version: 66.03
glider: 126
mission: 7
dive: 192
start: 3 28 108 3 36 14
data:
$ID,126
$MISSION,7
$DIVE,192
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,-623033.75
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,032925,1246.273,12022.853,25,1.6,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.04
$_SM_ANGLEo,-58.2
$GPS2,033521,1246.288,12022.846,15,1.6,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S7
$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,320.8,1478,-24.7,-9.016
$D_GRID,821
$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,23,-2.60,-65.8,0.0,0.0,0,94,0.00,0.00,-63.80,0.000,6,0.000,0.000,416,2343,3096
$GC,96,-2.60,-65.8,0.6,-20.0,13,114,9.68,1.85,0.00,0.000,4,0.169,0.033,2139,1257,3098
$GC,367,-2.49,-65.8,67.9,-21.5,61,374,0.15,1.73,0.00,0.000,6,0.137,0.024,2165,2326,3099
$GC,711,-2.46,-65.8,126.5,-14.6,122,717,0.00,1.77,0.00,0.000,4,0.000,0.038,2165,3373,3101
$GC,809,-2.42,-65.8,139.4,-13.4,139,814,0.00,1.62,0.00,0.000,6,0.000,0.022,2165,2329,3101
$GC,1152,-2.42,-65.8,178.8,-11.4,200,1157,0.00,1.67,0.00,0.000,4,0.000,0.034,2166,1313,3102
$GC,1203,-2.42,-65.8,184.6,-11.5,209,1209,0.00,1.75,0.00,0.000,6,0.000,0.025,2166,2388,3102
$GC,1546,-2.42,-65.8,224.9,-11.3,270,1552,0.00,1.65,0.00,0.000,4,0.000,0.041,2165,3372,3103
$GC,1637,-2.42,-65.8,234.6,-10.5,286,1642,0.00,1.52,0.00,0.000,6,0.000,0.025,2166,2413,3103
$GC,1969,-2.42,-65.8,270.7,-10.9,329,1973,0.00,1.85,0.00,0.000,4,0.000,0.036,2165,1327,3103
$GC,2058,-2.42,-65.8,280.4,-11.5,337,2062,0.00,1.80,0.00,0.000,6,0.000,0.027,2166,2418,3102
$GC,2390,-2.42,-65.8,316.1,-10.8,368,2393,0.00,1.60,0.00,0.000,4,0.000,0.045,2166,3365,3100
$GC,2560,-2.42,-65.8,334.6,-10.7,383,2563,0.00,1.50,0.00,0.000,6,0.000,0.027,2166,2430,3100
$GC,2891,-2.42,-65.8,371.2,-11.1,414,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2430,3097
$GC,3208,-2.42,-65.8,405.8,-10.6,444,3211,0.00,1.62,0.00,0.000,4,0.000,0.047,2166,3370,3095
$GC,3291,-2.42,-65.8,415.1,-10.9,451,3297,0.00,1.50,0.00,0.000,6,0.000,0.028,2166,2459,3095
$GC,3617,-2.42,-65.8,450.7,-10.8,482,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2459,3093
$GC,3934,-2.42,-65.8,483.6,-9.3,512,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2459,3090
$GC,4259,-2.42,-65.8,513.7,-9.1,536,4263,0.00,1.62,0.00,0.000,4,0.000,0.058,2166,3361,3088
$GC,4308,-2.42,-65.8,518.5,-9.5,538,4312,0.00,1.48,0.00,0.000,6,0.000,0.031,2166,2498,3087
$GC,4638,-2.42,-65.8,550.4,-10.1,554,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2498,3085
$GC,4944,-2.42,-65.8,584.7,-11.2,569,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2498,3083
$GC,5253,-2.42,-65.8,618.3,-10.9,584,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2498,3081
$GC,5564,-2.42,-65.8,650.2,-9.8,599,5568,0.00,2.25,0.00,0.000,4,0.000,0.099,2165,1333,3079
$GC,5619,-2.43,-70.6,655.4,-8.5,601,5625,0.00,2.08,0.00,0.000,6,0.000,0.084,2166,2424,3079
$GC,5934,-2.43,-70.6,684.3,-9.6,617,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2424,3078
$GC,6244,-2.43,-70.9,712.9,-9.0,632,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2425,3076
$GC,6553,-2.45,-70.9,742.3,-9.7,647,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2425,3075
$GC,6865,-2.45,-70.9,772.0,-10.0,662,6868,0.00,2.05,0.00,0.000,4,0.000,0.170,2166,3341,3074
$GC,7004,-2.45,-70.9,785.7,-9.1,668,7007,0.00,1.85,0.00,0.000,6,0.000,0.155,2166,2528,3073
$GC,7332,-2.47,-71.6,815.3,-8.9,684,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2516,3072
$STATE,7392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7392,begin apogee
$GC,7398,-0.51,0.0,821.2,9.4,687,7456,2.08,0.00,52.95,1.307,6,0.103,0.000,2597,2017,2825
$STATE,7456,end apogee,CONTROL_FINISHED_OK
$STATE,7456,begin climb
$GC,7459,2.61,71.6,823.1,0.0,690,7527,3.12,0.00,62.80,1.277,6,0.067,0.000,3279,2016,2533
$GC,7822,2.63,100.5,805.0,6.1,708,7853,0.00,1.95,25.92,1.248,4,0.000,0.066,3279,973,2415
$GC,7966,2.60,104.6,793.1,8.6,714,7975,0.00,1.67,5.03,0.920,6,0.000,0.030,3280,1961,2398
$GC,8303,2.60,106.1,762.3,8.9,731,8306,0.00,1.80,0.00,0.000,4,0.000,0.061,3279,965,2396
$GC,8363,2.57,106.1,756.8,9.1,733,8370,0.00,1.73,0.00,0.000,6,0.000,0.030,3280,1967,2396
$GC,8679,2.55,106.1,729.2,9.2,749,8683,0.00,1.80,0.00,0.000,4,0.000,0.047,3280,3013,2395
$GC,8747,2.53,115.5,723.4,8.0,752,8762,0.00,1.70,10.62,1.154,6,0.000,0.035,3279,2021,2353
$GC,9072,2.54,121.1,695.3,8.5,767,9083,0.00,1.90,6.35,1.016,4,0.000,0.058,3280,973,2331
$GC,9240,2.52,126.6,680.8,8.5,774,9251,0.05,1.67,6.35,1.009,6,0.099,0.031,3260,1946,2308
$GC,9574,2.53,131.4,651.3,8.5,791,9584,0.00,1.80,5.85,0.971,4,0.000,0.055,3260,964,2288
$GC,9785,2.53,131.4,632.7,9.3,800,9792,0.00,1.67,0.00,0.000,6,0.000,0.031,3260,1938,2288
$GC,10101,2.54,139.0,607.0,8.2,816,10111,0.00,0.00,8.20,1.052,6,0.000,0.000,3260,1939,2258
$GC,10410,2.54,139.0,578.9,9.3,831,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1938,2257
$GC,10719,2.54,139.0,549.6,9.4,846,10723,0.00,1.75,0.00,0.000,4,0.000,0.055,3261,963,2256
$GC,10870,2.54,139.0,534.9,9.4,852,10876,0.00,1.62,0.00,0.000,6,0.000,0.031,3261,1930,2257
$GC,11185,2.55,146.2,507.2,8.3,868,11194,0.00,0.00,7.40,0.977,6,0.000,0.000,3260,1930,2229
$GC,11502,2.59,164.5,483.3,7.1,893,11524,0.00,1.83,17.25,1.079,4,0.000,0.054,3260,971,2154
$GC,11742,2.60,170.4,463.4,8.4,914,11753,0.00,1.60,6.55,0.914,6,0.000,0.028,3260,1902,2130
$GC,12072,2.62,174.8,435.5,8.6,945,12082,0.00,0.00,5.50,0.849,6,0.000,0.000,3260,1902,2111
$GC,12403,2.64,174.8,404.6,9.8,976,12407,0.12,1.67,0.00,0.000,4,0.072,0.054,3294,968,2111
$GC,12549,2.64,174.8,388.5,10.8,989,12553,0.00,1.60,0.00,0.000,6,0.000,0.029,3294,1918,2111
$GC,12879,2.64,174.8,356.4,9.4,1020,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1919,2111
$GC,13198,2.64,174.8,327.1,10.1,1050,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1919,2111
$GC,13517,2.64,174.8,296.4,9.8,1080,13521,0.00,1.73,0.00,0.000,4,0.000,0.054,3294,965,2111
$GC,13584,2.65,174.9,289.8,9.0,1086,13587,0.00,1.58,0.00,0.000,6,0.000,0.039,3294,1891,2111
$GC,13915,2.65,174.9,259.6,9.6,1117,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1891,2111
$GC,14245,2.65,175.0,228.9,9.0,1167,14250,0.00,1.62,0.00,0.000,4,0.000,0.052,3294,971,2111
$GC,14364,2.65,177.4,218.7,8.8,1188,14375,0.00,1.58,4.07,0.617,6,0.000,0.028,3294,1901,2100
$GC,14713,2.68,196.8,191.9,7.0,1250,14735,0.00,2.00,17.60,0.869,4,0.000,0.050,3294,3017,2022
$GC,14932,2.70,208.1,173.2,7.9,1289,14948,0.00,1.73,10.68,0.814,6,0.000,0.031,3294,1990,1976
$GC,15289,2.75,221.6,145.2,7.6,1352,15308,0.00,1.92,12.73,0.802,4,0.000,0.052,3294,914,1921
$GC,15562,2.78,222.1,124.9,9.0,1400,15568,0.00,1.70,0.00,0.000,6,0.000,0.027,3294,1923,1920
$GC,15906,2.90,259.8,106.4,5.2,1461,15946,0.17,1.85,32.33,0.782,4,0.057,0.036,3347,3003,1764
$GC,16115,2.95,274.4,91.0,7.5,1498,16133,0.00,1.77,13.23,0.727,6,0.000,0.026,3347,1946,1706
$GC,16474,3.04,299.6,68.2,6.4,1561,16502,0.10,1.80,21.90,0.716,4,0.072,0.044,3379,916,1602
$GC,16554,3.04,299.6,61.4,9.0,1575,16560,0.00,1.75,0.00,0.000,6,0.000,0.025,3379,1990,1601
$GC,16899,3.11,321.7,34.6,6.8,1636,16927,0.00,1.92,19.10,0.669,4,0.000,0.041,3379,920,1512
$GC,17096,3.14,321.7,18.3,9.5,1671,17102,0.00,1.65,0.00,0.000,6,0.000,0.023,3379,1947,1512
$STATE,17291,end climb,SURFACE_DEPTH_REACHED
$STATE,17291,begin surface coast
$FINISH,-0.3,1.021285
$STATE,17321,end surface coast,CONTROL_FINISHED_OK
$STATE,17321,begin surface
$SM_CCo,17343,96.35,0.635,0,0,887,475.15
$SM_GC,-6.12,0.00,0.00,96.35,0.000,0.000,0.635,416,2325,887,-10.55,0.00,475.15
$IRIDIUM_FIX,1243.25,12019.52,210697,222234
$TT8_MAMPS,0.026078
$HUMID,1815
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.50
$XPDR_PINGS,326
$24V_AH,23.2,28.536
$10V_AH,10.2,22.820
$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,28.375,88.600,352.400,96.350,0.000,22.759,30.895,178.298,89.750,0.000,0.000,15.591,2762.815,10992.073,552.466,2975.778,536.777,0.000,1958.566,0.000,2938.932,0.000,60.690
$DEVICE_MAMPS,168.740,170.274,1306.968,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1159.410,452.308,709.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91501,1711
$CAP_FILE_SIZE,163611,0
$CFSIZE,260165632,241053696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280308,082808,1247.443,12022.276,38,1.1,38,-0.8