version: 66.03
glider: 126
mission: 7
dive: 195
start: 3 28 108 18 16 0
data:
$ID,126
$MISSION,7
$DIVE,195
$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,-623114.62
$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,33
$R_STBD_OVSHOOT,53
$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
$GPS1,180902,1246.727,12024.742,39,1.4,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.79
$_SM_ANGLEo,-58.7
$GPS2,181508,1246.749,12024.721,13,1.0,31,-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,72.5,8404,-19.0,-9.016
$D_GRID,662
$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,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-67.45,0.000,6,0.000,0.000,415,2344,3321
$GC,96,-2.18,-120.8,1.4,-21.7,13,113,10.32,1.83,0.00,0.000,4,0.170,0.030,2248,1265,3323
$GC,278,-1.97,-120.8,50.0,-22.7,45,285,0.25,1.73,0.00,0.000,6,0.112,0.025,2297,2330,3324
$GC,622,-1.89,-120.8,107.5,-15.3,106,628,0.00,1.77,0.00,0.000,4,0.000,0.039,2297,3374,3326
$GC,730,-1.84,-120.8,121.6,-12.0,125,737,0.15,1.62,0.00,0.000,6,0.107,0.023,2327,2330,3326
$GC,1075,-1.88,-121.0,156.2,-9.0,186,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2323,3327
$GC,1418,-1.94,-121.0,186.7,-9.8,247,1424,0.00,1.77,0.00,0.000,4,0.000,0.041,2327,3372,3327
$GC,1554,-1.99,-121.0,200.1,-9.7,271,1560,0.08,1.52,0.00,0.000,6,0.051,0.025,2286,2407,3327
$GC,1898,-1.99,-121.0,235.2,-10.4,332,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2405,3327
$GC,2236,-1.99,-121.0,269.5,-9.7,376,2240,0.00,1.65,0.00,0.000,4,0.000,0.044,2286,3372,3327
$GC,2308,-1.99,-121.0,276.9,-10.6,382,2314,0.00,1.52,0.00,0.000,6,0.000,0.027,2286,2418,3327
$GC,2634,-1.99,-121.0,308.0,-9.7,413,2638,0.00,1.85,0.00,0.000,4,0.000,0.039,2286,1328,3325
$GC,2683,-1.99,-121.0,313.1,-10.5,417,2690,0.00,1.85,0.00,0.000,6,0.000,0.028,2286,2422,3325
$GC,3010,-1.99,-121.0,344.4,-9.5,448,3013,0.00,1.62,0.00,0.000,4,0.000,0.048,2286,3373,3322
$GC,3094,-2.00,-127.5,352.4,-8.6,455,3099,0.00,1.50,0.00,0.000,6,0.000,0.028,2286,2448,3322
$GC,3419,-2.00,-127.5,384.5,-9.9,486,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2442,3319
$GC,3736,-2.00,-127.5,415.5,-9.5,516,3740,0.00,1.92,0.00,0.000,4,0.000,0.044,2286,1331,3318
$GC,3785,-2.00,-127.5,420.2,-9.7,520,3792,0.00,1.88,0.00,0.000,6,0.000,0.032,2286,2426,3318
$GC,4113,-2.00,-127.5,450.7,-9.8,551,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2427,3316
$GC,4428,-2.00,-127.5,481.6,-9.3,581,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2427,3314
$GC,4755,-2.01,-134.8,510.7,-8.6,606,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2427,3311
$GC,5065,-2.01,-134.8,538.9,-9.4,621,5068,0.00,1.67,0.00,0.000,4,0.000,0.067,2286,3367,3309
$GC,5125,-2.01,-134.8,545.1,-9.9,623,5131,0.00,1.52,0.00,0.000,6,0.000,0.037,2286,2487,3309
$GC,5441,-2.01,-134.8,574.9,-9.7,639,5445,0.00,2.10,0.00,0.000,4,0.000,0.070,2286,1330,3307
$GC,5546,-2.01,-134.8,585.2,-9.5,643,5553,0.00,1.92,0.00,0.000,6,0.000,0.058,2286,2383,3307
$GC,5863,-2.04,-134.8,614.3,-9.4,659,5866,0.00,1.83,0.00,0.000,4,0.000,0.089,2286,3359,3305
$GC,5940,-2.04,-134.8,622.2,-10.2,662,5944,0.00,1.65,0.00,0.000,6,0.000,0.066,2286,2476,3304
$GC,6262,-2.07,-134.8,652.9,-9.5,678,6266,0.00,2.20,0.00,0.000,4,0.000,0.099,2286,1335,3303
$GC,6330,-2.07,-134.8,659.2,-9.9,681,6334,0.00,1.95,0.00,0.000,6,0.000,0.084,2286,2358,3303
$STATE,6365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6365,begin apogee
$GC,6371,-0.52,0.0,662.7,9.4,683,6473,1.52,0.00,98.55,1.177,6,0.086,0.000,2613,2037,2825
$STATE,6474,end apogee,CONTROL_FINISHED_OK
$STATE,6474,begin climb
$GC,6476,2.21,134.8,666.3,0.0,688,6600,2.65,2.20,113.28,1.144,4,0.060,0.114,3213,971,2274
$GC,6819,2.11,154.4,647.8,7.8,703,6845,0.12,1.88,16.95,1.078,6,0.112,0.072,3190,1968,2195
$GC,7155,2.04,161.9,619.9,8.5,720,7169,0.00,2.03,7.60,0.961,4,0.000,0.088,3190,970,2164
$GC,7313,1.95,161.9,604.0,10.0,727,7317,0.17,1.73,0.00,0.000,6,0.104,0.051,3156,1929,2163
$GC,7644,1.95,164.2,574.2,8.9,743,7648,0.00,1.95,0.00,0.000,4,0.000,0.061,3156,3026,2161
$GC,7740,1.92,165.3,565.3,9.0,747,7749,0.00,1.85,4.03,0.723,6,0.000,0.048,3156,1991,2151
$GC,8065,1.95,187.4,538.3,7.6,763,8090,0.00,2.03,20.58,1.085,4,0.000,0.068,3156,906,2059
$GC,8130,1.94,200.0,533.0,8.2,766,8146,0.00,1.80,11.98,1.012,6,0.000,0.032,3156,1958,2009
$GC,8455,1.97,217.9,505.9,7.9,782,8477,0.00,1.92,16.67,1.048,4,0.000,0.048,3156,3013,1935
$GC,8510,1.99,234.1,501.4,8.0,784,8529,0.00,1.90,15.12,1.013,6,0.000,0.038,3156,1937,1870
$GC,8850,1.99,234.1,471.6,9.8,815,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1937,1868
$GC,9168,1.99,234.1,439.6,9.7,845,9172,0.00,1.85,0.00,0.000,4,0.000,0.061,3156,904,1866
$GC,9225,1.99,234.1,434.0,10.3,850,9229,0.00,1.80,0.00,0.000,6,0.000,0.031,3156,1953,1866
$GC,9556,2.02,252.7,405.6,7.9,881,9578,0.00,2.00,16.52,1.002,4,0.000,0.057,3156,901,1795
$GC,9623,2.04,262.8,399.7,8.4,887,9637,0.00,1.75,10.12,0.929,6,0.000,0.031,3156,1933,1753
$GC,9962,2.04,262.8,367.9,9.3,919,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1933,1751
$GC,10281,2.04,262.8,337.4,9.3,949,10284,0.00,1.88,0.00,0.000,4,0.000,0.045,3156,3011,1751
$GC,10330,2.04,262.8,332.6,9.7,953,10336,0.00,1.85,0.00,0.000,6,0.000,0.035,3156,1938,1750
$GC,10656,2.07,262.8,302.4,9.4,984,10658,0.12,0.00,0.00,0.000,6,0.071,0.000,3190,1938,1750
$GC,10975,2.07,262.8,268.8,9.8,1014,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1938,1750
$GC,11300,2.07,262.8,236.7,9.7,1055,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1938,1750
$GC,11643,2.09,273.5,204.2,8.3,1116,11658,0.00,0.00,10.15,0.829,6,0.000,0.000,3191,1938,1709
$GC,11995,2.09,273.5,170.8,9.4,1179,12001,0.00,1.85,0.00,0.000,4,0.000,0.042,3191,3009,1708
$GC,12024,2.09,273.5,167.9,10.3,1184,12030,0.00,1.83,0.00,0.000,6,0.000,0.038,3190,1928,1708
$GC,12368,2.09,274.0,135.6,9.0,1245,12374,0.00,1.85,0.00,0.000,4,0.000,0.040,3191,3010,1708
$GC,12408,2.13,296.8,132.2,7.6,1252,12436,0.00,1.85,20.52,0.809,6,0.000,0.031,3191,1925,1614
$GC,12778,2.23,311.3,104.8,8.1,1317,12796,0.10,1.85,13.12,0.755,4,0.074,0.051,3223,917,1555
$GC,12960,2.36,369.8,92.5,5.4,1349,13014,0.00,1.73,48.83,0.758,6,0.000,0.026,3222,1973,1317
$GC,13354,2.50,394.1,62.6,7.5,1419,13382,0.20,1.75,20.92,0.704,4,0.049,0.036,3286,2999,1217
$GC,13635,2.51,400.8,37.5,8.6,1469,13648,0.00,1.73,6.85,0.591,6,0.000,0.026,3285,1949,1190
$GC,13986,2.55,400.8,5.6,9.1,1531,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1948,1191
$STATE,14023,end climb,SURFACE_DEPTH_REACHED
$STATE,14023,begin surface coast
$FINISH,-0.2,1.021549
$STATE,14047,end surface coast,CONTROL_FINISHED_OK
$STATE,14047,begin surface
$SM_CCo,14068,49.40,0.642,0,0,888,475.15
$SM_GC,-5.42,0.00,0.00,49.40,0.000,0.000,0.642,418,2330,888,-10.64,0.14,475.15
$IRIDIUM_FIX,1241.04,12021.43,220697,141453
$TT8_MAMPS,0.025311
$HUMID,1867
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,438
$24V_AH,23.3,29.078
$10V_AH,10.2,23.136
$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,28.125,85.000,451.800,49.400,0.000,23.916,33.868,172.342,113.750,0.000,0.000,31.928,2450.618,8301.645,568.576,2689.871,500.229,0.000,1868.141,0.000,2645.384,0.000,31.715
$DEVICE_MAMPS,169.507,113.516,1176.578,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.220,429.771,702.377,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81947,1542
$CAP_FILE_SIZE,142349,0
$CFSIZE,260165632,240828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280308,221237,1247.229,12026.604,38,2.0,43,-0.8