version: 66.03
glider: 126
mission: 7
dive: 190
start: 3 27 108 17 19 13
data:
$ID,126
$MISSION,7
$DIVE,190
$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,-623001.75
$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,29
$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
$GPS1,171137,1246.914,12022.675,37,1.6,37,-0.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.18
$_SM_ANGLEo,-56.1
$GPS2,171821,1246.891,12022.622,14,1.7,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S5
$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,272.5,546,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.60,-65.8,0.0,0.0,0,93,0.00,0.00,-63.42,0.000,6,0.000,0.000,413,2349,3095
$GC,96,-2.60,-65.8,0.5,-20.0,13,113,9.73,1.70,0.00,0.000,4,0.170,0.035,2140,3362,3097
$GC,315,-2.47,-65.8,60.9,-23.2,52,322,0.12,1.75,0.00,0.000,6,0.123,0.023,2166,2276,3098
$GC,660,-2.43,-65.8,121.5,-12.9,113,666,0.00,1.85,0.00,0.000,4,0.000,0.037,2166,3375,3100
$GC,919,-2.39,-65.8,157.7,-12.6,159,925,0.12,1.65,0.00,0.000,6,0.124,0.023,2188,2315,3101
$GC,1262,-2.39,-65.8,196.3,-10.7,220,1268,0.00,1.77,0.00,0.000,4,0.000,0.039,2188,3364,3101
$GC,1521,-2.39,-65.8,222.8,-9.4,266,1527,0.00,1.58,0.00,0.000,6,0.000,0.025,2188,2378,3102
$GC,1866,-2.41,-65.8,256.4,-9.5,322,1870,0.00,1.67,0.00,0.000,4,0.000,0.042,2188,3363,3101
$GC,2023,-2.41,-65.8,272.5,-10.2,336,2027,0.00,1.60,0.00,0.000,6,0.000,0.026,2188,2358,3101
$GC,2354,-2.43,-65.8,304.6,-9.5,367,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2352,3099
$GC,2673,-2.45,-65.8,335.3,-9.6,397,2677,0.00,1.73,0.00,0.000,4,0.000,0.045,2188,3359,3097
$GC,2767,-2.45,-65.8,344.4,-9.7,405,2774,0.00,1.65,0.00,0.000,6,0.000,0.027,2187,2359,3096
$GC,3094,-2.48,-65.8,374.4,-9.7,436,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2356,3094
$GC,3412,-2.51,-65.8,405.9,-9.6,466,3414,0.12,0.00,0.00,0.000,6,0.069,0.000,2156,2356,3091
$GC,3731,-2.51,-65.8,439.4,-10.5,496,3734,0.00,1.75,0.00,0.000,4,0.000,0.048,2156,3366,3089
$GC,3843,-2.51,-65.8,452.0,-11.6,506,3846,0.00,1.65,0.00,0.000,6,0.000,0.031,2156,2376,3087
$GC,4174,-2.51,-65.8,488.5,-11.8,537,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2375,3085
$GC,4485,-2.51,-65.8,523.0,-10.0,557,4489,0.00,1.77,0.00,0.000,4,0.000,0.058,2156,3356,3083
$GC,4552,-2.51,-65.8,529.9,-10.5,560,4557,0.00,1.62,0.00,0.000,6,0.000,0.034,2155,2397,3083
$GC,4885,-2.51,-65.8,564.9,-10.8,576,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2397,3081
$GC,5193,-2.51,-65.8,595.7,-9.5,591,5197,0.00,1.77,0.00,0.000,4,0.000,0.081,2156,3346,3079
$GC,5276,-2.51,-65.8,603.9,-10.0,594,5282,0.00,1.70,0.00,0.000,6,0.000,0.059,2156,2421,3078
$GC,5592,-2.51,-65.8,634.4,-9.4,610,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2420,3076
$GC,5901,-2.51,-65.8,665.2,-9.9,625,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2420,3075
$GC,6210,-2.51,-65.8,695.3,-9.8,640,6214,0.00,2.22,0.00,0.000,4,0.000,0.120,2156,1317,3074
$GC,6294,-2.51,-65.8,703.8,-10.0,644,6298,0.00,2.03,0.00,0.000,6,0.000,0.104,2156,2335,3074
$GC,6626,-2.51,-65.8,737.0,-10.7,660,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2341,3071
$GC,6936,-2.51,-65.8,770.4,-10.8,675,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2341,3070
$GC,7246,-2.51,-65.8,801.7,-9.6,690,7249,0.00,1.85,0.00,0.000,4,0.000,0.054,2156,3401,3069
$GC,7428,-2.51,-65.8,819.1,-9.9,698,7431,0.00,1.73,0.00,0.000,6,0.000,0.032,2156,2377,3068
$GC,7762,-2.51,-65.8,850.3,-10.1,714,7766,0.00,1.80,0.00,0.000,4,0.000,0.054,2156,3396,3067
$GC,7862,-2.51,-65.8,861.2,-10.6,718,7866,0.00,1.70,0.00,0.000,6,0.000,0.031,2156,2401,3067
$STATE,7955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7955,begin apogee
$GC,7961,-0.51,0.0,871.1,10.7,723,8018,2.12,0.00,52.05,1.345,6,0.106,0.000,2594,1983,2825
$STATE,8019,end apogee,CONTROL_FINISHED_OK
$STATE,8019,begin climb
$GC,8021,2.60,65.8,873.7,0.0,726,8085,3.10,0.00,58.40,1.311,6,0.061,0.000,3283,1983,2556
$GC,8387,2.64,108.2,860.3,4.7,744,8428,0.00,0.00,37.75,1.302,6,0.000,0.000,3283,1983,2383
$GC,8738,2.62,108.8,831.6,9.0,761,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1983,2379
$GC,9047,2.60,112.7,803.4,8.6,776,9053,0.00,0.00,4.53,0.901,6,0.000,0.000,3283,1983,2365
$GC,9356,2.58,112.7,775.1,9.5,791,9360,0.00,1.85,0.00,0.000,4,0.000,0.048,3283,3036,2364
$GC,9484,2.55,112.7,763.1,9.5,796,9490,0.00,1.90,0.00,0.000,6,0.000,0.038,3283,1937,2363
$GC,9801,2.55,112.7,734.0,9.1,812,9805,0.00,1.88,0.00,0.000,4,0.000,0.068,3283,907,2363
$GC,10059,2.52,119.3,711.2,8.3,823,10071,0.12,1.85,7.10,1.076,6,0.122,0.031,3261,1998,2338
$GC,10379,2.54,127.3,685.4,8.2,839,10390,0.00,0.00,8.75,1.119,6,0.000,0.000,3261,1999,2305
$GC,10688,2.54,127.9,657.6,9.0,854,10692,0.00,1.98,0.00,0.000,4,0.000,0.058,3260,914,2304
$GC,10945,2.54,127.9,632.6,9.5,865,10950,0.00,1.75,0.00,0.000,6,0.000,0.036,3260,1925,2304
$GC,11267,2.54,131.8,603.9,8.6,881,11274,0.00,0.00,5.38,0.931,6,0.000,0.000,3261,1926,2287
$GC,11577,2.55,138.0,576.8,8.4,896,11590,0.00,1.98,7.10,1.012,4,0.000,0.047,3260,3018,2262
$GC,11747,2.56,143.1,562.3,8.5,903,11757,0.00,1.90,5.97,0.950,6,0.000,0.036,3260,1930,2241
$GC,12085,2.57,148.1,534.3,8.5,920,12095,0.00,1.85,6.03,0.938,4,0.000,0.063,3260,908,2221
$GC,12128,2.58,151.9,530.4,8.6,922,12137,0.00,1.75,5.18,0.873,6,0.000,0.030,3260,1921,2205
$GC,12454,2.58,155.0,502.7,8.7,938,12460,0.00,0.00,4.47,0.804,6,0.000,0.000,3260,1922,2191
$GC,12774,2.58,155.0,473.9,9.3,966,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1922,2191
$GC,13090,2.58,155.0,444.3,9.5,996,13093,0.00,1.83,0.00,0.000,4,0.000,0.057,3260,908,2191
$GC,13162,2.58,155.0,437.5,9.4,1002,13168,0.00,1.73,0.00,0.000,6,0.000,0.030,3260,1912,2192
$GC,13488,2.59,161.9,409.7,8.3,1033,13497,0.00,0.00,7.38,0.924,6,0.000,0.000,3260,1913,2165
$GC,13817,2.62,162.6,382.3,8.9,1064,13821,0.00,1.80,0.00,0.000,4,0.000,0.056,3261,913,2164
$GC,13942,2.62,162.6,371.0,9.6,1075,13945,0.00,1.67,0.00,0.000,6,0.000,0.030,3260,1908,2164
$GC,14274,2.63,169.2,343.4,8.3,1106,14283,0.00,0.00,7.90,0.896,6,0.000,0.000,3260,1909,2135
$GC,14601,2.66,174.8,314.7,8.4,1137,14611,0.12,0.00,6.47,0.834,6,0.073,0.000,3294,1909,2112
$GC,14929,2.66,176.3,284.8,8.9,1168,14932,0.00,1.80,0.00,0.000,4,0.000,0.055,3293,905,2111
$GC,14974,2.67,177.6,280.6,8.9,1172,14985,0.00,1.65,4.38,0.686,6,0.000,0.029,3294,1892,2099
$GC,15303,2.67,177.6,249.8,9.3,1203,15309,0.00,1.75,0.00,0.000,4,0.000,0.054,3294,913,2099
$GC,15376,2.67,177.6,242.5,9.7,1216,15382,0.00,1.65,0.00,0.000,6,0.000,0.029,3293,1899,2099
$GC,15720,2.67,177.8,211.7,9.0,1277,15726,0.00,1.77,0.00,0.000,4,0.000,0.054,3294,906,2099
$GC,15885,2.67,177.8,197.4,9.4,1306,15891,0.00,1.62,0.00,0.000,6,0.000,0.028,3294,1883,2099
$GC,16228,2.70,196.9,170.8,7.1,1367,16249,0.00,0.00,17.35,0.851,6,0.000,0.000,3294,1884,2022
$GC,16588,2.78,228.4,143.0,5.8,1431,16622,0.00,1.98,27.40,0.828,4,0.000,0.040,3293,3016,1892
$GC,16837,2.83,228.4,123.3,10.6,1475,16843,0.15,1.92,0.00,0.000,6,0.062,0.031,3335,1874,1889
$GC,17181,2.92,269.2,105.9,4.9,1536,17219,0.00,0.00,34.00,0.775,6,0.000,0.000,3335,1873,1727
$GC,17558,2.99,283.3,79.6,7.6,1603,17576,0.12,1.75,12.40,0.707,4,0.065,0.048,3373,910,1670
$GC,17661,3.04,309.3,72.2,6.4,1621,17689,0.00,1.60,22.50,0.714,6,0.000,0.024,3373,1903,1564
$GC,18028,3.10,321.5,42.9,7.8,1686,18046,0.00,1.88,11.45,0.652,4,0.000,0.033,3373,3023,1513
$GC,18265,3.15,324.5,21.5,8.7,1728,18277,0.00,1.92,4.22,0.472,6,0.000,0.025,3373,1869,1502
$STATE,18530,end climb,SURFACE_DEPTH_REACHED
$STATE,18530,begin surface coast
$FINISH,-0.2,1.021381
$STATE,18558,end surface coast,CONTROL_FINISHED_OK
$STATE,18558,begin surface
$SM_CCo,18580,94.32,0.634,0,0,887,475.15
$SM_GC,-6.31,0.00,0.00,94.32,0.000,0.000,0.634,416,2351,887,-10.55,0.71,475.15
$IRIDIUM_FIX,1243.25,12019.52,210697,121243
$TT8_MAMPS,0.025311
$HUMID,1821
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.80
$XPDR_PINGS,459
$24V_AH,23.2,28.248
$10V_AH,10.2,22.604
$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,28.700,87.050,358.150,94.325,0.000,24.861,34.495,220.096,124.250,0.000,0.000,14.806,2886.010,11926.743,552.676,3112.459,623.911,0.000,2022.750,0.000,3088.618,0.000,69.758
$DEVICE_MAMPS,170.274,120.419,1344.551,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1207.617,443.557,724.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94640,1780
$CAP_FILE_SIZE,171079,0
$CFSIZE,260165632,241221632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270308,223137,1247.233,12021.097,33,1.1,33,-0.8