version: 66.03
glider: 126
mission: 7
dive: 205
start: 3 31 108 1 18 0
data:
$ID,126
$MISSION,7
$DIVE,205
$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,-623304.69
$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,52
$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
$GPS1,011055,1247.585,12031.060,28,1.3,46,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.34
$_SM_ANGLEo,-59.0
$GPS2,011708,1247.526,12031.010,13,1.7,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB
$TGT_LATLONG,1249.450,12035.960
$TGT_RADIUS,1000.000
$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,69.1,9623,-19.0,-9.016
$D_GRID,917
$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,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.00,0.000,6,0.000,0.000,415,2327,3320
$GC,97,-2.18,-120.8,1.2,-23.0,13,114,10.35,1.80,0.00,0.000,4,0.170,0.034,2251,1271,3322
$GC,171,-1.98,-120.8,24.6,-20.3,26,177,0.20,1.75,0.00,0.000,6,0.109,0.025,2294,2324,3323
$GC,515,-1.88,-120.8,84.2,-15.6,87,522,0.12,1.77,0.00,0.000,4,0.118,0.031,2318,1264,3324
$GC,540,-1.80,-120.8,87.7,-14.6,91,545,0.00,1.70,0.00,0.000,6,0.000,0.025,2317,2309,3324
$GC,882,-1.80,-120.8,130.1,-10.8,152,888,0.00,1.80,0.00,0.000,4,0.000,0.041,2317,3364,3325
$GC,1064,-1.80,-120.8,147.3,-10.2,184,1070,0.00,1.77,0.00,0.000,6,0.000,0.023,2317,2267,3326
$GC,1409,-1.85,-127.0,180.1,-8.6,245,1414,0.00,1.88,0.00,0.000,4,0.000,0.040,2317,3368,3326
$GC,1494,-1.89,-127.0,188.3,-9.6,260,1500,0.00,1.73,0.00,0.000,6,0.000,0.025,2317,2287,3326
$GC,1838,-1.94,-128.8,218.7,-8.9,321,1844,0.00,1.85,0.00,0.000,4,0.000,0.042,2317,3369,3326
$GC,1998,-1.98,-128.8,232.9,-9.2,349,2003,0.00,1.65,0.00,0.000,6,0.000,0.025,2317,2331,3326
$GC,2338,-2.04,-128.8,263.4,-9.5,398,2340,0.15,0.00,0.00,0.000,6,0.058,0.000,2275,2323,3326
$GC,2659,-2.04,-128.8,295.4,-10.3,428,2663,0.00,1.80,0.00,0.000,4,0.000,0.046,2275,3372,3325
$GC,2742,-2.04,-128.8,304.5,-10.3,435,2749,0.00,1.65,0.00,0.000,6,0.000,0.027,2275,2368,3324
$GC,3069,-2.04,-128.8,336.8,-9.8,466,3072,0.00,1.73,0.00,0.000,4,0.000,0.047,2275,3363,3322
$GC,3130,-2.04,-128.8,343.2,-10.2,471,3136,0.00,1.62,0.00,0.000,6,0.000,0.028,2275,2361,3322
$GC,3455,-2.04,-128.8,374.3,-9.3,502,3459,0.00,1.75,0.00,0.000,4,0.000,0.048,2275,3364,3319
$GC,3513,-2.04,-128.8,379.9,-9.9,507,3517,0.00,1.62,0.00,0.000,6,0.000,0.028,2275,2375,3319
$GC,3844,-2.04,-128.8,412.0,-9.8,538,3848,0.00,1.90,0.00,0.000,4,0.000,0.048,2275,1295,3317
$GC,3912,-2.04,-132.2,418.3,-8.8,544,3916,0.00,1.80,0.00,0.000,6,0.000,0.031,2275,2364,3316
$GC,4244,-2.06,-142.2,448.1,-8.4,575,4247,0.00,1.75,0.00,0.000,4,0.000,0.051,2275,3376,3314
$GC,4322,-2.06,-142.2,455.5,-9.7,582,4326,0.00,1.65,0.00,0.000,6,0.000,0.031,2275,2404,3313
$GC,4653,-2.06,-142.2,487.6,-9.9,613,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2402,3311
$GC,4965,-2.06,-142.2,519.1,-10.0,634,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2402,3309
$GC,5274,-2.06,-142.2,549.4,-9.9,649,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2402,3308
$GC,5583,-2.06,-142.2,578.3,-9.1,664,5587,0.00,2.05,0.00,0.000,4,0.000,0.080,2275,1298,3305
$GC,5655,-2.06,-143.7,585.0,-8.9,667,5659,0.00,1.95,0.00,0.000,6,0.000,0.058,2275,2362,3306
$GC,5982,-2.06,-143.7,614.3,-9.6,683,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2363,3303
$GC,6291,-2.06,-143.7,645.3,-10.0,698,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2363,3302
$GC,6601,-2.06,-143.7,676.7,-10.2,713,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2363,3300
$GC,6911,-2.06,-143.7,707.5,-9.8,728,6914,0.00,2.10,0.00,0.000,4,0.000,0.140,2275,3380,3299
$GC,6960,-2.06,-143.7,712.7,-9.9,730,6964,0.00,1.73,0.00,0.000,6,0.000,0.031,2275,2374,3298
$GC,7288,-2.06,-145.0,742.9,-8.9,746,7291,0.00,1.80,0.00,0.000,4,0.000,0.053,2275,3394,3297
$GC,7348,-2.06,-145.0,748.6,-9.3,748,7355,0.00,1.75,0.00,0.000,6,0.000,0.031,2275,2376,3297
$GC,7665,-2.07,-146.0,775.3,-8.3,764,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2375,3295
$GC,7974,-2.07,-146.0,801.3,-8.4,779,7978,0.00,1.98,0.00,0.000,4,0.000,0.071,2275,1291,3294
$GC,8020,-2.07,-146.0,805.2,-8.6,781,8024,0.00,1.92,0.00,0.000,6,0.000,0.039,2275,2407,3294
$GC,8352,-2.07,-146.0,835.2,-9.2,797,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2408,3293
$GC,8662,-2.10,-146.0,863.9,-9.6,812,8665,0.00,2.03,0.00,0.000,4,0.000,0.057,2275,1283,3292
$GC,8730,-2.10,-146.0,870.3,-9.4,815,8733,0.00,1.92,0.00,0.000,6,0.000,0.038,2275,2403,3292
$GC,9064,-2.10,-146.0,900.7,-9.5,831,9068,0.00,2.00,0.00,0.000,4,0.000,0.053,2275,1284,3291
$GC,9125,-2.10,-146.0,907.2,-10.7,833,9131,0.00,1.92,0.00,0.000,6,0.000,0.036,2275,2388,3291
$STATE,9232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9232,begin apogee
$GC,9239,-0.52,0.0,917.3,9.4,839,9343,1.60,0.00,99.93,1.386,6,0.090,0.000,2615,1963,2825
$STATE,9344,end apogee,CONTROL_FINISHED_OK
$STATE,9344,begin climb
$GC,9346,2.22,146.0,920.4,0.0,844,9481,2.67,0.00,127.28,1.350,6,0.058,0.000,3217,1963,2229
$GC,9797,2.10,146.0,886.6,9.6,866,9799,0.15,0.00,0.00,0.000,6,0.109,0.000,3188,1963,2222
$GC,10106,2.02,146.0,857.8,9.3,881,10110,0.00,1.95,0.00,0.000,4,0.000,0.074,3188,913,2221
$GC,10152,1.91,146.0,853.4,10.6,883,10156,0.20,1.83,0.00,0.000,6,0.105,0.031,3149,1980,2221
$GC,10484,1.89,153.5,824.1,8.5,899,10492,0.00,0.00,6.38,1.075,6,0.000,0.000,3149,1980,2199
$GC,10793,1.87,161.2,796.7,8.5,914,10803,0.00,0.00,8.62,1.166,6,0.000,0.000,3149,1980,2166
$GC,11102,1.87,161.8,768.6,9.0,929,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1980,2165
$GC,11411,1.85,169.7,741.5,8.5,944,11425,0.00,2.03,8.73,1.150,4,0.000,0.060,3148,916,2133
$GC,11482,1.81,169.7,735.0,9.2,947,11487,0.10,1.83,0.00,0.000,6,0.100,0.031,3125,1962,2133
$GC,11809,1.83,180.5,708.1,8.3,963,11822,0.00,0.00,11.23,1.182,6,0.000,0.000,3125,1962,2089
$GC,12117,1.85,190.9,681.4,8.4,978,12133,0.00,1.85,10.82,1.160,4,0.000,0.048,3125,3005,2045
$GC,12234,1.85,192.9,670.8,8.9,982,12237,0.00,1.80,0.00,0.000,6,0.000,0.044,3125,1960,2044
$GC,12554,1.86,199.8,642.5,8.6,998,12568,0.00,1.92,9.02,1.104,4,0.000,0.048,3125,3011,2010
$GC,12625,1.86,199.8,636.0,9.0,1001,12629,0.00,1.83,0.00,0.000,6,0.000,0.035,3125,1967,2009
$GC,12952,1.88,209.4,608.2,8.4,1017,12964,0.00,0.00,10.02,1.104,6,0.000,0.000,3125,1967,1971
$GC,13261,1.88,210.8,581.2,8.9,1032,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1967,1970
$GC,13571,1.88,210.8,552.8,9.5,1047,13574,0.00,1.83,0.00,0.000,4,0.000,0.046,3125,3008,1969
$GC,13615,1.88,210.8,548.5,9.4,1049,13619,0.00,1.77,0.00,0.000,6,0.000,0.035,3125,1971,1969
$GC,13947,1.90,225.5,520.0,8.1,1065,13967,0.00,0.00,15.70,1.104,6,0.000,0.000,3125,1972,1905
$GC,14280,1.94,225.5,490.5,9.3,1085,14284,0.12,1.83,0.00,0.000,4,0.073,0.044,3159,3014,1904
$GC,14396,1.94,225.5,478.3,10.3,1095,14403,0.00,1.80,0.00,0.000,6,0.000,0.035,3159,1979,1903
$GC,14725,1.94,225.5,445.0,10.3,1126,14728,0.00,1.80,0.00,0.000,4,0.000,0.046,3159,3011,1903
$GC,14792,1.94,225.5,437.6,9.6,1132,14795,0.00,1.75,0.00,0.000,6,0.000,0.035,3159,1989,1903
$GC,15123,1.94,225.5,407.1,9.3,1163,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1989,1903
$GC,15442,1.95,230.5,379.0,8.7,1193,15450,0.00,0.00,5.53,0.826,6,0.000,0.000,3159,1989,1885
$GC,15771,1.96,235.1,349.9,8.7,1224,15782,0.00,1.80,6.00,0.838,4,0.000,0.044,3159,3010,1866
$GC,15873,1.96,235.3,340.4,9.0,1233,15876,0.00,1.75,0.00,0.000,6,0.000,0.035,3158,1988,1865
$GC,16205,1.97,240.7,311.3,8.7,1264,16215,0.00,0.00,6.53,0.834,6,0.000,0.000,3159,1988,1843
$GC,16535,1.97,240.7,282.0,9.1,1295,16538,0.00,1.77,0.00,0.000,4,0.000,0.045,3159,3007,1842
$GC,16625,1.98,247.6,273.3,8.6,1303,16637,0.00,1.70,7.57,0.844,6,0.000,0.034,3158,2005,1815
$GC,16957,2.00,263.0,245.2,8.1,1338,16979,0.00,1.80,14.75,0.896,4,0.000,0.045,3159,3014,1751
$GC,17041,2.00,263.0,237.1,9.3,1353,17047,0.00,1.67,0.00,0.000,6,0.000,0.032,3158,2032,1750
$GC,17386,2.05,267.6,205.9,8.7,1414,17397,0.00,1.73,5.22,0.705,4,0.000,0.043,3159,3016,1734
$GC,17493,2.07,277.8,196.0,8.4,1433,17509,0.00,1.62,10.20,0.825,6,0.000,0.033,3159,2059,1692
$GC,17848,2.14,282.7,164.8,8.7,1496,17859,0.15,0.00,5.72,0.699,6,0.061,0.000,3206,2058,1671
$GC,18196,2.18,308.4,135.5,7.4,1558,18225,0.00,1.70,23.05,0.814,4,0.000,0.048,3206,3020,1566
$GC,18422,2.27,337.3,118.2,7.2,1598,18455,0.00,1.60,24.85,0.786,6,0.000,0.028,3206,2081,1448
$GC,18796,2.40,366.3,91.5,7.2,1664,18830,0.17,1.70,24.85,0.752,4,0.054,0.039,3263,3021,1330
$GC,18898,2.40,366.3,81.9,10.0,1682,18904,0.00,1.62,0.00,0.000,6,0.000,0.027,3263,2067,1329
$GC,19243,2.53,411.8,53.5,6.2,1743,19287,0.00,1.70,38.15,0.707,4,0.000,0.036,3263,3016,1145
$GC,19350,2.60,421.5,45.5,8.4,1762,19368,0.10,1.55,9.45,0.630,6,0.047,0.025,3304,2091,1105
$GC,19708,2.60,421.5,11.5,9.6,1825,19714,0.00,2.05,0.00,0.000,4,0.000,0.047,3304,905,1105
$STATE,19804,end climb,SURFACE_DEPTH_REACHED
$STATE,19804,begin surface coast
$FINISH,-0.5,1.021368
$STATE,19826,end surface coast,CONTROL_FINISHED_OK
$STATE,19826,begin surface
$SM_CCo,19850,38.35,0.645,0,0,888,475.15
$SM_GC,-5.73,0.00,0.00,38.35,0.000,0.000,0.645,415,2345,888,-10.65,0.57,475.15
$IRIDIUM_FIX,1241.04,12028.27,240697,191955
$TT8_MAMPS,0.025311
$HUMID,1853
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.50
$XPDR_PINGS,433
$24V_AH,23.1,30.866
$10V_AH,10.1,24.287
$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,28.625,112.875,489.600,38.350,0.000,25.436,32.087,187.794,118.750,0.000,0.000,13.966,2976.495,12943.283,618.955,3133.576,610.212,0.000,2153.177,0.000,3103.328,0.000,76.982
$DEVICE_MAMPS,169.507,140.361,1385.969,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1251.594,438.464,727.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97741,1846
$CAP_FILE_SIZE,181065,0
$CFSIZE,260165632,239865856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310308,065038,1248.506,12033.322,32,1.7,32,-0.8