version: 66.03
glider: 126
mission: 7
dive: 197
start: 3 29 108 3 14 50
data:
$ID,126
$MISSION,7
$DIVE,197
$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,-623162.12
$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,46
$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
$GPS1,030756,1247.796,12029.160,41,1.1,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.06
$_SM_ANGLEo,-58.3
$GPS2,031357,1247.798,12029.173,13,1.1,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S1
$TGT_LATLONG,1248.170,12029.140
$TGT_RADIUS,9999.000
$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,355.9,691,-21.3,-9.016
$D_GRID,999
$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,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-66.30,0.000,6,0.000,0.000,416,2336,3243
$GC,97,-2.39,-101.9,0.7,-20.5,13,109,10.10,0.00,0.00,0.000,6,0.172,0.000,2202,2336,3245
$GC,448,-2.23,-101.9,84.6,-19.6,75,454,0.17,1.73,0.00,0.000,4,0.123,0.037,2238,3367,3246
$GC,466,-2.09,-101.9,88.1,-17.7,78,473,0.12,1.73,0.00,0.000,6,0.108,0.023,2267,2296,3247
$GC,811,-2.09,-101.9,133.9,-10.9,139,817,0.00,1.80,0.00,0.000,4,0.000,0.038,2268,3361,3249
$GC,851,-2.09,-101.9,138.5,-12.2,146,857,0.00,1.62,0.00,0.000,6,0.000,0.023,2267,2340,3249
$GC,1194,-2.09,-101.9,173.7,-10.2,207,1200,0.00,1.73,0.00,0.000,4,0.000,0.040,2267,3361,3249
$GC,1217,-2.09,-101.9,176.1,-9.9,211,1223,0.00,1.58,0.00,0.000,6,0.000,0.025,2268,2369,3250
$GC,1561,-2.13,-101.9,211.7,-10.1,272,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2362,3249
$GC,1904,-2.18,-101.9,246.8,-10.2,333,1910,0.00,1.70,0.00,0.000,4,0.000,0.043,2268,3363,3250
$GC,1966,-2.18,-101.9,253.6,-11.3,341,1972,0.00,1.60,0.00,0.000,6,0.000,0.026,2267,2371,3250
$GC,2292,-2.23,-101.9,284.9,-9.9,372,2295,0.00,1.70,0.00,0.000,4,0.000,0.044,2267,3359,3248
$GC,2350,-2.26,-101.9,290.8,-9.5,377,2355,0.12,1.60,0.00,0.000,6,0.063,0.027,2231,2356,3248
$GC,2680,-2.26,-101.9,325.3,-10.8,408,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2348,3245
$GC,2999,-2.26,-101.9,359.8,-11.4,438,3003,0.00,1.75,0.00,0.000,4,0.000,0.047,2231,3362,3244
$GC,3161,-2.26,-101.9,378.3,-10.7,452,3167,0.00,1.60,0.00,0.000,6,0.000,0.028,2231,2401,3242
$GC,3487,-2.26,-101.9,412.9,-10.9,483,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2398,3240
$GC,3804,-2.26,-101.9,445.6,-10.2,513,3808,0.00,1.67,0.00,0.000,4,0.000,0.050,2231,3362,3238
$GC,3860,-2.26,-101.9,451.7,-10.3,518,3864,0.00,1.62,0.00,0.000,6,0.000,0.031,2231,2404,3237
$GC,4192,-2.26,-101.9,486.1,-10.2,549,4195,0.00,1.67,0.00,0.000,4,0.000,0.053,2231,3356,3235
$GC,4229,-2.26,-101.9,490.3,-10.2,552,4236,0.00,1.60,0.00,0.000,6,0.000,0.031,2231,2416,3235
$GC,4559,-2.26,-101.9,523.6,-10.2,573,4562,0.00,2.00,0.00,0.000,4,0.000,0.070,2231,1315,3233
$GC,4608,-2.26,-101.9,529.0,-10.2,575,4612,0.00,1.83,0.00,0.000,6,0.000,0.041,2230,2354,3233
$GC,4938,-2.26,-101.9,562.2,-9.7,591,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2354,3230
$GC,5246,-2.26,-102.8,591.6,-9.0,606,5249,0.00,1.95,0.00,0.000,4,0.000,0.074,2231,1321,3229
$GC,5283,-2.26,-102.8,595.2,-9.1,607,5290,0.00,1.92,0.00,0.000,6,0.000,0.060,2231,2365,3229
$GC,5600,-2.26,-102.8,624.9,-9.6,623,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2365,3227
$GC,5908,-2.26,-102.8,655.8,-10.2,638,5912,0.00,2.00,0.00,0.000,4,0.000,0.107,2231,3387,3226
$GC,5958,-2.26,-102.8,661.1,-10.3,640,5962,0.00,1.85,0.00,0.000,6,0.000,0.084,2231,2432,3225
$GC,6284,-2.26,-102.8,695.1,-10.5,656,6288,0.00,1.95,0.00,0.000,4,0.000,0.046,2231,1318,3224
$GC,6362,-2.26,-102.8,703.5,-10.3,659,6366,0.00,1.85,0.00,0.000,6,0.000,0.032,2231,2397,3223
$GC,6683,-2.26,-102.8,738.1,-10.8,675,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2397,3221
$GC,6993,-2.26,-102.8,771.1,-10.2,690,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2397,3220
$GC,7302,-2.27,-107.3,799.2,-8.7,705,7306,0.00,1.90,0.00,0.000,4,0.000,0.048,2231,1317,3218
$GC,7370,-2.29,-117.8,805.0,-8.3,708,7373,0.00,1.83,0.00,0.000,6,0.000,0.035,2231,2388,3218
$GC,7703,-2.29,-123.2,833.7,-8.6,724,7707,0.00,1.75,0.00,0.000,4,0.000,0.055,2231,3392,3217
$GC,7764,-2.29,-123.2,839.3,-9.2,726,7770,0.00,1.67,0.00,0.000,6,0.000,0.032,2231,2409,3216
$GC,8079,-2.29,-123.2,868.7,-9.8,742,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2408,3215
$GC,8389,-2.33,-123.2,899.5,-9.6,757,8393,0.00,1.90,0.00,0.000,4,0.000,0.051,2231,1316,3213
$GC,8439,-2.33,-123.2,904.4,-9.7,759,8443,0.00,1.90,0.00,0.000,6,0.000,0.034,2231,2412,3214
$GC,8768,-2.36,-126.8,933.4,-8.8,775,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2413,3212
$GC,9075,-2.40,-126.8,964.3,-10.7,790,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2413,3212
$STATE,9321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9321,begin apogee
$GC,9327,-0.52,0.0,991.7,11.2,802,9415,1.80,0.00,83.95,1.440,6,0.094,0.000,2612,1998,2825
$STATE,9415,end apogee,CONTROL_FINISHED_OK
$STATE,9416,begin climb
$GC,9418,2.43,126.8,995.0,0.0,806,9540,2.90,0.00,113.00,1.406,6,0.061,0.000,3263,1998,2307
$GC,9850,2.33,126.8,962.8,9.8,827,9854,0.15,1.98,0.00,0.000,4,0.116,0.061,3231,914,2301
$GC,9997,2.24,131.1,949.0,8.7,833,10006,0.00,1.85,4.20,0.896,6,0.000,0.031,3231,1998,2290
$GC,10334,2.16,131.1,914.6,10.2,850,10336,0.15,0.00,0.00,0.000,6,0.120,0.000,3204,1998,2288
$GC,10644,2.12,131.1,884.8,9.7,865,10647,0.00,1.98,0.00,0.000,4,0.000,0.057,3203,913,2288
$GC,10837,2.06,131.1,865.5,11.0,873,10841,0.12,1.75,0.00,0.000,6,0.119,0.031,3180,1938,2288
$GC,11158,2.08,139.4,837.0,8.4,889,11168,0.00,0.00,8.65,1.205,6,0.000,0.000,3180,1938,2256
$GC,11466,2.08,141.3,809.2,8.9,904,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1938,2255
$GC,11775,2.08,141.3,780.1,9.5,919,11779,0.00,1.88,0.00,0.000,4,0.000,0.058,3180,908,2254
$GC,11853,2.08,141.3,772.6,9.7,922,11857,0.00,1.75,0.00,0.000,6,0.000,0.031,3180,1920,2255
$GC,12174,2.09,148.6,744.8,8.5,938,12185,0.00,0.00,9.10,1.178,6,0.000,0.000,3180,1920,2219
$GC,12483,2.10,152.9,718.2,8.7,953,12491,0.00,0.00,5.62,1.018,6,0.000,0.000,3180,1921,2202
$GC,12793,2.11,158.3,691.5,8.6,968,12801,0.00,0.00,6.60,1.065,6,0.000,0.000,3180,1921,2179
$GC,13102,2.13,172.0,666.0,8.1,983,13121,0.00,0.00,13.75,1.192,6,0.000,0.000,3180,1921,2123
$GC,13431,2.15,182.5,637.8,8.3,999,13446,0.00,1.95,10.50,1.134,4,0.000,0.048,3180,3016,2080
$GC,13509,2.15,182.5,630.6,9.6,1001,13515,0.00,1.90,0.00,0.000,6,0.000,0.038,3180,1919,2080
$GC,13824,2.15,182.5,600.2,9.9,1017,13827,0.00,1.92,0.00,0.000,4,0.000,0.047,3180,3016,2079
$GC,13879,2.15,182.5,594.7,10.4,1019,13883,0.00,1.85,0.00,0.000,6,0.000,0.036,3180,1939,2079
$GC,14200,2.15,182.5,565.9,9.0,1035,14203,0.00,1.85,0.00,0.000,4,0.000,0.064,3180,916,2079
$GC,14267,2.15,183.9,559.5,8.9,1038,14271,0.00,1.70,0.00,0.000,6,0.000,0.031,3180,1914,2078
$GC,14599,2.15,183.9,527.5,9.6,1054,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1914,2078
$GC,14908,2.15,183.9,498.5,9.3,1069,14912,0.00,1.90,0.00,0.000,4,0.000,0.048,3180,3015,2078
$GC,15002,2.15,183.9,489.4,10.2,1077,15009,0.00,1.92,0.00,0.000,6,0.000,0.036,3180,1912,2078
$GC,15329,2.15,183.9,459.9,9.6,1108,15333,0.00,1.92,0.00,0.000,4,0.000,0.046,3180,3017,2078
$GC,15407,2.15,183.9,452.4,9.5,1115,15411,0.00,1.85,0.00,0.000,6,0.000,0.037,3180,1937,2078
$GC,15737,2.16,185.4,421.6,8.9,1146,15747,0.00,0.00,4.00,0.713,6,0.000,0.000,3180,1937,2069
$GC,16068,2.19,188.3,392.5,8.8,1177,16079,0.12,1.92,4.50,0.765,4,0.073,0.046,3214,3021,2057
$GC,16152,2.19,188.3,384.2,9.2,1184,16158,0.00,1.88,0.00,0.000,6,0.000,0.035,3214,1935,2056
$GC,16478,2.22,204.1,356.5,7.9,1215,16498,0.00,1.95,15.10,0.991,4,0.000,0.064,3214,911,1992
$GC,16555,2.22,204.1,349.5,9.2,1222,16558,0.00,1.75,0.00,0.000,6,0.000,0.031,3214,1938,1991
$GC,16885,2.22,204.1,318.1,9.3,1253,16889,0.00,1.88,0.00,0.000,4,0.000,0.048,3214,3003,1991
$GC,16942,2.22,204.1,312.7,9.6,1258,16945,0.00,1.83,0.00,0.000,6,0.000,0.035,3214,1935,1990
$GC,17272,2.22,206.3,282.1,8.9,1289,17275,0.00,1.88,0.00,0.000,4,0.000,0.044,3214,3015,1991
$GC,17431,2.25,222.1,268.3,7.9,1303,17453,0.00,1.80,16.55,0.927,6,0.000,0.033,3214,1953,1919
$GC,17780,2.25,222.1,236.2,9.2,1348,17785,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1953,1918
$GC,18122,2.26,232.5,206.6,8.3,1409,18139,0.00,1.88,10.23,0.836,4,0.000,0.042,3214,3017,1876
$GC,18259,2.29,245.2,194.9,8.1,1433,18276,0.00,1.80,12.23,0.838,6,0.000,0.032,3214,1958,1825
$GC,18615,2.37,264.3,164.1,7.7,1496,18638,0.15,1.92,17.40,0.831,4,0.061,0.041,3261,3017,1746
$GC,18672,2.37,264.3,158.6,9.5,1506,18677,0.00,1.73,0.00,0.000,6,0.000,0.030,3261,2002,1745
$GC,19015,2.38,272.5,128.6,8.4,1567,19026,0.00,0.00,8.00,0.731,6,0.000,0.000,3261,2002,1714
$GC,19366,2.47,300.5,103.0,7.1,1629,19393,0.00,0.00,24.45,0.774,6,0.000,0.000,3261,2002,1599
$GC,19732,2.62,344.3,76.2,6.0,1694,19777,0.15,1.95,36.45,0.735,4,0.057,0.050,3310,913,1421
$GC,20030,2.70,369.9,52.7,7.2,1747,20058,0.00,1.77,22.10,0.692,6,0.000,0.025,3310,2005,1317
$GC,20396,2.76,369.9,21.8,9.2,1812,20402,0.00,1.92,0.00,0.000,4,0.000,0.044,3310,914,1315
$GC,20510,2.82,369.9,11.6,9.1,1832,20517,0.10,1.75,0.00,0.000,6,0.048,0.023,3351,1980,1316
$STATE,20617,end climb,SURFACE_DEPTH_REACHED
$STATE,20617,begin surface coast
$FINISH,0.1,1.021273
$STATE,20644,end surface coast,CONTROL_FINISHED_OK
$STATE,20644,begin surface
$SM_CCo,20665,69.03,0.644,0,0,888,475.15
$SM_GC,-6.91,0.00,0.00,69.03,0.000,0.000,0.644,413,2322,888,-10.66,-0.08,475.15
$IRIDIUM_FIX,1241.04,12026.36,220697,222213
$TT8_MAMPS,0.026078
$HUMID,1833
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.10
$XPDR_PINGS,521
$24V_AH,23.1,29.427
$10V_AH,10.2,23.360
$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,28.950,113.800,426.375,69.025,0.000,23.955,35.155,176.841,142.750,0.000,0.000,13.800,3035.143,13642.207,626.741,3201.678,615.640,0.000,2171.101,0.000,3170.553,0.000,91.476
$DEVICE_MAMPS,171.808,107.380,1439.659,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.224,428.135,704.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97855,1855
$CAP_FILE_SIZE,185199,0
$CFSIZE,260165632,240603136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290308,090137,1250.122,12029.521,35,0.9,35,-0.8