version: 66.03
glider: 126
mission: 7
dive: 272
start: 4 14 108 9 46 49
data:
$ID,126
$MISSION,7
$DIVE,272
$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,-624545.5
$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,78
$R_STBD_OVSHOOT,62
$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
$GPS1,093901,1247.132,12028.020,40,1.9,40,-0.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,-6.04
$_SM_ANGLEo,-58.4
$GPS2,094557,1247.092,12027.979,16,1.8,16,-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,47.2,2896,-20.0,-9.016
$D_GRID,807
$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,-2.27,-112.0,0.0,0.0,0,94,0.00,0.00,-67.10,0.000,6,0.000,0.000,418,2261,3285
$GC,97,-2.27,-112.0,0.7,-20.2,13,109,10.07,0.00,0.00,0.000,6,0.165,0.000,2228,2261,3286
$GC,449,-2.13,-112.0,68.3,-14.7,75,455,0.15,1.85,0.00,0.000,4,0.120,0.036,2261,3362,3288
$GC,501,-2.02,-112.0,76.2,-14.3,84,508,0.10,1.65,0.00,0.000,6,0.105,0.022,2285,2320,3289
$GC,846,-2.02,-112.0,119.1,-11.9,145,852,0.00,1.75,0.00,0.000,4,0.000,0.038,2285,3359,3290
$GC,881,-1.98,-112.0,123.1,-11.1,151,887,0.00,1.52,0.00,0.000,6,0.000,0.023,2284,2379,3290
$GC,1224,-1.98,-112.0,154.9,-9.4,212,1230,0.00,1.77,0.00,0.000,4,0.000,0.032,2285,1305,3291
$GC,1276,-1.99,-117.6,159.5,-8.7,221,1282,0.00,1.73,0.00,0.000,6,0.000,0.024,2285,2372,3291
$GC,1620,-2.00,-125.2,187.5,-8.5,282,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2372,3292
$GC,1963,-2.05,-133.3,216.6,-8.5,343,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2372,3292
$GC,2306,-2.08,-133.3,246.4,-9.2,404,2312,0.00,1.67,0.00,0.000,4,0.000,0.044,2285,3365,3291
$GC,2401,-2.08,-133.3,255.5,-9.6,416,2407,0.00,1.55,0.00,0.000,6,0.000,0.026,2285,2389,3291
$GC,2729,-2.13,-135.3,284.8,-8.9,447,2733,0.00,1.67,0.00,0.000,4,0.000,0.044,2285,3369,3289
$GC,2767,-2.13,-135.3,288.7,-9.3,450,2774,0.00,1.55,0.00,0.000,6,0.000,0.027,2285,2403,3289
$GC,3095,-2.18,-141.7,318.3,-8.6,481,3097,0.15,0.00,0.00,0.000,6,0.058,0.000,2242,2403,3288
$GC,3413,-2.18,-143.8,346.6,-8.9,511,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2403,3286
$GC,3729,-2.18,-143.8,376.5,-9.7,541,3732,0.00,1.85,0.00,0.000,4,0.000,0.041,2242,1322,3283
$GC,3774,-2.18,-143.8,381.0,-9.7,545,3778,0.00,1.83,0.00,0.000,6,0.000,0.029,2242,2417,3283
$GC,4106,-2.18,-143.8,411.9,-9.2,576,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2418,3281
$GC,4423,-2.18,-143.8,442.6,-9.6,606,4427,0.00,1.90,0.00,0.000,4,0.000,0.045,2242,1328,3279
$GC,4502,-2.19,-146.0,449.9,-8.7,613,4506,0.00,1.83,0.00,0.000,6,0.000,0.032,2243,2413,3279
$GC,4835,-2.19,-146.0,479.8,-8.9,644,4838,0.00,1.65,0.00,0.000,4,0.000,0.053,2243,3367,3277
$GC,4880,-2.19,-146.0,484.4,-10.0,648,4883,0.00,1.52,0.00,0.000,6,0.000,0.030,2243,2459,3277
$GC,5217,-2.19,-146.0,516.7,-9.7,672,5220,0.00,2.00,0.00,0.000,4,0.000,0.058,2242,1330,3275
$GC,5278,-2.19,-146.0,523.0,-9.9,674,5284,0.00,1.85,0.00,0.000,6,0.000,0.041,2242,2406,3274
$GC,5597,-2.19,-146.0,551.9,-8.8,690,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2406,3271
$GC,5904,-2.19,-146.0,578.8,-8.6,705,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2407,3270
$GC,6212,-2.19,-146.0,605.1,-8.3,720,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2406,3269
$GC,6521,-2.19,-146.0,632.7,-9.5,735,6525,0.00,2.08,0.00,0.000,4,0.000,0.091,2242,1327,3267
$GC,6605,-2.19,-146.0,640.9,-9.8,738,6611,0.00,1.95,0.00,0.000,6,0.000,0.079,2242,2364,3266
$GC,6922,-2.19,-146.0,671.0,-9.0,754,6925,0.00,2.03,0.00,0.000,4,0.000,0.113,2243,3390,3265
$GC,6994,-2.19,-146.0,677.5,-8.6,757,6998,0.00,1.77,0.00,0.000,6,0.000,0.091,2242,2472,3264
$GC,7321,-2.19,-146.0,704.7,-8.4,773,7325,0.00,2.30,0.00,0.000,4,0.000,0.124,2242,1338,3263
$GC,7503,-2.19,-146.0,719.9,-9.0,781,7511,0.00,2.10,0.00,0.000,6,0.000,0.114,2242,2370,3262
$GC,7840,-2.19,-146.0,749.0,-9.0,797,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2371,3260
$GC,8149,-2.19,-146.0,775.9,-8.3,812,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2371,3260
$GC,8456,-2.19,-146.0,802.2,-8.7,827,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2371,3258
$STATE,8515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8515,begin apogee
$GC,8522,-0.52,0.0,807.7,8.7,830,8619,1.75,0.00,92.15,1.298,6,0.094,0.000,2613,2040,2825
$STATE,8620,end apogee,CONTROL_FINISHED_OK
$STATE,8620,begin climb
$GC,8622,2.33,146.0,810.8,0.0,835,8758,2.75,2.72,126.03,1.262,4,0.058,0.199,3242,979,2229
$GC,8885,2.19,146.0,796.0,9.4,847,8890,0.17,2.20,0.00,0.000,6,0.105,0.150,3208,1960,2224
$GC,9208,2.11,146.5,767.6,9.0,863,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1960,2221
$GC,9515,2.03,151.8,739.8,8.7,878,9523,0.17,0.00,5.20,0.917,6,0.107,0.000,3174,1960,2205
$GC,9825,2.03,176.9,716.1,7.4,893,9854,0.00,2.25,23.27,1.210,4,0.000,0.119,3175,3028,2103
$GC,9963,2.01,186.0,704.6,8.4,899,9980,0.00,2.00,9.38,1.091,6,0.000,0.105,3174,2037,2065
$GC,10289,2.02,193.5,676.9,8.5,915,10303,0.00,2.22,7.75,1.048,4,0.000,0.113,3174,973,2036
$GC,10430,1.98,193.5,663.9,9.4,921,10434,0.00,1.85,0.00,0.000,6,0.000,0.074,3174,1953,2036
$GC,10758,1.99,199.2,636.0,8.6,937,10768,0.00,2.08,6.47,0.986,4,0.000,0.081,3174,3021,2012
$GC,10893,1.99,199.2,623.8,9.3,943,10896,0.00,1.85,0.00,0.000,6,0.000,0.067,3174,2021,2011
$GC,11220,2.01,212.6,596.7,8.1,959,11239,0.00,0.00,13.15,1.117,6,0.000,0.000,3174,2022,1958
$GC,11549,2.02,214.3,568.0,8.9,975,11552,0.00,1.83,0.00,0.000,4,0.000,0.058,3174,3035,1957
$GC,11594,2.02,214.3,563.7,9.6,977,11597,0.00,1.83,0.00,0.000,6,0.000,0.046,3174,2000,1957
$GC,11926,2.02,214.3,533.7,9.0,993,11930,0.00,1.98,0.00,0.000,4,0.000,0.067,3174,906,1956
$GC,11964,2.02,219.1,530.2,8.7,994,11975,0.00,1.83,7.07,0.978,6,0.000,0.033,3174,1976,1931
$GC,12297,2.05,233.3,502.9,8.1,1011,12318,0.00,1.88,13.95,1.071,4,0.000,0.049,3174,3011,1872
$GC,12433,2.07,249.5,491.7,8.0,1021,12455,0.00,1.80,15.48,1.058,6,0.000,0.036,3174,1965,1807
$GC,12773,2.09,257.0,462.4,8.5,1053,12783,0.00,0.00,7.78,0.946,6,0.000,0.000,3174,1965,1777
$GC,13104,2.09,260.8,433.5,8.8,1084,13115,0.00,1.85,4.97,0.803,4,0.000,0.044,3174,3015,1761
$GC,13205,2.10,266.5,424.1,8.7,1093,13217,0.00,1.83,6.78,0.897,6,0.000,0.035,3174,1949,1738
$GC,13535,2.10,266.5,394.7,9.1,1124,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1949,1737
$GC,13856,2.11,270.6,365.8,8.7,1154,13867,0.00,1.88,5.35,0.794,4,0.000,0.042,3174,3020,1721
$GC,14004,2.11,270.6,351.6,9.6,1167,14007,0.00,1.85,0.00,0.000,6,0.000,0.033,3174,1935,1720
$GC,14336,2.15,275.6,322.2,8.7,1198,14349,0.10,1.88,5.80,0.796,4,0.079,0.041,3203,3020,1701
$GC,14443,2.15,275.6,312.2,9.4,1207,14450,0.00,1.80,0.00,0.000,6,0.000,0.032,3203,1977,1701
$GC,14770,2.15,276.1,283.4,9.0,1238,14774,0.00,1.80,0.00,0.000,4,0.000,0.042,3203,3021,1700
$GC,14804,2.15,276.1,280.0,9.4,1241,14808,0.00,1.75,0.00,0.000,6,0.000,0.032,3203,1986,1701
$GC,15134,2.17,283.7,251.8,8.5,1272,15148,0.00,1.85,8.45,0.836,4,0.000,0.041,3203,3019,1668
$GC,15236,2.17,283.7,242.7,9.5,1288,15242,0.00,1.67,0.00,0.000,6,0.000,0.031,3203,2031,1667
$GC,15579,2.17,283.7,211.0,9.4,1349,15585,0.00,1.70,0.00,0.000,4,0.000,0.042,3203,3017,1667
$GC,15602,2.17,283.7,208.9,9.3,1353,15607,0.00,1.62,0.00,0.000,6,0.000,0.031,3203,2053,1667
$GC,15945,2.18,292.1,181.4,8.5,1414,15961,0.00,2.08,8.80,0.790,4,0.000,0.054,3203,916,1634
$GC,15990,2.18,292.1,177.1,9.2,1422,15996,0.00,1.95,0.00,0.000,6,0.000,0.028,3203,2077,1635
$GC,16334,2.25,308.9,149.3,7.9,1483,16357,0.00,2.15,15.80,0.812,4,0.000,0.049,3203,913,1565
$GC,16420,2.30,308.9,141.8,9.2,1498,16427,0.05,1.98,0.00,0.000,6,0.037,0.027,3236,2074,1564
$GC,16767,2.41,356.3,115.2,5.9,1559,16816,0.00,1.67,40.40,0.793,4,0.000,0.041,3236,3017,1372
$GC,16936,2.52,382.8,103.8,7.3,1589,16964,0.17,1.60,22.80,0.757,6,0.055,0.026,3286,2056,1264
$GC,17303,2.57,416.5,72.1,6.8,1654,17337,0.00,2.10,28.95,0.729,4,0.000,0.046,3287,903,1126
$GC,17400,2.60,416.5,63.0,10.4,1671,17406,0.00,1.98,0.00,0.000,6,0.000,0.025,3286,2102,1125
$GC,17747,2.71,434.4,36.2,7.9,1732,17770,0.15,2.10,16.00,0.667,4,0.054,0.041,3339,912,1053
$GC,17810,2.71,434.4,30.0,9.6,1743,17816,0.00,1.83,0.00,0.000,6,0.000,0.024,3339,2033,1053
$STATE,18124,end climb,SURFACE_DEPTH_REACHED
$STATE,18124,begin surface coast
$FINISH,-0.4,1.021179
$STATE,18148,end surface coast,CONTROL_FINISHED_OK
$STATE,18148,begin surface
$SM_CCo,18170,30.35,0.640,0,0,887,475.15
$SM_GC,-6.65,0.00,0.00,30.35,0.000,0.000,0.640,416,2359,887,-10.64,0.96,475.15
$IRIDIUM_FIX,1243.25,12028.27,090797,050500
$TT8_MAMPS,0.026078
$HUMID,1935
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.10
$XPDR_PINGS,431
$24V_AH,23.1,42.750
$10V_AH,10.1,31.691
$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,28.475,113.900,491.775,30.350,0.000,23.981,34.884,223.972,115.500,0.000,0.000,16.023,2912.962,11305.989,608.797,3149.591,665.513,0.000,2146.866,0.000,3109.677,0.000,57.083
$DEVICE_MAMPS,164.905,198.653,1297.764,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.865,452.300,755.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97735,1803
$CAP_FILE_SIZE,176381,0
$CFSIZE,260165632,234041344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,145126,1248.128,12029.120,38,1.4,38,-0.8