version: 66.03
glider: 126
mission: 7
dive: 180
start: 3 25 108 14 49 12
data:
$ID,126
$MISSION,7
$DIVE,180
$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,-622829.56
$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,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
$GPS1,143856,1247.175,12017.178,40,1.4,40,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.07
$_SM_ANGLEo,-58.6
$GPS2,144820,1247.209,12017.169,11,1.4,16,-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,94.3,9321,-22.8,-9.016
$D_GRID,921
$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,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-64.57,0.000,6,0.000,0.000,417,2335,3140
$GC,96,-2.43,-76.7,0.2,-19.0,13,113,10.00,1.83,0.00,0.000,4,0.173,0.033,2176,1265,3141
$GC,310,-2.29,-76.7,57.2,-22.9,51,317,0.17,1.70,0.00,0.000,6,0.123,0.025,2208,2313,3142
$GC,655,-2.23,-76.7,120.3,-16.4,112,662,0.00,1.80,0.00,0.000,4,0.000,0.041,2208,3368,3143
$GC,892,-2.20,-76.7,151.7,-13.2,154,898,0.12,1.70,0.00,0.000,6,0.113,0.024,2232,2290,3144
$GC,1236,-2.20,-76.7,187.9,-10.1,215,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2282,3145
$GC,1578,-2.20,-76.7,222.2,-9.9,276,1584,0.00,1.85,0.00,0.000,4,0.000,0.042,2232,3371,3146
$GC,1837,-2.20,-76.7,248.1,-9.4,322,1843,0.00,1.65,0.00,0.000,6,0.000,0.027,2232,2341,3145
$GC,2170,-2.22,-76.7,282.8,-10.4,355,2174,0.00,1.80,0.00,0.000,4,0.000,0.044,2232,3368,3144
$GC,2270,-2.22,-76.7,294.0,-10.8,364,2274,0.00,1.65,0.00,0.000,6,0.000,0.028,2231,2345,3143
$GC,2602,-2.24,-76.7,329.9,-10.9,395,2606,0.00,1.80,0.00,0.000,4,0.000,0.047,2232,3365,3141
$GC,2703,-2.24,-76.7,341.0,-10.8,404,2706,0.00,1.62,0.00,0.000,6,0.000,0.028,2232,2362,3141
$GC,3034,-2.27,-76.7,376.3,-10.3,435,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2357,3139
$GC,3352,-2.30,-76.7,408.2,-9.6,465,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2357,3137
$GC,3670,-2.33,-76.7,439.9,-10.3,495,3672,0.12,0.00,0.00,0.000,6,0.066,0.000,2197,2357,3134
$GC,3989,-2.33,-76.7,473.4,-10.6,525,3992,0.00,1.85,0.00,0.000,4,0.000,0.054,2197,1308,3132
$GC,4050,-2.33,-76.7,480.1,-11.0,530,4056,0.00,1.85,0.00,0.000,6,0.000,0.035,2198,2380,3132
$GC,4372,-2.33,-76.7,516.3,-12.4,555,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2381,3130
$GC,4680,-2.33,-76.7,549.7,-10.8,570,4685,0.00,1.95,0.00,0.000,4,0.000,0.062,2197,1299,3127
$GC,4724,-2.33,-76.7,554.5,-11.0,572,4728,0.00,1.90,0.00,0.000,6,0.000,0.047,2197,2386,3127
$GC,5056,-2.33,-78.3,586.3,-8.9,588,5060,0.00,1.80,0.00,0.000,4,0.000,0.077,2197,3355,3125
$GC,5161,-2.33,-78.3,596.5,-10.0,592,5168,0.00,1.65,0.00,0.000,6,0.000,0.054,2197,2445,3124
$GC,5477,-2.33,-78.3,627.8,-10.2,608,5480,0.00,2.12,0.00,0.000,4,0.000,0.087,2197,1310,3122
$GC,5566,-2.33,-78.3,637.0,-10.4,612,5570,0.00,1.95,0.00,0.000,6,0.000,0.074,2197,2357,3122
$GC,5900,-2.33,-78.3,670.6,-10.4,628,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2359,3119
$GC,6207,-2.33,-78.3,701.9,-9.5,643,6210,0.00,1.85,0.00,0.000,4,0.000,0.048,2197,1302,3118
$GC,6313,-2.33,-78.3,712.1,-9.8,647,6319,0.00,1.90,0.00,0.000,6,0.000,0.034,2197,2404,3118
$GC,6628,-2.33,-78.3,743.0,-10.0,663,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2404,3116
$GC,6937,-2.33,-78.3,777.4,-11.2,678,6941,0.00,1.95,0.00,0.000,4,0.000,0.051,2197,1295,3115
$GC,6987,-2.33,-78.3,782.9,-10.8,680,6991,0.00,1.90,0.00,0.000,6,0.000,0.036,2197,2395,3115
$GC,7313,-2.33,-78.3,819.5,-11.4,696,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2395,3114
$GC,7623,-2.33,-78.3,854.3,-10.1,711,7627,0.00,1.92,0.00,0.000,4,0.000,0.046,2197,1310,3112
$GC,7767,-2.34,-87.7,866.0,-8.2,717,7771,0.00,1.88,0.00,0.000,6,0.000,0.035,2197,2395,3112
$GC,8089,-2.38,-106.6,889.9,-7.3,733,8097,0.00,1.92,0.00,0.000,4,0.000,0.046,2197,1294,3111
$GC,8181,-2.43,-140.1,897.2,-6.0,737,8185,0.00,1.88,0.00,0.000,6,0.000,0.035,2197,2395,3111
$STATE,8429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8429,begin apogee
$GC,8435,-0.51,0.0,921.5,10.4,749,8501,1.92,0.00,61.53,1.386,6,0.103,0.000,2599,1979,2825
$STATE,8502,end apogee,CONTROL_FINISHED_OK
$STATE,8502,begin climb
$GC,8504,2.53,140.1,923.6,0.0,752,8632,2.97,0.00,122.90,1.356,6,0.063,0.000,3264,1979,2253
$GC,8942,2.49,140.1,886.4,9.2,774,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1979,2247
$GC,9250,2.46,140.1,850.3,11.8,789,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1978,2245
$GC,9559,2.42,140.1,817.8,9.9,804,9563,0.15,1.92,0.00,0.000,4,0.116,0.058,3232,910,2244
$GC,9711,2.40,144.3,804.5,8.6,810,9717,0.00,1.83,0.00,0.000,6,0.000,0.033,3231,1986,2243
$GC,10027,2.43,160.5,780.3,7.6,826,10046,0.00,0.00,17.35,1.262,6,0.000,0.000,3232,1986,2170
$GC,10355,2.43,160.5,747.8,10.8,842,10358,0.00,1.95,0.00,0.000,4,0.000,0.057,3232,911,2167
$GC,10400,2.43,160.5,742.4,13.1,844,10403,0.00,1.80,0.00,0.000,6,0.000,0.033,3232,1966,2167
$GC,10731,2.43,160.5,702.7,11.8,860,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1967,2167
$GC,11040,2.43,160.5,666.9,10.5,875,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1967,2166
$GC,11350,2.43,160.5,637.4,9.3,890,11354,0.00,1.90,0.00,0.000,4,0.000,0.058,3232,916,2166
$GC,11462,2.43,160.5,626.9,9.9,895,11466,0.00,1.77,0.00,0.000,6,0.000,0.033,3232,1959,2166
$GC,11794,2.43,160.5,595.5,9.5,911,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1959,2166
$GC,12103,2.43,160.5,564.3,10.3,926,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1959,2166
$GC,12412,2.43,160.5,530.7,11.6,941,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1960,2166
$GC,12723,2.43,160.5,499.5,9.5,956,12727,0.00,1.88,0.00,0.000,4,0.000,0.057,3232,915,2166
$GC,12910,2.43,160.5,482.0,9.4,972,12916,0.00,1.77,0.00,0.000,6,0.000,0.033,3232,1962,2166
$GC,13236,2.44,164.5,453.5,8.7,1003,13245,0.00,0.00,4.43,0.769,6,0.000,0.000,3232,1962,2153
$GC,13564,2.46,175.6,425.2,8.0,1034,13579,0.00,1.92,11.07,1.014,4,0.000,0.055,3232,916,2108
$GC,13716,2.47,185.4,412.2,8.1,1047,13730,0.00,1.77,9.77,0.978,6,0.000,0.032,3232,1957,2069
$GC,14056,2.47,185.4,382.3,9.3,1079,14060,0.00,1.88,0.00,0.000,4,0.000,0.055,3232,916,2068
$GC,14101,2.47,185.4,378.0,9.5,1083,14105,0.00,1.75,0.00,0.000,6,0.000,0.031,3232,1946,2068
$GC,14432,2.47,185.4,347.3,9.1,1114,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1947,2068
$GC,14749,2.47,185.4,318.5,9.6,1144,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1948,2068
$GC,15068,2.47,185.4,286.6,9.9,1174,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1948,2068
$GC,15387,2.47,185.4,255.1,9.2,1204,15390,0.00,1.85,0.00,0.000,4,0.000,0.048,3232,3021,2068
$GC,15538,2.47,185.4,240.7,9.8,1226,15544,0.00,1.88,0.00,0.000,6,0.000,0.034,3232,1915,2068
$GC,15882,2.50,191.0,211.2,8.5,1287,15894,0.10,1.98,6.62,0.772,4,0.079,0.044,3261,3012,2046
$GC,16021,2.50,191.0,197.9,9.4,1311,16027,0.00,1.85,0.00,0.000,6,0.000,0.033,3261,1923,2046
$GC,16365,2.55,216.8,168.4,6.7,1372,16391,0.00,0.00,22.73,0.854,6,0.000,0.000,3261,1922,1941
$GC,16731,2.59,232.1,140.0,7.6,1437,16747,0.00,0.00,14.05,0.804,6,0.000,0.000,3261,1922,1878
$GC,17084,2.71,278.5,117.4,4.8,1500,17129,0.15,1.88,38.83,0.793,4,0.063,0.051,3307,908,1689
$GC,17304,2.75,298.4,100.2,7.2,1539,17327,0.00,1.73,17.30,0.749,6,0.000,0.026,3307,1960,1608
$GC,17668,2.83,319.5,74.8,7.1,1603,17691,0.00,1.83,18.60,0.718,4,0.000,0.037,3307,2994,1521
$GC,17944,2.88,320.8,51.2,8.9,1652,17951,0.10,1.75,0.00,0.000,6,0.049,0.026,3346,1950,1520
$GC,18289,2.94,336.4,24.3,7.6,1713,18311,0.00,1.83,14.95,0.648,4,0.000,0.034,3345,3001,1452
$GC,18565,3.00,355.6,2.2,7.3,1762,18573,0.00,1.73,3.90,0.430,2,0.000,0.025,3346,1961,1442
$STATE,18574,end climb,SURFACE_DEPTH_REACHED
$STATE,18574,begin surface coast
$FINISH,-0.6,1.021462
$STATE,18602,end surface coast,CONTROL_FINISHED_OK
$STATE,18603,begin surface
$SM_CCo,18624,85.22,0.632,0,0,887,475.15
$SM_GC,-6.06,0.00,0.00,85.22,0.000,0.000,0.632,413,2347,887,-10.57,0.65,475.15
$IRIDIUM_FIX,1241.04,12016.50,190697,141438
$TT8_MAMPS,0.026078
$HUMID,1805
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.80
$XPDR_PINGS,426
$24V_AH,23.1,26.741
$10V_AH,10.1,21.520
$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,28.600,89.425,364.025,85.225,0.000,59.032,143.203,176.383,117.250,0.000,0.000,16.074,2839.870,12186.431,549.228,3034.658,685.828,0.000,1980.273,0.000,2995.199,0.000,78.827
$DEVICE_MAMPS,173.342,86.671,1385.969,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.430,433.382,708.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94524,1768
$CAP_FILE_SIZE,165415,0
$CFSIZE,260165632,242077696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250308,200207,1247.492,12019.165,29,1.2,29,-0.8