version: 66.03
glider: 126
mission: 7
dive: 186
start: 3 26 108 20 47 14
data:
$ID,126
$MISSION,7
$DIVE,186
$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,-622936.25
$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,42
$R_STBD_OVSHOOT,55
$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
$GPS1,204025,1247.364,12022.120,41,0.9,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.03
$_SM_ANGLEo,-56.7
$GPS2,204620,1247.399,12022.119,14,1.0,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S1
$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,159.4,993,-24.7,-9.016
$D_GRID,857
$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,22,-2.60,-65.8,0.0,0.0,0,92,0.00,0.00,-64.00,0.000,6,0.000,0.000,417,2357,3094
$GC,94,-2.60,-65.8,0.2,-18.5,13,111,9.82,1.70,0.00,0.000,4,0.175,0.036,2139,3361,3095
$GC,364,-2.48,-65.8,70.0,-22.4,61,371,0.15,1.70,0.00,0.000,6,0.137,0.023,2165,2285,3097
$GC,708,-2.45,-65.8,127.5,-12.8,122,714,0.00,1.85,0.00,0.000,4,0.000,0.038,2165,3364,3099
$GC,777,-2.41,-65.8,137.0,-14.4,134,783,0.00,1.60,0.00,0.000,6,0.000,0.023,2165,2356,3099
$GC,1120,-2.41,-65.8,175.6,-11.5,195,1125,0.00,1.73,0.00,0.000,4,0.000,0.035,2165,1314,3100
$GC,1159,-2.41,-65.8,180.1,-11.8,202,1165,0.00,1.73,0.00,0.000,6,0.000,0.025,2165,2377,3101
$GC,1503,-2.41,-65.8,217.0,-11.2,263,1508,0.00,1.80,0.00,0.000,4,0.000,0.036,2165,1309,3101
$GC,1571,-2.41,-65.8,224.8,-11.6,275,1577,0.00,1.75,0.00,0.000,6,0.000,0.026,2165,2377,3101
$GC,1913,-2.41,-65.8,261.5,-10.7,327,1917,0.00,1.67,0.00,0.000,4,0.000,0.044,2165,3368,3101
$GC,1952,-2.41,-65.8,266.0,-11.6,330,1957,0.00,1.58,0.00,0.000,6,0.000,0.025,2165,2389,3100
$GC,2277,-2.41,-65.8,300.7,-10.5,361,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2383,3099
$GC,2595,-2.41,-65.8,335.5,-12.0,391,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2383,3096
$GC,2913,-2.41,-65.8,368.9,-10.2,421,2916,0.00,1.67,0.00,0.000,4,0.000,0.048,2165,3355,3094
$GC,3003,-2.41,-65.8,378.7,-11.0,429,3006,0.00,1.55,0.00,0.000,6,0.000,0.029,2165,2423,3094
$GC,3333,-2.41,-65.8,417.2,-11.2,460,3337,0.00,1.62,0.00,0.000,4,0.000,0.048,2165,3357,3091
$GC,3394,-2.41,-65.8,424.4,-11.4,465,3400,0.00,1.55,0.00,0.000,6,0.000,0.029,2165,2434,3091
$GC,3720,-2.41,-65.8,459.1,-10.6,496,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2434,3089
$GC,4037,-2.41,-65.8,491.0,-9.7,526,4041,0.00,1.95,0.00,0.000,4,0.000,0.060,2165,1328,3086
$GC,4154,-2.41,-65.8,502.9,-10.1,535,4158,0.00,1.80,0.00,0.000,6,0.000,0.038,2166,2366,3086
$GC,4481,-2.41,-65.8,537.1,-10.6,551,4484,0.00,1.80,0.00,0.000,4,0.000,0.064,2165,3378,3083
$GC,4610,-2.41,-65.8,550.5,-10.2,556,4616,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2458,3083
$GC,4925,-2.41,-65.8,579.0,-9.3,572,4928,0.00,2.05,0.00,0.000,4,0.000,0.070,2165,1326,3081
$GC,5037,-2.41,-65.8,589.7,-9.7,577,5042,0.00,1.92,0.00,0.000,6,0.000,0.059,2165,2394,3080
$GC,5369,-2.41,-65.8,623.3,-10.7,593,5373,0.00,1.88,0.00,0.000,4,0.000,0.092,2166,3371,3078
$GC,5447,-2.41,-65.8,632.5,-11.9,596,5451,0.00,1.70,0.00,0.000,6,0.000,0.071,2165,2472,3078
$GC,5768,-2.41,-65.8,666.2,-10.0,612,5772,0.00,2.22,0.00,0.000,4,0.000,0.107,2165,1334,3076
$GC,5914,-2.41,-65.8,682.7,-10.7,618,5920,0.00,2.03,0.00,0.000,6,0.000,0.096,2166,2373,3075
$GC,6229,-2.41,-65.8,715.6,-10.1,634,6233,0.00,1.77,0.00,0.000,4,0.000,0.051,2166,3405,3074
$GC,6301,-2.41,-65.8,723.5,-10.5,637,6305,0.00,1.67,0.00,0.000,6,0.000,0.031,2166,2415,3074
$GC,6628,-2.41,-65.8,758.0,-11.3,653,6631,0.00,1.90,0.00,0.000,4,0.000,0.052,2165,1326,3072
$GC,6683,-2.41,-65.8,764.5,-11.0,655,6687,0.00,1.88,0.00,0.000,6,0.000,0.035,2166,2415,3072
$GC,7004,-2.41,-65.8,798.1,-10.1,671,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2416,3070
$GC,7314,-2.43,-65.8,826.0,-9.4,686,7317,0.00,1.90,0.00,0.000,4,0.000,0.047,2166,1330,3069
$GC,7449,-2.43,-65.8,840.2,-11.1,692,7453,0.00,1.85,0.00,0.000,6,0.000,0.035,2166,2416,3068
$STATE,7635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7635,begin apogee
$GC,7640,-0.51,0.0,858.8,9.8,701,7698,2.08,0.00,52.42,1.332,6,0.103,0.000,2598,2002,2825
$STATE,7698,end apogee,CONTROL_FINISHED_OK
$STATE,7699,begin climb
$GC,7701,2.60,65.8,860.4,0.0,704,7764,3.12,0.00,58.22,1.299,6,0.067,0.000,3283,2002,2556
$GC,8067,2.63,103.0,842.5,5.2,722,8106,0.00,0.00,33.17,1.286,6,0.000,0.000,3283,2002,2405
$GC,8416,2.60,103.0,811.3,10.3,739,8419,0.00,1.98,0.00,0.000,4,0.000,0.061,3283,906,2401
$GC,8607,2.56,103.0,791.7,9.8,747,8611,0.00,1.90,0.00,0.000,6,0.000,0.032,3283,2019,2401
$GC,8928,2.54,103.0,761.7,9.6,763,8932,0.00,1.77,0.00,0.000,4,0.000,0.049,3283,3041,2400
$GC,9045,2.51,103.0,750.8,9.4,768,9049,0.10,1.83,0.00,0.000,6,0.110,0.036,3254,1992,2399
$GC,9373,2.52,112.9,724.1,8.0,784,9384,0.00,0.00,9.05,1.131,6,0.000,0.000,3254,1992,2364
$GC,9681,2.54,120.9,698.9,8.2,799,9695,0.00,2.00,8.68,1.116,4,0.000,0.058,3254,917,2332
$GC,9763,2.54,120.9,691.3,9.4,802,9769,0.00,1.90,0.00,0.000,6,0.000,0.031,3254,2035,2332
$GC,10078,2.56,134.5,666.8,7.6,818,10097,0.00,0.00,13.43,1.167,6,0.000,0.000,3254,2035,2276
$GC,10406,2.56,134.5,633.5,10.1,834,10410,0.00,2.03,0.00,0.000,4,0.000,0.055,3254,911,2274
$GC,10523,2.56,134.5,621.9,9.4,839,10527,0.00,1.92,0.00,0.000,6,0.000,0.031,3254,2028,2274
$GC,10851,2.56,134.5,593.9,9.2,855,10855,0.00,1.75,0.00,0.000,4,0.000,0.050,3254,3041,2274
$GC,10946,2.56,134.5,584.5,9.8,859,10949,0.00,1.85,0.00,0.000,6,0.000,0.038,3253,1977,2273
$GC,11272,2.56,134.7,556.6,9.0,875,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1977,2273
$GC,11581,2.57,143.9,531.2,8.1,890,11595,0.00,1.98,9.07,1.035,4,0.000,0.060,3254,913,2238
$GC,11652,2.57,143.9,524.6,9.1,893,11657,0.00,1.90,0.00,0.000,6,0.000,0.031,3254,2011,2238
$GC,11969,2.58,144.7,497.2,8.9,909,11973,0.00,1.98,0.00,0.000,4,0.000,0.056,3254,912,2237
$GC,12041,2.58,144.7,490.2,9.5,915,12047,0.00,1.77,0.00,0.000,6,0.000,0.031,3254,1946,2237
$GC,12367,2.58,144.7,457.6,9.2,946,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1946,2237
$GC,12685,2.59,153.3,430.5,8.1,976,12697,0.00,0.00,9.70,0.988,6,0.000,0.000,3254,1947,2199
$GC,13014,2.62,168.1,404.7,7.5,1007,13033,0.12,0.00,14.00,1.009,6,0.075,0.000,3288,1947,2139
$GC,13351,2.62,168.1,374.0,10.0,1039,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1948,2138
$GC,13670,2.62,168.1,342.3,10.3,1069,13673,0.00,1.88,0.00,0.000,4,0.000,0.055,3287,902,2138
$GC,13821,2.62,168.1,326.8,9.6,1082,13827,0.00,1.80,0.00,0.000,6,0.000,0.031,3287,1949,2138
$GC,14146,2.62,172.1,296.0,8.6,1113,14158,0.00,1.88,4.93,0.737,4,0.000,0.055,3287,915,2123
$GC,14282,2.62,172.1,282.4,10.0,1125,14285,0.00,1.75,0.00,0.000,6,0.000,0.031,3287,1949,2123
$GC,14613,2.62,172.8,252.7,8.9,1156,14617,0.00,1.88,0.00,0.000,4,0.000,0.054,3287,903,2123
$GC,14675,2.63,174.8,247.1,8.8,1164,14687,0.00,1.73,4.20,0.648,6,0.000,0.034,3287,1928,2112
$GC,15025,2.64,181.3,215.9,8.4,1226,15037,0.00,1.90,7.18,0.792,4,0.000,0.054,3287,909,2086
$GC,15234,2.64,181.4,197.3,9.0,1263,15239,0.00,1.70,0.00,0.000,6,0.000,0.029,3287,1921,2085
$GC,15577,2.68,194.0,168.6,7.7,1324,15594,0.00,1.95,12.12,0.823,4,0.000,0.044,3287,3011,2034
$GC,15847,2.75,222.6,150.1,6.1,1372,15880,0.00,1.88,25.10,0.830,6,0.000,0.031,3287,1898,1916
$GC,16221,2.82,240.3,123.6,7.2,1438,16244,0.15,1.80,15.48,0.778,4,0.061,0.052,3334,916,1845
$GC,16331,2.82,243.2,113.9,8.7,1457,16343,0.00,1.58,4.28,0.561,6,0.000,0.026,3334,1864,1832
$GC,16683,2.91,272.6,92.1,6.0,1519,16716,0.00,1.75,25.17,0.753,4,0.000,0.048,3334,911,1713
$GC,16970,2.98,293.9,74.8,6.8,1570,16993,0.05,1.67,18.50,0.716,6,0.064,0.025,3360,1922,1625
$GC,17333,3.05,310.0,48.1,7.4,1634,17351,0.00,1.85,14.35,0.669,4,0.000,0.044,3360,909,1561
$GC,17437,3.09,314.1,39.2,8.6,1652,17449,0.08,1.65,5.12,0.528,6,0.051,0.024,3393,1915,1543
$GC,17788,3.13,320.5,9.9,8.4,1714,17800,0.00,1.85,7.05,0.564,4,0.000,0.033,3393,2995,1518
$GC,17853,3.16,320.5,3.5,9.7,1725,17859,0.00,1.80,0.00,0.000,6,0.000,0.025,3393,1898,1517
$STATE,17868,end climb,SURFACE_DEPTH_REACHED
$STATE,17869,begin surface coast
$FINISH,-0.5,1.021375
$STATE,17892,end surface coast,CONTROL_FINISHED_OK
$STATE,17893,begin surface
$SM_CCo,17914,96.68,0.634,0,0,888,475.15
$SM_GC,-6.17,0.00,0.00,96.68,0.000,0.000,0.634,415,2334,888,-10.56,0.25,475.15
$IRIDIUM_FIX,1238.83,12023.34,200697,161614
$TT8_MAMPS,0.026078
$HUMID,1800
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.80
$XPDR_PINGS,383
$24V_AH,23.2,27.649
$10V_AH,10.2,22.164
$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,28.650,113.650,351.225,96.675,0.000,31.388,37.589,166.807,104.750,0.000,0.000,14.920,2820.440,11371.256,584.806,3074.925,541.292,0.000,2049.124,0.000,3036.322,0.000,66.138
$DEVICE_MAMPS,174.876,106.613,1331.512,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.659,440.023,705.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91642,1732
$CAP_FILE_SIZE,171465,0
$CFSIZE,260165632,241573888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270308,014838,1245.765,12023.034,36,1.9,36,-0.8