version: 66.03
glider: 126
mission: 7
dive: 191
start: 3 27 108 22 38 49
data:
$ID,126
$MISSION,7
$DIVE,191
$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,-623017.56
$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,57
$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
$GPS1,223137,1247.233,12021.097,33,1.1,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.15
$_SM_ANGLEo,-57.7
$GPS2,223757,1247.247,12021.030,15,1.1,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S6
$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,106.2,2417,-24.7,-9.016
$D_GRID,821
$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,-63.08,0.000,6,0.000,0.000,416,2354,3097
$GC,95,-2.60,-65.8,0.9,-21.8,13,112,9.77,1.85,0.00,0.000,4,0.173,0.031,2138,1253,3098
$GC,130,-2.24,-65.8,15.9,-38.7,19,137,0.43,1.73,0.00,0.000,6,0.125,0.024,2218,2320,3099
$GC,476,-2.20,-65.8,83.8,-17.1,80,482,0.00,1.77,0.00,0.000,4,0.000,0.038,2218,3364,3100
$GC,675,-2.20,-65.8,114.3,-12.8,115,681,0.00,1.65,0.00,0.000,6,0.000,0.022,2218,2306,3101
$GC,1019,-2.23,-65.8,151.1,-9.6,176,1024,0.00,1.62,0.00,0.000,4,0.000,0.034,2218,1317,3102
$GC,1053,-2.26,-65.8,154.6,-10.3,182,1059,0.00,1.70,0.00,0.000,6,0.000,0.024,2219,2368,3102
$GC,1396,-2.30,-65.8,188.0,-9.8,243,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2368,3103
$GC,1739,-2.34,-65.8,221.6,-9.7,304,1744,0.00,1.70,0.00,0.000,4,0.000,0.042,2219,3375,3103
$GC,1926,-2.38,-65.8,239.6,-9.7,337,1933,0.12,1.67,0.00,0.000,6,0.064,0.025,2182,2322,3103
$GC,2257,-2.38,-65.8,274.7,-11.2,377,2260,0.00,1.80,0.00,0.000,4,0.000,0.043,2182,3368,3102
$GC,2419,-2.38,-65.8,293.0,-10.8,391,2425,0.00,1.65,0.00,0.000,6,0.000,0.026,2182,2356,3101
$GC,2745,-2.40,-65.8,326.9,-10.6,422,2749,0.00,1.75,0.00,0.000,4,0.000,0.044,2182,3369,3099
$GC,2846,-2.40,-65.8,337.9,-11.2,431,2850,0.00,1.62,0.00,0.000,6,0.000,0.027,2182,2368,3098
$GC,3177,-2.40,-65.8,371.8,-9.8,462,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2365,3096
$GC,3496,-2.42,-65.8,404.7,-10.6,492,3500,0.00,1.75,0.00,0.000,4,0.000,0.048,2182,3359,3093
$GC,3613,-2.42,-65.8,418.0,-11.0,502,3620,0.00,1.67,0.00,0.000,6,0.000,0.029,2182,2364,3092
$GC,3940,-2.45,-65.8,452.6,-11.1,533,3943,0.00,1.75,0.00,0.000,4,0.000,0.048,2182,3368,3090
$GC,4007,-2.45,-65.8,460.7,-11.4,539,4011,0.00,1.70,0.00,0.000,6,0.000,0.031,2182,2355,3090
$GC,4339,-2.47,-65.8,496.3,-10.2,570,4342,0.00,1.77,0.00,0.000,4,0.000,0.052,2182,3365,3087
$GC,4433,-2.47,-65.8,506.7,-10.1,576,4437,0.00,1.73,0.00,0.000,6,0.000,0.032,2182,2363,3086
$GC,4761,-2.50,-65.8,539.9,-10.5,592,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2361,3085
$GC,5070,-2.53,-65.8,571.4,-9.8,607,5074,0.12,1.85,0.00,0.000,4,0.069,0.074,2149,3362,3083
$GC,5139,-2.53,-65.8,578.8,-11.1,610,5143,0.00,1.77,0.00,0.000,6,0.000,0.051,2149,2360,3082
$GC,5472,-2.53,-65.8,613.4,-9.8,626,5476,0.00,1.88,0.00,0.000,4,0.000,0.086,2149,3351,3081
$GC,5549,-2.53,-65.8,620.8,-9.4,629,5554,0.00,1.85,0.00,0.000,6,0.000,0.067,2149,2361,3080
$GC,5872,-2.53,-65.8,651.6,-9.8,645,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2361,3078
$GC,6180,-2.53,-65.8,683.6,-10.4,660,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2361,3076
$GC,6491,-2.53,-65.8,715.6,-10.4,675,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2361,3075
$GC,6798,-2.53,-65.8,748.8,-10.7,690,6802,0.00,2.15,0.00,0.000,4,0.000,0.150,2149,3351,3074
$GC,6956,-2.53,-65.8,767.4,-11.6,697,6960,0.00,1.88,0.00,0.000,6,0.000,0.088,2149,2351,3073
$GC,7289,-2.53,-65.8,803.6,-10.1,713,7293,0.00,1.80,0.00,0.000,4,0.000,0.052,2149,3357,3072
$GC,7406,-2.53,-65.8,815.6,-9.7,718,7410,0.00,1.65,0.00,0.000,6,0.000,0.031,2149,2390,3072
$STATE,7463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7463,begin apogee
$GC,7469,-0.51,0.0,821.2,9.9,721,7527,2.20,0.00,52.92,1.302,6,0.110,0.000,2599,1962,2825
$STATE,7527,end apogee,CONTROL_FINISHED_OK
$STATE,7528,begin climb
$GC,7530,2.60,65.8,822.6,0.0,724,7593,3.10,0.00,57.78,1.272,6,0.067,0.000,3281,1962,2556
$GC,7895,2.62,96.1,804.2,5.9,742,7928,0.00,2.05,26.95,1.246,4,0.000,0.074,3281,914,2433
$GC,8120,2.59,103.2,785.9,8.3,752,8136,0.00,1.75,7.60,1.071,6,0.000,0.030,3281,1942,2404
$GC,8446,2.58,114.9,760.1,7.8,768,8459,0.00,0.00,11.85,1.170,6,0.000,0.000,3281,1942,2356
$GC,8754,2.58,114.9,733.1,9.2,783,8757,0.00,1.88,0.00,0.000,4,0.000,0.057,3281,909,2354
$GC,8866,2.55,114.9,722.5,9.6,788,8870,0.00,1.75,0.00,0.000,6,0.000,0.031,3281,1942,2354
$GC,9200,2.55,117.7,693.7,8.7,804,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1942,2352
$GC,9508,2.57,130.1,668.5,7.8,819,9527,0.00,0.00,14.05,1.170,6,0.000,0.000,3281,1943,2294
$GC,9837,2.57,130.1,637.9,9.5,835,9840,0.00,1.88,0.00,0.000,4,0.000,0.056,3281,906,2293
$GC,9949,2.55,130.1,627.8,9.1,840,9953,0.00,1.73,0.00,0.000,6,0.000,0.031,3281,1924,2293
$GC,10283,2.55,132.2,597.8,8.8,856,10287,0.00,1.83,0.00,0.000,4,0.000,0.057,3281,909,2291
$GC,10356,2.53,132.4,590.9,9.0,859,10359,0.00,1.67,0.00,0.000,6,0.000,0.030,3281,1903,2291
$GC,10682,2.53,135.6,562.7,8.7,875,10692,0.00,1.95,5.88,0.937,4,0.000,0.046,3281,3018,2272
$GC,10781,2.53,135.6,553.7,9.0,879,10788,0.00,1.95,0.00,0.000,6,0.000,0.036,3281,1904,2271
$GC,11098,2.53,135.6,525.3,9.3,895,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1904,2271
$GC,11407,2.54,138.1,497.8,8.8,911,11417,0.00,0.00,4.12,0.757,6,0.000,0.000,3281,1904,2261
$GC,11736,2.55,144.9,469.6,8.3,942,11748,0.00,1.88,7.18,0.953,4,0.000,0.060,3281,899,2234
$GC,11805,2.56,148.1,463.6,8.7,948,11817,0.00,1.75,4.47,0.785,6,0.000,0.031,3281,1931,2221
$GC,12134,2.56,148.1,433.7,10.0,979,12138,0.00,1.85,0.00,0.000,4,0.000,0.055,3281,905,2220
$GC,12229,2.56,148.1,423.8,10.2,987,12235,0.00,1.73,0.00,0.000,6,0.000,0.029,3281,1914,2220
$GC,12555,2.56,148.1,393.8,9.2,1018,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1915,2220
$GC,12873,2.56,149.7,365.9,8.9,1048,12877,0.00,1.83,0.00,0.000,4,0.000,0.056,3281,899,2220
$GC,12997,2.56,153.0,354.5,8.7,1059,13009,0.00,1.70,5.85,0.830,6,0.000,0.029,3281,1909,2201
$GC,13327,2.58,161.1,326.1,8.2,1090,13341,0.00,1.88,8.40,0.897,4,0.000,0.055,3281,902,2168
$GC,13528,2.58,164.8,308.2,8.6,1108,13539,0.00,1.67,4.90,0.746,6,0.000,0.028,3281,1898,2153
$GC,13858,2.60,173.5,279.4,8.1,1139,13872,0.00,1.98,9.07,0.872,4,0.000,0.047,3281,3005,2117
$GC,14015,2.60,173.5,264.9,9.9,1153,14018,0.00,1.88,0.00,0.000,6,0.000,0.033,3281,1905,2116
$GC,14348,2.63,190.3,236.4,7.3,1198,14369,0.00,1.98,15.48,0.890,4,0.000,0.042,3281,3017,2049
$GC,14622,2.63,190.3,210.9,9.3,1247,14628,0.00,1.83,0.00,0.000,6,0.000,0.031,3281,1940,2047
$GC,14966,2.68,203.7,182.7,7.6,1308,14983,0.00,1.90,12.45,0.832,4,0.000,0.055,3281,916,1994
$GC,15092,2.70,203.7,171.4,9.2,1330,15098,0.00,1.77,0.00,0.000,6,0.000,0.028,3281,1981,1994
$GC,15436,2.78,229.0,144.0,6.4,1391,15464,0.15,1.95,22.35,0.820,4,0.064,0.048,3327,906,1890
$GC,15499,2.79,237.4,138.9,8.2,1402,15516,0.00,1.70,8.45,0.723,6,0.000,0.026,3327,1908,1857
$GC,15856,2.91,288.5,114.3,3.8,1465,15905,0.00,1.80,42.58,0.787,4,0.000,0.047,3327,910,1648
$GC,16159,2.97,298.6,91.3,8.0,1519,16177,0.12,1.55,9.45,0.695,6,0.067,0.025,3362,1862,1606
$GC,16516,3.03,312.6,61.0,7.6,1582,16534,0.00,1.75,12.85,0.687,4,0.000,0.045,3363,907,1550
$GC,16644,3.07,318.8,50.6,8.4,1604,16656,0.00,1.55,6.80,0.604,6,0.000,0.024,3363,1864,1525
$GC,16995,3.15,331.8,22.8,7.7,1666,17014,0.15,1.90,12.10,0.639,4,0.058,0.032,3412,3002,1471
$GC,17123,3.15,331.8,11.3,9.4,1688,17129,0.00,1.92,0.00,0.000,6,0.000,0.025,3412,1846,1470
$STATE,17218,end climb,SURFACE_DEPTH_REACHED
$STATE,17218,begin surface coast
$FINISH,-0.1,1.021521
$STATE,17243,end surface coast,CONTROL_FINISHED_OK
$STATE,17244,begin surface
$SM_CCo,17267,90.40,0.639,0,0,888,475.15
$SM_GC,-6.08,0.00,0.00,90.40,0.000,0.000,0.639,415,2343,888,-10.56,0.51,475.15
$IRIDIUM_FIX,1241.04,12023.34,210697,171715
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.00
$XPDR_PINGS,352
$24V_AH,23.2,28.393
$10V_AH,10.2,22.712
$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,29.275,105.425,363.525,90.400,0.000,29.123,42.536,178.715,96.250,0.000,0.000,15.176,2783.161,10797.771,575.212,3031.807,572.087,0.000,2024.488,0.000,2998.660,0.000,60.697
$DEVICE_MAMPS,172.575,149.565,1302.366,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.755,436.608,713.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91503,1709
$CAP_FILE_SIZE,169179,0
$CFSIZE,260165632,241131520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280308,032925,1246.273,12022.853,25,1.6,42,-0.8