version: 66.03
glider: 126
mission: 7
dive: 287
start: 4 18 108 2 20 54
data:
$ID,126
$MISSION,7
$DIVE,287
$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,-624829.62
$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,59
$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
$GPS1,021307,1249.647,12036.175,25,1.6,25,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.73
$_SM_ANGLEo,-59.8
$GPS2,022002,1249.621,12036.113,12,1.6,17,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S1
$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,222.0,420,-21.3,-9.016
$D_GRID,1738
$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,25,-2.39,-101.9,0.0,0.0,0,95,0.00,0.00,-65.28,0.000,6,0.000,0.000,412,2338,3243
$GC,98,-2.39,-101.9,0.3,-20.7,13,115,10.05,1.73,0.00,0.000,4,0.168,0.037,2202,3356,3244
$GC,369,-2.21,-101.9,57.1,-19.4,61,376,0.22,1.67,0.00,0.000,6,0.108,0.023,2247,2291,3246
$GC,714,-2.17,-101.9,105.0,-13.8,122,720,0.00,1.83,0.00,0.000,4,0.000,0.038,2247,3353,3248
$GC,817,-2.11,-101.9,117.0,-10.8,140,824,0.08,1.62,0.00,0.000,6,0.101,0.023,2266,2325,3248
$GC,1163,-2.11,-106.1,150.2,-8.7,201,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2317,3248
$GC,1506,-2.13,-112.9,180.3,-8.5,262,1511,0.00,1.75,0.00,0.000,4,0.000,0.039,2266,3359,3249
$GC,1568,-2.13,-112.9,186.3,-9.5,273,1574,0.00,1.62,0.00,0.000,6,0.000,0.024,2266,2318,3250
$GC,1915,-2.20,-132.6,215.0,-7.7,334,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2311,3250
$GC,2259,-2.26,-146.0,242.3,-7.5,395,2264,0.12,0.00,0.00,0.000,6,0.061,0.000,2229,2311,3250
$GC,2594,-2.26,-146.0,272.5,-9.0,434,2597,0.00,1.80,0.00,0.000,4,0.000,0.043,2228,3363,3249
$GC,2632,-2.26,-146.0,276.0,-9.1,437,2638,0.00,1.62,0.00,0.000,6,0.000,0.027,2228,2360,3248
$GC,2960,-2.26,-146.0,305.1,-9.0,468,2963,0.00,1.73,0.00,0.000,4,0.000,0.044,2229,3363,3247
$GC,3032,-2.26,-146.0,312.0,-9.1,474,3038,0.00,1.60,0.00,0.000,6,0.000,0.027,2228,2375,3247
$GC,3359,-2.26,-146.0,339.8,-8.9,505,3363,0.00,1.70,0.00,0.000,4,0.000,0.045,2229,3358,3245
$GC,3415,-2.26,-146.0,345.1,-9.2,510,3419,0.00,1.60,0.00,0.000,6,0.000,0.028,2228,2386,3245
$GC,3748,-2.26,-146.0,375.2,-8.9,541,3751,0.00,1.67,0.00,0.000,4,0.000,0.046,2229,3353,3242
$GC,3831,-2.26,-146.0,383.6,-9.6,548,3837,0.00,1.55,0.00,0.000,6,0.000,0.028,2228,2418,3242
$GC,4159,-2.26,-146.0,413.0,-8.3,579,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2417,3240
$GC,4474,-2.26,-146.0,440.6,-8.9,609,4478,0.00,1.65,0.00,0.000,4,0.000,0.050,2229,3362,3238
$GC,4542,-2.26,-146.0,447.0,-9.7,615,4545,0.00,1.55,0.00,0.000,6,0.000,0.030,2228,2441,3237
$GC,4876,-2.26,-146.0,476.7,-9.1,646,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2441,3236
$GC,5199,-2.26,-146.0,505.4,-8.6,674,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2442,3233
$GC,5508,-2.26,-146.0,532.7,-9.0,689,5512,0.00,1.62,0.00,0.000,4,0.000,0.061,2228,3346,3232
$GC,5576,-2.26,-146.0,538.9,-9.5,692,5579,0.00,1.58,0.00,0.000,6,0.000,0.035,2229,2439,3232
$GC,5909,-2.26,-146.0,567.9,-8.5,708,5913,0.00,2.05,0.00,0.000,4,0.000,0.072,2228,1318,3230
$GC,5981,-2.26,-146.0,574.3,-8.4,711,5985,0.00,1.85,0.00,0.000,6,0.000,0.054,2228,2357,3229
$GC,6310,-2.26,-146.0,602.4,-8.7,727,6314,0.00,1.83,0.00,0.000,4,0.000,0.051,2229,3396,3227
$GC,6405,-2.26,-146.0,611.3,-9.6,731,6409,0.00,1.62,0.00,0.000,6,0.000,0.031,2228,2430,3227
$GC,6732,-2.26,-146.0,639.9,-8.8,747,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2430,3225
$GC,7041,-2.26,-146.0,668.3,-9.5,762,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2430,3223
$GC,7350,-2.26,-146.0,696.7,-9.3,777,7353,0.00,1.95,0.00,0.000,4,0.000,0.053,2228,1318,3221
$GC,7411,-2.26,-146.0,702.4,-9.2,779,7417,0.00,1.90,0.00,0.000,6,0.000,0.035,2228,2432,3221
$GC,7727,-2.26,-146.0,729.6,-8.8,795,7732,0.00,1.70,0.00,0.000,4,0.000,0.056,2229,3391,3220
$GC,7772,-2.26,-146.0,733.6,-8.6,797,7776,0.00,1.60,0.00,0.000,6,0.000,0.031,2228,2433,3221
$GC,8105,-2.26,-146.0,762.7,-8.7,813,8109,0.00,1.95,0.00,0.000,4,0.000,0.053,2229,1321,3219
$GC,8173,-2.26,-146.0,768.8,-8.9,816,8177,0.00,1.90,0.00,0.000,6,0.000,0.035,2229,2434,3219
$GC,8508,-2.26,-146.0,797.4,-8.4,832,8511,0.00,1.98,0.00,0.000,4,0.000,0.047,2228,1309,3217
$GC,8575,-2.26,-146.0,803.5,-9.3,835,8578,0.00,1.90,0.00,0.000,6,0.000,0.035,2228,2423,3217
$GC,8908,-2.26,-146.0,833.4,-9.1,851,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2423,3215
$GC,9216,-2.26,-146.0,862.0,-9.2,866,9220,0.00,1.98,0.00,0.000,4,0.000,0.047,2228,1290,3215
$GC,9294,-2.26,-146.0,869.3,-9.1,869,9298,0.00,1.92,0.00,0.000,6,0.000,0.035,2228,2399,3214
$GC,9616,-2.26,-146.0,898.1,-8.9,885,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2399,3212
$GC,9925,-2.26,-146.0,924.5,-8.4,900,9928,0.00,1.90,0.00,0.000,4,0.000,0.048,2228,1317,3211
$GC,10020,-2.26,-146.0,932.7,-8.7,904,10023,0.00,1.88,0.00,0.000,6,0.000,0.034,2228,2418,3211
$GC,10349,-2.29,-146.0,960.0,-8.6,920,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2418,3210
$GC,10656,-2.29,-146.0,986.7,-8.8,935,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2418,3210
$STATE,10695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10695,begin apogee
$GC,10702,-0.52,0.0,990.6,9.0,937,10791,1.83,0.00,84.70,1.443,6,0.094,0.000,2613,1993,2825
$STATE,10792,end apogee,CONTROL_FINISHED_OK
$STATE,10792,begin climb
$GC,10795,2.47,146.0,993.5,0.0,941,10931,2.90,0.00,129.75,1.407,6,0.056,0.000,3270,1993,2229
$GC,11247,2.35,146.0,961.3,9.5,964,11249,0.15,0.00,0.00,0.000,6,0.110,0.000,3241,1993,2222
$GC,11556,2.27,146.0,932.1,9.7,979,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1993,2220
$GC,11867,2.18,146.0,903.1,9.2,994,11869,0.20,0.00,0.00,0.000,6,0.106,0.000,3202,1993,2219
$GC,12175,2.17,163.4,877.8,7.8,1009,12194,0.00,0.00,15.18,1.304,6,0.000,0.000,3202,1993,2158
$GC,12504,2.16,175.2,850.9,8.2,1025,12520,0.00,1.92,11.80,1.259,4,0.000,0.048,3202,3026,2110
$GC,12571,2.13,179.0,844.8,8.8,1027,12580,0.00,1.88,4.95,0.975,6,0.000,0.037,3202,1962,2095
$GC,12896,2.13,179.0,815.0,9.0,1043,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1962,2094
$GC,13205,2.13,179.0,786.3,9.4,1058,13209,0.00,1.88,0.00,0.000,4,0.000,0.048,3202,3027,2093
$GC,13323,2.09,179.0,774.9,9.1,1063,13327,0.00,1.83,0.00,0.000,6,0.000,0.037,3202,1966,2093
$GC,13650,2.10,184.6,746.1,8.6,1079,13658,0.00,0.00,6.38,1.063,6,0.000,0.000,3202,1966,2072
$GC,13960,2.11,192.5,718.5,8.5,1094,13974,0.00,1.95,8.60,1.141,4,0.000,0.046,3202,3030,2040
$GC,14143,2.11,192.5,700.8,9.0,1102,14147,0.00,1.85,0.00,0.000,6,0.000,0.037,3202,1976,2039
$GC,14470,2.11,192.5,670.4,9.3,1118,14474,0.00,1.85,0.00,0.000,4,0.000,0.046,3202,3029,2039
$GC,14538,2.11,192.5,663.9,9.8,1121,14541,0.00,1.77,0.00,0.000,6,0.000,0.037,3202,2002,2039
$GC,14870,2.12,195.4,634.9,8.8,1137,14879,0.00,1.85,4.30,0.840,4,0.000,0.047,3202,3020,2028
$GC,14931,2.13,203.5,629.4,8.5,1139,14945,0.00,1.75,9.12,1.104,6,0.000,0.036,3202,2006,1995
$GC,15267,2.13,203.5,599.2,9.0,1156,15271,0.00,1.80,0.00,0.000,4,0.000,0.055,3202,3029,1994
$GC,15335,2.13,203.5,593.2,9.4,1159,15339,0.00,1.73,0.00,0.000,6,0.000,0.036,3202,2026,1993
$GC,15667,2.14,209.4,563.4,8.6,1175,15678,0.00,1.85,6.50,0.980,4,0.000,0.047,3202,3032,1971
$GC,15712,2.15,213.0,559.3,8.8,1177,15721,0.00,1.67,5.18,0.894,6,0.000,0.035,3202,2062,1956
$GC,16038,2.16,219.8,531.8,8.5,1193,16052,0.00,2.15,7.50,1.003,4,0.000,0.060,3202,916,1929
$GC,16116,2.16,219.8,524.6,9.1,1196,16119,0.00,2.00,0.00,0.000,6,0.000,0.031,3202,2090,1929
$GC,16438,2.16,223.0,496.4,8.8,1213,16447,0.00,0.00,4.60,0.815,6,0.000,0.000,3202,2090,1916
$GC,16767,2.17,224.9,467.6,8.9,1244,16771,0.00,2.12,0.00,0.000,4,0.000,0.054,3201,911,1916
$GC,16817,2.18,233.9,462.9,8.4,1248,16834,0.00,1.98,11.32,1.035,6,0.000,0.031,3202,2078,1871
$GC,17152,2.18,233.9,433.7,9.0,1280,17155,0.00,2.10,0.00,0.000,4,0.000,0.054,3202,912,1870
$GC,17208,2.18,233.9,428.4,10.2,1285,17212,0.00,1.98,0.00,0.000,6,0.000,0.031,3202,2071,1870
$GC,17540,2.18,233.9,399.2,9.1,1316,17544,0.00,1.67,0.00,0.000,4,0.000,0.050,3202,3037,1870
$GC,17608,2.20,243.7,393.0,8.3,1322,17622,0.00,1.70,10.10,0.972,6,0.000,0.034,3202,2040,1831
$GC,17949,2.23,262.4,363.6,7.7,1354,17971,0.00,2.12,17.45,0.997,4,0.000,0.057,3202,909,1755
$GC,18005,2.23,262.4,358.4,9.7,1359,18008,0.00,2.00,0.00,0.000,6,0.000,0.031,3202,2076,1754
$GC,18338,2.27,262.4,328.1,9.3,1390,18341,0.00,2.10,0.00,0.000,4,0.000,0.054,3202,909,1754
$GC,18398,2.27,262.4,321.9,10.7,1395,18404,0.00,1.95,0.00,0.000,6,0.000,0.030,3202,2043,1754
$GC,18726,2.31,262.4,291.4,9.6,1426,18730,0.15,2.03,0.00,0.000,4,0.064,0.052,3248,913,1754
$GC,18770,2.28,262.4,286.4,11.0,1429,18776,0.12,1.90,0.00,0.000,6,0.110,0.029,3224,2042,1754
$GC,19094,2.28,265.0,255.5,8.8,1460,19106,0.00,2.08,3.88,0.610,4,0.000,0.052,3224,908,1744
$GC,19144,2.28,265.0,250.6,9.9,1464,19151,0.00,1.88,0.00,0.000,6,0.000,0.028,3224,2006,1744
$GC,19487,2.28,265.0,219.8,9.2,1524,19493,0.00,1.95,0.00,0.000,4,0.000,0.051,3224,913,1744
$GC,19577,2.28,265.0,211.1,9.4,1540,19583,0.00,1.70,0.00,0.000,6,0.000,0.028,3224,1928,1744
$GC,19921,2.35,281.2,182.4,7.9,1601,19943,0.00,1.85,15.27,0.852,4,0.000,0.051,3225,914,1677
$GC,20058,2.37,293.7,171.3,8.2,1625,20075,0.00,1.65,12.15,0.816,6,0.000,0.028,3224,1901,1627
$GC,20415,2.45,307.2,141.1,8.1,1688,20433,0.15,1.98,12.77,0.795,4,0.060,0.041,3272,3009,1572
$GC,20557,2.45,307.2,128.3,9.9,1713,20563,0.00,1.92,0.00,0.000,6,0.000,0.032,3272,1879,1570
$GC,20902,2.57,344.1,103.6,6.5,1774,20941,0.00,2.03,31.52,0.780,4,0.000,0.038,3272,3011,1421
$GC,20982,2.70,391.7,98.7,5.7,1788,21031,0.15,1.90,40.67,0.759,6,0.043,0.028,3333,1902,1227
$GC,21369,2.70,391.7,63.6,9.3,1857,21375,0.00,1.90,0.00,0.000,4,0.000,0.035,3333,3021,1224
$GC,21440,2.70,391.7,57.0,10.0,1869,21446,0.00,1.77,0.00,0.000,6,0.000,0.025,3333,1943,1224
$GC,21783,2.79,407.8,30.7,7.9,1930,21807,0.00,1.88,14.32,0.658,4,0.000,0.034,3333,3018,1161
$GC,21942,2.86,422.5,18.3,8.0,1957,21959,0.00,1.62,13.43,0.637,6,0.000,0.023,3333,2017,1102
$STATE,22131,end climb,SURFACE_DEPTH_REACHED
$STATE,22131,begin surface coast
$FINISH,-0.6,1.021143
$STATE,22162,end surface coast,CONTROL_FINISHED_OK
$STATE,22162,begin surface
$SM_CCo,22185,36.58,0.637,0,0,887,475.15
$SM_GC,-6.51,0.00,0.00,36.58,0.000,0.000,0.637,412,2353,887,-10.66,0.79,475.15
$IRIDIUM_FIX,1245.46,12037.35,120797,202037
$TT8_MAMPS,0.026078
$HUMID,1886
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.90
$XPDR_PINGS,403
$24V_AH,22.9,45.654
$10V_AH,10.1,33.514
$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,28.775,140.550,481.450,36.575,0.000,24.198,35.933,206.797,113.250,0.000,0.000,17.114,3273.980,14513.797,613.909,3525.797,726.625,0.000,2337.163,0.000,3466.641,0.000,91.486
$DEVICE_MAMPS,167.973,72.098,1442.727,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1354.381,456.091,756.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107256,1996
$CAP_FILE_SIZE,206486,0
$CFSIZE,260165632,232566784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,083232,1248.808,12034.660,38,1.5,38,-0.8