0.52,0.0,797.3,9.2,796,8195,1.90,0.00,83.57,1.285,6,0.097,0.000,2613,1936,2825
$STATE,8196,end apogee,CONTROL_FINISHED_OK
$STATE,8196,begin climb
$GC,8199,2.47,146.0,800.2,0.0,801,8334,2.90,1.95,125.55,1.256,4,0.057,0.064,3275,916,2228
$GC,8465,2.34,146.0,784.5,10.3,813,8470,0.17,1.80,0.00,0.000,6,0.108,0.031,3242,1970,2224
$GC,8786,2.26,146.0,754.0,9.5,829,8790,0.00,1.80,0.00,0.000,4,0.000,0.048,3241,3010,2222
$GC,8910,2.16,146.0,742.5,9.1,834,8914,0.17,1.77,0.00,0.000,6,0.100,0.035,3196,1988,2221
$GC,9230,2.17,155.9,715.2,8.3,850,9241,0.00,0.00,8.38,1.070,6,0.000,0.000,3196,1988,2189
$GC,9540,2.19,166.5,689.2,8.3,865,9555,0.00,1.98,10.90,1.121,4,0.000,0.058,3196,908,2145
$GC,9639,2.16,166.5,679.7,9.6,868,9645,0.00,1.90,0.00,0.000,6,0.000,0.031,3196,2022,2145
$GC,9955,2.18,183.9,653.6,7.8,884,9976,0.00,1.80,16.45,1.157,4,0.000,0.048,3196,3006,2075
$GC,10077,2.20,195.5,643.3,8.2,889,10093,0.00,1.67,11.60,1.102,6,0.000,0.035,3196,2028,2027
$GC,10414,2.21,202.2,614.0,8.6,906,10427,0.00,1.80,7.12,1.000,4,0.000,0.046,3196,3006,2000
$GC,10481,2.22,205.1,608.1,8.8,909,10489,0.00,1.70,4.18,0.784,6,0.000,0.035,3196,2037,1989
$GC,10812,2.23,212.1,579.9,8.5,925,10826,0.00,1.80,7.80,1.010,4,0.000,0.047,3196,3015,1960
$GC,10865,2.24,215.1,574.7,8.8,927,10877,0.00,1.70,4.70,0.831,6,0.000,0.035,3196,2047,1947
$GC,11186,2.24,218.5,546.9,8.8,943,11193,0.00,0.00,4.55,0.813,6,0.000,0.000,3196,2048,1934
$GC,11495,2.25,220.5,519.5,8.9,958,11499,0.10,1.70,0.00,0.000,4,0.080,0.045,3223,3015,1933
$GC,11619,2.21,220.5,508.0,9.8,963,11622,0.00,1.67,0.00,0.000,6,0.000,0.035,3224,2038,1932
$GC,11946,2.21,220.5,477.1,9.7,990,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2038,1932
$GC,12265,2.21,220.5,446.9,9.6,1020,12269,0.00,1.73,0.00,0.000,4,0.000,0.046,3224,3007,1932
$GC,12404,2.18,220.5,433.6,9.2,1032,12410,0.00,1.65,0.00,0.000,6,0.000,0.034,3224,2055,1932
$GC,12731,2.18,220.5,401.9,10.2,1063,12734,0.00,1.67,0.00,0.000,4,0.000,0.045,3224,3017,1932
$GC,12802,2.18,220.5,393.9,10.8,1069,12809,0.00,1.62,0.00,0.000,6,0.000,0.033,3223,2073,1932
$GC,13131,2.19,223.3,363.3,8.8,1100,13143,0.00,2.08,5.65,0.815,4,0.000,0.055,3224,916,1914
$GC,13272,2.19,223.3,349.7,9.4,1112,13278,0.00,1.90,0.00,0.000,6,0.000,0.030,3224,2024,1914
$GC,13599,2.19,225.4,321.6,8.9,1143,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2025,1914
$GC,13917,2.20,229.4,293.5,8.7,1173,13925,0.00,0.00,6.97,0.830,6,0.000,0.000,3224,2025,1889
$GC,14246,2.21,237.1,264.9,8.5,1204,14255,0.00,0.00,8.05,0.842,6,0.000,0.000,3224,2025,1858
$GC,14581,2.23,251.6,236.8,8.0,1249,14597,0.00,0.00,13.82,0.881,6,0.000,0.000,3224,2026,1799
$GC,14934,2.25,258.6,207.2,8.5,1312,14946,0.00,1.77,7.45,0.781,4,0.000,0.044,3224,3018,1770
$GC,14992,2.25,258.6,202.0,9.1,1322,14998,0.00,1.73,0.00,0.000,6,0.000,0.031,3223,2001,1770
$GC,15336,2.30,274.0,173.4,8.0,1383,15357,0.00,1.83,14.60,0.831,4,0.000,0.041,3223,3031,1706
$GC,15477,2.31,276.2,161.4,8.9,1408,15483,0.00,1.65,0.00,0.000,6,0.000,0.030,3224,2067,1706
$GC,15821,2.42,308.8,133.0,6.8,1469,15856,0.15,1.73,30.08,0.812,4,0.060,0.040,3271,3015,1565
$GC,16031,2.43,310.3,113.2,8.9,1506,16037,0.00,1.58,0.00,0.000,6,0.000,0.028,3271,2087,1562
$GC,16375,2.53,339.4,88.0,7.0,1567,16408,0.00,1.65,25.90,0.759,4,0.000,0.038,3271,3016,1440
$GC,16629,2.62,343.6,68.0,8.7,1612,16641,0.10,1.50,4.85,0.557,6,0.050,0.026,3310,2113,1423
$GC,16982,2.79,402.6,46.0,4.9,1674,17038,0.12,1.62,49.60,0.697,4,0.063,0.038,3351,3020,1182
$GC,17190,2.80,412.6,29.8,8.3,1711,17207,0.00,1.62,9.48,0.617,6,0.000,0.025,3350,2030,1141
$STATE,17502,end climb,SURFACE_DEPTH_REACHED
$STATE,17502,begin surface coast
$FINISH,-0.5,1.021187
$STATE,17526,end surface coast,CONTROL_FINISHED_OK
$STATE,17526,begin surface
$SM_CCo,17549,41.65,0.634,0,0,887,475.15
$SM_GC,-5.92,0.00,0.00,41.65,0.000,0.000,0.634,412,2347,887,-10.66,0.65,475.15
$IRIDIUM_FIX,1243.25,12021.43,080797,040459
$TT8_MAMPS,0.026078
$HUMID,1888
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.60
$XPDR_PINGS,486
$24V_AH,23.1,41.849
$10V_AH,10.2,31.146
$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,29.050,111.525,461.250,41.650,0.000,22.673,41.175,183.387,129.000,0.000,0.000,16.779,2862.820,10798.364,576.345,3152.438,608.201,0.000,2101.910,0.000,3104.567,0.000,55.266
$DEVICE_MAMPS,168.740,110.448,1285.492,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.650,465.785,750.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94461,1771
$CAP_FILE_SIZE,173441,0
$CFSIZE,260165632,234479616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,144656,1247.604,12022.213,41,1.0,41,-0.8