version: 66.03
glider: 126
mission: 7
dive: 198
start: 3 29 108 9 9 43
data:
$ID,126
$MISSION,7
$DIVE,198
$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,-623175.62
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,090137,1250.122,12029.521,35,0.9,35,-0.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,7
$_SM_DEPTHo,-6.50
$_SM_ANGLEo,-59.5
$GPS2,090851,1250.117,12029.535,12,1.2,12,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S2
$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,192.0,3677,-19.0,-9.016
$D_GRID,1151
$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,24,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-66.47,0.000,6,0.000,0.000,413,2322,3320
$GC,96,-2.18,-120.8,0.7,-21.3,13,113,10.43,1.77,0.00,0.000,4,0.172,0.035,2251,3370,3322
$GC,273,-1.96,-120.8,48.3,-21.8,44,280,0.20,1.75,0.00,0.000,6,0.100,0.023,2296,2288,3323
$GC,618,-1.89,-120.8,102.8,-14.0,105,624,0.10,1.83,0.00,0.000,4,0.123,0.037,2314,3365,3325
$GC,732,-1.86,-120.8,116.5,-12.1,125,738,0.00,1.62,0.00,0.000,6,0.000,0.023,2314,2325,3325
$GC,1075,-1.86,-120.8,152.8,-9.2,186,1081,0.00,1.77,0.00,0.000,4,0.000,0.039,2315,3370,3326
$GC,1131,-1.86,-120.8,158.5,-10.0,196,1137,0.00,1.62,0.00,0.000,6,0.000,0.024,2314,2334,3326
$GC,1475,-1.89,-120.8,191.8,-9.8,257,1481,0.00,1.70,0.00,0.000,4,0.000,0.036,2314,1311,3327
$GC,1505,-1.93,-120.8,194.7,-9.8,262,1511,0.00,1.67,0.00,0.000,6,0.000,0.025,2314,2341,3327
$GC,1848,-1.98,-122.4,226.4,-8.9,323,1854,0.00,1.75,0.00,0.000,4,0.000,0.044,2314,3372,3327
$GC,1899,-2.01,-122.4,230.9,-9.1,332,1905,0.00,1.65,0.00,0.000,6,0.000,0.025,2314,2332,3327
$GC,2243,-2.08,-131.2,260.0,-8.5,383,2247,0.17,1.73,0.00,0.000,4,0.053,0.038,2261,1312,3326
$GC,2269,-2.08,-131.2,262.9,-10.3,385,2276,0.00,1.67,0.00,0.000,6,0.000,0.026,2261,2322,3326
$GC,2596,-2.08,-131.2,295.9,-10.9,416,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2323,3324
$GC,2913,-2.08,-131.2,330.9,-10.9,446,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2322,3322
$GC,3232,-2.08,-131.2,364.9,-10.3,476,3235,0.00,1.80,0.00,0.000,4,0.000,0.048,2261,3370,3320
$GC,3310,-2.04,-131.2,373.4,-10.7,483,3315,0.12,1.70,0.00,0.000,6,0.105,0.029,2285,2345,3319
$GC,3640,-2.04,-131.2,407.0,-10.0,514,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2345,3317
$GC,3959,-2.04,-131.2,437.8,-10.0,544,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2345,3315
$GC,4277,-2.04,-131.2,468.2,-9.2,574,4281,0.00,1.80,0.00,0.000,4,0.000,0.053,2285,3367,3313
$GC,4322,-2.04,-131.2,472.6,-10.0,578,4326,0.00,1.75,0.00,0.000,6,0.000,0.031,2285,2325,3312
$GC,4651,-2.04,-131.2,502.5,-9.1,608,4654,0.00,1.85,0.00,0.000,4,0.000,0.057,2285,3365,3309
$GC,4723,-2.05,-133.7,509.3,-8.9,611,4727,0.00,1.80,0.00,0.000,6,0.000,0.033,2285,2322,3309
$GC,5049,-2.05,-137.1,539.2,-8.8,627,5053,0.00,1.88,0.00,0.000,4,0.000,0.064,2286,3359,3307
$GC,5095,-2.05,-137.1,543.3,-9.5,629,5098,0.00,1.77,0.00,0.000,6,0.000,0.040,2285,2331,3307
$GC,5429,-2.10,-145.2,571.4,-8.5,645,5433,0.00,1.90,0.00,0.000,4,0.000,0.073,2285,3348,3305
$GC,5532,-2.10,-146.0,580.4,-8.1,649,5536,0.00,1.75,0.00,0.000,6,0.000,0.051,2285,2357,3304
$GC,5853,-2.13,-146.0,609.6,-9.6,665,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2356,3303
$GC,6163,-2.16,-146.0,639.2,-9.5,680,6165,0.12,0.00,0.00,0.000,6,0.067,0.000,2251,2356,3302
$GC,6474,-2.16,-146.0,671.6,-10.2,695,6477,0.00,1.77,0.00,0.000,4,0.000,0.052,2251,3368,3299
$GC,6512,-2.13,-146.0,676.0,-11.1,696,6518,0.00,1.75,0.00,0.000,6,0.000,0.031,2251,2340,3299
$GC,6828,-2.13,-146.0,707.6,-10.1,712,6832,0.00,1.83,0.00,0.000,4,0.000,0.052,2251,3360,3297
$GC,6899,-2.13,-146.0,715.3,-11.2,715,6903,0.00,1.67,0.00,0.000,6,0.000,0.031,2251,2372,3297
$GC,7226,-2.13,-146.0,747.5,-9.9,731,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2372,3296
$GC,7535,-2.13,-146.0,779.5,-10.6,746,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2371,3295
$GC,7845,-2.13,-146.0,810.7,-10.1,761,7849,0.00,1.75,0.00,0.000,4,0.000,0.054,2251,3365,3293
$GC,7937,-2.13,-146.0,820.0,-10.7,765,7942,0.00,1.65,0.00,0.000,6,0.000,0.032,2251,2380,3293
$GC,8270,-2.13,-146.0,851.9,-9.5,781,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2379,3292
$GC,8579,-2.13,-146.0,880.8,-9.6,796,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2379,3291
$GC,8889,-2.13,-146.0,910.4,-9.2,811,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2378,3290
$GC,9196,-2.13,-146.0,937.6,-8.8,826,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2378,3289
$GC,9506,-2.13,-146.0,965.2,-8.9,841,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2378,3288
$STATE,9794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9794,begin apogee
$GC,9800,-0.52,0.0,991.8,9.1,855,9904,1.73,0.00,99.95,1.442,6,0.094,0.000,2615,1976,2825
$STATE,9905,end apogee,CONTROL_FINISHED_OK
$STATE,9905,begin climb
$GC,9907,2.22,146.0,994.8,0.0,860,10045,2.67,2.10,128.62,1.403,4,0.061,0.091,3222,921,2229
$GC,10153,2.07,146.0,978.8,10.4,870,10159,0.20,1.77,0.00,0.000,6,0.107,0.031,3184,1954,2225
$GC,10468,1.99,146.0,946.8,10.2,886,10470,0.12,0.00,0.00,0.000,6,0.114,0.000,3161,1954,2221
$GC,10777,1.94,146.0,915.2,10.0,901,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1954,2220
$GC,11087,1.88,146.0,885.0,9.5,916,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1954,2219
$GC,11397,1.83,146.0,856.3,9.5,931,11401,0.17,1.90,0.00,0.000,4,0.108,0.058,3124,916,2218
$GC,11520,1.88,171.0,846.0,7.5,936,11545,0.00,1.80,21.25,1.328,6,0.000,0.031,3124,1976,2129
$GC,11855,1.90,183.3,816.8,8.2,952,11869,0.00,0.00,12.57,1.253,6,0.000,0.000,3124,1976,2077
$GC,12164,1.91,188.7,789.4,8.7,967,12172,0.00,0.00,6.30,1.076,6,0.000,0.000,3124,1975,2055
$GC,12474,1.92,195.4,763.4,8.6,982,12484,0.10,0.00,7.47,1.124,6,0.079,0.000,3152,1976,2028
$GC,12782,1.92,195.4,733.5,9.8,997,12786,0.00,1.77,0.00,0.000,4,0.000,0.048,3152,3015,2027
$GC,12838,1.89,195.4,728.0,9.4,999,12842,0.00,1.80,0.00,0.000,6,0.000,0.035,3152,1964,2027
$GC,13159,1.89,195.4,696.8,10.0,1015,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1964,2026
$GC,13468,1.89,195.4,666.2,9.8,1030,13471,0.00,1.85,0.00,0.000,4,0.000,0.047,3152,3017,2026
$GC,13523,1.89,195.4,660.7,9.8,1032,13527,0.00,1.80,0.00,0.000,6,0.000,0.035,3152,1986,2026
$GC,13844,1.89,195.4,631.7,9.1,1048,13847,0.00,1.92,0.00,0.000,4,0.000,0.059,3152,909,2026
$GC,13913,1.89,195.4,625.3,9.8,1051,13916,0.00,1.85,0.00,0.000,6,0.000,0.031,3152,2000,2026
$GC,14245,1.90,206.1,597.0,8.3,1067,14260,0.00,1.77,10.73,1.114,4,0.000,0.047,3152,3009,1984
$GC,14350,1.90,206.1,587.5,9.4,1071,14354,0.00,1.75,0.00,0.000,6,0.000,0.035,3152,1992,1983
$GC,14683,1.91,210.7,557.7,8.7,1087,14693,0.00,1.77,5.82,0.946,4,0.000,0.045,3152,3005,1965
$GC,14737,1.91,210.7,552.4,9.6,1089,14743,0.00,1.77,0.00,0.000,6,0.000,0.035,3152,1993,1964
$GC,15052,1.92,215.7,524.3,8.7,1105,15060,0.00,0.00,6.12,0.946,6,0.000,0.000,3152,1992,1945
$GC,15363,1.93,223.0,496.2,8.6,1122,15378,0.00,1.88,8.18,1.006,4,0.000,0.046,3152,3015,1915
$GC,15463,1.93,223.0,486.5,9.5,1131,15467,0.00,1.77,0.00,0.000,6,0.000,0.043,3152,1983,1914
$GC,15795,1.93,223.0,455.2,9.6,1162,15798,0.00,1.80,0.00,0.000,4,0.000,0.047,3152,3010,1914
$GC,15889,1.93,223.0,445.7,9.1,1170,15895,0.00,1.73,0.00,0.000,6,0.000,0.035,3152,2015,1914
$GC,16216,1.93,223.0,415.3,9.1,1201,16217,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2014,1914
$GC,16532,1.93,223.0,386.3,9.5,1231,16536,0.00,1.73,0.00,0.000,4,0.000,0.047,3152,3004,1914
$GC,16570,1.93,223.3,382.7,9.0,1234,16577,0.00,1.73,0.00,0.000,6,0.000,0.035,3152,2013,1914
$GC,16897,1.95,235.9,355.1,8.2,1265,16918,0.00,1.83,12.45,0.975,4,0.000,0.046,3152,3003,1862
$GC,17055,1.96,241.0,341.2,8.7,1279,17066,0.00,1.65,6.10,0.835,6,0.000,0.034,3152,2037,1842
$GC,17384,1.96,241.0,311.4,9.2,1310,17388,0.00,2.00,0.00,0.000,4,0.000,0.057,3152,916,1842
$GC,17422,1.96,241.0,307.7,9.8,1313,17428,0.00,1.92,0.00,0.000,6,0.000,0.030,3152,2033,1841
$GC,17751,2.01,251.3,279.8,8.4,1344,17766,0.00,2.05,10.30,0.894,4,0.000,0.054,3152,912,1800
$GC,17849,2.04,268.8,271.0,7.9,1352,17870,0.00,1.92,16.35,0.913,6,0.000,0.030,3152,2025,1729
$GC,18195,2.08,268.8,239.7,9.5,1393,18202,0.12,1.70,0.00,0.000,4,0.068,0.051,3188,3002,1728
$GC,18270,2.08,268.8,232.0,10.1,1406,18276,0.00,1.70,0.00,0.000,6,0.000,0.034,3188,2020,1727
$GC,18614,2.09,273.0,198.3,8.8,1467,18624,0.00,0.00,4.95,0.677,6,0.000,0.000,3188,2019,1712
$GC,18962,2.11,287.3,166.8,8.1,1529,18984,0.00,2.03,13.73,0.828,4,0.000,0.054,3188,916,1653
$GC,19130,2.12,292.6,151.9,8.7,1559,19142,0.00,1.90,5.90,0.693,6,0.000,0.028,3188,2048,1632
$GC,19481,2.22,315.9,126.1,7.6,1621,19509,0.10,1.70,20.80,0.797,4,0.071,0.042,3221,3006,1537
$GC,19602,2.22,316.4,115.9,9.0,1642,19608,0.00,1.70,0.00,0.000,6,0.000,0.029,3221,2012,1535
$GC,19947,2.30,332.6,89.5,8.0,1703,19969,0.00,1.98,15.00,0.742,4,0.000,0.051,3221,923,1468
$GC,20223,2.42,366.0,69.3,6.9,1752,20257,0.12,1.77,28.40,0.730,6,0.044,0.025,3267,1997,1333
$GC,20598,2.49,379.9,41.2,8.1,1818,20616,0.00,1.92,12.82,0.665,4,0.000,0.044,3267,908,1275
$GC,20813,2.55,389.0,22.5,8.5,1856,20831,0.00,1.77,9.00,0.614,6,0.000,0.023,3267,1993,1238
$STATE,21048,end climb,SURFACE_DEPTH_REACHED
$STATE,21048,begin surface coast
$FINISH,-0.1,1.021283
$STATE,21072,end surface coast,CONTROL_FINISHED_OK
$STATE,21072,begin surface
$SM_CCo,21093,59.35,0.643,0,0,887,475.15
$SM_GC,-6.28,0.00,0.00,59.35,0.000,0.000,0.643,416,2324,887,-10.64,0.00,475.15
$IRIDIUM_FIX,1241.04,12026.36,230697,030337
$TT8_MAMPS,0.026078
$HUMID,1840
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.50
$XPDR_PINGS,362
$24V_AH,23.0,29.619
$10V_AH,10.2,23.479
$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,28.850,116.000,462.825,59.350,0.000,27.981,33.355,247.776,103.000,0.000,0.000,12.852,3098.343,13937.634,618.228,3274.926,678.980,0.000,2212.315,0.000,3238.770,0.000,93.333
$DEVICE_MAMPS,171.808,91.273,1441.960,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1291.197,447.121,726.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101009,1902
$CAP_FILE_SIZE,193197,0
$CFSIZE,260165632,240504832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290308,150331,1248.308,12029.352,38,1.2,38,-0.8