version: 66.03
glider: 126
mission: 7
dive: 269
start: 4 13 108 20 7 19
data:
$ID,126
$MISSION,7
$DIVE,269
$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,-624495.69
$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,74
$R_STBD_OVSHOOT,39
$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
$GPS1,200008,1247.831,12023.763,53,1.1,53,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.46
$_SM_ANGLEo,-59.2
$GPS2,200627,1247.839,12023.750,14,1.5,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB
$TGT_LATLONG,1248.170,12029.140
$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,87.2,9753,-19.0,-9.016
$D_GRID,787
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.85,0.000,6,0.000,0.000,413,2282,3319
$GC,98,-2.18,-120.8,0.1,-19.7,13,115,10.32,1.88,0.00,0.000,4,0.168,0.036,2252,3380,3322
$GC,368,-1.99,-120.8,57.4,-17.6,61,375,0.20,1.67,0.00,0.000,6,0.106,0.023,2291,2307,3323
$GC,713,-1.94,-120.8,103.3,-11.1,122,719,0.00,1.65,0.00,0.000,4,0.000,0.032,2291,1319,3326
$GC,754,-1.88,-120.8,107.7,-11.4,129,760,0.15,1.65,0.00,0.000,6,0.110,0.023,2320,2346,3325
$GC,1098,-1.89,-127.3,141.2,-8.6,190,1104,0.00,1.73,0.00,0.000,4,0.000,0.039,2320,3362,3327
$GC,1282,-1.90,-132.0,157.2,-8.7,222,1288,0.00,1.65,0.00,0.000,6,0.000,0.024,2320,2311,3328
$GC,1626,-1.96,-146.0,185.5,-7.8,283,1631,0.00,1.62,0.00,0.000,4,0.000,0.034,2320,1333,3328
$GC,1650,-2.00,-146.0,187.5,-7.7,287,1656,0.12,1.62,0.00,0.000,6,0.061,0.025,2282,2337,3328
$GC,1994,-2.00,-146.0,219.6,-9.9,348,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2337,3328
$GC,2342,-2.00,-146.0,251.2,-8.0,409,2345,0.00,1.70,0.00,0.000,4,0.000,0.036,2282,1335,3328
$GC,2425,-2.00,-146.0,258.7,-9.0,416,2431,0.00,1.62,0.00,0.000,6,0.000,0.025,2282,2316,3328
$GC,2754,-2.00,-146.0,287.4,-8.8,447,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2316,3326
$GC,3078,-2.00,-146.0,315.8,-8.8,478,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2316,3325
$GC,3397,-2.00,-146.0,345.3,-9.5,508,3401,0.00,1.80,0.00,0.000,4,0.000,0.046,2282,3372,3323
$GC,3458,-2.00,-146.0,351.4,-9.7,513,3464,0.00,1.73,0.00,0.000,6,0.000,0.028,2282,2326,3322
$GC,3785,-2.00,-146.0,380.9,-8.9,544,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2318,3320
$GC,4101,-2.00,-146.0,409.0,-8.4,574,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2317,3318
$GC,4420,-2.00,-146.0,436.8,-9.0,604,4424,0.00,1.80,0.00,0.000,4,0.000,0.048,2282,3362,3317
$GC,4465,-2.00,-146.0,441.3,-10.0,608,4469,0.00,1.75,0.00,0.000,6,0.000,0.031,2282,2311,3316
$GC,4797,-2.00,-146.0,471.0,-8.7,639,4801,0.00,1.83,0.00,0.000,4,0.000,0.054,2282,1284,3314
$GC,4836,-2.00,-146.0,474.4,-8.2,642,4842,0.00,1.70,0.00,0.000,6,0.000,0.032,2282,2301,3314
$GC,5163,-2.00,-146.0,500.2,-8.0,673,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2301,3312
$GC,5470,-2.00,-146.0,525.4,-8.2,688,5474,0.00,1.90,0.00,0.000,4,0.000,0.059,2282,3380,3310
$GC,5520,-2.00,-146.0,529.9,-8.5,690,5528,0.00,1.85,0.00,0.000,6,0.000,0.034,2282,2289,3309
$GC,5850,-2.00,-146.0,557.2,-8.6,706,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2287,3308
$GC,6159,-2.00,-146.0,584.7,-8.8,721,6162,0.00,2.00,0.00,0.000,4,0.000,0.074,2282,3370,3306
$GC,6208,-2.00,-146.0,589.2,-8.7,723,6212,0.00,1.90,0.00,0.000,6,0.000,0.051,2282,2304,3306
$GC,6536,-2.00,-146.0,615.2,-7.7,739,6540,0.00,2.03,0.00,0.000,4,0.000,0.084,2282,3381,3305
$GC,6574,-2.00,-146.0,618.4,-7.9,740,6580,0.00,1.98,0.00,0.000,6,0.000,0.063,2282,2298,3304
$GC,6890,-2.00,-146.0,644.2,-8.7,756,6894,0.00,1.98,0.00,0.000,4,0.000,0.097,2282,1262,3303
$GC,6952,-2.00,-146.0,649.7,-8.7,758,6959,0.00,1.92,0.00,0.000,6,0.000,0.078,2282,2286,3302
$GC,7269,-2.00,-146.0,675.4,-7.9,774,7273,0.00,2.17,0.00,0.000,4,0.000,0.111,2282,3389,3301
$GC,7332,-2.00,-146.0,680.4,-8.6,777,7335,0.00,2.08,0.00,0.000,6,0.000,0.091,2282,2322,3301
$GC,7666,-2.04,-146.0,704.7,-7.2,793,7670,0.00,2.17,0.00,0.000,4,0.000,0.122,2282,3384,3300
$GC,7739,-2.04,-146.0,710.2,-7.2,796,7743,0.00,2.10,0.00,0.000,6,0.000,0.105,2282,2335,3299
$GC,8060,-2.04,-146.0,734.6,-8.0,812,8064,0.00,2.25,0.00,0.000,4,0.000,0.141,2282,1264,3297
$GC,8093,-2.04,-146.0,737.6,-8.9,813,8099,0.00,2.17,0.00,0.000,6,0.000,0.118,2282,2327,3297
$GC,8412,-2.07,-146.0,764.5,-8.6,829,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2326,3296
$STATE,8676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8676,begin apogee
$GC,8682,-0.52,0.0,787.2,8.4,842,8786,1.55,0.00,99.95,1.281,6,0.091,0.000,2611,1929,2825
$STATE,8787,end apogee,CONTROL_FINISHED_OK
$STATE,8787,begin climb
$GC,8790,2.22,146.0,790.9,0.0,847,8925,2.67,1.92,125.68,1.248,4,0.059,0.074,3219,924,2229
$GC,8995,2.10,155.7,783.4,8.4,856,9009,0.15,1.85,9.52,1.075,6,0.105,0.031,3191,2004,2190
$GC,9333,2.05,178.3,755.9,7.6,873,9356,0.00,0.00,20.73,1.183,6,0.000,0.000,3191,2004,2098
$GC,9661,1.98,187.1,727.6,8.5,889,9675,0.15,2.05,8.82,1.072,4,0.108,0.057,3158,920,2062
$GC,9802,1.93,187.1,714.7,9.5,895,9806,0.00,1.75,0.00,0.000,6,0.000,0.030,3158,1954,2061
$GC,10129,1.93,205.6,687.2,7.9,911,10151,0.00,1.92,17.52,1.168,4,0.000,0.046,3158,3009,1986
$GC,10220,1.91,214.4,679.3,8.5,915,10234,0.00,1.85,9.55,1.074,6,0.000,0.036,3158,1941,1950
$GC,10551,1.91,215.5,649.4,9.0,931,10554,0.00,1.88,0.00,0.000,4,0.000,0.045,3158,3013,1947
$GC,10691,1.88,215.5,636.2,9.3,937,10694,0.00,1.83,0.00,0.000,6,0.000,0.041,3158,1954,1947
$GC,11017,1.88,215.5,606.7,9.4,953,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1952,1946
$GC,11326,1.88,215.5,577.4,9.2,968,11330,0.00,1.85,0.00,0.000,4,0.000,0.045,3157,3015,1946
$GC,11404,1.88,219.9,570.1,8.7,971,11415,0.00,1.83,5.47,0.899,6,0.000,0.035,3158,1953,1928
$GC,11724,1.90,227.9,541.5,8.5,987,11738,0.00,1.90,8.85,1.027,4,0.000,0.044,3158,2998,1895
$GC,11796,1.90,227.9,534.9,9.6,990,11799,0.00,1.83,0.00,0.000,6,0.000,0.035,3158,1954,1894
$GC,12122,1.90,232.8,505.9,8.7,1006,12132,0.00,1.88,5.78,0.897,4,0.000,0.044,3158,3015,1875
$GC,12161,1.92,244.5,502.4,8.3,1008,12177,0.00,1.80,11.98,1.041,6,0.000,0.035,3158,1969,1828
$GC,12495,1.94,255.4,473.9,8.3,1037,12510,0.00,1.85,11.10,1.018,4,0.000,0.044,3158,3006,1782
$GC,12641,1.97,271.8,461.6,8.0,1049,12660,0.00,1.70,15.68,1.037,6,0.000,0.035,3157,2013,1716
$GC,12980,1.97,273.0,431.1,8.9,1081,12984,0.00,1.75,0.00,0.000,4,0.000,0.045,3157,3013,1714
$GC,13014,1.97,273.0,427.9,9.1,1084,13018,0.00,1.67,0.00,0.000,6,0.000,0.034,3158,2036,1714
$GC,13346,1.97,273.0,397.9,9.2,1115,13349,0.00,1.70,0.00,0.000,4,0.000,0.045,3158,3010,1714
$GC,13391,1.97,274.8,393.6,8.9,1119,13403,0.00,1.67,3.85,0.666,6,0.000,0.034,3158,2030,1704
$GC,13721,1.97,274.8,363.0,9.5,1150,13724,0.00,1.70,0.00,0.000,4,0.000,0.045,3157,3005,1704
$GC,13759,1.97,274.8,359.1,9.5,1153,13765,0.00,1.65,0.00,0.000,6,0.000,0.033,3157,2054,1703
$GC,14087,1.97,274.8,328.4,9.8,1184,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2054,1703
$GC,14414,2.01,278.6,299.3,8.8,1215,14425,0.00,1.70,4.80,0.722,4,0.000,0.045,3158,3014,1689
$GC,14516,2.02,282.2,290.0,8.8,1224,14527,0.00,1.60,4.85,0.726,6,0.000,0.033,3157,2072,1674
$GC,14846,2.06,287.3,261.1,8.7,1255,14856,0.00,0.00,6.22,0.782,6,0.000,0.000,3158,2071,1653
$GC,15186,2.11,291.9,231.3,8.7,1305,15198,0.15,1.65,6.00,0.755,4,0.063,0.044,3202,3008,1633
$GC,15232,2.12,294.4,227.0,8.9,1313,15238,0.00,1.60,0.00,0.000,6,0.000,0.032,3203,2067,1633
$GC,15575,2.12,294.4,194.3,9.9,1374,15581,0.00,2.05,0.00,0.000,4,0.000,0.054,3203,906,1633
$GC,15655,2.12,294.4,186.3,9.9,1388,15660,0.00,1.98,0.00,0.000,6,0.000,0.029,3203,2083,1633
$GC,15999,2.15,313.6,156.0,7.8,1449,16025,0.00,2.15,19.62,0.836,4,0.000,0.050,3203,906,1546
$GC,16054,2.15,314.9,150.7,8.9,1459,16060,0.00,2.03,0.00,0.000,6,0.000,0.028,3203,2109,1545
$GC,16398,2.26,360.6,123.1,6.2,1520,16442,0.00,1.62,40.10,0.807,4,0.000,0.041,3203,3013,1353
$GC,16461,2.39,383.4,118.3,7.6,1531,16489,0.15,1.55,20.25,0.762,6,0.035,0.028,3260,2101,1261
$GC,16828,2.46,428.4,85.6,6.2,1596,16872,0.00,2.17,38.03,0.750,4,0.000,0.048,3260,913,1078
$GC,16948,2.55,450.4,76.4,7.6,1617,16976,0.12,2.10,19.70,0.717,6,0.062,0.026,3299,2170,987
$GC,17318,2.62,466.0,42.2,8.0,1682,17336,0.00,2.30,13.43,0.668,4,0.000,0.043,3299,901,924
$GC,17517,2.67,475.3,23.0,8.4,1717,17533,0.00,2.00,9.43,0.621,6,0.000,0.024,3299,2122,886
$STATE,17739,end climb,SURFACE_DEPTH_REACHED
$STATE,17740,begin surface coast
$FINISH,-0.2,1.021169
$STATE,17765,end surface coast,CONTROL_FINISHED_OK
$STATE,17765,begin surface
$SM_CCo,17847,0.00,0.000,0,0,883,476.62
$SM_GC,-6.13,12.50,0.00,0.00,0.049,0.000,0.000,417,2343,883,-10.58,0.51,476.62
$IRIDIUM_FIX,1243.25,12024.46,080797,141459
$TT8_MAMPS,0.025311
$HUMID,1934
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,22.80
$XPDR_PINGS,440
$24V_AH,23.1,42.221
$10V_AH,10.1,31.370
$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,28.250,123.250,536.900,0.000,0.000,22.791,35.151,183.222,117.250,0.000,0.000,14.326,2829.864,11131.049,611.834,3067.282,604.254,0.000,2127.472,0.000,3018.673,0.000,55.514
$DEVICE_MAMPS,167.973,141.128,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.106,436.689,736.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94691,1761
$CAP_FILE_SIZE,177100,0
$CFSIZE,260165632,234295296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,010602,1247.534,12025.365,41,1.5,41,-0.8