version: 66.03
glider: 126
mission: 7
dive: 187
start: 3 27 108 1 59 54
data:
$ID,126
$MISSION,7
$DIVE,187
$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,-622955.12
$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,28
$R_STBD_OVSHOOT,42
$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
$GPS1,014838,1245.765,12023.034,36,1.9,36,-0.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.06
$_SM_ANGLEo,-58.2
$GPS2,015902,1245.777,12022.950,13,1.8,18,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S2
$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,332.1,2371,-24.7,-9.016
$D_GRID,797
$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,-2.60,-65.8,0.0,0.0,0,90,0.00,0.00,-62.88,0.000,6,0.000,0.000,415,2335,3096
$GC,92,-2.60,-65.8,-0.9,-15.9,12,110,9.73,1.77,0.00,0.000,4,0.171,0.037,2137,3378,3098
$GC,295,-2.47,-65.8,54.3,-23.4,48,302,0.15,1.77,0.00,0.000,6,0.124,0.023,2167,2279,3098
$GC,640,-2.42,-65.8,115.0,-15.0,109,646,0.00,1.85,0.00,0.000,4,0.000,0.037,2168,3376,3100
$GC,900,-2.38,-65.8,149.3,-11.8,155,906,0.12,1.60,0.00,0.000,6,0.124,0.023,2190,2339,3101
$GC,1244,-2.38,-65.8,187.8,-10.6,216,1250,0.00,1.75,0.00,0.000,4,0.000,0.040,2190,3378,3101
$GC,1502,-2.38,-65.8,219.0,-11.6,262,1508,0.00,1.55,0.00,0.000,6,0.000,0.025,2190,2394,3101
$GC,1848,-2.38,-65.8,253.5,-9.7,321,1852,0.00,1.67,0.00,0.000,4,0.000,0.043,2190,3379,3101
$GC,1920,-2.38,-65.8,260.6,-9.5,327,1927,0.00,1.58,0.00,0.000,6,0.000,0.025,2190,2394,3101
$GC,2247,-2.41,-65.8,292.6,-9.3,358,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2394,3100
$GC,2564,-2.43,-65.8,326.0,-11.1,388,2568,0.00,1.70,0.00,0.000,4,0.000,0.045,2190,3368,3098
$GC,2721,-2.43,-65.8,343.2,-11.2,402,2724,0.00,1.58,0.00,0.000,6,0.000,0.028,2189,2407,3096
$GC,3052,-2.46,-65.8,375.3,-9.4,433,3056,0.00,1.85,0.00,0.000,4,0.000,0.042,2190,1337,3094
$GC,3109,-2.50,-75.8,380.3,-8.0,438,3113,0.12,1.75,0.00,0.000,6,0.067,0.030,2157,2388,3094
$GC,3438,-2.50,-75.8,412.5,-10.0,469,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2388,3090
$GC,3757,-2.50,-75.8,445.7,-10.8,499,3760,0.00,1.70,0.00,0.000,4,0.000,0.051,2157,3372,3088
$GC,3835,-2.50,-75.8,455.0,-11.7,506,3839,0.00,1.58,0.00,0.000,6,0.000,0.031,2157,2442,3087
$GC,4166,-2.50,-75.8,491.0,-10.5,537,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2442,3085
$GC,4487,-2.50,-75.8,523.9,-9.8,557,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2442,3083
$GC,4797,-2.50,-75.8,554.5,-10.1,572,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2442,3080
$GC,5106,-2.50,-75.8,586.1,-10.0,587,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2439,3079
$GC,5415,-2.50,-75.8,617.3,-10.3,602,5418,0.00,1.98,0.00,0.000,4,0.000,0.064,2157,1340,3077
$GC,5464,-2.50,-75.8,622.1,-9.7,604,5468,0.00,1.80,0.00,0.000,6,0.000,0.040,2157,2371,3077
$GC,5791,-2.50,-75.8,655.0,-9.7,620,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2372,3076
$GC,6100,-2.50,-75.8,684.5,-9.4,635,6104,0.00,1.83,0.00,0.000,4,0.000,0.050,2157,1337,3074
$GC,6167,-2.50,-75.8,691.3,-10.9,638,6171,0.00,1.83,0.00,0.000,6,0.000,0.038,2157,2387,3073
$GC,6499,-2.50,-75.8,723.4,-9.5,654,6503,0.00,1.73,0.00,0.000,4,0.000,0.055,2157,3378,3071
$GC,6639,-2.50,-75.8,737.8,-10.6,660,6643,0.00,1.60,0.00,0.000,6,0.000,0.032,2157,2441,3070
$GC,6968,-2.50,-75.8,771.7,-10.5,676,6971,0.00,1.92,0.00,0.000,4,0.000,0.051,2157,1336,3069
$GC,7006,-2.50,-75.8,776.2,-10.8,677,7012,0.00,1.83,0.00,0.000,6,0.000,0.035,2157,2392,3069
$STATE,7218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7218,begin apogee
$GC,7223,-0.51,0.0,798.4,10.4,688,7279,2.12,0.00,52.15,1.287,6,0.103,0.000,2598,2023,2825
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7280,begin climb
$GC,7282,2.62,75.8,800.3,0.0,691,7354,3.10,0.00,66.10,1.255,6,0.064,0.000,3286,2023,2516
$GC,7650,2.64,104.8,781.3,6.0,709,7680,0.00,1.92,26.10,1.228,4,0.000,0.062,3286,982,2397
$GC,7793,2.60,107.5,769.1,8.7,715,7803,0.00,1.65,3.92,0.778,6,0.000,0.032,3286,1949,2386
$GC,8131,2.57,107.5,738.3,9.1,732,8135,0.00,1.75,0.00,0.000,4,0.000,0.056,3286,979,2384
$GC,8209,2.53,107.5,730.8,9.5,735,8213,0.12,1.60,0.00,0.000,6,0.120,0.030,3264,1926,2384
$GC,8529,2.53,107.5,701.2,9.3,751,8533,0.00,1.88,0.00,0.000,4,0.000,0.048,3263,3015,2382
$GC,8674,2.53,107.5,686.9,10.4,757,8678,0.00,1.77,0.00,0.000,6,0.000,0.035,3263,1994,2382
$GC,8995,2.53,107.5,655.6,9.1,773,8999,0.00,1.92,0.00,0.000,4,0.000,0.058,3263,911,2381
$GC,9252,2.55,118.6,633.8,7.9,784,9266,0.00,1.70,10.18,1.107,6,0.000,0.030,3263,1903,2341
$GC,9595,2.58,135.0,608.4,7.3,801,9616,0.00,1.83,15.45,1.140,4,0.000,0.056,3263,916,2274
$GC,9689,2.59,139.6,600.6,8.5,805,9698,0.00,1.70,5.75,0.929,6,0.000,0.031,3263,1897,2255
$GC,10014,2.60,145.7,573.7,8.4,821,10025,0.00,1.88,6.47,0.966,4,0.000,0.057,3263,906,2231
$GC,10155,2.60,145.7,561.0,9.1,827,10159,0.00,1.65,0.00,0.000,6,0.000,0.030,3263,1885,2230
$GC,10476,2.60,146.5,532.8,8.9,843,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1885,2229
$GC,10787,2.60,146.5,502.1,9.7,858,10790,0.00,1.75,0.00,0.000,4,0.000,0.057,3263,911,2229
$GC,10836,2.60,146.5,497.2,9.7,861,10842,0.00,1.65,0.00,0.000,6,0.000,0.030,3264,1871,2229
$GC,11162,2.60,147.6,467.0,8.9,892,11166,0.00,1.98,0.00,0.000,4,0.000,0.058,3263,3015,2229
$GC,11208,2.61,152.8,463.1,8.5,896,11220,0.00,2.03,7.68,0.958,6,0.000,0.044,3263,1835,2201
$GC,11537,2.62,158.4,433.2,8.4,927,11549,0.00,1.73,6.47,0.903,4,0.000,0.061,3263,912,2178
$GC,11599,2.63,163.8,427.7,8.5,932,11609,0.00,1.60,6.28,0.883,6,0.000,0.030,3263,1844,2157
$GC,11929,2.64,169.9,399.4,8.4,963,11940,0.00,2.12,6.75,0.892,4,0.000,0.048,3263,3017,2132
$GC,11997,2.64,170.6,393.4,8.9,969,12001,0.00,2.05,0.00,0.000,6,0.000,0.038,3263,1831,2132
$GC,12329,2.66,170.6,363.6,9.1,1000,12333,0.12,2.05,0.00,0.000,4,0.076,0.044,3296,3012,2132
$GC,12418,2.66,170.6,354.9,9.6,1008,12422,0.00,2.00,0.00,0.000,6,0.000,0.036,3296,1862,2132
$GC,12748,2.66,170.6,322.0,10.3,1039,12752,0.00,1.70,0.00,0.000,4,0.000,0.060,3297,905,2132
$GC,12810,2.66,170.6,315.8,9.5,1044,12815,0.00,1.60,0.00,0.000,6,0.000,0.029,3296,1869,2132
$GC,13135,2.66,170.6,285.4,10.2,1075,13138,0.00,1.98,0.00,0.000,4,0.000,0.047,3297,3012,2132
$GC,13252,2.67,173.5,273.7,8.7,1085,13261,0.00,1.98,4.75,0.710,6,0.000,0.042,3297,1850,2117
$GC,13586,2.67,173.5,242.7,9.1,1123,13592,0.00,1.67,0.00,0.000,4,0.000,0.058,3296,903,2117
$GC,13655,2.67,173.5,236.2,9.3,1135,13660,0.00,1.62,0.00,0.000,6,0.000,0.028,3296,1878,2117
$GC,13998,2.69,189.0,207.8,7.4,1196,14020,0.00,1.80,14.60,0.871,4,0.000,0.054,3296,892,2054
$GC,14115,2.69,189.0,197.9,9.1,1217,14121,0.00,1.70,0.00,0.000,6,0.000,0.028,3296,1904,2053
$GC,14458,2.70,192.6,168.1,8.6,1278,14469,0.00,1.95,4.53,0.632,4,0.000,0.044,3296,3013,2039
$GC,14509,2.71,197.4,163.9,8.5,1287,14521,0.00,1.88,5.72,0.698,6,0.000,0.032,3296,1906,2020
$GC,14860,2.78,225.5,141.5,6.1,1349,14893,0.00,2.00,24.62,0.818,4,0.000,0.041,3296,3018,1905
$GC,14986,2.86,250.1,133.2,6.5,1371,15014,0.15,1.80,21.30,0.792,6,0.062,0.031,3338,1954,1804
$GC,15353,2.93,275.8,105.5,6.4,1436,15382,0.00,1.85,22.17,0.764,4,0.000,0.049,3338,916,1699
$GC,15551,2.97,277.9,89.7,8.8,1471,15557,0.00,1.77,0.00,0.000,6,0.000,0.025,3338,1996,1698
$GC,15894,3.06,304.1,68.2,6.3,1532,15924,0.15,1.77,23.98,0.715,4,0.060,0.038,3386,3002,1585
$GC,16163,3.10,316.8,46.8,7.7,1579,16180,0.00,1.73,11.95,0.657,6,0.000,0.026,3386,1953,1532
$GC,16519,3.16,326.4,19.1,8.0,1642,16537,0.00,1.83,9.23,0.607,4,0.000,0.044,3386,918,1494
$GC,16618,3.18,326.4,10.4,9.4,1659,16624,0.00,1.67,0.00,0.000,6,0.000,0.023,3386,1966,1494
$STATE,16719,end climb,SURFACE_DEPTH_REACHED
$STATE,16719,begin surface coast
$FINISH,-0.3,1.021411
$STATE,16749,end surface coast,CONTROL_FINISHED_OK
$STATE,16749,begin surface
$SM_CCo,16771,94.85,0.632,0,0,887,475.15
$SM_GC,-5.95,0.00,0.00,94.85,0.000,0.000,0.632,415,2312,887,-10.56,-0.37,475.15
$IRIDIUM_FIX,1241.04,12023.34,210697,020218
$TT8_MAMPS,0.026078
$HUMID,1820
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.80
$XPDR_PINGS,373
$24V_AH,23.2,27.802
$10V_AH,10.2,22.273
$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,28.825,111.875,356.150,94.850,0.000,50.696,75.595,287.390,100.750,0.000,0.000,18.219,2734.841,10494.340,552.865,2977.849,753.055,0.000,1978.513,0.000,2941.810,0.000,55.260
$DEVICE_MAMPS,171.041,64.428,1287.026,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.258,440.146,711.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91564,1682
$CAP_FILE_SIZE,169752,0
$CFSIZE,260165632,241483776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270308,064208,1246.861,12022.671,32,1.3,32,-0.8