version: 66.03
glider: 126
mission: 7
dive: 194
start: 3 28 108 14 0 47
data:
$ID,126
$MISSION,7
$DIVE,194
$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,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,-623082.06
$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,34
$R_STBD_OVSHOOT,50
$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
$GPS1,134726,1246.237,12022.672,37,1.2,37,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.13
$_SM_ANGLEo,-56.6
$GPS2,135956,1246.283,12022.654,15,1.2,32,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB
$TGT_LATLONG,1248.170,12029.140
$TGT_RADIUS,1000.000
$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,74.2,12223,-19.0,-9.016
$D_GRID,695
$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,21,begin dive
$GC,23,-2.18,-120.8,0.0,0.0,0,104,0.00,0.00,-77.07,0.000,6,0.000,0.000,415,2344,3320
$GC,106,-2.18,-120.8,0.7,-20.6,15,123,10.30,1.83,0.00,0.000,4,0.169,0.029,2249,1257,3322
$GC,294,-1.99,-120.8,49.0,-20.1,48,301,0.20,1.75,0.00,0.000,6,0.107,0.025,2292,2318,3322
$GC,641,-1.93,-120.8,105.7,-13.7,109,646,0.00,1.77,0.00,0.000,4,0.000,0.040,2292,3378,3324
$GC,748,-1.88,-120.8,120.2,-12.5,128,755,0.10,1.75,0.00,0.000,6,0.100,0.023,2317,2287,3323
$GC,1092,-1.88,-120.8,157.0,-10.7,189,1098,0.00,1.85,0.00,0.000,4,0.000,0.039,2318,3377,3324
$GC,1182,-1.88,-120.8,165.8,-9.4,205,1188,0.00,1.60,0.00,0.000,6,0.000,0.024,2317,2346,3325
$GC,1526,-1.92,-120.8,199.2,-10.0,266,1531,0.00,1.75,0.00,0.000,4,0.000,0.041,2317,3374,3324
$GC,1606,-1.95,-120.8,206.8,-9.3,280,1611,0.00,1.55,0.00,0.000,6,0.000,0.025,2317,2392,3324
$GC,1949,-2.01,-125.1,238.0,-8.7,341,1955,0.12,0.00,0.00,0.000,6,0.062,0.000,2279,2391,3324
$GC,2286,-2.01,-125.1,271.8,-10.0,383,2290,0.00,1.67,0.00,0.000,4,0.000,0.045,2280,3375,3323
$GC,2426,-2.01,-125.1,286.5,-9.5,395,2432,0.00,1.55,0.00,0.000,6,0.000,0.027,2279,2417,3321
$GC,2751,-2.01,-125.1,318.9,-10.0,426,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2413,3319
$GC,3069,-2.01,-125.1,350.4,-9.8,456,3073,0.00,1.88,0.00,0.000,4,0.000,0.042,2279,1334,3317
$GC,3148,-2.01,-125.1,358.4,-10.5,463,3151,0.00,1.75,0.00,0.000,6,0.000,0.029,2279,2387,3316
$GC,3478,-2.01,-125.1,390.4,-9.5,494,3482,0.00,1.70,0.00,0.000,4,0.000,0.050,2279,3375,3314
$GC,3535,-2.01,-125.1,396.3,-10.4,499,3538,0.00,1.58,0.00,0.000,6,0.000,0.030,2279,2435,3314
$GC,3866,-2.01,-125.1,430.5,-10.8,530,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2434,3311
$GC,4183,-2.01,-125.1,463.8,-9.5,560,4187,0.00,1.92,0.00,0.000,4,0.000,0.052,2279,1334,3309
$GC,4241,-2.01,-125.1,469.3,-9.5,565,4244,0.00,1.80,0.00,0.000,6,0.000,0.036,2279,2394,3308
$GC,4571,-2.01,-125.1,502.3,-10.2,595,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2394,3305
$GC,4879,-2.01,-125.1,532.4,-9.4,610,4883,0.00,1.90,0.00,0.000,4,0.000,0.061,2279,1341,3303
$GC,4929,-2.01,-125.1,537.5,-10.0,612,4933,0.00,1.83,0.00,0.000,6,0.000,0.043,2279,2374,3303
$GC,5256,-2.01,-125.1,569.3,-9.6,628,5260,0.00,1.85,0.00,0.000,4,0.000,0.073,2280,3378,3301
$GC,5350,-2.01,-125.1,578.5,-9.6,632,5354,0.00,1.62,0.00,0.000,6,0.000,0.048,2279,2469,3301
$GC,5678,-2.01,-125.1,608.2,-9.2,648,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2468,3299
$GC,5988,-2.01,-128.1,636.7,-8.8,663,5992,0.00,2.15,0.00,0.000,4,0.000,0.092,2279,1335,3297
$GC,6073,-2.02,-131.3,644.1,-8.8,667,6077,0.00,2.00,0.00,0.000,6,0.000,0.080,2279,2395,3296
$GC,6406,-2.02,-131.5,673.0,-9.0,683,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2396,3295
$STATE,6650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6650,begin apogee
$GC,6656,-0.52,0.0,695.7,9.0,695,6758,1.58,0.00,97.40,1.203,6,0.087,0.000,2617,2031,2826
$STATE,6758,end apogee,CONTROL_FINISHED_OK
$STATE,6759,begin climb
$GC,6761,2.20,131.5,698.2,0.0,700,6882,2.67,1.85,111.38,1.171,4,0.059,0.047,3211,3031,2289
$GC,6946,2.08,134.1,689.7,8.9,709,6951,0.15,1.75,0.00,0.000,6,0.107,0.034,3183,2010,2286
$GC,7273,2.02,144.3,661.9,8.4,725,7289,0.00,2.08,11.52,1.063,4,0.000,0.058,3183,908,2236
$GC,7479,1.93,144.3,642.9,9.8,733,7484,0.12,1.85,0.00,0.000,6,0.102,0.031,3148,1976,2234
$GC,7801,1.96,176.5,618.5,7.0,749,7831,0.00,0.00,28.38,1.132,6,0.000,0.000,3149,1977,2105
$GC,8129,1.99,194.6,592.6,7.9,765,8151,0.00,2.03,16.70,1.092,4,0.000,0.055,3148,913,2031
$GC,8214,2.00,205.5,585.5,8.3,768,8228,0.00,1.80,10.68,1.025,6,0.000,0.031,3148,1972,1987
$GC,8544,2.00,205.5,556.5,9.1,785,8547,0.00,1.80,0.00,0.000,4,0.000,0.047,3149,3017,1984
$GC,8611,2.00,205.5,550.2,9.5,788,8614,0.00,1.80,0.00,0.000,6,0.000,0.035,3148,1965,1984
$GC,8943,2.02,217.4,522.7,8.3,804,8960,0.10,1.92,11.40,1.032,4,0.077,0.047,3176,3013,1938
$GC,9010,1.99,217.4,516.0,10.9,806,9014,0.00,1.80,0.00,0.000,6,0.000,0.044,3176,1983,1937
$GC,9330,1.99,217.4,482.8,11.2,829,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1983,1936
$GC,9650,1.96,217.4,449.7,9.7,859,9653,0.00,1.95,0.00,0.000,4,0.000,0.058,3176,888,1936
$GC,9696,1.92,217.4,445.1,10.3,863,9700,0.15,1.90,0.00,0.000,6,0.104,0.031,3147,2010,1936
$GC,10026,1.93,227.9,417.0,8.4,894,10038,0.00,0.00,10.12,0.967,6,0.000,0.000,3146,2011,1895
$GC,10356,1.93,227.9,386.5,9.3,925,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2011,1894
$GC,10674,1.95,235.4,357.9,8.5,955,10686,0.00,2.05,7.82,0.887,4,0.000,0.055,3146,914,1865
$GC,10789,1.95,236.3,348.0,9.0,965,10793,0.00,1.83,0.00,0.000,6,0.000,0.031,3147,1991,1865
$GC,11121,1.99,241.7,320.8,8.7,996,11133,0.00,2.03,7.15,0.848,4,0.000,0.055,3146,909,1839
$GC,11167,1.99,241.7,316.1,9.7,1000,11170,0.00,1.85,0.00,0.000,6,0.000,0.031,3147,1996,1839
$GC,11499,2.03,241.7,285.6,9.2,1031,11500,0.10,0.00,0.00,0.000,6,0.079,0.000,3175,1997,1838
$GC,11816,2.03,241.7,253.4,10.0,1061,11819,0.00,1.98,0.00,0.000,4,0.000,0.055,3175,888,1838
$GC,11862,2.03,241.7,248.8,10.6,1065,11868,0.00,1.88,0.00,0.000,6,0.000,0.031,3175,2003,1838
$GC,12205,2.03,241.7,216.7,9.5,1126,12211,0.00,1.73,0.00,0.000,4,0.000,0.052,3175,3005,1837
$GC,12318,2.03,243.9,206.1,8.9,1146,12324,0.00,1.67,0.00,0.000,6,0.000,0.032,3175,2011,1837
$GC,12662,2.05,258.2,178.4,8.1,1207,12684,0.00,1.98,15.02,0.838,4,0.000,0.054,3175,913,1772
$GC,12706,2.07,267.2,174.6,8.5,1215,12723,0.00,1.92,9.27,0.772,6,0.000,0.029,3175,2052,1734
$GC,13063,2.18,304.1,145.4,6.7,1278,13102,0.12,0.00,31.30,0.819,6,0.067,0.000,3211,2054,1584
$GC,13443,2.29,338.6,114.5,6.9,1345,13477,0.00,2.12,29.02,0.780,4,0.000,0.048,3211,907,1443
$GC,13669,2.44,386.4,97.5,6.0,1385,13718,0.20,1.90,40.28,0.754,6,0.051,0.026,3268,2055,1248
$GC,14058,2.48,386.4,63.7,9.9,1454,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2056,1245
$GC,14401,2.57,407.3,33.1,7.7,1515,14425,0.10,2.10,17.85,0.667,4,0.066,0.044,3304,903,1164
$GC,14448,2.57,407.3,28.8,9.1,1523,14454,0.00,1.85,0.00,0.000,6,0.000,0.025,3304,2032,1164
$STATE,14728,end climb,SURFACE_DEPTH_REACHED
$STATE,14729,begin surface coast
$FINISH,-0.3,1.021509
$STATE,14751,end surface coast,CONTROL_FINISHED_OK
$STATE,14751,begin surface
$SM_CCo,14773,46.40,0.641,0,0,888,475.15
$SM_GC,-5.11,0.00,0.00,46.40,0.000,0.000,0.641,414,2344,888,-10.65,0.54,475.15
$IRIDIUM_FIX,1243.25,12021.43,220697,131312
$TT8_MAMPS,0.025311
$HUMID,1873
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,22.90
$XPDR_PINGS,416
$24V_AH,23.3,28.913
$10V_AH,10.2,23.038
$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,28.550,89.700,455.300,46.400,0.000,60.818,66.361,410.363,109.000,0.000,0.000,32.579,2520.535,8959.372,594.477,2701.057,814.681,0.000,1882.937,0.000,2650.948,0.000,37.157
$DEVICE_MAMPS,168.740,108.147,1203.423,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.254,419.657,701.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85161,1577
$CAP_FILE_SIZE,152625,0
$CFSIZE,260165632,240893952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280308,180902,1246.727,12024.742,39,1.4,39,-0.8