version: 66.03
glider: 126
mission: 7
dive: 206
start: 3 31 108 7 7 25
data:
$ID,126
$MISSION,7
$DIVE,206
$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,-623323.44
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,065038,1248.506,12033.322,32,1.7,32,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.32
$_SM_ANGLEo,-57.2
$GPS2,070633,1248.646,12033.301,18,1.8,18,-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,73.6,5027,-19.0,-9.016
$D_GRID,1290
$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,-120.8,0.0,0.0,0,93,0.00,0.00,-67.00,0.000,6,0.000,0.000,416,2345,3320
$GC,96,-2.18,-120.8,0.3,-19.5,13,113,10.40,1.83,0.00,0.000,4,0.172,0.032,2251,1253,3321
$GC,346,-2.00,-120.8,59.2,-20.5,57,352,0.20,1.75,0.00,0.000,6,0.115,0.025,2289,2325,3322
$GC,690,-1.92,-120.8,111.0,-14.2,118,697,0.10,1.80,0.00,0.000,4,0.122,0.041,2308,3376,3323
$GC,737,-1.87,-120.8,117.4,-13.4,126,743,0.00,1.75,0.00,0.000,6,0.000,0.023,2308,2283,3324
$GC,1080,-1.87,-120.8,155.1,-10.1,187,1086,0.00,1.85,0.00,0.000,4,0.000,0.039,2308,3376,3324
$GC,1272,-1.87,-120.8,173.5,-9.0,221,1278,0.00,1.62,0.00,0.000,6,0.000,0.024,2308,2340,3324
$GC,1615,-1.90,-120.8,205.4,-9.6,282,1621,0.00,1.73,0.00,0.000,4,0.000,0.037,2308,1304,3325
$GC,1685,-1.90,-120.8,211.8,-9.4,294,1691,0.00,1.75,0.00,0.000,6,0.000,0.025,2308,2376,3324
$GC,2029,-1.95,-126.5,242.9,-8.7,355,2035,0.00,1.70,0.00,0.000,4,0.000,0.045,2308,3375,3324
$GC,2103,-1.95,-126.5,249.7,-9.4,368,2109,0.00,1.62,0.00,0.000,6,0.000,0.026,2308,2354,3324
$GC,2429,-2.00,-126.5,279.1,-9.2,399,2433,0.00,1.75,0.00,0.000,4,0.000,0.045,2308,3370,3321
$GC,2512,-2.00,-126.5,287.4,-9.9,406,2519,0.00,1.62,0.00,0.000,6,0.000,0.027,2308,2373,3321
$GC,2839,-2.04,-126.5,317.8,-9.7,437,2840,0.10,0.00,0.00,0.000,6,0.071,0.000,2279,2366,3318
$GC,3157,-2.04,-126.5,349.9,-9.4,467,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2367,3316
$GC,3474,-2.04,-126.5,380.1,-9.8,497,3477,0.00,1.75,0.00,0.000,4,0.000,0.049,2279,3376,3314
$GC,3530,-2.04,-126.5,385.6,-9.7,502,3534,0.00,1.67,0.00,0.000,6,0.000,0.030,2279,2384,3313
$GC,3861,-2.04,-126.5,417.2,-9.6,533,3865,0.00,1.88,0.00,0.000,4,0.000,0.051,2278,1308,3310
$GC,3917,-2.04,-126.5,423.1,-10.1,538,3921,0.00,1.80,0.00,0.000,6,0.000,0.033,2278,2355,3309
$GC,4249,-2.04,-126.5,454.0,-9.2,569,4252,0.00,1.77,0.00,0.000,4,0.000,0.052,2278,3378,3307
$GC,4282,-2.04,-126.5,457.6,-10.5,572,4286,0.00,1.65,0.00,0.000,6,0.000,0.031,2278,2386,3307
$GC,4614,-2.04,-126.5,488.9,-9.7,603,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2385,3305
$GC,4925,-2.04,-126.5,518.5,-9.7,624,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2385,3302
$GC,5234,-2.04,-126.5,548.8,-9.8,639,5238,0.00,1.80,0.00,0.000,4,0.000,0.068,2278,3373,3301
$GC,5279,-2.04,-126.5,553.4,-10.6,641,5283,0.00,1.65,0.00,0.000,6,0.000,0.041,2278,2413,3300
$GC,5611,-2.04,-126.5,585.8,-9.3,657,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2412,3298
$GC,5920,-2.04,-126.5,615.3,-9.3,672,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2412,3296
$GC,6229,-2.04,-126.5,644.2,-9.8,687,6233,0.00,2.15,0.00,0.000,4,0.000,0.107,2278,1317,3294
$GC,6296,-2.04,-126.5,651.1,-10.5,690,6300,0.00,2.03,0.00,0.000,6,0.000,0.086,2278,2373,3294
$GC,6622,-2.04,-126.5,683.0,-9.6,706,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2373,3293
$GC,6932,-2.04,-126.5,710.9,-9.2,721,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2373,3292
$GC,7241,-2.04,-128.6,738.2,-8.9,736,7245,0.00,2.15,0.00,0.000,4,0.000,0.150,2278,3387,3290
$GC,7286,-2.04,-128.6,742.6,-10.2,738,7290,0.00,1.98,0.00,0.000,6,0.000,0.127,2278,2448,3290
$GC,7620,-2.08,-131.3,772.0,-8.8,754,7625,0.00,2.55,0.00,0.000,4,0.000,0.171,2278,1321,3288
$GC,7727,-2.08,-131.3,781.7,-9.1,759,7731,0.00,2.33,0.00,0.000,6,0.000,0.149,2278,2376,3288
$GC,8053,-2.10,-144.6,809.4,-8.2,775,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2377,3286
$GC,8363,-2.10,-146.0,835.6,-8.8,790,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2386,3284
$GC,8672,-2.14,-146.0,864.2,-9.5,805,8675,0.00,1.77,0.00,0.000,4,0.000,0.058,2279,3393,3284
$GC,8734,-2.14,-146.0,870.2,-10.0,807,8739,0.00,1.67,0.00,0.000,6,0.000,0.033,2279,2396,3283
$GC,9049,-2.17,-146.0,899.7,-9.5,823,9054,0.00,1.98,0.00,0.000,4,0.000,0.072,2278,1317,3283
$GC,9121,-2.17,-146.0,906.4,-9.1,826,9124,0.00,1.88,0.00,0.000,6,0.000,0.039,2278,2402,3282
$GC,9448,-2.20,-146.0,937.1,-9.7,842,9450,0.12,0.00,0.00,0.000,6,0.072,0.000,2246,2403,3281
$GC,9756,-2.20,-146.0,968.9,-10.4,857,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2403,3281
$STATE,9982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9982,begin apogee
$GC,9988,-0.52,0.0,990.8,9.3,868,10091,1.73,0.00,98.85,1.447,6,0.091,0.000,2613,2001,2825
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10094,2.22,146.0,993.6,0.0,873,10229,2.72,0.00,129.70,1.405,6,0.056,0.000,3220,2001,2229
$GC,10535,2.10,146.0,956.8,11.0,895,10537,0.17,0.00,0.00,0.000,6,0.108,0.000,3186,2001,2222
$GC,10843,2.02,151.2,928.3,8.7,910,10852,0.00,2.12,4.90,0.983,4,0.000,0.090,3186,915,2208
$GC,10984,1.92,151.2,915.4,9.7,916,10988,0.20,1.85,0.00,0.000,6,0.106,0.033,3147,1990,2207
$GC,11310,1.90,158.3,888.2,8.6,932,11319,0.00,0.00,7.53,1.172,6,0.000,0.000,3147,1990,2179
$GC,11619,1.87,158.3,859.2,9.5,947,11622,0.00,2.00,0.00,0.000,4,0.000,0.067,3147,918,2178
$GC,11703,1.83,163.8,851.5,8.7,950,11713,0.00,1.77,6.40,1.109,6,0.000,0.032,3147,1956,2158
$GC,12036,1.83,180.5,823.1,8.0,967,12058,0.00,1.95,16.60,1.294,4,0.000,0.051,3147,3015,2089
$GC,12109,1.80,183.9,816.6,8.8,970,12119,0.12,1.88,4.75,0.948,6,0.114,0.045,3124,1944,2075
$GC,12436,1.82,196.9,789.6,8.2,986,12457,0.00,2.00,12.90,1.244,4,0.000,0.048,3124,3016,2022
$GC,12513,1.83,200.2,782.6,8.8,989,12525,0.00,1.85,4.68,0.933,6,0.000,0.039,3124,1972,2008
$GC,12833,1.83,202.2,754.5,8.9,1005,12837,0.00,1.95,0.00,0.000,4,0.000,0.069,3124,913,2006
$GC,12873,1.84,205.4,750.7,8.8,1006,12884,0.00,1.83,6.20,1.057,6,0.000,0.032,3124,1981,1987
$GC,13205,1.84,205.4,719.9,9.5,1023,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1981,1986
$GC,13514,1.84,205.4,690.9,9.3,1038,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1981,1986
$GC,13825,1.84,208.4,662.1,8.8,1053,13831,0.00,0.00,4.10,0.828,6,0.000,0.000,3124,1982,1975
$GC,14133,1.85,214.7,634.9,8.6,1068,14146,0.00,1.88,7.60,1.072,4,0.000,0.051,3124,3010,1949
$GC,14198,1.85,214.7,628.6,9.7,1071,14202,0.00,1.85,0.00,0.000,6,0.000,0.039,3124,1951,1948
$GC,14530,1.85,214.7,597.6,9.3,1087,14534,0.00,1.88,0.00,0.000,4,0.000,0.048,3124,3016,1948
$GC,14575,1.85,214.7,593.2,10.0,1089,14579,0.00,1.80,0.00,0.000,6,0.000,0.037,3124,1974,1948
$GC,14908,1.90,227.1,564.2,8.2,1105,14928,0.00,1.92,12.23,1.114,4,0.000,0.054,3124,3014,1898
$GC,14984,1.92,235.6,557.2,8.5,1108,14999,0.08,1.77,9.23,1.053,6,0.062,0.037,3151,2003,1863
$GC,15327,1.92,235.6,526.0,9.3,1125,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2003,1862
$GC,15636,1.92,235.6,497.6,9.4,1141,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2003,1862
$GC,15954,1.92,235.6,467.5,9.4,1171,15955,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2003,1862
$GC,16273,1.92,235.6,437.5,9.3,1201,16276,0.00,1.77,0.00,0.000,4,0.000,0.047,3151,3017,1862
$GC,16351,1.92,235.6,429.9,9.3,1208,16355,0.00,1.73,0.00,0.000,6,0.000,0.036,3151,2013,1862
$GC,16683,1.92,235.6,398.3,9.3,1239,16686,0.00,1.98,0.00,0.000,4,0.000,0.063,3152,913,1862
$GC,16766,1.92,235.6,389.7,9.8,1246,16772,0.00,1.88,0.00,0.000,6,0.000,0.031,3151,2006,1862
$GC,17092,1.92,235.6,359.2,9.5,1277,17095,0.00,1.73,0.00,0.000,4,0.000,0.049,3151,3009,1862
$GC,17142,1.92,238.8,354.7,8.8,1281,17151,0.00,1.73,4.32,0.721,6,0.000,0.035,3151,1999,1851
$GC,17477,1.94,250.0,326.8,8.3,1313,17492,0.00,1.80,11.32,0.946,4,0.000,0.044,3152,3010,1806
$GC,17549,1.98,270.6,320.6,7.7,1319,17574,0.00,1.73,19.33,0.959,6,0.000,0.034,3151,2005,1720
$GC,17899,2.02,272.5,288.9,8.9,1352,17903,0.00,1.75,0.00,0.000,4,0.000,0.045,3151,3008,1719
$GC,17956,2.05,272.5,283.7,9.9,1357,17960,0.08,1.70,0.00,0.000,6,0.059,0.033,3181,2027,1718
$GC,18285,2.05,273.6,251.7,8.9,1388,18295,0.00,0.00,3.72,0.594,6,0.000,0.000,3180,2026,1709
$GC,18631,2.05,273.6,218.7,10.2,1448,18636,0.00,1.70,0.00,0.000,4,0.000,0.044,3181,3009,1709
$GC,18710,2.05,273.6,210.6,9.8,1462,18716,0.00,1.67,0.00,0.000,6,0.000,0.031,3181,2017,1709
$GC,19053,2.05,273.6,178.9,9.2,1523,19059,0.00,1.73,0.00,0.000,4,0.000,0.042,3181,3016,1709
$GC,19178,2.09,294.5,168.5,7.7,1545,19204,0.00,1.65,19.10,0.846,6,0.000,0.031,3181,2038,1623
$GC,19546,2.17,316.7,138.8,7.6,1610,19574,0.00,1.75,20.02,0.814,4,0.000,0.041,3181,3010,1533
$GC,19811,2.28,330.4,118.4,8.2,1657,19830,0.15,1.55,12.27,0.764,6,0.034,0.028,3240,2098,1477
$GC,20169,2.37,363.4,89.2,7.0,1720,20201,0.00,0.00,28.40,0.753,6,0.000,0.000,3239,2096,1343
$GC,20541,2.48,390.8,59.4,7.3,1786,20570,0.12,2.17,23.75,0.709,4,0.060,0.047,3281,904,1231
$GC,20616,2.48,390.8,52.7,9.5,1799,20622,0.00,2.08,0.00,0.000,6,0.000,0.025,3281,2156,1230
$GC,20960,2.53,390.8,23.6,9.2,1860,20967,0.00,2.17,0.00,0.000,4,0.000,0.043,3281,899,1230
$GC,21041,2.59,409.7,16.8,7.8,1874,21063,0.00,1.98,16.75,0.651,6,0.000,0.025,3281,2093,1154
$STATE,21207,end climb,SURFACE_DEPTH_REACHED
$STATE,21207,begin surface coast
$FINISH,0.2,1.021338
$STATE,21231,end surface coast,CONTROL_FINISHED_OK
$STATE,21231,begin surface
$SM_CCo,21252,44.78,0.647,0,0,887,475.15
$SM_GC,-6.27,0.00,0.00,44.78,0.000,0.000,0.647,415,2346,887,-10.65,0.59,475.15
$IRIDIUM_FIX,1243.25,12031.29,250697,070727
$TT8_MAMPS,0.026078
$HUMID,1862
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,527
$24V_AH,23.1,31.080
$10V_AH,10.1,24.410
$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,28.750,122.850,484.650,44.775,0.000,121.555,172.138,314.597,144.250,0.000,0.000,18.140,3093.509,14266.019,640.713,3266.227,1006.412,0.000,2221.713,0.000,3212.929,0.000,91.481
$DEVICE_MAMPS,171.808,171.041,1447.329,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1295.221,430.339,718.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101047,1908
$CAP_FILE_SIZE,197537,0
$CFSIZE,260165632,239751168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310308,130337,1250.148,12035.405,37,0.9,37,-0.8