version: 66.03
glider: 126
mission: 7
dive: 200
start: 3 29 108 21 0 20
data:
$ID,126
$MISSION,7
$DIVE,200
$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,-623224.12
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,204938,1247.207,12028.229,38,0.9,38,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.35
$_SM_ANGLEo,-58.6
$GPS2,205929,1247.211,12028.212,13,2.6,32,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S4
$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,44.1,2442,-21.3,-9.016
$D_GRID,807
$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,20,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,-65.28,0.000,6,0.000,0.000,415,2340,3244
$GC,96,-2.39,-101.9,0.7,-21.4,13,113,10.10,1.83,0.00,0.000,4,0.170,0.031,2205,1263,3245
$GC,131,-1.78,-101.9,16.6,-38.7,19,137,0.68,1.75,0.00,0.000,6,0.110,0.024,2340,2339,3246
$GC,475,-1.78,-101.9,70.6,-14.1,80,482,0.00,1.75,0.00,0.000,4,0.000,0.041,2340,3365,3247
$GC,545,-1.78,-101.9,80.0,-13.9,92,551,0.00,1.67,0.00,0.000,6,0.000,0.022,2340,2312,3247
$GC,889,-1.86,-101.9,122.8,-12.2,153,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2305,3248
$GC,1231,-1.99,-107.4,156.4,-8.6,214,1237,0.17,0.00,0.00,0.000,6,0.051,0.000,2283,2305,3249
$GC,1575,-2.05,-107.4,191.4,-9.9,275,1581,0.00,1.65,0.00,0.000,4,0.000,0.035,2283,1315,3249
$GC,1638,-2.10,-107.4,197.4,-9.5,286,1644,0.00,1.77,0.00,0.000,6,0.000,0.025,2283,2400,3249
$GC,1981,-2.17,-107.4,227.6,-9.4,347,1987,0.12,1.65,0.00,0.000,4,0.061,0.042,2245,3376,3249
$GC,2038,-2.17,-107.4,233.3,-9.8,357,2044,0.00,1.58,0.00,0.000,6,0.000,0.025,2245,2395,3249
$GC,2372,-2.17,-107.4,266.2,-10.5,403,2375,0.00,1.67,0.00,0.000,4,0.000,0.044,2245,3372,3247
$GC,2428,-2.17,-107.4,272.5,-10.7,408,2432,0.00,1.55,0.00,0.000,6,0.000,0.026,2245,2402,3248
$GC,2760,-2.17,-107.4,308.5,-10.6,439,2763,0.00,1.83,0.00,0.000,4,0.000,0.039,2245,1326,3246
$GC,2797,-2.17,-107.4,312.7,-10.4,442,2804,0.00,1.80,0.00,0.000,6,0.000,0.030,2245,2395,3245
$GC,3124,-2.17,-107.4,344.5,-10.0,473,3128,0.00,1.67,0.00,0.000,4,0.000,0.048,2245,3360,3243
$GC,3207,-2.17,-107.4,353.3,-9.8,480,3213,0.00,1.52,0.00,0.000,6,0.000,0.027,2245,2427,3242
$GC,3533,-2.21,-107.4,383.8,-9.7,511,3537,0.00,1.62,0.00,0.000,4,0.000,0.048,2245,3366,3240
$GC,3791,-2.21,-107.4,410.4,-10.3,534,3794,0.00,1.45,0.00,0.000,6,0.000,0.029,2245,2502,3238
$GC,4122,-2.21,-107.4,441.3,-9.3,565,4126,0.00,1.52,0.00,0.000,4,0.000,0.050,2245,3361,3236
$GC,4201,-2.21,-107.4,448.8,-9.5,572,4204,0.00,1.45,0.00,0.000,6,0.000,0.030,2244,2502,3236
$GC,4532,-2.24,-107.4,479.5,-9.3,603,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2502,3234
$GC,4846,-2.24,-107.4,508.5,-9.4,629,4850,0.00,1.55,0.00,0.000,4,0.000,0.057,2245,3360,3231
$GC,4959,-2.25,-110.7,518.9,-8.8,634,4962,0.00,1.42,0.00,0.000,6,0.000,0.031,2245,2526,3230
$GC,5291,-2.25,-110.7,548.4,-9.2,650,5295,0.00,1.52,0.00,0.000,4,0.000,0.066,2245,3354,3228
$GC,5454,-2.25,-110.7,563.7,-9.8,657,5457,0.00,1.35,0.00,0.000,6,0.000,0.041,2245,2581,3227
$GC,5780,-2.25,-110.7,593.8,-9.2,673,5784,0.00,2.30,0.00,0.000,4,0.000,0.078,2245,1339,3226
$GC,5886,-2.28,-110.7,603.6,-10.0,677,5892,0.00,2.10,0.00,0.000,6,0.000,0.064,2245,2492,3225
$GC,6204,-2.33,-118.7,630.6,-8.5,693,6208,0.00,1.62,0.00,0.000,4,0.000,0.094,2245,3353,3224
$GC,6385,-2.33,-118.7,647.5,-9.9,701,6389,0.00,1.45,0.00,0.000,6,0.000,0.074,2245,2593,3222
$GC,6717,-2.33,-118.7,678.6,-9.4,717,6721,0.00,2.47,0.00,0.000,4,0.000,0.110,2244,1340,3220
$GC,6817,-2.33,-118.7,688.0,-9.3,721,6821,0.00,1.98,0.00,0.000,6,0.000,0.031,2245,2503,3220
$GC,7139,-2.36,-118.7,718.4,-9.8,737,7143,0.12,1.50,0.00,0.000,4,0.071,0.051,2211,3373,3219
$GC,7172,-2.33,-118.7,722.0,-11.2,738,7175,0.00,1.40,0.00,0.000,6,0.000,0.031,2211,2536,3218
$GC,7492,-2.33,-118.7,754.0,-9.8,754,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2535,3217
$GC,7803,-2.33,-118.7,785.1,-10.3,769,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2535,3215
$STATE,8026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8026,begin apogee
$GC,8032,-0.52,0.0,808.8,10.3,780,8119,1.92,0.00,82.62,1.297,6,0.100,0.000,2613,2011,2825
$STATE,8120,end apogee,CONTROL_FINISHED_OK
$STATE,8120,begin climb
$GC,8122,2.42,118.7,811.5,0.0,784,8234,2.90,2.10,102.45,1.262,4,0.065,0.074,3260,916,2340
$GC,8291,2.29,118.7,805.4,9.6,792,8295,0.17,1.80,0.00,0.000,6,0.111,0.031,3228,1966,2337
$GC,8617,2.22,118.7,775.7,9.1,808,8621,0.00,1.80,0.00,0.000,4,0.000,0.048,3228,3008,2334
$GC,8650,2.14,118.7,772.4,9.7,809,8654,0.12,1.80,0.00,0.000,6,0.105,0.035,3199,1976,2333
$GC,8973,2.11,121.7,745.1,8.8,825,8976,0.00,1.90,0.00,0.000,4,0.000,0.060,3199,920,2332
$GC,9041,2.07,128.9,739.0,8.5,828,9056,0.00,1.83,9.18,1.111,6,0.000,0.031,3199,1997,2298
$GC,9372,2.06,140.2,710.9,8.2,844,9388,0.12,2.08,11.32,1.147,4,0.115,0.055,3176,908,2252
$GC,9509,2.06,143.0,698.9,8.8,849,9512,0.00,1.77,0.00,0.000,6,0.000,0.030,3176,1957,2251
$GC,9835,2.09,160.9,673.0,7.8,865,9858,0.00,1.90,18.83,1.183,4,0.000,0.048,3176,3018,2169
$GC,9915,2.10,164.5,666.4,8.8,868,9924,0.00,1.85,4.78,0.867,6,0.000,0.035,3176,1944,2154
$GC,10252,2.10,166.3,637.4,8.9,885,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1945,2152
$GC,10561,2.11,170.9,609.9,8.7,900,10574,0.00,1.95,6.97,1.006,4,0.000,0.046,3176,3012,2128
$GC,10620,2.11,170.9,604.5,9.7,902,10626,0.00,1.77,0.00,0.000,6,0.000,0.034,3176,1991,2127
$GC,10935,2.12,180.2,577.5,8.4,918,10949,0.00,1.98,9.62,1.065,4,0.000,0.058,3176,915,2090
$GC,11024,2.12,180.2,569.4,9.4,922,11027,0.00,1.83,0.00,0.000,6,0.000,0.031,3176,1988,2090
$GC,11357,2.12,180.2,540.0,9.1,938,11361,0.00,1.77,0.00,0.000,4,0.000,0.050,3176,3015,2089
$GC,11447,2.12,180.2,531.4,9.9,942,11450,0.00,1.77,0.00,0.000,6,0.000,0.035,3176,1975,2089
$GC,11779,2.14,188.1,501.6,8.5,958,11793,0.00,1.95,8.18,0.995,4,0.000,0.058,3176,921,2058
$GC,11856,2.15,197.2,494.7,8.4,964,11870,0.00,1.83,9.45,1.012,6,0.000,0.030,3176,1994,2021
$GC,12196,2.19,199.6,463.7,8.9,996,12206,0.15,0.00,3.80,0.702,6,0.065,0.000,3216,1994,2011
$GC,12524,2.19,199.9,434.2,9.0,1027,12527,0.00,1.95,0.00,0.000,4,0.000,0.055,3216,913,2010
$GC,12670,2.19,199.9,420.0,9.8,1040,12674,0.00,1.77,0.00,0.000,6,0.000,0.031,3216,1960,2010
$GC,13000,2.19,199.9,389.0,9.2,1071,13003,0.00,1.83,0.00,0.000,4,0.000,0.051,3217,3016,2009
$GC,13157,2.19,199.9,374.7,9.3,1085,13161,0.00,1.77,0.00,0.000,6,0.000,0.038,3216,1972,2009
$GC,13488,2.21,207.6,345.1,8.5,1116,13498,0.00,0.00,8.30,0.906,6,0.000,0.000,3216,1972,1978
$GC,13817,2.21,207.6,314.5,9.5,1147,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1972,1978
$GC,14134,2.21,207.6,286.0,9.1,1177,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1972,1978
$GC,14452,2.21,207.6,255.5,9.5,1207,14456,0.00,1.80,0.00,0.000,4,0.000,0.046,3217,3008,1977
$GC,14520,2.21,207.6,249.1,9.4,1213,14526,0.00,1.73,0.00,0.000,6,0.000,0.031,3216,1983,1977
$GC,14863,2.22,214.9,218.1,8.5,1274,14875,0.00,1.98,7.78,0.808,4,0.000,0.054,3216,909,1949
$GC,14938,2.22,217.7,211.6,8.8,1287,14949,0.00,1.80,4.53,0.661,6,0.000,0.028,3216,1981,1936
$GC,15289,2.26,219.9,180.9,8.9,1349,15295,0.00,1.75,0.00,0.000,4,0.000,0.044,3216,3008,1936
$GC,15346,2.27,229.2,175.6,8.4,1359,15363,0.00,1.77,11.10,0.820,6,0.000,0.031,3216,1950,1889
$GC,15703,2.36,240.7,147.7,8.2,1422,15721,0.12,1.85,11.23,0.794,4,0.068,0.040,3253,3009,1842
$GC,15974,2.42,280.1,128.5,6.3,1470,16014,0.00,1.73,33.03,0.805,6,0.000,0.029,3253,1995,1682
$GC,16354,2.52,303.3,102.0,7.4,1537,16381,0.12,1.80,20.12,0.759,4,0.064,0.038,3292,3003,1588
$GC,16416,2.56,326.8,97.3,7.4,1548,16443,0.00,1.75,20.73,0.739,6,0.000,0.028,3292,1975,1492
$GC,16784,2.64,345.0,69.7,7.8,1613,16806,0.00,1.88,15.95,0.705,4,0.000,0.048,3292,916,1417
$GC,17003,2.70,345.0,49.3,9.1,1652,17010,0.08,1.77,0.00,0.000,6,0.054,0.025,3326,1986,1417
$GC,17348,2.74,349.0,19.7,8.7,1713,17359,0.00,1.88,5.00,0.515,4,0.000,0.042,3326,910,1402
$GC,17491,2.77,363.5,7.2,8.0,1738,17509,0.00,1.65,13.27,0.630,6,0.000,0.023,3326,1927,1343
$STATE,17558,end climb,SURFACE_DEPTH_REACHED
$STATE,17558,begin surface coast
$FINISH,-0.3,1.021267
$STATE,17591,end surface coast,CONTROL_FINISHED_OK
$STATE,17591,begin surface
$SM_CCo,17612,72.05,0.640,0,0,887,475.15
$SM_GC,-6.29,0.00,0.00,72.05,0.000,0.000,0.640,413,2317,887,-10.65,-0.25,475.15
$IRIDIUM_FIX,1241.04,12026.36,230697,212128
$TT8_MAMPS,0.026078
$HUMID,1828
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.30
$XPDR_PINGS,435
$24V_AH,23.2,29.965
$10V_AH,10.2,23.711
$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,29.600,118.050,418.225,72.050,0.000,52.026,150.676,180.437,116.500,0.000,0.000,32.998,2864.215,10958.762,576.596,3182.333,712.806,0.000,2110.349,0.000,3124.423,0.000,57.070
$DEVICE_MAMPS,170.274,110.448,1296.997,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.554,464.270,738.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94687,1755
$CAP_FILE_SIZE,176612,0
$CFSIZE,260165632,240336896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300308,015608,1248.107,12029.817,27,1.1,27,-0.8