version: 66.03
glider: 126
mission: 7
dive: 204
start: 3 30 108 19 28 24
data:
$ID,126
$MISSION,7
$DIVE,204
$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,-623290.12
$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,37
$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
$GPS1,192107,1248.344,12028.635,42,1.0,42,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.39
$_SM_ANGLEo,-59.0
$GPS2,192732,1248.312,12028.652,10,1.0,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S8
$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,107.4,919,-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,-66.07,0.000,6,0.000,0.000,416,2324,3243
$GC,96,-2.39,-101.9,0.2,-19.8,13,113,10.15,1.80,0.00,0.000,4,0.172,0.033,2205,1265,3244
$GC,311,-2.21,-101.9,55.6,-23.8,51,317,0.22,1.70,0.00,0.000,6,0.122,0.025,2248,2313,3245
$GC,656,-2.15,-101.9,111.8,-12.5,112,662,0.00,1.80,0.00,0.000,4,0.000,0.041,2248,3369,3246
$GC,708,-2.10,-101.9,119.1,-14.2,121,714,0.12,1.73,0.00,0.000,6,0.119,0.023,2271,2275,3247
$GC,1052,-2.10,-101.9,158.4,-10.3,182,1057,0.00,1.60,0.00,0.000,4,0.000,0.035,2271,1304,3248
$GC,1159,-2.10,-101.9,170.0,-10.8,201,1165,0.00,1.58,0.00,0.000,6,0.000,0.024,2271,2264,3249
$GC,1504,-2.15,-101.9,203.1,-9.6,262,1510,0.00,1.88,0.00,0.000,4,0.000,0.041,2271,3374,3249
$GC,1675,-2.18,-101.9,220.5,-9.6,292,1681,0.00,1.77,0.00,0.000,6,0.000,0.025,2271,2267,3249
$GC,2017,-2.23,-101.9,252.1,-9.1,351,2022,0.12,1.90,0.00,0.000,4,0.062,0.041,2234,3378,3249
$GC,2140,-2.23,-101.9,264.6,-10.1,362,2144,0.00,1.73,0.00,0.000,6,0.000,0.026,2233,2309,3249
$GC,2472,-2.23,-101.9,297.5,-10.1,393,2475,0.00,1.83,0.00,0.000,4,0.000,0.044,2233,3367,3247
$GC,2641,-2.23,-101.9,315.3,-10.1,408,2645,0.00,1.70,0.00,0.000,6,0.000,0.028,2233,2341,3246
$GC,2972,-2.23,-101.9,348.7,-10.9,439,2975,0.00,1.80,0.00,0.000,4,0.000,0.047,2233,3376,3244
$GC,3050,-2.23,-101.9,358.0,-11.8,446,3054,0.00,1.70,0.00,0.000,6,0.000,0.028,2233,2344,3243
$GC,3382,-2.23,-101.9,392.9,-10.1,477,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2343,3241
$GC,3699,-2.23,-101.9,427.0,-11.3,507,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2343,3239
$GC,4019,-2.23,-101.9,459.5,-9.5,537,4022,0.00,1.80,0.00,0.000,4,0.000,0.053,2234,3367,3237
$GC,4124,-2.23,-101.9,470.5,-10.3,546,4131,0.00,1.70,0.00,0.000,6,0.000,0.031,2233,2368,3236
$GC,4460,-2.23,-101.9,505.3,-11.2,576,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2368,3234
$GC,4768,-2.23,-101.9,539.1,-10.6,591,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2368,3232
$GC,5078,-2.23,-101.9,574.0,-11.3,606,5081,0.00,1.85,0.00,0.000,4,0.000,0.076,2233,3365,3230
$GC,5236,-2.23,-101.9,592.0,-11.2,613,5239,0.00,1.75,0.00,0.000,6,0.000,0.054,2233,2387,3229
$GC,5568,-2.23,-101.9,627.1,-10.3,629,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2386,3227
$GC,5877,-2.24,-104.1,655.7,-8.9,644,5880,0.00,1.92,0.00,0.000,4,0.000,0.104,2233,3362,3226
$GC,5960,-2.24,-104.1,664.0,-10.0,647,5966,0.00,1.85,0.00,0.000,6,0.000,0.084,2233,2394,3225
$GC,6275,-2.24,-104.1,696.2,-10.3,663,6279,0.00,2.30,0.00,0.000,4,0.000,0.134,2233,1287,3224
$GC,6337,-2.24,-104.1,702.7,-10.9,666,6341,0.00,2.10,0.00,0.000,6,0.000,0.107,2233,2335,3224
$GC,6671,-2.27,-104.1,737.2,-10.5,682,6675,0.00,2.22,0.00,0.000,4,0.000,0.146,2233,3383,3222
$GC,6777,-2.27,-104.1,748.7,-10.5,687,6781,0.00,2.08,0.00,0.000,6,0.000,0.130,2233,2404,3221
$GC,7113,-2.30,-104.1,781.7,-9.8,703,7117,0.00,1.77,0.00,0.000,4,0.000,0.053,2233,3406,3219
$GC,7181,-2.30,-104.1,788.8,-10.2,706,7184,0.00,1.75,0.00,0.000,6,0.000,0.031,2233,2362,3219
$GC,7517,-2.33,-104.1,821.0,-10.1,722,7520,0.00,1.83,0.00,0.000,4,0.000,0.052,2233,3396,3217
$GC,7571,-2.33,-104.1,827.4,-11.2,724,7576,0.00,1.73,0.00,0.000,6,0.000,0.038,2233,2387,3217
$GC,7893,-2.36,-104.1,857.1,-9.1,740,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2387,3216
$GC,8203,-2.40,-104.1,886.7,-9.8,755,8207,0.12,2.05,0.00,0.000,4,0.069,0.079,2200,1286,3215
$GC,8264,-2.40,-104.1,893.1,-10.5,758,8267,0.00,1.95,0.00,0.000,6,0.000,0.039,2200,2418,3214
$GC,8596,-2.40,-104.1,928.1,-10.9,774,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2419,3213
$GC,8906,-2.40,-104.1,961.1,-10.5,789,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2419,3212
$STATE,9213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9213,begin apogee
$GC,9220,-0.52,0.0,991.9,10.2,804,9308,1.98,0.00,84.18,1.439,6,0.101,0.000,2611,1969,2825
$STATE,9309,end apogee,CONTROL_FINISHED_OK
$STATE,9309,begin climb
$GC,9311,2.40,104.1,993.8,0.0,808,9411,2.90,0.00,92.90,1.403,6,0.066,0.000,3255,1969,2399
$GC,9729,2.31,118.7,967.3,8.0,829,9750,0.00,2.10,13.18,1.292,4,0.000,0.085,3254,917,2341
$GC,9891,2.18,118.7,951.6,10.6,836,9895,0.25,1.85,0.00,0.000,6,0.110,0.031,3206,2000,2340
$GC,10219,2.16,137.6,924.8,7.7,852,10239,0.00,0.00,18.12,1.329,6,0.000,0.000,3206,2000,2264
$GC,10546,2.13,137.6,893.0,10.9,868,10550,0.00,2.00,0.00,0.000,4,0.000,0.062,3206,917,2262
$GC,10618,2.07,137.6,884.6,12.0,871,10623,0.10,1.80,0.00,0.000,6,0.109,0.031,3177,1958,2261
$GC,10945,2.07,143.2,853.0,8.6,887,10956,0.00,1.95,6.15,1.088,4,0.000,0.061,3177,915,2241
$GC,11080,2.07,143.2,840.2,9.6,893,11084,0.00,1.73,0.00,0.000,6,0.000,0.030,3177,1931,2240
$GC,11407,2.09,154.1,811.7,8.3,909,11423,0.00,1.92,11.35,1.241,4,0.000,0.048,3177,3014,2196
$GC,11541,2.11,163.2,800.0,8.4,914,11558,0.00,1.88,9.50,1.192,6,0.000,0.036,3177,1945,2159
$GC,11867,2.11,163.5,770.1,9.0,930,11868,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1945,2158
$GC,12176,2.12,169.1,743.7,8.6,945,12187,0.00,1.95,6.60,1.075,4,0.000,0.046,3177,3008,2135
$GC,12260,2.12,169.1,736.0,9.3,949,12263,0.00,1.85,0.00,0.000,6,0.000,0.036,3176,1939,2135
$GC,12593,2.12,169.1,704.9,9.5,965,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1939,2134
$GC,12901,2.13,177.5,678.3,8.4,980,12915,0.00,1.95,9.12,1.135,4,0.000,0.047,3177,3007,2100
$GC,12945,2.16,195.2,674.7,7.8,982,12968,0.10,1.85,17.23,1.195,6,0.081,0.036,3204,1943,2028
$GC,13275,2.16,195.2,643.0,10.4,998,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1943,2026
$GC,13585,2.16,195.2,608.5,11.2,1013,13588,0.00,1.88,0.00,0.000,4,0.000,0.046,3204,3014,2026
$GC,13640,2.16,195.2,602.4,10.1,1015,13644,0.00,1.85,0.00,0.000,6,0.000,0.035,3204,1939,2025
$GC,13961,2.16,195.2,570.8,9.6,1031,13964,0.00,1.88,0.00,0.000,4,0.000,0.046,3204,3009,2025
$GC,14005,2.16,195.2,566.5,9.9,1033,14009,0.00,1.83,0.00,0.000,6,0.000,0.035,3204,1948,2025
$GC,14338,2.16,195.2,534.5,9.7,1049,14341,0.00,1.90,0.00,0.000,4,0.000,0.047,3205,3014,2025
$GC,14394,2.16,195.2,528.7,10.6,1051,14397,0.00,1.80,0.00,0.000,6,0.000,0.035,3204,1959,2024
$GC,14715,2.16,195.2,497.1,9.2,1068,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1959,2025
$GC,15035,2.17,199.7,468.8,8.7,1098,15044,0.00,0.00,4.78,0.816,6,0.000,0.000,3204,1959,2011
$GC,15363,2.17,199.7,437.6,9.3,1129,15367,0.00,1.88,0.00,0.000,4,0.000,0.061,3204,909,2011
$GC,15409,2.17,200.1,433.1,9.0,1133,15412,0.00,1.83,0.00,0.000,6,0.000,0.031,3204,1992,2011
$GC,15738,2.17,200.1,403.1,9.1,1164,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1992,2011
$GC,16058,2.17,200.1,373.5,9.1,1194,16059,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1993,2011
$GC,16375,2.17,200.1,343.1,9.5,1224,16379,0.00,1.95,0.00,0.000,4,0.000,0.054,3204,906,2011
$GC,16488,2.18,204.7,332.4,8.7,1234,16500,0.00,1.83,6.25,0.836,6,0.000,0.030,3204,1991,1990
$GC,16817,2.18,204.7,304.3,9.2,1265,16821,0.00,1.75,0.00,0.000,4,0.000,0.048,3204,3007,1990
$GC,16901,2.18,204.7,296.3,9.9,1272,16907,0.00,1.75,0.00,0.000,6,0.000,0.035,3204,1995,1990
$GC,17228,2.20,218.5,267.4,8.1,1303,17245,0.00,0.00,13.65,0.914,6,0.000,0.000,3204,1994,1933
$GC,17571,2.23,218.5,236.7,10.1,1347,17576,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1995,1932
$GC,17914,2.29,233.9,207.4,8.0,1408,17936,0.10,1.83,14.32,0.865,4,0.076,0.044,3234,3000,1871
$GC,18088,2.29,233.9,190.9,9.1,1439,18094,0.00,1.73,0.00,0.000,6,0.000,0.031,3234,1980,1870
$GC,18430,2.29,233.9,160.5,9.4,1500,18436,0.00,1.77,0.00,0.000,4,0.000,0.041,3234,3012,1870
$GC,18544,2.40,280.3,151.8,5.8,1520,18592,0.00,1.75,39.35,0.835,6,0.000,0.031,3234,1971,1681
$GC,18934,2.50,297.0,119.6,7.9,1589,18957,0.15,1.85,14.82,0.773,4,0.060,0.040,3284,3007,1613
$GC,19210,2.58,324.2,97.6,7.1,1638,19239,0.00,1.75,23.58,0.759,6,0.000,0.028,3284,1980,1503
$GC,19580,2.69,353.1,70.9,7.0,1703,19608,0.15,0.00,24.85,0.725,6,0.058,0.000,3334,1979,1385
$GC,19946,2.69,353.1,37.1,9.8,1768,19952,0.00,1.88,0.00,0.000,4,0.000,0.048,3334,914,1384
$GC,20206,2.71,365.8,13.8,8.1,1814,20224,0.00,1.73,11.80,0.633,6,0.000,0.024,3334,1968,1333
$STATE,20352,end climb,SURFACE_DEPTH_REACHED
$STATE,20352,begin surface coast
$FINISH,-0.2,1.021345
$STATE,20374,end surface coast,CONTROL_FINISHED_OK
$STATE,20374,begin surface
$SM_CCo,20396,71.07,0.646,0,0,887,475.15
$SM_GC,-6.71,0.00,0.00,71.07,0.000,0.000,0.646,415,2326,887,-10.65,0.03,475.15
$IRIDIUM_FIX,1245.46,12029.39,240697,131319
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,494
$24V_AH,23.1,30.679
$10V_AH,10.1,24.173
$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,29.175,115.700,421.725,71.075,0.000,25.240,37.132,190.029,136.000,0.000,0.000,15.750,3035.156,13368.564,587.752,3278.502,602.984,0.000,2160.319,0.000,3218.875,0.000,91.474
$DEVICE_MAMPS,171.808,145.730,1438.892,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.068,418.006,701.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97609,1844
$CAP_FILE_SIZE,185421,0
$CFSIZE,260165632,239951872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310308,011055,1247.585,12031.060,28,1.3,46,-0.8