version: 66.03
glider: 126
mission: 7
dive: 271
start: 4 14 108 5 35 25
data:
$ID,126
$MISSION,7
$DIVE,271
$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,-624528.88
$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,76
$R_STBD_OVSHOOT,67
$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
$GPS1,052807,1247.242,12026.744,39,0.9,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.03
$_SM_ANGLEo,-58.7
$GPS2,053433,1247.226,12026.721,16,1.1,16,-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,69.0,4706,-19.0,-9.016
$D_GRID,634
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,95,0.00,0.00,-67.78,0.000,6,0.000,0.000,418,2263,3320
$GC,97,-2.18,-120.8,0.4,-19.3,13,114,10.25,1.85,0.00,0.000,4,0.167,0.035,2252,3353,3323
$GC,200,-1.98,-120.8,25.9,-17.8,31,206,0.22,1.62,0.00,0.000,6,0.114,0.022,2295,2310,3323
$GC,544,-1.90,-120.8,78.0,-13.5,92,551,0.00,1.67,0.00,0.000,4,0.000,0.032,2295,1308,3325
$GC,630,-1.83,-120.8,89.8,-14.0,107,637,0.12,1.52,0.00,0.000,6,0.099,0.023,2331,2245,3326
$GC,975,-1.87,-121.1,126.3,-9.0,168,981,0.00,1.88,0.00,0.000,4,0.000,0.038,2331,3354,3327
$GC,1078,-1.87,-121.1,135.8,-9.1,186,1084,0.00,1.75,0.00,0.000,6,0.000,0.023,2331,2255,3328
$GC,1422,-1.96,-140.0,164.6,-7.8,247,1428,0.12,1.85,0.00,0.000,4,0.059,0.038,2292,3349,3328
$GC,1474,-1.96,-140.0,169.7,-9.8,256,1480,0.00,1.65,0.00,0.000,6,0.000,0.024,2292,2285,3328
$GC,1819,-1.97,-146.0,200.0,-8.6,317,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2278,3328
$GC,2162,-1.97,-146.0,229.0,-8.6,378,2167,0.00,1.83,0.00,0.000,4,0.000,0.041,2292,3355,3328
$GC,2292,-1.97,-146.0,241.4,-9.7,401,2298,0.00,1.65,0.00,0.000,6,0.000,0.026,2292,2303,3328
$GC,2628,-1.97,-146.0,270.4,-9.1,441,2632,0.00,1.80,0.00,0.000,4,0.000,0.043,2292,3343,3328
$GC,2677,-1.97,-146.0,275.2,-9.5,445,2683,0.00,1.62,0.00,0.000,6,0.000,0.026,2292,2329,3327
$GC,3004,-1.97,-146.0,303.4,-7.9,476,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2326,3325
$GC,3321,-1.97,-146.0,330.3,-8.8,506,3324,0.00,1.75,0.00,0.000,4,0.000,0.045,2291,3350,3324
$GC,3388,-1.97,-146.0,336.6,-9.6,512,3392,0.00,1.62,0.00,0.000,6,0.000,0.028,2292,2333,3323
$GC,3720,-1.97,-146.0,367.0,-9.2,543,3724,0.00,1.73,0.00,0.000,4,0.000,0.041,2292,1317,3322
$GC,3788,-1.97,-146.0,373.4,-8.9,549,3792,0.00,1.62,0.00,0.000,6,0.000,0.028,2292,2303,3321
$GC,4121,-1.97,-146.0,401.7,-8.2,580,4124,0.00,1.85,0.00,0.000,4,0.000,0.047,2292,3364,3319
$GC,4271,-1.97,-146.0,415.1,-9.2,593,4277,0.00,1.62,0.00,0.000,6,0.000,0.029,2292,2390,3318
$GC,4599,-2.00,-146.0,444.1,-8.7,624,4603,0.00,1.90,0.00,0.000,4,0.000,0.050,2292,1315,3316
$GC,4644,-2.00,-146.0,448.3,-9.1,628,4648,0.00,1.80,0.00,0.000,6,0.000,0.031,2292,2367,3315
$GC,4976,-2.03,-146.0,474.9,-8.0,659,4980,0.00,1.75,0.00,0.000,4,0.000,0.051,2292,3377,3314
$GC,5010,-2.03,-146.0,478.0,-9.7,662,5014,0.00,1.60,0.00,0.000,6,0.000,0.031,2292,2411,3313
$GC,5351,-2.07,-146.0,505.3,-8.2,691,5355,0.00,1.92,0.00,0.000,4,0.000,0.058,2292,1319,3311
$GC,5408,-2.07,-146.0,510.2,-8.4,693,5412,0.00,1.80,0.00,0.000,6,0.000,0.038,2292,2373,3311
$GC,5730,-2.10,-146.0,537.9,-8.9,709,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2372,3309
$GC,6040,-2.14,-146.0,564.7,-8.2,724,6041,0.12,0.00,0.00,0.000,6,0.068,0.000,2259,2372,3308
$GC,6349,-2.14,-146.0,591.1,-8.8,739,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2373,3305
$GC,6659,-2.14,-146.0,618.6,-9.0,754,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2373,3305
$STATE,6840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6840,begin apogee
$GC,6846,-0.52,0.0,635.0,9.0,763,6949,1.65,0.00,98.93,1.155,6,0.087,0.000,2613,2014,2825
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6950,begin climb
$GC,6953,2.22,146.0,639.4,0.0,768,7084,2.62,2.12,122.43,1.121,4,0.056,0.105,3217,968,2228
$GC,7193,2.14,175.5,631.8,7.2,779,7224,0.00,1.85,25.52,1.077,6,0.000,0.070,3217,1953,2109
$GC,7533,2.05,175.5,601.7,9.1,796,7538,0.17,1.98,0.00,0.000,4,0.100,0.074,3178,3026,2105
$GC,7573,2.01,193.8,598.3,7.9,798,7595,0.00,1.85,16.15,1.050,6,0.000,0.061,3178,2018,2035
$GC,7904,1.98,210.7,571.7,8.0,814,7926,0.00,2.00,15.80,1.050,4,0.000,0.075,3178,962,1965
$GC,7982,1.93,210.7,564.6,9.1,817,7987,0.10,1.83,0.00,0.000,6,0.096,0.041,3153,1980,1965
$GC,8303,1.96,231.0,539.6,7.8,833,8327,0.00,1.95,18.42,1.059,4,0.000,0.063,3153,965,1883
$GC,8361,1.98,241.3,534.5,8.4,835,8376,0.00,1.75,10.43,0.979,6,0.000,0.034,3153,1958,1841
$GC,8697,1.98,241.3,503.5,9.1,852,8701,0.00,1.83,0.00,0.000,4,0.000,0.058,3153,950,1839
$GC,8730,1.98,241.3,500.2,9.7,853,8734,0.00,1.75,0.00,0.000,6,0.000,0.030,3153,1968,1839
$GC,9063,1.98,243.2,470.1,8.9,884,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1967,1838
$GC,9379,1.99,248.8,443.0,8.7,914,9390,0.00,1.88,7.35,0.905,4,0.000,0.044,3153,3013,1810
$GC,9448,2.00,257.3,437.0,8.5,920,9462,0.00,1.77,9.02,0.941,6,0.000,0.033,3153,1973,1776
$GC,9788,2.00,257.5,406.5,9.0,952,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1973,1773
$GC,10106,2.02,266.2,379.0,8.5,982,10120,0.00,1.88,9.07,0.918,4,0.000,0.043,3153,3013,1739
$GC,10206,2.02,266.2,370.3,9.3,991,10210,0.00,1.83,0.00,0.000,6,0.000,0.033,3153,1942,1738
$GC,10539,2.03,274.4,342.0,8.5,1022,10553,0.00,1.90,8.50,0.886,4,0.000,0.062,3153,911,1706
$GC,10598,2.03,274.4,336.4,9.1,1027,10604,0.00,1.80,0.00,0.000,6,0.000,0.029,3153,1963,1705
$GC,10925,2.10,293.2,309.3,7.8,1058,10948,0.15,1.88,17.45,0.937,4,0.065,0.045,3194,3001,1629
$GC,10993,2.10,293.2,302.6,9.6,1064,10997,0.00,1.77,0.00,0.000,6,0.000,0.033,3194,1962,1627
$GC,11325,2.10,293.2,271.5,9.5,1095,11329,0.00,1.83,0.00,0.000,4,0.000,0.044,3195,3014,1626
$GC,11359,2.10,293.2,268.0,9.2,1098,11363,0.00,1.80,0.00,0.000,6,0.000,0.035,3194,1955,1626
$GC,11692,2.10,293.2,235.5,9.9,1141,11698,0.00,1.83,0.00,0.000,4,0.000,0.043,3194,3008,1626
$GC,11805,2.10,293.8,224.7,9.0,1161,11811,0.00,1.70,0.00,0.000,6,0.000,0.041,3194,2003,1626
$GC,12148,2.10,293.8,192.8,9.2,1222,12154,0.00,1.73,0.00,0.000,4,0.000,0.043,3194,3002,1626
$GC,12200,2.10,294.0,188.1,9.0,1231,12206,0.00,1.67,0.00,0.000,6,0.000,0.031,3194,2007,1626
$GC,12543,2.13,314.5,159.0,7.7,1292,12570,0.00,2.00,18.77,0.831,4,0.000,0.054,3194,917,1542
$GC,12633,2.14,317.4,151.3,8.8,1308,12644,0.00,1.85,4.25,0.585,6,0.000,0.030,3194,2022,1530
$GC,12985,2.21,327.2,122.7,8.4,1370,13003,0.00,1.73,9.62,0.746,4,0.000,0.043,3194,3000,1491
$GC,13146,2.36,372.1,112.2,6.2,1398,13190,0.17,1.62,38.22,0.786,6,0.044,0.028,3250,2040,1308
$GC,13527,2.44,396.2,81.2,7.5,1466,13555,0.00,2.00,21.25,0.736,4,0.000,0.054,3251,911,1209
$GC,13618,2.50,414.6,74.0,7.9,1482,13641,0.08,1.88,16.48,0.706,6,0.052,0.026,3284,2032,1134
$GC,13983,2.59,436.1,44.6,7.7,1546,14006,0.00,2.05,19.02,0.682,4,0.000,0.042,3284,906,1047
$GC,14052,2.65,446.1,38.5,8.4,1558,14070,0.00,1.77,9.88,0.626,6,0.000,0.024,3284,1978,1005
$GC,14412,2.71,446.1,8.5,9.0,1621,14418,0.15,1.70,0.00,0.000,4,0.054,0.035,3332,3000,1004
$STATE,14472,end climb,SURFACE_DEPTH_REACHED
$STATE,14473,begin surface coast
$FINISH,0.4,1.021151
$STATE,14491,end surface coast,CONTROL_FINISHED_OK
$STATE,14491,begin surface
$SM_CCo,14515,24.08,0.638,0,0,888,475.15
$SM_GC,-6.19,0.00,0.00,24.08,0.000,0.000,0.638,418,2267,888,-10.64,-1.64,475.15
$IRIDIUM_FIX,1243.25,12024.46,090797,010117
$TT8_MAMPS,0.026078
$HUMID,1935
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.30
$XPDR_PINGS,446
$24V_AH,23.3,42.567
$10V_AH,10.2,31.577
$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,28.575,104.300,496.575,24.075,0.000,28.650,33.088,187.655,115.000,0.000,0.000,16.182,2584.277,8445.970,579.054,2756.543,582.846,0.000,1938.231,0.000,2730.194,0.000,26.286
$DEVICE_MAMPS,167.206,105.079,1155.102,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.171,464.283,761.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88362,1635
$CAP_FILE_SIZE,153971,0
$CFSIZE,260165632,234156032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,093901,1247.132,12028.020,40,1.9,40,-0.8