version: 66.03
glider: 126
mission: 7
dive: 203
start: 3 30 108 13 34 43
data:
$ID,126
$MISSION,7
$DIVE,203
$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,-623273.75
$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,44
$R_STBD_OVSHOOT,59
$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
$GPS1,132737,1248.265,12030.490,37,1.2,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.42
$_SM_ANGLEo,-59.6
$GPS2,133351,1248.257,12030.495,15,1.4,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S7
$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,267.0,2453,-21.3,-9.016
$D_GRID,989
$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,-65.10,0.000,6,0.000,0.000,417,2352,3242
$GC,97,-2.39,-101.9,1.4,-23.4,13,114,10.15,1.70,0.00,0.000,4,0.173,0.036,2203,3357,3243
$GC,250,-2.18,-101.9,43.9,-22.0,40,257,0.22,1.73,0.00,0.000,6,0.110,0.023,2259,2293,3244
$GC,595,-2.15,-101.9,100.5,-15.1,101,601,0.00,1.83,0.00,0.000,4,0.000,0.038,2259,3367,3245
$GC,854,-2.11,-101.9,136.2,-12.6,147,860,0.00,1.58,0.00,0.000,6,0.000,0.023,2259,2367,3247
$GC,1198,-2.11,-101.9,174.0,-11.0,208,1204,0.00,1.73,0.00,0.000,4,0.000,0.034,2259,1324,3248
$GC,1288,-2.11,-101.9,183.2,-9.8,224,1294,0.00,1.70,0.00,0.000,6,0.000,0.024,2259,2370,3248
$GC,1632,-2.15,-101.9,217.6,-10.1,285,1638,0.00,1.67,0.00,0.000,4,0.000,0.042,2259,3368,3248
$GC,1689,-2.15,-101.9,223.4,-10.1,295,1695,0.00,1.60,0.00,0.000,6,0.000,0.025,2259,2348,3248
$GC,2034,-2.19,-101.9,256.3,-10.0,351,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2343,3248
$GC,2354,-2.23,-101.9,287.8,-9.9,381,2357,0.00,1.77,0.00,0.000,4,0.000,0.044,2259,3376,3247
$GC,2448,-2.23,-101.9,298.1,-10.9,389,2454,0.00,1.65,0.00,0.000,6,0.000,0.026,2259,2364,3247
$GC,2776,-2.27,-101.9,328.9,-9.4,420,2782,0.12,0.00,0.00,0.000,6,0.063,0.000,2223,2357,3244
$GC,3102,-2.27,-101.9,362.3,-10.7,451,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2357,3242
$GC,3419,-2.27,-101.9,398.0,-11.0,481,3422,0.00,1.75,0.00,0.000,4,0.000,0.048,2223,3370,3240
$GC,3536,-2.27,-101.9,411.2,-10.6,491,3542,0.00,1.67,0.00,0.000,6,0.000,0.030,2222,2374,3239
$GC,3861,-2.27,-101.9,445.2,-10.8,522,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2373,3237
$GC,4179,-2.27,-101.9,477.9,-9.5,552,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2373,3235
$GC,4506,-2.27,-101.9,508.8,-9.5,579,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2373,3234
$GC,4816,-2.27,-101.9,540.3,-10.2,594,4820,0.00,1.80,0.00,0.000,4,0.000,0.064,2223,3355,3230
$GC,4861,-2.27,-101.9,545.1,-10.5,596,4865,0.00,1.77,0.00,0.000,6,0.000,0.038,2222,2343,3230
$GC,5193,-2.27,-101.9,578.9,-10.0,612,5196,0.00,1.88,0.00,0.000,4,0.000,0.074,2223,3356,3228
$GC,5338,-2.27,-101.9,593.5,-10.3,618,5342,0.00,1.83,0.00,0.000,6,0.000,0.054,2222,2354,3227
$GC,5659,-2.27,-101.9,624.1,-9.6,634,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2352,3226
$GC,5968,-2.27,-101.9,655.1,-10.3,649,5972,0.00,1.98,0.00,0.000,4,0.000,0.103,2223,3357,3225
$GC,6029,-2.27,-101.9,661.4,-10.4,651,6035,0.00,1.92,0.00,0.000,6,0.000,0.082,2223,2366,3225
$GC,6344,-2.27,-101.9,692.9,-9.8,667,6348,0.00,2.25,0.00,0.000,4,0.000,0.125,2222,1259,3222
$GC,6388,-2.27,-101.9,697.5,-10.7,669,6392,0.00,1.88,0.00,0.000,6,0.000,0.029,2223,2356,3222
$GC,6717,-2.27,-101.9,731.0,-10.3,685,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2356,3221
$GC,7025,-2.27,-101.9,761.4,-9.8,700,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2356,3219
$GC,7334,-2.27,-101.9,791.9,-10.0,715,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2356,3218
$GC,7643,-2.27,-101.9,823.6,-10.8,730,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2359,3216
$GC,7952,-2.27,-101.9,856.9,-10.7,745,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2359,3215
$GC,8262,-2.27,-101.9,889.2,-10.3,760,8266,0.00,1.77,0.00,0.000,4,0.000,0.054,2223,3378,3214
$GC,8340,-2.27,-101.9,897.8,-11.3,763,8344,0.00,1.80,0.00,0.000,6,0.000,0.031,2222,2323,3213
$GC,8664,-2.27,-101.9,931.5,-10.1,779,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2322,3212
$GC,8972,-2.27,-101.9,962.4,-10.3,794,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2322,3211
$STATE,9237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9237,begin apogee
$GC,9243,-0.52,0.0,990.2,10.4,807,9331,1.85,0.00,83.95,1.436,6,0.093,0.000,2614,1969,2825
$STATE,9332,end apogee,CONTROL_FINISHED_OK
$STATE,9332,begin climb
$GC,9334,2.39,101.9,992.8,0.0,811,9437,2.83,2.15,90.70,1.400,4,0.061,0.098,3256,923,2408
$GC,9627,2.26,101.9,972.9,10.1,824,9632,0.12,1.83,0.00,0.000,6,0.096,0.031,3222,1971,2404
$GC,9949,2.21,115.1,946.3,8.1,840,9970,0.00,2.05,11.93,1.279,4,0.000,0.062,3221,919,2355
$GC,10070,2.12,115.1,935.0,9.5,845,10075,0.12,1.77,0.00,0.000,6,0.102,0.029,3193,1944,2354
$GC,10393,2.11,131.9,909.3,7.9,861,10412,0.00,0.00,16.23,1.318,6,0.000,0.000,3193,1944,2287
$GC,10720,2.11,133.8,879.4,8.9,877,10724,0.00,1.88,0.00,0.000,4,0.000,0.060,3193,922,2285
$GC,10849,2.07,136.4,867.6,8.8,882,10859,0.00,1.73,5.43,1.040,6,0.000,0.029,3193,1942,2269
$GC,11180,2.09,144.5,839.2,8.5,899,11194,0.00,1.90,8.75,1.197,4,0.000,0.048,3193,3000,2235
$GC,11296,2.06,144.5,828.7,9.0,904,11300,0.00,1.83,0.00,0.000,6,0.000,0.035,3193,1939,2234
$GC,11623,2.06,144.5,798.7,9.4,920,11626,0.00,1.85,0.00,0.000,4,0.000,0.064,3193,917,2234
$GC,11713,2.02,144.5,790.1,9.3,924,11717,0.12,1.75,0.00,0.000,6,0.116,0.031,3170,1948,2233
$GC,12045,2.02,145.6,761.7,8.9,940,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1948,2233
$GC,12354,2.02,145.6,733.9,9.2,955,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1949,2232
$GC,12663,2.02,145.6,705.9,9.2,970,12666,0.00,1.90,0.00,0.000,4,0.000,0.060,3170,906,2232
$GC,12718,2.02,145.6,700.6,9.5,972,12722,0.00,1.80,0.00,0.000,6,0.000,0.031,3170,1953,2232
$GC,13039,2.04,156.6,673.1,8.3,988,13053,0.00,0.00,11.68,1.176,6,0.000,0.000,3170,1953,2186
$GC,13349,2.07,173.1,646.4,7.9,1003,13370,0.00,1.88,16.15,1.187,4,0.000,0.047,3170,3008,2119
$GC,13426,2.08,179.1,639.9,8.6,1006,13438,0.00,1.88,6.93,1.020,6,0.000,0.045,3170,1939,2094
$GC,13747,2.14,197.7,614.4,7.7,1022,13770,0.12,1.98,17.38,1.163,4,0.071,0.044,3203,3007,2019
$GC,13803,2.14,199.3,609.2,8.9,1024,13807,0.00,1.88,0.00,0.000,6,0.000,0.035,3203,1941,2018
$GC,14124,2.15,203.4,580.1,8.7,1040,14133,0.00,0.00,6.68,0.989,6,0.000,0.000,3203,1939,1995
$GC,14434,2.15,203.4,551.4,9.8,1055,14437,0.00,1.88,0.00,0.000,4,0.000,0.044,3204,3015,1995
$GC,14528,2.15,204.7,542.0,8.9,1059,14532,0.00,1.90,0.00,0.000,6,0.000,0.035,3204,1928,1994
$GC,14855,2.15,204.7,510.3,9.9,1075,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1926,1994
$GC,15169,2.15,204.7,479.7,9.7,1099,15173,0.00,1.90,0.00,0.000,4,0.000,0.044,3203,3016,1994
$GC,15237,2.15,204.7,472.7,10.5,1105,15240,0.00,1.85,0.00,0.000,6,0.000,0.035,3203,1938,1994
$GC,15568,2.15,204.7,439.9,10.2,1136,15569,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1937,1994
$GC,15885,2.15,204.7,409.1,9.2,1166,15888,0.00,1.85,0.00,0.000,4,0.000,0.044,3203,3003,1994
$GC,16068,2.15,204.7,391.7,9.1,1182,16075,0.00,1.83,0.00,0.000,6,0.000,0.038,3203,1952,1994
$GC,16394,2.15,204.7,362.0,9.3,1213,16398,0.00,1.83,0.00,0.000,4,0.000,0.044,3203,3007,1994
$GC,16478,2.16,206.9,354.1,8.9,1220,16487,0.00,1.77,4.60,0.744,6,0.000,0.035,3203,1963,1981
$GC,16812,2.17,216.1,323.9,8.4,1252,16824,0.00,0.00,9.88,0.923,6,0.000,0.000,3203,1961,1943
$GC,17141,2.17,216.9,294.2,9.0,1283,17144,0.00,1.88,0.00,0.000,4,0.000,0.060,3203,916,1942
$GC,17197,2.17,216.9,289.0,9.5,1288,17200,0.00,1.75,0.00,0.000,6,0.000,0.037,3203,1957,1943
$GC,17528,2.17,216.9,258.0,9.2,1319,17532,0.00,1.80,0.00,0.000,4,0.000,0.047,3204,3009,1943
$GC,17624,2.17,216.9,249.0,9.5,1328,17629,0.00,1.80,0.00,0.000,6,0.000,0.040,3203,1949,1943
$GC,17968,2.23,231.9,219.6,8.0,1389,17989,0.00,1.88,14.68,0.878,4,0.000,0.043,3203,3003,1879
$GC,18052,2.26,231.9,212.0,9.7,1404,18058,0.00,1.75,0.00,0.000,6,0.000,0.031,3203,1973,1878
$GC,18396,2.34,253.6,183.7,7.5,1465,18418,0.15,0.00,19.60,0.857,6,0.062,0.000,3251,1973,1791
$GC,18756,2.35,258.1,150.2,8.7,1529,18767,0.00,0.00,5.22,0.660,6,0.000,0.000,3251,1973,1772
$GC,19107,2.43,280.6,125.1,7.5,1591,19135,0.00,1.85,19.85,0.795,4,0.000,0.042,3250,3004,1681
$GC,19298,2.51,302.5,110.6,7.5,1625,19327,0.12,1.73,19.65,0.767,6,0.064,0.028,3289,1973,1590
$GC,19667,2.62,340.7,83.0,6.4,1690,19706,0.00,1.80,32.08,0.739,4,0.000,0.036,3289,3009,1435
$GC,19821,2.67,343.7,70.2,8.8,1717,19832,0.00,1.62,4.07,0.499,6,0.000,0.026,3289,2030,1423
$GC,20173,2.81,374.8,43.6,6.9,1779,20206,0.17,1.98,26.67,0.686,4,0.052,0.047,3346,913,1297
$GC,20459,2.81,374.8,15.1,9.2,1830,20466,0.00,1.80,0.00,0.000,6,0.000,0.023,3346,2008,1296
$STATE,20593,end climb,SURFACE_DEPTH_REACHED
$STATE,20593,begin surface coast
$FINISH,-0.1,1.021374
$STATE,20616,end surface coast,CONTROL_FINISHED_OK
$STATE,20617,begin surface
$SM_CCo,20639,66.03,0.642,0,0,888,475.15
$SM_GC,-6.73,0.00,0.00,66.03,0.000,0.000,0.642,416,2324,888,-10.64,-0.03,475.15
$IRIDIUM_FIX,1245.46,12027.48,240697,070717
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.70
$XPDR_PINGS,513
$24V_AH,23.1,30.499
$10V_AH,10.2,24.057
$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,28.875,106.775,432.075,66.025,0.000,25.154,33.792,186.282,140.750,0.000,0.000,16.001,3030.333,13618.897,593.763,3272.764,583.921,0.000,2165.945,0.000,3216.439,0.000,91.471
$DEVICE_MAMPS,172.575,125.021,1435.824,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1261.221,428.238,701.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97875,1858
$CAP_FILE_SIZE,185869,0
$CFSIZE,260165632,240050176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300308,192107,1248.344,12028.635,42,1.0,42,-0.8