version: 66.03
glider: 126
mission: 7
dive: 181
start: 3 25 108 20 20 32
data:
$ID,126
$MISSION,7
$DIVE,181
$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,548.98138
$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,-622846.88
$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,45
$R_STBD_OVSHOOT,58
$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
$GPS1,200207,1247.492,12019.165,29,1.2,29,-0.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,-6.13
$_SM_ANGLEo,-56.1
$GPS2,201939,1247.682,12019.232,16,1.2,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB
$TGT_LATLONG,1246.900,12022.320
$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,105.3,5761,-22.8,-9.016
$D_GRID,907
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-64.28,0.000,6,0.000,0.000,413,2347,3139
$GC,96,-2.43,-76.7,0.4,-20.1,13,113,10.00,1.80,0.00,0.000,4,0.173,0.033,2177,1279,3141
$GC,366,-2.30,-76.7,69.7,-21.2,61,373,0.17,1.67,0.00,0.000,6,0.127,0.025,2208,2316,3140
$GC,710,-2.25,-76.7,127.2,-13.8,122,716,0.00,1.80,0.00,0.000,4,0.000,0.041,2208,3376,3142
$GC,779,-2.21,-76.7,135.9,-11.7,134,785,0.00,1.75,0.00,0.000,6,0.000,0.023,2208,2287,3142
$GC,1122,-2.21,-76.7,172.4,-11.0,195,1128,0.00,1.85,0.00,0.000,4,0.000,0.039,2208,3376,3143
$GC,1229,-2.21,-76.7,184.0,-11.7,214,1236,0.10,1.60,0.00,0.000,6,0.130,0.024,2226,2352,3143
$GC,1574,-2.21,-76.7,218.3,-9.5,275,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2346,3143
$GC,1920,-2.21,-76.7,253.1,-9.6,334,1923,0.00,1.75,0.00,0.000,4,0.000,0.044,2226,3370,3142
$GC,2032,-2.21,-76.7,264.4,-9.7,344,2036,0.00,1.60,0.00,0.000,6,0.000,0.028,2226,2390,3141
$GC,2363,-2.21,-76.7,296.8,-10.3,375,2366,0.00,1.70,0.00,0.000,4,0.000,0.046,2226,3374,3138
$GC,2446,-2.21,-76.7,305.9,-11.2,382,2452,0.00,1.60,0.00,0.000,6,0.000,0.028,2226,2402,3138
$GC,2772,-2.21,-76.7,338.5,-9.5,413,2775,0.00,1.67,0.00,0.000,4,0.000,0.048,2226,3367,3136
$GC,2810,-2.21,-76.7,342.4,-9.8,416,2816,0.00,1.58,0.00,0.000,6,0.000,0.028,2226,2415,3135
$GC,3137,-2.23,-76.7,374.8,-10.7,447,3140,0.00,1.65,0.00,0.000,4,0.000,0.048,2226,3366,3132
$GC,3208,-2.23,-76.7,382.5,-10.2,453,3215,0.00,1.55,0.00,0.000,6,0.000,0.030,2225,2437,3132
$GC,3537,-2.26,-76.7,414.8,-9.6,484,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2436,3129
$GC,3863,-2.28,-76.7,447.3,-9.7,515,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2436,3127
$GC,4181,-2.30,-76.7,477.7,-9.7,545,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2437,3124
$GC,4496,-2.33,-76.7,509.6,-10.3,571,4501,0.10,1.65,0.00,0.000,4,0.077,0.055,2199,3368,3122
$GC,4586,-2.33,-76.7,519.8,-11.9,575,4590,0.00,1.60,0.00,0.000,6,0.000,0.033,2198,2418,3121
$GC,4918,-2.33,-76.7,554.8,-10.4,591,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2417,3119
$GC,5227,-2.33,-78.2,583.2,-8.9,606,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2417,3117
$GC,5535,-2.33,-78.2,614.1,-10.1,621,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2417,3116
$GC,5845,-2.33,-78.2,644.9,-10.1,636,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2417,3114
$GC,6154,-2.33,-78.2,677.5,-10.0,651,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2417,3112
$GC,6464,-2.33,-78.2,706.9,-9.3,666,6468,0.00,2.22,0.00,0.000,4,0.000,0.129,2198,1336,3111
$GC,6544,-2.33,-78.2,714.7,-9.4,669,6550,0.00,2.08,0.00,0.000,6,0.000,0.112,2199,2365,3111
$GC,6858,-2.33,-78.2,745.6,-9.5,685,6862,0.00,2.17,0.00,0.000,4,0.000,0.151,2198,3383,3110
$GC,7020,-2.33,-78.2,762.2,-10.7,692,7025,0.00,1.58,0.00,0.000,6,0.000,0.032,2198,2466,3109
$GC,7343,-2.33,-78.2,795.0,-10.2,708,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2461,3107
$GC,7651,-2.34,-81.0,823.9,-8.8,723,7655,0.00,2.05,0.00,0.000,4,0.000,0.062,2198,1337,3105
$GC,7763,-2.35,-86.5,833.4,-8.5,728,7767,0.00,1.90,0.00,0.000,6,0.000,0.036,2198,2447,3105
$GC,8095,-2.35,-86.5,863.0,-9.8,744,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2448,3104
$GC,8404,-2.35,-86.5,893.8,-10.2,759,8408,0.00,1.98,0.00,0.000,4,0.000,0.054,2198,1334,3103
$STATE,8525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8525,begin apogee
$GC,8531,-0.51,0.0,907.1,11.1,764,8595,1.90,0.00,59.92,1.375,6,0.107,0.000,2594,1998,2825
$STATE,8596,end apogee,CONTROL_FINISHED_OK
$STATE,8596,begin climb
$GC,8598,2.44,86.5,909.3,0.0,767,8684,2.90,0.00,76.40,1.341,6,0.062,0.000,3244,1998,2472
$GC,8995,2.46,119.1,889.9,6.1,787,9026,0.00,0.00,29.10,1.309,6,0.000,0.000,3243,1998,2339
$GC,9323,2.43,119.1,860.9,9.9,803,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1998,2336
$GC,9632,2.40,120.7,831.5,8.9,818,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1998,2334
$GC,9941,2.38,127.0,806.4,8.4,833,9955,0.00,2.00,7.53,1.127,4,0.000,0.069,3244,974,2307
$GC,9995,2.34,127.0,801.3,9.2,835,9999,0.12,1.70,0.00,0.000,6,0.116,0.032,3221,1972,2307
$GC,10315,2.35,134.0,774.2,8.4,851,10325,0.00,0.00,7.88,1.134,6,0.000,0.000,3221,1972,2278
$GC,10625,2.36,140.5,747.3,8.4,866,10634,0.00,0.00,7.22,1.101,6,0.000,0.000,3221,1973,2252
$GC,10950,2.37,144.3,720.0,8.7,882,10959,0.00,1.83,4.97,0.950,4,0.000,0.048,3221,3015,2236
$GC,11062,2.37,144.3,709.2,9.7,887,11065,0.00,1.73,0.00,0.000,6,0.000,0.036,3221,2014,2235
$GC,11394,2.37,144.3,676.6,10.0,903,11397,0.00,1.88,0.00,0.000,4,0.000,0.061,3221,965,2235
$GC,11443,2.37,144.3,671.5,10.4,905,11447,0.00,1.75,0.00,0.000,6,0.000,0.032,3221,1979,2235
$GC,11770,2.37,144.3,638.6,10.6,921,11774,0.00,1.77,0.00,0.000,4,0.000,0.048,3221,3010,2235
$GC,11825,2.37,144.3,632.8,10.1,923,11829,0.00,1.67,0.00,0.000,6,0.000,0.037,3221,2049,2235
$GC,12146,2.37,144.3,601.7,9.1,939,12150,0.00,1.92,0.00,0.000,4,0.000,0.059,3221,964,2234
$GC,12320,2.41,170.2,587.9,6.7,946,12349,0.00,1.70,23.42,1.170,6,0.000,0.032,3221,1976,2130
$GC,12678,2.42,175.3,559.5,8.6,964,12689,0.00,1.80,5.88,0.943,4,0.000,0.048,3221,3004,2109
$GC,12767,2.42,175.3,550.9,9.2,968,12770,0.00,1.70,0.00,0.000,6,0.000,0.036,3221,2036,2109
$GC,13095,2.42,175.3,518.8,10.0,984,13098,0.00,1.70,0.00,0.000,4,0.000,0.048,3221,3003,2108
$GC,13189,2.42,175.3,508.4,10.6,988,13193,0.00,1.62,0.00,0.000,6,0.000,0.035,3221,2064,2108
$GC,13516,2.42,175.3,474.4,10.1,1015,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2063,2108
$GC,13830,2.42,175.3,444.6,9.1,1045,13834,0.00,1.95,0.00,0.000,4,0.000,0.060,3221,965,2108
$GC,13943,2.42,175.3,433.5,9.3,1055,13946,0.00,1.77,0.00,0.000,6,0.000,0.031,3221,2000,2108
$GC,14273,2.42,175.3,403.4,9.5,1086,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2001,2109
$GC,14593,2.42,175.3,374.0,10.0,1116,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2001,2108
$GC,14909,2.42,175.3,341.9,10.5,1146,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2001,2108
$GC,15230,2.46,184.6,313.0,8.2,1176,15244,0.10,1.80,9.32,0.907,4,0.077,0.045,3249,3004,2072
$GC,15305,2.46,184.6,305.8,9.2,1182,15312,0.00,1.67,0.00,0.000,6,0.000,0.033,3249,2042,2071
$GC,15632,2.48,200.0,279.7,7.6,1213,15653,0.00,1.95,14.45,0.928,4,0.000,0.055,3249,968,2008
$GC,15692,2.48,200.0,274.0,9.3,1218,15698,0.00,1.75,0.00,0.000,6,0.000,0.030,3249,1985,2008
$GC,16020,2.48,200.0,243.1,9.8,1255,16025,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1985,2007
$GC,16362,2.48,200.0,210.6,9.4,1316,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1987,2007
$GC,16704,2.50,209.3,183.0,8.2,1377,16720,0.00,1.80,9.30,0.807,4,0.000,0.044,3249,3003,1971
$GC,16847,2.52,221.7,171.2,7.9,1402,16864,0.00,1.62,11.85,0.817,6,0.000,0.031,3249,2037,1921
$GC,17203,2.62,260.1,147.5,5.5,1465,17242,0.15,1.77,32.78,0.824,4,0.062,0.041,3294,3012,1763
$GC,17495,2.64,268.6,122.4,8.2,1517,17507,0.00,1.58,8.27,0.721,6,0.000,0.030,3294,2087,1729
$GC,17846,2.71,289.4,95.8,7.1,1579,17869,0.00,1.67,18.35,0.752,4,0.000,0.038,3294,3018,1645
$GC,18010,2.77,301.6,82.9,7.9,1608,18027,0.00,1.52,11.35,0.705,6,0.000,0.027,3294,2110,1595
$GC,18367,2.88,333.0,58.5,6.2,1671,18400,0.15,2.03,26.85,0.706,4,0.057,0.045,3344,959,1466
$GC,18609,2.91,336.9,37.2,8.7,1714,18620,0.00,1.83,4.65,0.509,6,0.000,0.025,3344,2061,1450
$GC,18958,2.96,345.7,8.9,8.2,1776,18976,0.00,1.62,8.82,0.597,4,0.000,0.036,3344,3011,1414
$STATE,19031,end climb,SURFACE_DEPTH_REACHED
$STATE,19031,begin surface coast
$FINISH,0.1,1.021551
$STATE,19055,end surface coast,CONTROL_FINISHED_OK
$STATE,19055,begin surface
$SM_CCo,19077,120.88,0.630,0,0,587,548.98
$SM_GC,-6.28,0.00,0.00,120.88,0.000,0.000,0.630,413,2313,587,-10.56,-0.34,548.98
$IRIDIUM_FIX,1245.46,12019.52,190697,202038
$TT8_MAMPS,0.025311
$HUMID,1796
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.00
$XPDR_PINGS,339
$24V_AH,23.1,26.921
$10V_AH,10.2,21.637
$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,28.475,94.175,378.325,120.875,0.000,128.735,221.131,304.123,95.000,0.000,0.000,16.705,2900.085,12640.610,598.873,3121.136,1015.249,0.000,2093.286,0.000,3077.471,0.000,76.252
$DEVICE_MAMPS,172.575,151.099,1375.231,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.257,424.611,712.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94584,1793
$CAP_FILE_SIZE,180475,0
$CFSIZE,260165632,241954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260308,014137,1247.312,12021.494,30,1.2,30,-0.8