version: 66.03
glider: 126
mission: 7
dive: 188
start: 3 27 108 6 49 14
data:
$ID,126
$MISSION,7
$DIVE,188
$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,-622971.75
$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,43
$R_STBD_OVSHOOT,54
$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
$GPS1,064208,1246.861,12022.671,32,1.3,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.02
$_SM_ANGLEo,-57.7
$GPS2,064820,1246.858,12022.633,9,1.8,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S3
$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,278.7,570,-24.7,-9.016
$D_GRID,870
$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,-65.8,0.0,0.0,0,88,0.00,0.00,-62.80,0.000,6,0.000,0.000,415,2313,3095
$GC,91,-2.60,-65.8,-0.7,-16.3,12,108,9.77,1.77,0.00,0.000,4,0.173,0.037,2138,3359,3097
$GC,250,-2.47,-65.8,44.3,-24.7,40,257,0.12,1.70,0.00,0.000,6,0.131,0.023,2165,2299,3098
$GC,595,-2.42,-65.8,109.1,-14.9,101,600,0.00,1.80,0.00,0.000,4,0.000,0.037,2165,3367,3100
$GC,778,-2.37,-65.8,137.0,-13.4,133,785,0.15,1.62,0.00,0.000,6,0.123,0.023,2192,2324,3101
$GC,1122,-2.37,-65.8,175.8,-9.4,194,1128,0.00,1.77,0.00,0.000,4,0.000,0.039,2192,3372,3102
$GC,1358,-2.37,-65.8,200.5,-10.5,236,1364,0.00,1.62,0.00,0.000,6,0.000,0.025,2192,2341,3102
$GC,1701,-2.40,-65.8,235.0,-9.1,297,1707,0.00,1.75,0.00,0.000,4,0.000,0.041,2192,3367,3103
$GC,1837,-2.40,-65.8,249.1,-11.3,321,1843,0.00,1.62,0.00,0.000,6,0.000,0.025,2192,2343,3103
$GC,2170,-2.42,-65.8,284.6,-10.2,353,2174,0.00,1.75,0.00,0.000,4,0.000,0.044,2192,3361,3101
$GC,2215,-2.42,-65.8,289.7,-10.5,357,2219,0.00,1.60,0.00,0.000,6,0.000,0.026,2192,2356,3100
$GC,2547,-2.45,-65.8,322.0,-10.2,388,2551,0.00,1.75,0.00,0.000,4,0.000,0.045,2192,3354,3099
$GC,2652,-2.45,-65.8,334.1,-10.8,397,2659,0.00,1.60,0.00,0.000,6,0.000,0.027,2192,2381,3098
$GC,2979,-2.47,-65.8,367.6,-10.4,428,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2375,3095
$GC,3297,-2.50,-65.8,400.2,-10.3,458,3301,0.12,1.70,0.00,0.000,4,0.066,0.048,2160,3358,3093
$GC,3436,-2.50,-65.8,416.2,-10.7,470,3442,0.00,1.60,0.00,0.000,6,0.000,0.029,2159,2400,3093
$GC,3763,-2.50,-65.8,451.3,-10.5,501,3767,0.00,1.67,0.00,0.000,4,0.000,0.050,2159,3359,3090
$GC,3865,-2.50,-65.8,462.7,-10.8,510,3868,0.00,1.58,0.00,0.000,6,0.000,0.031,2159,2426,3090
$GC,4196,-2.50,-65.8,498.3,-10.9,541,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2425,3087
$GC,4507,-2.50,-65.8,531.7,-10.4,557,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2423,3085
$GC,4813,-2.50,-65.8,563.7,-10.5,572,4817,0.00,1.70,0.00,0.000,4,0.000,0.073,2159,3352,3083
$GC,4907,-2.50,-65.8,573.6,-10.3,576,4912,0.00,1.60,0.00,0.000,6,0.000,0.048,2160,2458,3082
$GC,5235,-2.50,-65.8,605.6,-10.3,592,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2458,3080
$GC,5543,-2.50,-65.8,637.7,-10.6,607,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2458,3078
$GC,5855,-2.50,-65.8,671.6,-11.4,622,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2451,3077
$GC,6162,-2.50,-65.8,705.5,-10.8,637,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2451,3075
$GC,6472,-2.50,-65.8,737.6,-11.0,652,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2451,3074
$GC,6780,-2.50,-65.8,768.7,-9.8,667,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2450,3073
$GC,7091,-2.50,-65.8,800.8,-10.8,682,7095,0.00,1.60,0.00,0.000,4,0.000,0.056,2160,3351,3071
$GC,7147,-2.50,-65.8,807.1,-10.6,684,7151,0.00,1.52,0.00,0.000,6,0.000,0.031,2159,2446,3071
$GC,7469,-2.50,-65.8,841.4,-10.3,700,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2445,3069
$GC,7778,-2.50,-67.5,869.3,-8.8,715,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2446,3068
$STATE,7797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7797,begin apogee
$GC,7803,-0.51,0.0,871.1,8.8,716,7860,2.10,0.00,52.45,1.338,6,0.102,0.000,2597,1999,2825
$STATE,7860,end apogee,CONTROL_FINISHED_OK
$STATE,7860,begin climb
$GC,7863,2.61,67.5,872.5,0.0,719,7928,3.12,0.00,59.62,1.305,6,0.065,0.000,3286,1999,2550
$GC,8228,2.60,89.9,850.3,6.7,737,8254,0.00,2.10,20.75,1.267,4,0.000,0.084,3286,913,2457
$GC,8400,2.57,100.1,836.4,8.0,745,8415,0.00,1.77,10.25,1.175,6,0.000,0.031,3286,1949,2416
$GC,8726,2.54,102.2,809.6,8.8,760,8730,0.12,1.90,0.00,0.000,4,0.119,0.059,3264,914,2414
$GC,8823,2.52,106.8,801.2,8.6,764,8838,0.00,1.80,7.15,1.088,6,0.000,0.031,3264,1974,2389
$GC,9147,2.54,114.9,774.0,8.2,780,9161,0.00,1.85,8.68,1.141,4,0.000,0.048,3264,3002,2356
$GC,9201,2.54,115.5,769.0,8.9,782,9205,0.00,1.80,0.00,0.000,6,0.000,0.036,3264,1979,2355
$GC,9523,2.55,120.6,742.3,8.5,798,9533,0.00,2.00,6.47,1.048,4,0.000,0.060,3264,913,2333
$GC,9786,2.56,125.7,719.2,8.5,810,9797,0.00,1.77,6.00,1.016,6,0.000,0.031,3264,1959,2312
$GC,10113,2.56,129.9,690.4,8.6,826,10122,0.00,1.85,5.45,0.970,4,0.000,0.048,3264,3015,2295
$GC,10234,2.56,129.9,678.9,9.1,831,10240,0.00,1.83,0.00,0.000,6,0.000,0.037,3264,1971,2294
$GC,10549,2.56,129.9,648.9,9.5,847,10553,0.00,1.90,0.00,0.000,4,0.000,0.060,3264,910,2294
$GC,10632,2.56,129.9,641.0,9.3,850,10639,0.00,1.85,0.00,0.000,6,0.000,0.036,3264,1979,2294
$GC,10948,2.56,129.9,612.2,9.3,866,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1979,2293
$GC,11257,2.56,129.9,584.7,9.0,881,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1980,2293
$GC,11567,2.58,138.9,558.8,8.1,896,11581,0.00,2.00,9.23,1.062,4,0.000,0.057,3264,916,2257
$GC,11655,2.58,140.3,550.7,8.9,900,11659,0.00,1.83,0.00,0.000,6,0.000,0.031,3264,1986,2257
$GC,11989,2.59,146.8,522.4,8.3,916,11999,0.00,0.00,8.02,1.016,6,0.000,0.000,3264,1986,2226
$GC,12296,2.61,157.4,497.6,7.9,932,12311,0.00,1.83,10.75,1.048,4,0.000,0.049,3264,3014,2183
$GC,12395,2.61,157.4,488.5,10.1,940,12401,0.00,1.83,0.00,0.000,6,0.000,0.036,3264,1972,2182
$GC,12721,2.61,157.8,459.8,9.0,971,12725,0.00,1.90,0.00,0.000,4,0.000,0.058,3264,907,2182
$GC,12980,2.61,158.0,436.1,9.0,994,12983,0.00,1.75,0.00,0.000,6,0.000,0.031,3264,1942,2182
$GC,13310,2.62,166.7,408.9,8.1,1025,13321,0.00,0.00,9.52,0.973,6,0.000,0.000,3264,1942,2145
$GC,13638,2.63,168.2,380.7,8.9,1056,13642,0.00,1.85,0.00,0.000,4,0.000,0.056,3264,913,2144
$GC,13829,2.63,170.5,363.3,8.8,1073,13841,0.00,1.77,5.15,0.792,6,0.000,0.031,3264,1958,2129
$GC,14158,2.63,170.5,332.3,9.6,1104,14162,0.00,1.90,0.00,0.000,4,0.000,0.054,3264,902,2129
$GC,14416,2.64,177.5,309.2,8.3,1127,14428,0.00,1.75,7.43,0.858,6,0.000,0.030,3264,1939,2101
$GC,14746,2.67,181.8,281.8,8.6,1158,14757,0.12,1.95,5.57,0.771,4,0.074,0.051,3297,3017,2083
$GC,14818,2.67,181.8,275.0,9.3,1164,14825,0.00,1.85,0.00,0.000,6,0.000,0.035,3297,1948,2083
$GC,15146,2.68,186.6,245.9,8.5,1199,15157,0.00,1.85,5.50,0.745,4,0.000,0.055,3297,913,2064
$GC,15315,2.68,187.7,230.8,8.9,1229,15321,0.00,1.80,0.00,0.000,6,0.000,0.029,3297,1986,2064
$GC,15657,2.68,187.7,199.8,9.2,1290,15662,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1986,2064
$GC,15999,2.71,204.6,170.9,7.3,1351,16021,0.00,1.83,16.77,0.841,4,0.000,0.043,3298,3003,1990
$GC,16089,2.71,204.6,163.2,9.8,1367,16095,0.00,1.80,0.00,0.000,6,0.000,0.031,3297,1943,1989
$GC,16431,2.77,223.7,138.0,7.1,1428,16454,0.00,1.88,17.33,0.805,4,0.000,0.039,3297,3011,1912
$GC,16590,2.84,237.8,126.1,7.6,1456,16608,0.10,1.67,12.73,0.770,6,0.053,0.030,3333,2033,1855
$GC,16950,2.92,268.1,102.6,5.9,1519,16982,0.00,0.00,25.88,0.764,6,0.000,0.000,3333,2034,1731
$GC,17320,3.02,299.8,76.4,5.8,1585,17353,0.15,1.70,26.90,0.729,4,0.058,0.037,3381,3017,1601
$GC,17505,3.06,313.3,63.1,7.6,1618,17523,0.00,1.65,12.25,0.680,6,0.000,0.026,3381,2037,1547
$GC,17863,3.10,314.5,34.8,8.9,1681,17868,0.00,1.92,0.00,0.000,4,0.000,0.044,3381,913,1546
$GC,17947,3.13,318.1,27.3,8.6,1696,17959,0.00,1.92,5.62,0.542,6,0.000,0.024,3381,2078,1528
$STATE,18249,end climb,SURFACE_DEPTH_REACHED
$STATE,18249,begin surface coast
$FINISH,0.3,1.021514
$STATE,18273,end surface coast,CONTROL_FINISHED_OK
$STATE,18273,begin surface
$SM_CCo,18295,99.75,0.635,0,0,887,475.15
$SM_GC,-6.12,0.00,0.00,99.75,0.000,0.000,0.635,417,2347,887,-10.54,0.62,475.15
$IRIDIUM_FIX,1241.04,12021.43,210697,020245
$TT8_MAMPS,0.026078
$HUMID,1813
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.70
$XPDR_PINGS,385
$24V_AH,23.2,27.949
$10V_AH,10.2,22.383
$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,28.800,97.175,355.475,99.750,0.000,30.288,31.911,184.211,105.750,0.000,0.000,16.022,2866.552,11698.795,564.902,3096.111,566.054,0.000,2030.501,0.000,3054.823,0.000,69.751
$DEVICE_MAMPS,172.575,84.370,1337.648,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1189.580,436.486,710.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94904,1754
$CAP_FILE_SIZE,172454,0
$CFSIZE,260165632,241389568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270308,115707,1248.008,12021.222,36,0.9,42,-0.8