version: 66.03
glider: 126
mission: 7
dive: 202
start: 3 30 108 7 50 31
data:
$ID,126
$MISSION,7
$DIVE,202
$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,-623257.12
$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,32
$R_STBD_OVSHOOT,56
$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
$GPS1,074338,1248.333,12028.300,31,1.5,31,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.48
$_SM_ANGLEo,-58.7
$GPS2,074939,1248.318,12028.317,14,1.6,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S6
$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,101.2,1511,-21.3,-9.016
$D_GRID,973
$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,-65.65,0.000,6,0.000,0.000,417,2343,3243
$GC,96,-2.39,-101.9,0.4,-20.5,13,113,10.10,1.85,0.00,0.000,4,0.170,0.034,2206,1258,3245
$GC,338,-2.23,-101.9,60.9,-20.1,56,345,0.15,1.75,0.00,0.000,6,0.110,0.025,2238,2313,3246
$GC,683,-2.17,-101.9,115.9,-14.6,117,689,0.00,1.77,0.00,0.000,4,0.000,0.041,2238,3372,3248
$GC,776,-2.10,-101.9,128.5,-13.4,133,782,0.15,1.75,0.00,0.000,6,0.110,0.023,2268,2266,3248
$GC,1119,-2.14,-101.9,168.1,-9.8,194,1125,0.00,1.88,0.00,0.000,4,0.000,0.039,2268,3372,3249
$GC,1302,-2.14,-101.9,186.3,-9.9,226,1308,0.00,1.75,0.00,0.000,6,0.000,0.024,2268,2273,3250
$GC,1645,-2.19,-101.9,219.4,-10.1,287,1651,0.00,1.88,0.00,0.000,4,0.000,0.041,2268,3370,3250
$GC,1702,-2.22,-101.9,225.5,-10.7,297,1708,0.00,1.73,0.00,0.000,6,0.000,0.025,2268,2291,3250
$GC,2045,-2.26,-101.9,261.3,-10.5,349,2049,0.15,1.85,0.00,0.000,4,0.058,0.042,2219,3366,3250
$GC,2179,-2.26,-101.9,276.4,-10.7,361,2183,0.00,1.65,0.00,0.000,6,0.000,0.026,2220,2342,3249
$GC,2510,-2.26,-101.9,309.1,-10.2,392,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2340,3247
$GC,2828,-2.26,-101.9,342.0,-10.9,422,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2341,3245
$GC,3146,-2.26,-101.9,377.4,-11.2,452,3150,0.00,1.80,0.00,0.000,4,0.000,0.048,2219,3362,3242
$GC,3195,-2.26,-101.9,383.2,-11.7,456,3201,0.00,1.67,0.00,0.000,6,0.000,0.029,2218,2367,3242
$GC,3521,-2.26,-101.9,417.9,-10.6,487,3525,0.00,1.75,0.00,0.000,4,0.000,0.051,2219,3370,3240
$GC,3645,-2.26,-101.9,431.7,-10.7,498,3648,0.00,1.67,0.00,0.000,6,0.000,0.030,2219,2364,3239
$GC,3976,-2.26,-101.9,466.0,-10.4,529,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2363,3237
$GC,4293,-2.26,-101.9,498.6,-10.3,559,4296,0.00,1.77,0.00,0.000,4,0.000,0.057,2219,3361,3235
$GC,4354,-2.26,-101.9,505.4,-10.8,562,4360,0.00,1.73,0.00,0.000,6,0.000,0.033,2219,2360,3234
$GC,4669,-2.26,-101.9,537.1,-9.8,578,4672,0.00,2.00,0.00,0.000,4,0.000,0.077,2218,1274,3232
$GC,4718,-2.26,-101.9,542.2,-10.3,580,4722,0.00,1.88,0.00,0.000,6,0.000,0.044,2219,2332,3232
$GC,5045,-2.26,-101.9,574.8,-10.1,596,5049,0.00,1.92,0.00,0.000,4,0.000,0.075,2219,3374,3229
$GC,5105,-2.26,-101.9,581.4,-11.4,598,5112,0.00,1.83,0.00,0.000,6,0.000,0.050,2219,2360,3229
$GC,5421,-2.26,-101.9,614.3,-10.3,614,5425,0.00,1.92,0.00,0.000,4,0.000,0.087,2219,3373,3227
$GC,5466,-2.26,-101.9,619.1,-10.7,616,5469,0.00,1.85,0.00,0.000,6,0.000,0.064,2219,2363,3226
$GC,5799,-2.26,-101.9,654.3,-10.7,632,5802,0.00,2.12,0.00,0.000,4,0.000,0.103,2218,1269,3225
$GC,5844,-2.26,-101.9,659.1,-10.5,634,5848,0.00,2.05,0.00,0.000,6,0.000,0.084,2219,2344,3225
$GC,6177,-2.26,-101.9,694.3,-11.0,650,6181,0.00,2.08,0.00,0.000,4,0.000,0.123,2219,3382,3223
$GC,6266,-2.26,-101.9,704.5,-11.2,654,6270,0.00,1.80,0.00,0.000,6,0.000,0.031,2219,2329,3222
$GC,6600,-2.26,-101.9,742.2,-11.2,670,6604,0.00,1.88,0.00,0.000,4,0.000,0.051,2219,3396,3222
$GC,6649,-2.26,-101.9,748.2,-11.8,672,6654,0.00,1.75,0.00,0.000,6,0.000,0.031,2219,2367,3221
$GC,6978,-2.26,-101.9,783.4,-10.9,688,6982,0.00,1.83,0.00,0.000,4,0.000,0.054,2219,3400,3220
$GC,7028,-2.26,-101.9,789.2,-10.7,690,7032,0.00,1.75,0.00,0.000,6,0.000,0.031,2219,2379,3219
$GC,7355,-2.26,-101.9,825.1,-10.9,706,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2378,3217
$GC,7664,-2.26,-101.9,856.4,-9.8,721,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2377,3216
$GC,7974,-2.26,-101.9,886.6,-9.6,736,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2377,3215
$GC,8282,-2.26,-101.9,915.1,-9.8,751,8286,0.00,1.83,0.00,0.000,4,0.000,0.054,2219,3396,3214
$GC,8337,-2.26,-101.9,920.8,-10.8,753,8341,0.00,1.75,0.00,0.000,6,0.000,0.032,2219,2378,3213
$GC,8659,-2.26,-101.9,952.5,-9.5,769,8663,0.00,1.98,0.00,0.000,4,0.000,0.070,2218,1293,3212
$GC,8731,-2.26,-102.8,959.1,-9.0,772,8735,0.00,1.90,0.00,0.000,6,0.000,0.041,2219,2382,3212
$STATE,8890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8891,begin apogee
$GC,8897,-0.52,0.0,973.5,9.0,780,8985,1.90,0.00,84.12,1.424,6,0.099,0.000,2616,1957,2825
$STATE,8986,end apogee,CONTROL_FINISHED_OK
$STATE,8986,begin climb
$GC,8989,2.39,102.8,975.0,0.0,784,9091,2.83,2.08,91.12,1.387,4,0.061,0.084,3256,917,2405
$GC,9182,2.26,104.5,964.3,8.9,793,9186,0.17,1.85,0.00,0.000,6,0.112,0.031,3223,1993,2403
$GC,9514,2.21,119.0,937.9,8.0,809,9536,0.00,2.05,14.68,1.296,4,0.000,0.062,3223,917,2340
$GC,9614,2.12,119.0,928.8,9.5,813,9618,0.10,1.80,0.00,0.000,6,0.093,0.029,3194,1953,2339
$GC,9935,2.10,124.0,902.6,8.7,829,9946,0.00,1.92,6.10,1.091,4,0.000,0.058,3193,919,2319
$GC,10076,2.06,129.8,890.1,8.6,835,10088,0.00,1.75,6.95,1.137,6,0.000,0.031,3193,1945,2295
$GC,10397,2.08,143.6,863.8,8.1,851,10416,0.00,0.00,13.70,1.281,6,0.000,0.000,3193,1945,2239
$GC,10725,2.09,146.5,837.4,8.8,867,10734,0.00,1.92,4.12,0.884,4,0.000,0.058,3194,923,2227
$GC,10831,2.05,146.5,827.1,9.9,871,10837,0.00,1.73,0.00,0.000,6,0.000,0.031,3193,1934,2226
$GC,11146,2.05,147.7,797.5,8.9,887,11150,0.00,1.88,0.00,0.000,4,0.000,0.048,3193,3016,2225
$GC,11241,2.02,150.1,788.8,8.9,891,11251,0.08,1.88,4.47,0.920,6,0.117,0.036,3168,1941,2213
$GC,11568,2.02,152.4,760.0,8.9,907,11574,0.00,0.00,4.03,0.851,6,0.000,0.000,3168,1940,2203
$GC,11876,2.04,163.1,735.2,8.3,922,11888,0.00,0.00,10.93,1.200,6,0.000,0.000,3168,1940,2160
$GC,12185,2.04,163.1,705.0,9.3,937,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1938,2159
$GC,12494,2.05,171.0,678.1,8.5,952,12508,0.00,1.95,8.93,1.128,4,0.000,0.048,3168,3004,2127
$GC,12639,2.05,172.1,665.4,8.9,958,12643,0.00,1.83,0.00,0.000,6,0.000,0.037,3168,1949,2125
$GC,12960,2.09,172.1,637.2,9.3,974,12964,0.00,1.88,0.00,0.000,4,0.000,0.047,3168,3017,2125
$GC,13005,2.09,172.1,632.9,9.4,976,13009,0.00,1.85,0.00,0.000,6,0.000,0.036,3168,1942,2125
$GC,13337,2.10,179.7,603.1,8.5,992,13351,0.00,1.92,8.90,1.087,4,0.000,0.061,3168,915,2092
$GC,13381,2.10,180.3,599.0,9.0,994,13385,0.00,1.80,0.00,0.000,6,0.000,0.030,3168,1969,2092
$GC,13714,2.16,194.1,570.7,8.1,1010,13733,0.15,0.00,14.35,1.130,6,0.068,0.000,3206,1969,2033
$GC,14042,2.16,194.1,539.5,9.3,1026,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1970,2030
$GC,14351,2.16,194.1,509.2,9.9,1041,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1971,2029
$GC,14667,2.16,194.1,477.0,9.9,1066,14671,0.00,1.92,0.00,0.000,4,0.000,0.057,3206,907,2029
$GC,14706,2.16,194.1,472.9,10.3,1069,14712,0.00,1.83,0.00,0.000,6,0.000,0.031,3206,1967,2030
$GC,15031,2.16,194.1,442.6,9.2,1100,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1969,2030
$GC,15351,2.18,207.3,415.7,8.1,1130,15369,0.00,0.00,12.60,1.017,6,0.000,0.000,3206,1968,1978
$GC,15688,2.18,207.3,384.1,9.9,1162,15692,0.00,1.80,0.00,0.000,4,0.000,0.046,3206,3013,1977
$GC,15727,2.18,207.3,380.2,10.2,1165,15733,0.00,1.83,0.00,0.000,6,0.000,0.035,3206,1945,1977
$GC,16054,2.18,207.3,349.1,9.3,1196,16055,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1943,1977
$GC,16370,2.18,207.3,319.6,9.5,1226,16373,0.00,1.85,0.00,0.000,4,0.000,0.046,3206,3007,1977
$GC,16448,2.18,207.3,312.0,9.5,1233,16452,0.00,1.80,0.00,0.000,6,0.000,0.041,3206,1951,1977
$GC,16780,2.18,207.7,281.3,9.0,1264,16783,0.00,1.85,0.00,0.000,4,0.000,0.058,3206,908,1977
$GC,16863,2.19,215.0,273.4,8.5,1271,16879,0.00,1.73,8.07,0.855,6,0.000,0.029,3207,1922,1948
$GC,17202,2.19,215.0,241.8,9.1,1310,17207,0.00,1.88,0.00,0.000,4,0.000,0.047,3206,3012,1948
$GC,17258,2.19,215.1,236.3,9.0,1320,17264,0.00,1.83,0.00,0.000,6,0.000,0.034,3206,1937,1948
$GC,17602,2.23,216.4,206.3,8.9,1381,17608,0.00,1.85,0.00,0.000,4,0.000,0.042,3206,3010,1948
$GC,17754,2.26,236.4,193.1,7.6,1408,17781,0.00,1.75,19.52,0.870,6,0.000,0.031,3206,1973,1861
$GC,18120,2.37,264.9,162.7,7.0,1473,18152,0.15,1.85,24.70,0.840,4,0.062,0.041,3254,3016,1745
$GC,18405,2.42,289.9,136.8,7.3,1524,18433,0.00,1.70,21.75,0.806,6,0.000,0.030,3254,2022,1643
$GC,18774,2.50,306.6,108.9,7.9,1589,18790,0.00,0.00,14.80,0.763,6,0.000,0.000,3254,2022,1575
$GC,19128,2.67,354.4,81.3,5.7,1652,19177,0.20,2.03,40.38,0.746,4,0.052,0.049,3316,911,1380
$GC,19290,2.67,354.4,67.8,9.2,1681,19296,0.00,1.88,0.00,0.000,6,0.000,0.025,3316,2048,1378
$GC,19633,2.75,372.7,39.0,7.8,1742,19655,0.00,1.65,16.23,0.675,4,0.000,0.037,3316,3021,1304
$GC,19729,2.81,372.7,30.1,9.4,1759,19736,0.10,1.70,0.00,0.000,6,0.067,0.025,3350,1987,1303
$STATE,20038,end climb,SURFACE_DEPTH_REACHED
$STATE,20038,begin surface coast
$FINISH,-0.1,1.021313
$STATE,20060,end surface coast,CONTROL_FINISHED_OK
$STATE,20062,begin surface
$SM_CCo,20084,67.88,0.648,0,0,887,475.15
$SM_GC,-6.67,0.00,0.00,67.88,0.000,0.000,0.648,416,2352,887,-10.64,0.76,475.15
$IRIDIUM_FIX,1241.04,12029.39,240697,020250
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.50
$XPDR_PINGS,402
$24V_AH,23.1,30.320
$10V_AH,10.1,23.941
$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,29.000,126.450,430.450,67.875,0.000,22.161,30.928,181.627,112.500,0.000,0.000,14.165,2980.106,13142.092,609.100,3210.846,591.228,0.000,2169.714,0.000,3159.133,0.000,87.848
$DEVICE_MAMPS,170.274,123.487,1424.319,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.707,417.951,693.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97789,1818
$CAP_FILE_SIZE,185918,0
$CFSIZE,260165632,240140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300308,132737,1248.265,12030.490,37,1.2,37,-0.8