version: 66.03
glider: 126
mission: 7
dive: 179
start: 3 25 108 9 31 57
data:
$ID,126
$MISSION,7
$DIVE,179
$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,-622812.88
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,092456,1246.750,12015.451,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.96
$_SM_ANGLEo,-57.9
$GPS2,093103,1246.808,12015.430,14,1.2,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB
$TGT_LATLONG,1246.900,12022.320
$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,90.0,12446,-22.8,-9.016
$D_GRID,876
$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,20,begin dive
$GC,22,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-64.95,0.000,6,0.000,0.000,415,2356,3140
$GC,95,-2.43,-76.7,0.5,-19.3,13,113,10.05,1.85,0.00,0.000,4,0.175,0.033,2178,1271,3141
$GC,366,-2.30,-76.7,69.4,-22.9,61,372,0.15,1.73,0.00,0.000,6,0.129,0.025,2204,2338,3142
$GC,710,-2.26,-76.7,127.7,-11.3,122,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2338,3144
$GC,1052,-2.26,-76.7,169.1,-11.1,183,1057,0.00,1.73,0.00,0.000,4,0.000,0.041,2204,3367,3146
$GC,1310,-2.26,-76.7,197.2,-11.1,229,1316,0.00,1.73,0.00,0.000,6,0.000,0.025,2204,2291,3146
$GC,1653,-2.26,-76.7,231.0,-10.4,290,1659,0.00,1.85,0.00,0.000,4,0.000,0.041,2204,3374,3146
$GC,1745,-2.26,-76.7,240.4,-10.4,306,1751,0.00,1.75,0.00,0.000,6,0.000,0.026,2204,2295,3146
$GC,2075,-2.26,-76.7,276.2,-11.4,345,2079,0.00,1.85,0.00,0.000,4,0.000,0.044,2204,3370,3145
$GC,2283,-2.26,-76.7,301.1,-12.6,363,2289,0.00,1.73,0.00,0.000,6,0.000,0.028,2204,2311,3144
$GC,2608,-2.26,-76.7,337.9,-11.5,394,2612,0.00,1.83,0.00,0.000,4,0.000,0.047,2204,3363,3142
$GC,2713,-2.26,-76.7,350.4,-11.1,403,2720,0.00,1.75,0.00,0.000,6,0.000,0.028,2204,2319,3141
$GC,3039,-2.26,-76.7,384.0,-10.1,434,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2318,3139
$GC,3357,-2.26,-76.7,416.3,-9.3,464,3361,0.00,1.85,0.00,0.000,4,0.000,0.048,2205,3360,3137
$GC,3447,-2.26,-80.1,424.7,-8.7,472,3451,0.00,1.77,0.00,0.000,6,0.000,0.031,2204,2317,3137
$GC,3778,-2.26,-80.1,454.9,-9.7,503,3781,0.00,1.80,0.00,0.000,4,0.000,0.053,2204,1281,3134
$GC,3878,-2.26,-80.1,465.1,-9.9,512,3882,0.00,1.70,0.00,0.000,6,0.000,0.034,2205,2289,3133
$GC,4210,-2.26,-80.1,498.9,-10.6,543,4213,0.00,1.90,0.00,0.000,4,0.000,0.054,2204,3376,3131
$GC,4304,-2.26,-80.1,509.3,-10.4,548,4308,0.00,1.85,0.00,0.000,6,0.000,0.033,2205,2299,3131
$GC,4631,-2.26,-80.1,543.7,-10.7,564,4635,0.00,1.95,0.00,0.000,4,0.000,0.063,2204,3388,3129
$GC,4692,-2.26,-80.1,550.9,-11.3,566,4698,0.00,1.88,0.00,0.000,6,0.000,0.040,2204,2321,3128
$GC,5007,-2.26,-80.1,586.8,-11.9,582,5011,0.00,1.95,0.00,0.000,4,0.000,0.075,2205,3371,3126
$GC,5120,-2.26,-80.1,600.9,-12.6,587,5124,0.00,1.88,0.00,0.000,6,0.000,0.058,2204,2336,3125
$GC,5453,-2.26,-80.1,639.1,-11.0,603,5457,0.00,2.00,0.00,0.000,4,0.000,0.096,2204,3368,3124
$GC,5521,-2.26,-80.1,646.5,-10.7,606,5524,0.00,1.95,0.00,0.000,6,0.000,0.079,2204,2339,3123
$GC,5852,-2.26,-80.1,678.4,-9.6,622,5856,0.00,2.08,0.00,0.000,4,0.000,0.112,2204,3368,3121
$GC,5980,-2.26,-80.1,691.7,-10.7,627,5987,0.00,2.03,0.00,0.000,6,0.000,0.100,2204,2347,3120
$GC,6297,-2.26,-80.1,721.6,-9.2,643,6301,0.00,2.28,0.00,0.000,4,0.000,0.139,2204,1256,3119
$GC,6369,-2.26,-80.1,728.2,-9.0,646,6373,0.00,2.17,0.00,0.000,6,0.000,0.116,2205,2321,3119
$GC,6690,-2.26,-80.1,756.7,-9.2,662,6694,0.00,2.33,0.00,0.000,4,0.000,0.156,2204,1264,3118
$GC,6738,-2.26,-80.1,761.3,-9.2,664,6743,0.00,2.30,0.00,0.000,6,0.000,0.134,2204,2333,3117
$GC,7063,-2.26,-80.5,791.3,-9.0,680,7066,0.00,1.85,0.00,0.000,4,0.000,0.054,2205,3399,3115
$GC,7168,-2.26,-80.5,802.0,-9.6,684,7175,0.00,1.85,0.00,0.000,6,0.000,0.033,2205,2317,3115
$GC,7485,-2.29,-80.5,834.3,-10.3,700,7488,0.00,1.92,0.00,0.000,4,0.000,0.056,2204,3399,3114
$GC,7534,-2.29,-80.5,839.8,-10.5,702,7539,0.00,1.80,0.00,0.000,6,0.000,0.033,2204,2353,3114
$GC,7862,-2.32,-86.1,869.4,-8.5,718,7866,0.00,1.92,0.00,0.000,4,0.000,0.059,2204,1279,3113
$GC,7908,-2.34,-98.0,873.2,-7.9,720,7911,0.00,1.90,0.00,0.000,6,0.000,0.038,2204,2387,3113
$STATE,7949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7949,begin apogee
$GC,7955,-0.51,0.0,876.9,8.6,722,8021,1.88,0.00,61.70,1.346,6,0.102,0.000,2596,1964,2825
$STATE,8021,end apogee,CONTROL_FINISHED_OK
$STATE,8021,begin climb
$GC,8023,2.46,98.0,878.1,0.0,725,8117,2.92,1.98,85.32,1.314,4,0.061,0.073,3245,919,2424
$GC,8184,2.42,100.6,869.6,8.8,733,8188,0.00,1.85,0.00,0.000,6,0.000,0.032,3245,1997,2422
$GC,8505,2.40,114.6,843.6,7.8,749,8525,0.00,0.00,15.25,1.233,6,0.000,0.000,3244,1997,2356
$GC,8835,2.38,122.7,816.8,8.3,765,8849,0.00,2.05,8.25,1.125,4,0.000,0.058,3245,917,2324
$GC,9046,2.34,122.7,796.9,9.4,774,9051,0.10,1.83,0.00,0.000,6,0.105,0.031,3222,1972,2324
$GC,9368,2.34,123.6,768.9,8.9,790,9372,0.00,1.83,0.00,0.000,4,0.000,0.049,3222,3009,2321
$GC,9480,2.34,123.6,758.4,9.4,795,9483,0.00,1.83,0.00,0.000,6,0.000,0.046,3222,1970,2321
$GC,9812,2.34,123.9,727.1,9.0,811,9815,0.00,1.90,0.00,0.000,4,0.000,0.062,3222,911,2321
$GC,9912,2.32,123.9,717.5,9.5,815,9916,0.00,1.80,0.00,0.000,6,0.000,0.031,3222,1956,2321
$GC,10233,2.34,134.5,690.8,8.1,831,10246,0.00,0.00,11.35,1.160,6,0.000,0.000,3222,1956,2276
$GC,10543,2.35,138.5,665.1,8.7,846,10552,0.00,1.92,5.30,0.946,4,0.000,0.058,3222,908,2259
$GC,10670,2.35,138.5,653.2,9.5,852,10674,0.00,1.77,0.00,0.000,6,0.000,0.031,3222,1937,2259
$GC,11003,2.36,145.7,624.0,8.4,868,11016,0.00,1.95,7.28,1.039,4,0.000,0.048,3222,3017,2231
$GC,11135,2.36,145.8,611.8,9.0,874,11139,0.00,1.88,0.00,0.000,6,0.000,0.037,3222,1948,2231
$GC,11467,2.37,153.8,584.4,8.3,890,11477,0.00,0.00,8.75,1.060,6,0.000,0.000,3222,1948,2198
$GC,11776,2.38,159.1,557.1,8.5,905,11786,0.00,1.88,6.32,0.962,4,0.000,0.045,3222,3003,2175
$GC,11942,2.38,159.1,541.4,9.2,912,11949,0.00,1.83,0.00,0.000,6,0.000,0.036,3222,1959,2175
$GC,12258,2.38,161.0,512.4,8.8,928,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1959,2175
$GC,12572,2.41,178.0,487.6,7.5,950,12592,0.00,0.00,17.58,1.080,6,0.000,0.000,3222,1959,2099
$GC,12912,2.41,178.0,458.8,9.0,982,12915,0.00,1.85,0.00,0.000,4,0.000,0.046,3222,3017,2097
$GC,12994,2.41,178.0,450.8,9.5,989,13001,0.00,1.80,0.00,0.000,6,0.000,0.035,3222,1983,2097
$GC,13322,2.41,178.0,420.3,9.4,1020,13326,0.00,1.92,0.00,0.000,4,0.000,0.061,3222,907,2097
$GC,13468,2.41,178.0,406.6,9.2,1033,13472,0.00,1.83,0.00,0.000,6,0.000,0.031,3222,1990,2097
$GC,13799,2.41,178.0,377.2,9.9,1064,13803,0.00,1.95,0.00,0.000,4,0.000,0.055,3222,902,2097
$GC,13882,2.41,178.0,368.4,10.8,1071,13888,0.00,1.80,0.00,0.000,6,0.000,0.030,3222,1958,2097
$GC,14209,2.43,186.4,338.4,8.3,1102,14219,0.00,0.00,8.32,0.900,6,0.000,0.000,3222,1959,2065
$GC,14537,2.45,187.4,309.8,8.9,1133,14540,0.00,1.80,0.00,0.000,4,0.000,0.045,3222,3009,2064
$GC,14604,2.45,187.4,303.7,9.4,1139,14608,0.00,1.77,0.00,0.000,6,0.000,0.034,3222,1963,2065
$GC,14934,2.47,187.4,273.6,9.4,1170,14939,0.12,1.80,0.00,0.000,4,0.071,0.042,3256,3004,2064
$GC,14995,2.47,187.4,267.9,9.5,1175,15001,0.00,1.80,0.00,0.000,6,0.000,0.033,3256,1957,2064
$GC,15327,2.48,195.5,239.9,8.3,1217,15343,0.00,1.85,9.60,0.853,4,0.000,0.043,3256,3008,2027
$GC,15585,2.48,195.5,216.7,9.9,1263,15591,0.00,1.70,0.00,0.000,6,0.000,0.032,3256,2003,2026
$GC,15928,2.50,205.2,185.5,8.1,1324,15944,0.00,1.80,9.57,0.813,4,0.000,0.042,3256,3011,1988
$GC,15973,2.50,205.2,181.4,9.6,1332,15979,0.00,1.75,0.00,0.000,6,0.000,0.031,3256,1979,1987
$GC,16316,2.56,226.3,152.5,7.1,1393,16342,0.00,1.95,18.90,0.827,4,0.000,0.053,3256,918,1902
$GC,16401,2.61,244.7,146.4,7.4,1408,16424,0.00,1.83,16.67,0.798,6,0.000,0.028,3256,2001,1827
$GC,16765,2.73,277.0,123.0,6.1,1472,16799,0.17,1.73,27.33,0.786,4,0.058,0.038,3309,3002,1694
$GC,17053,2.76,297.1,101.2,7.2,1523,17076,0.00,1.67,17.52,0.746,6,0.000,0.028,3310,1991,1612
$GC,17418,2.86,322.5,74.5,6.7,1587,17445,0.00,1.90,21.92,0.719,4,0.000,0.045,3309,916,1510
$GC,17597,2.94,345.9,61.4,6.9,1619,17626,0.17,1.70,20.17,0.693,6,0.056,0.025,3360,1964,1414
$GC,17967,2.96,345.9,26.9,9.8,1684,17973,0.00,1.85,0.00,0.000,4,0.000,0.043,3360,916,1413
$GC,18036,2.96,345.9,19.5,10.7,1696,18042,0.00,1.70,0.00,0.000,6,0.000,0.024,3360,1956,1413
$STATE,18222,end climb,SURFACE_DEPTH_REACHED
$STATE,18222,begin surface coast
$FINISH,-0.0,1.021606
$STATE,18238,end surface coast,CONTROL_FINISHED_OK
$STATE,18238,begin surface
$SM_CCo,18260,81.78,0.635,0,0,888,475.15
$SM_GC,-6.14,0.00,0.00,81.78,0.000,0.000,0.635,416,2334,888,-10.55,0.25,475.15
$IRIDIUM_FIX,1238.83,12012.37,190697,040437
$TT8_MAMPS,0.026078
$HUMID,1823
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,379
$24V_AH,23.2,26.580
$10V_AH,10.2,21.409
$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,28.400,132.025,377.125,81.775,0.000,30.482,33.598,177.819,104.250,0.000,0.000,14.915,2858.661,11530.382,577.442,3196.491,572.173,0.000,2123.948,0.000,3150.089,0.000,69.755
$DEVICE_MAMPS,174.876,156.468,1346.085,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.995,419.576,695.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91551,1732
$CAP_FILE_SIZE,178199,0
$CFSIZE,260165632,242163712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250308,143856,1247.175,12017.178,40,1.4,40,-0.8