version: 66.03
glider: 126
mission: 7
dive: 199
start: 3 29 108 15 11 1
data:
$ID,126
$MISSION,7
$DIVE,199
$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,-623190.5
$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,36
$R_STBD_OVSHOOT,55
$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
$GPS1,150331,1248.308,12029.352,38,1.2,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.48
$_SM_ANGLEo,-59.2
$GPS2,151009,1248.322,12029.363,13,1.2,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S3
$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,236.0,491,-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,-101.9,0.0,0.0,0,93,0.00,0.00,-65.35,0.000,6,0.000,0.000,417,2325,3243
$GC,96,-2.39,-101.9,0.7,-21.5,13,113,10.10,1.77,0.00,0.000,4,0.171,0.037,2202,3359,3245
$GC,293,-2.19,-101.9,54.0,-23.2,48,299,0.22,1.73,0.00,0.000,6,0.107,0.023,2250,2294,3246
$GC,638,-2.14,-101.9,110.6,-12.3,109,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2287,3247
$GC,980,-2.14,-101.9,150.7,-10.8,170,986,0.00,1.80,0.00,0.000,4,0.000,0.038,2250,3360,3249
$GC,1098,-2.14,-101.9,163.3,-11.3,191,1104,0.00,1.62,0.00,0.000,6,0.000,0.024,2250,2321,3249
$GC,1441,-2.14,-101.9,199.9,-10.4,252,1447,0.00,1.67,0.00,0.000,4,0.000,0.035,2250,1309,3249
$GC,1649,-2.14,-101.9,220.6,-10.0,289,1655,0.00,1.67,0.00,0.000,6,0.000,0.025,2250,2337,3249
$GC,1991,-2.14,-101.9,253.5,-9.8,347,1994,0.00,1.75,0.00,0.000,4,0.000,0.044,2250,3367,3249
$GC,2085,-2.14,-101.9,263.4,-10.4,355,2091,0.00,1.65,0.00,0.000,6,0.000,0.025,2250,2349,3249
$GC,2411,-2.14,-101.9,297.5,-10.7,386,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2343,3247
$GC,2729,-2.14,-101.9,332.3,-10.9,416,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2342,3245
$GC,3049,-2.17,-101.9,365.2,-10.2,446,3052,0.00,1.77,0.00,0.000,4,0.000,0.048,2250,3369,3243
$GC,3106,-2.17,-101.9,371.1,-10.8,451,3110,0.00,1.65,0.00,0.000,6,0.000,0.028,2250,2360,3243
$GC,3438,-2.21,-101.9,404.0,-10.0,482,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2358,3241
$GC,3757,-2.24,-101.9,435.6,-9.7,512,3760,0.00,1.75,0.00,0.000,4,0.000,0.049,2250,3363,3239
$GC,3858,-2.24,-101.9,446.1,-9.8,521,3861,0.00,1.65,0.00,0.000,6,0.000,0.031,2250,2377,3238
$GC,4190,-2.28,-101.9,478.7,-9.8,552,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2376,3236
$GC,4516,-2.32,-101.9,510.1,-9.5,578,4520,0.12,1.75,0.00,0.000,4,0.067,0.057,2215,3357,3233
$GC,4676,-2.32,-101.9,527.4,-10.9,585,4681,0.00,1.65,0.00,0.000,6,0.000,0.034,2215,2401,3232
$GC,5006,-2.32,-101.9,561.7,-10.8,601,5010,0.00,2.03,0.00,0.000,4,0.000,0.077,2215,1307,3230
$GC,5074,-2.32,-101.9,569.3,-11.0,604,5077,0.00,1.85,0.00,0.000,6,0.000,0.054,2214,2345,3230
$GC,5407,-2.32,-101.9,605.1,-10.8,620,5410,0.00,1.92,0.00,0.000,4,0.000,0.085,2215,3378,3228
$GC,5565,-2.32,-101.9,622.8,-11.0,627,5569,0.00,1.77,0.00,0.000,6,0.000,0.066,2215,2412,3227
$GC,5897,-2.32,-101.9,655.8,-9.4,643,5901,0.00,1.75,0.00,0.000,4,0.000,0.054,2215,3385,3225
$GC,5952,-2.32,-101.9,661.3,-10.2,645,5955,0.00,1.65,0.00,0.000,6,0.000,0.030,2215,2406,3224
$GC,6272,-2.32,-101.9,693.6,-10.4,661,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2406,3223
$GC,6581,-2.32,-101.9,725.8,-10.3,676,6585,0.00,1.75,0.00,0.000,4,0.000,0.054,2215,3396,3222
$GC,6660,-2.32,-101.9,734.2,-10.9,679,6663,0.00,1.65,0.00,0.000,6,0.000,0.031,2215,2410,3221
$GC,6980,-2.32,-101.9,767.6,-10.6,695,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2409,3220
$GC,7290,-2.32,-101.9,799.4,-10.1,710,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2409,3218
$GC,7600,-2.32,-101.9,830.2,-9.7,725,7603,0.00,1.73,0.00,0.000,4,0.000,0.054,2215,3385,3217
$GC,7750,-2.32,-101.9,845.3,-9.4,731,7756,0.00,1.65,0.00,0.000,6,0.000,0.031,2215,2418,3216
$GC,8065,-2.32,-101.9,874.7,-9.8,747,8069,0.00,2.03,0.00,0.000,4,0.000,0.067,2215,1298,3215
$GC,8133,-2.32,-101.9,881.0,-9.2,750,8136,0.00,1.95,0.00,0.000,6,0.000,0.036,2215,2418,3215
$GC,8467,-2.32,-101.9,911.7,-9.5,766,8471,0.00,1.70,0.00,0.000,4,0.000,0.055,2215,3396,3213
$GC,8567,-2.32,-101.9,921.6,-9.7,770,8571,0.00,1.67,0.00,0.000,6,0.000,0.032,2215,2414,3213
$GC,8889,-2.32,-101.9,953.1,-9.7,786,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2414,3212
$GC,9198,-2.70,-146.0,978.8,-1.9,801,9202,0.30,1.73,0.00,0.000,4,0.049,0.054,2133,3384,3212
$STATE,9326,end dive,NO_VERTICAL_VELOCITY
$STATE,9326,begin apogee
$GC,9334,-0.52,0.0,978.8,0.0,806,9423,2.17,0.00,83.82,1.434,6,0.081,0.000,2616,1985,2825
$STATE,9423,end apogee,CONTROL_FINISHED_OK
$STATE,9424,begin climb
$GC,9426,2.47,146.0,978.4,0.0,811,9564,2.92,1.90,128.45,1.396,4,0.067,0.047,3267,3034,2228
$GC,9773,2.34,146.0,951.2,12.5,826,9778,0.15,1.88,0.00,0.000,6,0.116,0.037,3240,1956,2222
$GC,10100,2.27,146.0,917.1,10.1,842,10104,0.00,1.98,0.00,0.000,4,0.000,0.079,3239,910,2221
$GC,10275,2.17,146.0,896.0,13.2,849,10281,0.20,1.80,0.00,0.000,6,0.112,0.031,3201,1969,2220
$GC,10592,2.14,146.0,861.1,10.1,865,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1969,2219
$GC,10900,2.10,146.0,829.1,10.7,880,10903,0.00,1.95,0.00,0.000,4,0.000,0.061,3201,910,2218
$GC,11118,2.06,146.0,805.3,9.9,889,11124,0.10,1.77,0.00,0.000,6,0.105,0.031,3178,1939,2218
$GC,11433,2.06,146.0,774.6,9.6,905,11434,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1940,2217
$GC,11743,2.07,151.8,747.4,8.6,920,11748,0.00,0.00,4.05,0.848,6,0.000,0.000,3178,1940,2206
$GC,12052,2.08,162.2,721.1,8.3,935,12068,0.00,1.92,11.02,1.200,4,0.000,0.058,3177,910,2163
$GC,12225,2.10,171.7,705.9,8.4,942,12240,0.00,1.73,10.25,1.169,6,0.000,0.031,3178,1923,2123
$GC,12556,2.10,171.7,676.3,9.3,958,12559,0.00,1.85,0.00,0.000,4,0.000,0.059,3178,908,2122
$GC,12623,2.10,171.7,669.8,9.5,961,12626,0.00,1.73,0.00,0.000,6,0.000,0.031,3177,1922,2123
$GC,12954,2.10,171.7,638.4,9.7,977,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1922,2122
$GC,13265,2.11,175.0,609.2,8.8,992,13274,0.00,1.92,4.00,0.797,4,0.000,0.048,3178,3004,2110
$GC,13313,2.11,175.0,604.5,9.4,994,13317,0.00,1.92,0.00,0.000,6,0.000,0.036,3178,1903,2110
$GC,13640,2.12,182.4,576.3,8.5,1010,13654,0.00,2.00,8.25,1.061,4,0.000,0.046,3178,3007,2081
$GC,13797,2.13,189.5,562.7,8.5,1017,13811,0.00,1.85,7.82,1.036,6,0.000,0.038,3178,1931,2052
$GC,14129,2.16,189.7,533.0,9.0,1033,14133,0.10,1.83,0.00,0.000,4,0.082,0.059,3205,916,2052
$GC,14223,2.16,189.7,523.0,10.3,1037,14228,0.00,1.75,0.00,0.000,6,0.000,0.030,3205,1936,2052
$GC,14542,2.16,189.7,491.1,10.1,1056,14543,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1937,2052
$GC,14861,2.16,189.7,458.6,9.9,1086,14865,0.00,1.85,0.00,0.000,4,0.000,0.046,3205,3010,2051
$GC,14899,2.16,189.7,454.8,9.8,1089,14905,0.00,1.88,0.00,0.000,6,0.000,0.035,3205,1930,2051
$GC,15226,2.18,202.0,426.1,8.2,1120,15245,0.00,1.95,12.20,1.022,4,0.000,0.046,3205,3016,2001
$GC,15290,2.18,202.0,420.1,9.2,1126,15293,0.00,1.83,0.00,0.000,6,0.000,0.035,3205,1956,2001
$GC,15622,2.18,202.1,391.6,9.0,1157,15625,0.00,1.85,0.00,0.000,4,0.000,0.050,3205,3014,2000
$GC,15700,2.19,207.8,384.6,8.6,1164,15712,0.00,1.77,6.72,0.892,6,0.000,0.044,3205,1974,1977
$GC,16029,2.19,207.8,355.2,9.4,1195,16030,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1974,1976
$GC,16348,2.19,207.8,325.6,9.1,1225,16349,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1974,1976
$GC,16668,2.22,222.1,297.4,8.0,1255,16687,0.00,0.00,13.88,0.940,6,0.000,0.000,3205,1974,1918
$GC,17006,2.22,222.1,267.6,9.0,1287,17007,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1974,1917
$GC,17330,2.22,222.1,237.9,9.2,1328,17335,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1974,1918
$GC,17673,2.26,229.9,209.1,8.5,1389,17685,0.00,1.88,8.02,0.807,4,0.000,0.045,3205,3003,1887
$GC,17725,2.30,237.7,204.3,8.5,1398,17742,0.12,1.77,8.12,0.798,6,0.070,0.032,3239,1958,1856
$GC,18080,2.32,247.2,169.7,8.4,1461,18097,0.00,1.90,9.70,0.804,4,0.000,0.055,3239,907,1817
$GC,18199,2.33,255.2,159.0,8.5,1482,18215,0.00,1.80,8.52,0.770,6,0.000,0.028,3239,1984,1783
$GC,18555,2.42,283.1,130.8,7.1,1545,18583,0.00,1.83,24.02,0.806,4,0.000,0.041,3239,3002,1669
$GC,18681,2.53,313.2,121.8,6.9,1567,18715,0.17,1.77,25.85,0.788,6,0.056,0.030,3288,1950,1548
$GC,19056,2.61,335.6,91.8,7.5,1633,19083,0.00,1.88,19.45,0.750,4,0.000,0.038,3288,3000,1455
$GC,19303,2.67,343.6,71.3,8.5,1677,19316,0.10,1.88,7.72,0.656,6,0.071,0.028,3320,1875,1424
$GC,19657,2.71,346.3,42.7,8.8,1739,19668,0.00,1.70,4.10,0.485,4,0.000,0.048,3320,921,1413
$GC,19788,2.81,386.0,32.2,6.3,1762,19827,0.00,1.58,33.67,0.680,6,0.000,0.024,3320,1892,1251
$STATE,20134,end climb,SURFACE_DEPTH_REACHED
$STATE,20134,begin surface coast
$FINISH,-0.4,1.021311
$STATE,20160,end surface coast,CONTROL_FINISHED_OK
$STATE,20160,begin surface
$SM_CCo,20181,59.62,0.644,0,0,888,475.15
$SM_GC,-6.47,0.00,0.00,59.62,0.000,0.000,0.644,414,2340,888,-10.65,0.42,475.15
$IRIDIUM_FIX,1245.46,12029.39,230697,090921
$TT8_MAMPS,0.025311
$HUMID,1829
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.50
$XPDR_PINGS,378
$ALTIM_BOTTOM_PING,961.4,29.9
$24V_AH,23.1,29.796
$10V_AH,10.1,23.596
$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,29.425,112.750,439.675,59.625,0.000,25.688,52.764,189.392,106.500,0.000,0.000,14.224,3009.969,13076.428,578.445,3365.265,628.422,0.000,2197.984,0.000,3314.147,0.000,88.734
$DEVICE_MAMPS,171.041,85.137,1433.523,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.525,426.367,704.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97888,1828
$CAP_FILE_SIZE,187389,0
$CFSIZE,260165632,240418816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290308,204938,1247.207,12028.229,38,0.9,38,-0.8