version: 66.03
glider: 126
mission: 7
dive: 273
start: 4 14 108 15 9 42
data:
$ID,126
$MISSION,7
$DIVE,273
$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,-624561.94
$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,32
$R_STBD_OVSHOOT,52
$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
$GPS1,145126,1248.128,12029.120,38,1.4,38,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.42
$_SM_ANGLEo,-57.9
$GPS2,150850,1248.204,12029.097,10,1.0,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S1
$TGT_LATLONG,1248.170,12029.140
$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,129.9,100,-21.3,-9.016
$D_GRID,999
$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,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.35,0.000,6,0.000,0.000,416,2365,3244
$GC,97,-2.39,-101.9,0.4,-20.2,13,109,10.05,0.00,0.00,0.000,6,0.169,0.000,2205,2365,3245
$GC,449,-2.26,-101.9,69.9,-16.2,75,455,0.15,1.67,0.00,0.000,4,0.118,0.037,2237,3366,3246
$GC,575,-2.16,-101.9,89.1,-13.5,97,581,0.10,1.70,0.00,0.000,6,0.120,0.022,2256,2277,3246
$GC,919,-2.16,-101.9,131.7,-10.9,158,925,0.00,1.60,0.00,0.000,4,0.000,0.032,2256,1315,3247
$GC,949,-2.18,-109.6,134.2,-8.5,163,955,0.00,1.65,0.00,0.000,6,0.000,0.024,2256,2342,3247
$GC,1292,-2.18,-109.6,167.1,-9.0,224,1298,0.00,1.73,0.00,0.000,4,0.000,0.033,2256,1304,3248
$GC,1422,-2.20,-121.0,178.9,-8.2,247,1428,0.00,1.62,0.00,0.000,6,0.000,0.024,2256,2313,3248
$GC,1768,-2.22,-138.2,207.2,-7.8,308,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2313,3248
$GC,2110,-2.22,-138.2,238.6,-9.5,369,2115,0.00,1.77,0.00,0.000,4,0.000,0.041,2256,3367,3247
$GC,2155,-2.22,-138.2,242.9,-9.4,377,2161,0.00,1.67,0.00,0.000,6,0.000,0.025,2256,2303,3248
$GC,2485,-2.25,-138.2,269.6,-9.1,415,2488,0.00,1.83,0.00,0.000,4,0.000,0.042,2256,3368,3246
$GC,2552,-2.25,-138.2,276.4,-10.1,421,2556,0.00,1.70,0.00,0.000,6,0.000,0.026,2256,2298,3245
$GC,2887,-2.29,-142.4,307.7,-8.7,452,2892,0.12,0.00,0.00,0.000,6,0.063,0.000,2220,2291,3244
$GC,3212,-2.29,-142.4,337.7,-9.4,483,3216,0.00,1.85,0.00,0.000,4,0.000,0.044,2220,3369,3241
$GC,3307,-2.29,-142.4,347.1,-9.8,491,3313,0.00,1.70,0.00,0.000,6,0.000,0.028,2220,2311,3240
$GC,3633,-2.29,-142.4,376.7,-9.3,522,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2308,3238
$GC,3951,-2.29,-142.4,407.0,-10.3,552,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2308,3237
$GC,4269,-2.29,-142.4,438.4,-9.2,582,4272,0.00,1.83,0.00,0.000,4,0.000,0.047,2221,3361,3234
$GC,4337,-2.29,-142.4,445.1,-9.6,588,4340,0.00,1.70,0.00,0.000,6,0.000,0.030,2220,2339,3234
$GC,4668,-2.29,-142.4,476.4,-9.4,619,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2339,3231
$GC,4996,-2.30,-146.0,505.5,-8.7,647,5000,0.00,1.80,0.00,0.000,4,0.000,0.055,2220,3354,3229
$GC,5029,-2.30,-146.0,508.6,-9.3,648,5033,0.00,1.70,0.00,0.000,6,0.000,0.031,2221,2362,3229
$GC,5350,-2.30,-146.0,537.8,-9.3,664,5353,0.00,1.95,0.00,0.000,4,0.000,0.067,2220,1276,3227
$GC,5383,-2.30,-146.0,541.0,-9.8,665,5387,0.00,1.83,0.00,0.000,6,0.000,0.041,2220,2335,3227
$GC,5704,-2.30,-146.0,569.2,-8.6,681,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2335,3224
$GC,6013,-2.30,-146.0,595.5,-8.5,696,6017,0.00,1.92,0.00,0.000,4,0.000,0.081,2220,3377,3222
$GC,6081,-2.30,-146.0,601.9,-9.0,699,6085,0.00,1.80,0.00,0.000,6,0.000,0.057,2220,2377,3222
$GC,6413,-2.30,-146.0,632.3,-9.3,715,6417,0.00,2.08,0.00,0.000,4,0.000,0.091,2220,1278,3221
$GC,6491,-2.30,-146.0,639.9,-10.0,718,6497,0.00,2.05,0.00,0.000,6,0.000,0.077,2220,2354,3220
$GC,6814,-2.30,-146.0,669.7,-9.0,734,6819,0.00,2.03,0.00,0.000,4,0.000,0.112,2220,3383,3218
$GC,6859,-2.30,-146.0,673.9,-9.0,736,6862,0.00,1.92,0.00,0.000,6,0.000,0.089,2220,2387,3218
$GC,7191,-2.30,-146.0,704.2,-9.6,752,7195,0.00,2.25,0.00,0.000,4,0.000,0.127,2220,1281,3216
$GC,7268,-2.30,-146.0,711.7,-9.1,755,7274,0.00,2.17,0.00,0.000,6,0.000,0.110,2220,2364,3216
$GC,7585,-2.30,-146.0,740.0,-8.6,771,7589,0.00,2.17,0.00,0.000,4,0.000,0.145,2221,3390,3214
$GC,7639,-2.30,-146.0,745.0,-9.5,773,7643,0.00,2.08,0.00,0.000,6,0.000,0.123,2220,2400,3214
$GC,7961,-2.30,-146.0,773.1,-9.2,789,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3213
$GC,8271,-2.30,-146.0,801.0,-9.4,804,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2399,3212
$GC,8580,-2.30,-146.0,830.8,-9.7,819,8584,0.00,2.67,0.00,0.000,4,0.000,0.201,2220,1286,3210
$GC,8629,-2.30,-146.0,835.8,-9.8,821,8634,0.00,2.62,0.00,0.000,6,0.000,0.178,2220,2405,3210
$GC,8944,-2.30,-146.0,867.7,-10.3,836,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3209
$GC,9254,-2.30,-146.0,897.6,-9.0,851,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3208
$GC,9563,-2.30,-146.0,925.5,-9.5,866,9567,0.00,2.00,0.00,0.000,4,0.000,0.050,2220,1275,3207
$GC,9619,-2.30,-146.0,931.0,-10.2,868,9622,0.00,2.00,0.00,0.000,6,0.000,0.035,2220,2428,3207
$GC,9940,-2.30,-146.0,963.0,-10.0,884,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2428,3206
$STATE,10226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10226,begin apogee
$GC,10233,-0.52,0.0,990.4,9.0,898,10320,1.85,0.00,83.07,1.436,6,0.093,0.000,2613,1965,2825
$STATE,10321,end apogee,CONTROL_FINISHED_OK
$STATE,10321,begin climb
$GC,10323,2.47,146.0,993.0,0.0,902,10462,2.90,1.98,129.40,1.404,4,0.058,0.061,3270,912,2228
$GC,10548,2.33,146.0,980.7,10.9,913,10552,0.17,1.88,0.00,0.000,6,0.109,0.032,3237,1999,2224
$GC,10871,2.25,147.1,951.6,8.9,929,10874,0.00,2.00,0.00,0.000,4,0.000,0.058,3237,904,2221
$GC,10989,2.16,158.1,941.2,8.3,934,11006,0.20,1.80,10.62,1.240,6,0.113,0.032,3200,1955,2180
$GC,11316,2.13,163.4,913.8,8.7,950,11327,0.00,1.92,6.32,1.101,4,0.000,0.058,3199,909,2158
$GC,11459,2.09,171.5,900.9,8.5,956,11473,0.00,1.75,9.15,1.213,6,0.000,0.031,3199,1931,2125
$GC,11801,2.09,171.5,870.2,9.4,973,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1931,2122
$GC,12110,2.06,171.5,840.0,10.0,988,12113,0.00,1.85,0.00,0.000,4,0.000,0.058,3199,913,2122
$GC,12149,2.02,171.5,836.3,9.3,989,12155,0.15,1.73,0.00,0.000,6,0.119,0.031,3172,1927,2122
$GC,12465,2.05,191.1,811.8,7.7,1005,12489,0.00,1.98,18.15,1.292,4,0.000,0.048,3172,3012,2046
$GC,12534,2.06,198.3,805.4,8.5,1008,12551,0.00,1.85,8.23,1.144,6,0.000,0.040,3172,1951,2016
$GC,12860,2.06,198.3,776.1,9.2,1024,12861,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1951,2014
$GC,13168,2.06,198.3,746.7,9.6,1039,13172,0.00,1.88,0.00,0.000,4,0.000,0.047,3172,3018,2013
$GC,13303,2.06,198.3,734.2,9.6,1045,13307,0.00,1.85,0.00,0.000,6,0.000,0.037,3172,1948,2013
$GC,13636,2.07,206.2,705.2,8.5,1061,13650,0.00,1.98,8.02,1.114,4,0.000,0.061,3173,894,1984
$GC,13689,2.07,206.2,700.2,9.2,1063,13693,0.00,1.88,0.00,0.000,6,0.000,0.031,3172,1972,1984
$GC,14011,2.09,215.1,673.2,8.4,1079,14025,0.00,1.85,9.73,1.140,4,0.000,0.050,3172,3011,1948
$GC,14071,2.11,225.2,667.6,8.3,1081,14086,0.00,1.85,10.57,1.136,6,0.000,0.037,3172,1949,1907
$GC,14402,2.14,225.2,636.8,9.6,1098,14406,0.10,1.88,0.00,0.000,4,0.084,0.044,3199,3015,1905
$GC,14498,2.15,228.0,627.3,8.8,1102,14507,0.00,1.80,4.05,0.799,6,0.000,0.036,3199,1967,1894
$GC,14823,2.15,228.0,595.0,10.2,1118,14826,0.00,1.83,0.00,0.000,4,0.000,0.045,3199,3011,1895
$GC,14918,2.15,228.0,585.7,9.4,1122,14922,0.00,1.73,0.00,0.000,6,0.000,0.035,3199,2003,1894
$GC,15245,2.16,233.3,557.3,8.6,1138,15253,0.00,0.00,6.47,0.973,6,0.000,0.000,3199,2004,1873
$GC,15554,2.16,233.3,528.5,9.4,1153,15557,0.00,1.77,0.00,0.000,4,0.000,0.047,3199,3017,1873
$GC,15599,2.16,233.3,524.1,10.0,1155,15603,0.00,1.73,0.00,0.000,6,0.000,0.036,3198,2015,1873
$GC,15923,2.16,237.6,494.9,8.7,1173,15932,0.00,0.00,5.30,0.872,6,0.000,0.000,3199,2014,1856
$GC,16253,2.16,237.6,463.8,9.3,1204,16256,0.00,1.75,0.00,0.000,4,0.000,0.046,3199,3017,1856
$GC,16314,2.16,237.6,457.9,9.2,1209,16320,0.00,1.70,0.00,0.000,6,0.000,0.034,3199,2040,1856
$GC,16641,2.17,239.6,429.6,8.9,1240,16644,0.00,2.03,0.00,0.000,4,0.000,0.059,3199,906,1856
$GC,16675,2.18,245.8,426.4,8.6,1243,16689,0.00,1.95,9.25,0.980,6,0.000,0.030,3199,2064,1821
$GC,17016,2.22,250.6,395.9,8.7,1275,17025,0.00,0.00,5.53,0.832,6,0.000,0.000,3199,2065,1803
$GC,17346,2.26,253.9,365.8,8.8,1306,17353,0.00,0.00,4.75,0.762,6,0.000,0.000,3199,2064,1789
$GC,17674,2.29,253.9,337.3,9.0,1337,17679,0.12,2.08,0.00,0.000,4,0.072,0.052,3233,907,1789
$GC,17740,2.29,253.9,330.6,10.5,1342,17746,0.00,1.95,0.00,0.000,6,0.000,0.029,3233,2050,1789
$GC,18067,2.29,253.9,299.1,9.4,1373,18071,0.00,1.65,0.00,0.000,4,0.000,0.046,3233,3016,1789
$GC,18125,2.29,253.9,293.4,9.2,1378,18128,0.00,1.65,0.00,0.000,6,0.000,0.035,3233,2042,1789
$GC,18457,2.29,253.9,261.7,9.5,1409,18461,0.00,2.00,0.00,0.000,4,0.000,0.054,3233,910,1789
$GC,18540,2.30,258.3,253.8,8.7,1416,18550,0.00,1.88,5.53,0.748,6,0.000,0.028,3233,2036,1771
$GC,18887,2.30,258.3,223.4,9.9,1474,18892,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2036,1771
$GC,19230,2.30,258.3,192.5,9.5,1535,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2036,1771
$GC,19573,2.34,280.5,164.6,7.5,1596,19599,0.00,2.05,20.17,0.848,4,0.000,0.048,3233,906,1680
$GC,19651,2.37,297.9,158.0,7.8,1610,19672,0.00,1.92,16.12,0.815,6,0.000,0.027,3234,2059,1610
$GC,20012,2.45,311.5,128.1,8.1,1674,20030,0.12,1.70,12.68,0.779,4,0.064,0.039,3271,3016,1554
$GC,20205,2.47,325.3,112.0,8.1,1708,20223,0.00,1.62,12.95,0.763,6,0.000,0.028,3271,2059,1498
$GC,20565,2.60,361.7,86.8,6.5,1771,20603,0.12,2.05,31.15,0.755,4,0.064,0.046,3310,906,1349
$GC,20660,2.65,390.9,79.6,7.0,1788,20693,0.00,2.00,25.33,0.729,6,0.000,0.025,3310,2101,1231
$GC,21033,2.77,423.6,48.1,6.8,1854,21066,0.10,1.62,27.88,0.699,4,0.070,0.037,3345,3022,1098
$GC,21248,2.81,423.6,30.2,9.9,1892,21254,0.00,1.48,0.00,0.000,6,0.000,0.024,3345,2122,1096
$STATE,21560,end climb,SURFACE_DEPTH_REACHED
$STATE,21561,begin surface coast
$FINISH,-0.6,1.021220
$STATE,21584,end surface coast,CONTROL_FINISHED_OK
$STATE,21585,begin surface
$SM_CCo,21607,37.08,0.644,0,0,887,475.15
$SM_GC,-6.72,0.00,0.00,37.08,0.000,0.000,0.644,417,2356,887,-10.64,0.88,475.15
$IRIDIUM_FIX,1243.25,12031.29,090797,151534
$TT8_MAMPS,0.026078
$HUMID,1920
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.50
$XPDR_PINGS,432
$ALTIM_BOTTOM_PING,980.9,48.2
$24V_AH,23.0,42.960
$10V_AH,10.1,31.819
$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,28.975,136.050,480.425,37.075,0.000,113.919,250.597,346.774,120.500,0.000,0.000,15.784,3185.265,14331.172,601.450,3451.589,1141.131,0.000,2289.599,0.000,3389.471,0.000,92.450
$DEVICE_MAMPS,168.740,200.954,1435.824,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1324.533,445.345,740.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104039,1952
$CAP_FILE_SIZE,204199,0
$CFSIZE,260165632,233914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,211137,1246.906,12030.954,32,1.3,32,-0.8