version: 66.03
glider: 126
mission: 7
dive: 193
start: 3 28 108 8 47 24
data:
$ID,126
$MISSION,7
$DIVE,193
$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,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,548.98138
$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,-623048.88
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,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
$GPS1,082808,1247.443,12022.276,38,1.1,38,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.10
$_SM_ANGLEo,-58.5
$GPS2,084632,1247.558,12022.226,9,1.2,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S8
$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,172.8,1231,-21.3,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.39,-101.9,0.0,0.0,0,93,0.00,0.00,-65.50,0.000,6,0.000,0.000,417,2325,3243
$GC,96,-2.39,-101.9,0.7,-20.3,13,113,10.10,1.77,0.00,0.000,4,0.172,0.034,2202,3368,3245
$GC,246,-2.18,-101.9,43.1,-21.6,39,252,0.25,1.70,0.00,0.000,6,0.110,0.023,2251,2293,3245
$GC,589,-2.11,-101.9,100.8,-13.9,100,596,0.00,1.83,0.00,0.000,4,0.000,0.038,2251,3357,3245
$GC,792,-2.11,-101.9,130.3,-12.7,136,798,0.00,1.62,0.00,0.000,6,0.000,0.023,2251,2334,3246
$GC,1135,-2.11,-101.9,168.5,-10.6,197,1141,0.00,1.75,0.00,0.000,4,0.000,0.040,2251,3368,3246
$GC,1293,-2.11,-101.9,185.9,-10.6,225,1299,0.00,1.60,0.00,0.000,6,0.000,0.025,2251,2338,3246
$GC,1637,-2.11,-101.9,220.7,-9.9,286,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2337,3246
$GC,1983,-2.11,-101.9,254.3,-9.9,344,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2337,3246
$GC,2301,-2.11,-101.9,287.5,-10.4,374,2304,0.00,1.75,0.00,0.000,4,0.000,0.044,2251,3359,3244
$GC,2451,-2.11,-101.9,304.0,-10.9,387,2458,0.00,1.62,0.00,0.000,6,0.000,0.027,2251,2365,3242
$GC,2777,-2.14,-101.9,338.8,-11.2,418,2781,0.00,1.73,0.00,0.000,4,0.000,0.046,2251,3362,3240
$GC,2822,-2.14,-101.9,344.0,-11.2,422,2826,0.00,1.62,0.00,0.000,6,0.000,0.028,2251,2363,3239
$GC,3154,-2.17,-101.9,377.6,-9.8,453,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2358,3237
$GC,3472,-2.21,-101.9,408.3,-9.6,483,3476,0.00,1.75,0.00,0.000,4,0.000,0.049,2251,3351,3234
$GC,3555,-2.21,-101.9,416.7,-9.9,490,3561,0.00,1.65,0.00,0.000,6,0.000,0.031,2251,2376,3234
$GC,3881,-2.24,-101.9,448.1,-10.2,521,3885,0.00,1.73,0.00,0.000,4,0.000,0.051,2251,3362,3231
$GC,3942,-2.24,-101.9,454.3,-10.0,526,3948,0.00,1.67,0.00,0.000,6,0.000,0.031,2251,2375,3230
$GC,4268,-2.28,-103.7,483.6,-8.9,557,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2374,3228
$GC,4583,-2.32,-104.9,511.9,-8.9,581,4587,0.12,1.75,0.00,0.000,4,0.067,0.057,2216,3358,3226
$GC,4644,-2.32,-104.9,518.7,-11.0,583,4650,0.00,1.70,0.00,0.000,6,0.000,0.034,2216,2374,3225
$GC,4959,-2.32,-104.9,553.3,-10.9,599,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2373,3224
$GC,5269,-2.32,-104.9,586.3,-10.8,614,5272,0.00,1.83,0.00,0.000,4,0.000,0.079,2216,3353,3221
$GC,5336,-2.32,-104.9,593.9,-11.6,617,5340,0.00,1.77,0.00,0.000,6,0.000,0.057,2216,2383,3221
$GC,5670,-2.32,-104.9,631.6,-11.0,633,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2381,3219
$GC,5976,-2.32,-104.9,664.5,-10.5,648,5980,0.00,1.90,0.00,0.000,4,0.000,0.109,2216,3337,3217
$GC,6066,-2.32,-104.9,674.1,-11.1,652,6070,0.00,1.83,0.00,0.000,6,0.000,0.093,2216,2399,3216
$GC,6398,-2.32,-104.9,709.8,-11.5,668,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2397,3214
$GC,6707,-2.32,-104.9,743.9,-10.4,683,6711,0.00,1.67,0.00,0.000,4,0.000,0.052,2216,3352,3212
$GC,6775,-2.32,-104.9,751.1,-11.3,686,6778,0.00,1.65,0.00,0.000,6,0.000,0.033,2216,2369,3212
$GC,7108,-2.32,-104.9,783.9,-9.6,702,7111,0.00,1.75,0.00,0.000,4,0.000,0.064,2216,3358,3211
$GC,7170,-2.32,-104.9,790.1,-10.1,704,7175,0.00,1.60,0.00,0.000,6,0.000,0.033,2216,2404,3211
$GC,7484,-2.32,-104.9,820.0,-9.1,720,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2403,3209
$GC,7794,-2.32,-104.9,849.6,-9.0,735,7799,0.00,2.00,0.00,0.000,4,0.000,0.058,2216,1274,3208
$GC,7849,-2.32,-104.9,854.7,-9.2,737,7852,0.00,1.92,0.00,0.000,6,0.000,0.037,2216,2398,3208
$STATE,7879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7879,begin apogee
$GC,7885,-0.52,0.0,857.5,9.3,739,7970,1.90,0.00,81.53,1.334,6,0.099,0.000,2614,1959,2825
$STATE,7971,end apogee,CONTROL_FINISHED_OK
$STATE,7971,begin climb
$GC,7973,2.40,104.9,858.8,0.0,743,8076,2.85,2.00,91.15,1.299,4,0.061,0.068,3261,918,2397
$GC,8138,2.26,107.0,849.6,8.9,750,8144,0.20,1.77,0.00,0.000,6,0.107,0.032,3223,1952,2394
$GC,8453,2.20,112.4,822.2,8.6,766,8466,0.00,2.00,7.12,1.067,4,0.000,0.060,3223,907,2366
$GC,8569,2.12,112.4,810.8,9.5,771,8573,0.17,1.80,0.00,0.000,6,0.112,0.031,3190,1959,2365
$GC,8894,2.14,125.9,784.0,8.1,787,8909,0.00,0.00,12.98,1.202,6,0.000,0.000,3190,1958,2311
$GC,9220,2.17,142.6,756.9,7.9,802,9242,0.00,1.95,16.15,1.215,4,0.000,0.058,3189,915,2243
$GC,9389,2.15,150.2,742.2,8.5,809,9400,0.00,1.75,7.75,1.082,6,0.000,0.032,3189,1941,2212
$GC,9709,2.15,150.2,712.7,9.5,825,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1941,2210
$GC,10018,2.15,150.2,684.5,9.2,840,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1942,2209
$GC,10327,2.15,150.2,657.3,9.3,855,10330,0.00,1.85,0.00,0.000,4,0.000,0.049,3189,3013,2209
$GC,10417,2.15,150.2,648.8,10.0,859,10421,0.00,1.83,0.00,0.000,6,0.000,0.037,3189,1950,2208
$GC,10749,2.16,153.5,618.7,8.8,875,10758,0.00,1.90,3.90,0.767,4,0.000,0.060,3189,916,2199
$GC,10900,2.18,166.5,606.0,8.1,881,10919,0.00,1.77,12.95,1.139,6,0.000,0.031,3189,1969,2146
$GC,11235,2.20,180.9,578.2,8.0,898,11256,0.00,1.88,13.95,1.118,4,0.000,0.050,3189,3005,2087
$GC,11325,2.21,187.0,570.7,8.6,902,11337,0.10,1.80,6.90,0.975,6,0.083,0.038,3216,1962,2062
$GC,11654,2.21,187.0,537.1,10.8,918,11658,0.00,1.88,0.00,0.000,4,0.000,0.060,3216,912,2061
$GC,11722,2.18,187.0,529.7,10.7,921,11726,0.00,1.80,0.00,0.000,6,0.000,0.032,3216,1972,2061
$GC,12044,2.18,187.0,497.4,10.0,937,12047,0.00,1.80,0.00,0.000,4,0.000,0.050,3216,3015,2061
$GC,12105,2.15,187.0,491.3,9.7,942,12111,0.00,1.83,0.00,0.000,6,0.000,0.037,3216,1965,2060
$GC,12431,2.15,187.0,459.6,9.7,973,12434,0.00,1.88,0.00,0.000,4,0.000,0.059,3216,911,2060
$GC,12532,2.11,187.0,449.5,9.9,982,12536,0.12,1.80,0.00,0.000,6,0.110,0.031,3193,1976,2060
$GC,12861,2.11,187.0,419.2,9.5,1013,12864,0.00,1.77,0.00,0.000,4,0.000,0.050,3193,3005,2060
$GC,12944,2.11,187.0,411.0,9.2,1020,12950,0.00,1.80,0.00,0.000,6,0.000,0.038,3193,1971,2060
$GC,13271,2.11,187.3,380.9,9.0,1051,13274,0.00,1.90,0.00,0.000,4,0.000,0.059,3192,903,2060
$GC,13349,2.11,187.3,373.6,9.3,1058,13353,0.00,1.83,0.00,0.000,6,0.000,0.031,3193,1969,2060
$GC,13680,2.13,197.5,345.9,8.3,1089,13695,0.00,1.92,10.27,0.939,4,0.000,0.056,3192,910,2019
$GC,13735,2.14,206.2,341.0,8.4,1094,13749,0.00,1.83,8.98,0.904,6,0.000,0.031,3193,1980,1983
$GC,14074,2.14,206.2,309.9,9.4,1126,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1981,1982
$GC,14395,2.18,210.3,281.7,8.7,1156,14403,0.00,0.00,5.12,0.742,6,0.000,0.000,3193,1981,1967
$GC,14724,2.25,226.6,254.8,7.9,1187,14742,0.12,0.00,15.15,0.904,6,0.071,0.000,3227,1983,1901
$GC,15076,2.25,226.6,222.3,9.6,1245,15082,0.00,1.92,0.00,0.000,4,0.000,0.054,3227,905,1900
$GC,15234,2.25,226.6,206.7,9.3,1273,15240,0.00,1.83,0.00,0.000,6,0.000,0.030,3227,1988,1900
$GC,15577,2.27,240.1,176.6,8.1,1334,15594,0.00,1.85,12.65,0.828,4,0.000,0.048,3227,3015,1846
$GC,15690,2.27,240.1,166.4,9.2,1354,15696,0.00,1.70,0.00,0.000,6,0.000,0.031,3227,2006,1845
$GC,16036,2.33,247.9,138.8,8.5,1415,16048,0.00,1.80,8.12,0.747,4,0.000,0.040,3227,3014,1813
$GC,16186,2.43,278.3,128.2,6.9,1441,16219,0.15,1.60,26.38,0.802,6,0.063,0.029,3270,2051,1689
$GC,16560,2.51,309.7,100.5,6.8,1507,16593,0.00,2.03,26.75,0.767,4,0.000,0.048,3270,915,1561
$GC,16734,2.59,333.1,88.5,7.4,1538,16762,0.05,1.98,20.12,0.737,6,0.034,0.026,3304,2092,1466
$GC,17103,2.67,353.4,58.7,7.6,1603,17125,0.00,1.62,17.80,0.700,4,0.000,0.038,3304,3017,1384
$GC,17367,2.73,355.0,35.6,8.9,1650,17373,0.00,1.62,0.00,0.000,6,0.000,0.025,3305,2042,1382
$GC,17712,2.83,371.9,7.3,7.8,1711,17735,0.15,1.95,16.62,0.638,4,0.054,0.042,3356,909,1307
$STATE,17773,end climb,SURFACE_DEPTH_REACHED
$STATE,17773,begin surface coast
$FINISH,-0.4,1.021474
$STATE,17798,end surface coast,CONTROL_FINISHED_OK
$STATE,17798,begin surface
$SM_CCo,17822,105.25,0.634,0,0,586,548.98
$SM_GC,-6.26,0.00,0.00,105.25,0.000,0.000,0.634,414,2339,586,-10.65,0.40,548.98
$IRIDIUM_FIX,1243.25,12026.36,220697,080850
$TT8_MAMPS,0.025311
$HUMID,1834
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.40
$XPDR_PINGS,450
$24V_AH,23.2,28.731
$10V_AH,10.2,22.935
$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,29.100,112.575,422.350,105.250,0.000,148.109,209.860,344.396,121.500,0.000,0.000,14.521,2802.947,11517.134,616.167,3043.251,1075.540,0.000,2099.277,0.000,3010.742,0.000,66.143
$DEVICE_MAMPS,171.808,108.914,1333.813,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.652,431.482,712.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91500,1726
$CAP_FILE_SIZE,181383,0
$CFSIZE,260165632,240934912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280308,134726,1246.237,12022.672,37,1.2,37,-0.8