version: 66.03
glider: 126
mission: 7
dive: 210
start: 4 1 108 7 8 49
data:
$ID,126
$MISSION,7
$DIVE,210
$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,-623385.69
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,070138,1249.510,12036.313,42,1.3,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.48
$_SM_ANGLEo,-58.8
$GPS2,070757,1249.571,12036.274,14,1.6,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S3
$TGT_LATLONG,1249.450,12035.960
$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,249.3,610,-21.3,-9.016
$D_GRID,1738
$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,-66.00,0.000,6,0.000,0.000,416,2332,3243
$GC,97,-2.39,-101.9,0.6,-20.7,13,109,10.05,0.00,0.00,0.000,6,0.169,0.000,2202,2332,3244
$GC,448,-2.24,-101.9,81.3,-17.2,75,454,0.17,1.77,0.00,0.000,4,0.117,0.037,2239,3390,3246
$GC,651,-2.16,-101.9,114.8,-13.8,111,657,0.00,1.73,0.00,0.000,6,0.000,0.023,2239,2287,3247
$GC,994,-2.16,-101.9,156.8,-11.5,172,1000,0.00,1.85,0.00,0.000,4,0.000,0.038,2239,3379,3248
$GC,1124,-2.13,-101.9,172.6,-12.1,195,1130,0.12,1.65,0.00,0.000,6,0.113,0.023,2263,2311,3249
$GC,1470,-2.16,-101.9,207.0,-9.5,256,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2304,3249
$GC,1812,-2.19,-101.9,240.3,-9.5,317,1818,0.00,1.83,0.00,0.000,4,0.000,0.042,2263,3377,3249
$GC,1892,-2.19,-101.9,248.1,-10.0,331,1898,0.00,1.60,0.00,0.000,6,0.000,0.025,2263,2356,3249
$GC,2225,-2.23,-101.9,281.4,-10.3,364,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2356,3249
$GC,2544,-2.27,-101.9,313.2,-10.4,394,2548,0.12,1.77,0.00,0.000,4,0.064,0.044,2226,3374,3247
$GC,2588,-2.27,-101.9,318.4,-11.4,398,2592,0.00,1.62,0.00,0.000,6,0.000,0.028,2226,2372,3247
$GC,2919,-2.27,-101.9,353.1,-10.4,429,2922,0.00,1.75,0.00,0.000,4,0.000,0.045,2226,3383,3244
$GC,2980,-2.27,-101.9,359.9,-10.3,434,2986,0.00,1.65,0.00,0.000,6,0.000,0.027,2226,2373,3244
$GC,3305,-2.27,-101.9,393.8,-10.4,465,3309,0.00,1.75,0.00,0.000,4,0.000,0.046,2226,3383,3242
$GC,3389,-2.27,-101.9,403.0,-10.8,472,3395,0.00,1.65,0.00,0.000,6,0.000,0.028,2226,2397,3241
$GC,3715,-2.27,-101.9,435.6,-10.1,503,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2397,3239
$GC,4032,-2.27,-101.9,465.9,-9.1,533,4036,0.00,1.73,0.00,0.000,4,0.000,0.050,2226,3383,3237
$GC,4093,-2.27,-101.9,471.9,-9.7,538,4099,0.00,1.65,0.00,0.000,6,0.000,0.030,2226,2410,3237
$GC,4419,-2.27,-101.9,502.9,-9.9,568,4422,0.00,1.73,0.00,0.000,4,0.000,0.057,2227,3380,3235
$GC,4464,-2.27,-101.9,507.6,-9.7,570,4467,0.00,1.60,0.00,0.000,6,0.000,0.031,2226,2424,3234
$GC,4795,-2.27,-101.9,539.7,-9.5,586,4801,0.00,1.73,0.00,0.000,4,0.000,0.064,2226,3364,3232
$GC,4868,-2.27,-101.9,546.7,-9.8,589,4871,0.00,1.58,0.00,0.000,6,0.000,0.038,2226,2462,3231
$GC,5194,-2.28,-102.4,576.2,-9.0,605,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2461,3229
$GC,5503,-2.28,-104.2,603.5,-8.9,620,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2461,3227
$GC,5813,-2.28,-104.2,632.9,-9.8,635,5816,0.00,1.75,0.00,0.000,4,0.000,0.096,2226,3364,3226
$GC,5873,-2.28,-104.2,639.3,-10.0,637,5880,0.00,1.67,0.00,0.000,6,0.000,0.072,2226,2484,3225
$GC,6192,-2.28,-104.2,670.6,-10.0,653,6196,0.00,2.33,0.00,0.000,4,0.000,0.115,2226,1320,3224
$GC,6253,-2.28,-104.2,677.1,-10.2,656,6257,0.00,2.15,0.00,0.000,6,0.000,0.096,2226,2418,3224
$GC,6582,-2.28,-104.2,710.4,-10.3,672,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2418,3222
$GC,6891,-2.28,-104.2,741.5,-10.0,687,6895,0.00,2.00,0.00,0.000,4,0.000,0.149,2226,3356,3220
$GC,6969,-2.28,-104.2,749.4,-9.6,690,6973,0.00,1.88,0.00,0.000,6,0.000,0.129,2226,2482,3220
$GC,7293,-2.28,-104.2,781.0,-9.7,706,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2470,3218
$GC,7602,-2.28,-104.2,811.4,-10.0,721,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2470,3217
$GC,7910,-2.28,-104.2,842.3,-10.0,736,7913,0.00,2.05,0.00,0.000,4,0.000,0.054,2226,1315,3216
$GC,7955,-2.28,-104.2,847.0,-10.2,738,7959,0.00,1.90,0.00,0.000,6,0.000,0.035,2226,2425,3215
$GC,8289,-2.28,-104.2,880.8,-10.3,754,8293,0.00,1.65,0.00,0.000,4,0.000,0.056,2226,3373,3214
$GC,8350,-2.28,-104.2,887.5,-10.0,756,8356,0.00,1.58,0.00,0.000,6,0.000,0.031,2227,2447,3214
$GC,8668,-2.28,-104.2,920.2,-10.0,772,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2447,3213
$GC,8977,-2.28,-104.2,950.0,-9.3,787,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2447,3212
$GC,9285,-2.31,-104.9,978.0,-9.0,802,9288,0.00,2.03,0.00,0.000,4,0.000,0.058,2226,1308,3211
$GC,9341,-2.31,-104.9,983.4,-9.5,804,9345,0.00,1.92,0.00,0.000,6,0.000,0.038,2226,2428,3211
$STATE,9415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9415,begin apogee
$GC,9421,-0.52,0.0,990.2,9.3,808,9510,1.85,0.00,84.12,1.443,6,0.096,0.000,2616,1992,2825
$STATE,9511,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9513,2.40,104.9,992.2,0.0,812,9616,2.83,2.10,93.53,1.404,4,0.056,0.081,3258,916,2396
$GC,9723,2.26,108.1,979.8,8.8,821,9729,0.17,1.83,0.00,0.000,6,0.112,0.033,3225,1972,2392
$GC,10038,2.19,110.9,952.4,8.8,837,10046,0.00,0.00,5.57,1.053,6,0.000,0.000,3225,1972,2373
$GC,10348,2.14,120.4,925.8,8.4,852,10363,0.15,2.00,10.27,1.256,4,0.111,0.061,3196,913,2333
$GC,10616,2.10,133.5,902.7,8.1,863,10635,0.00,1.80,13.15,1.292,6,0.000,0.031,3196,1967,2280
$GC,10965,2.07,133.5,871.6,9.2,880,10968,0.00,1.92,0.00,0.000,4,0.000,0.059,3196,916,2279
$GC,11077,2.02,133.5,860.8,9.5,885,11081,0.15,1.77,0.00,0.000,6,0.112,0.031,3168,1955,2278
$GC,11409,2.04,143.8,831.9,8.3,901,11422,0.00,0.00,10.48,1.239,6,0.000,0.000,3168,1955,2237
$GC,11740,2.06,157.7,804.1,8.1,917,11759,0.00,0.00,13.43,1.261,6,0.000,0.000,3168,1955,2182
$GC,12069,2.07,166.3,775.5,8.4,933,12080,0.00,0.00,9.40,1.187,6,0.000,0.000,3168,1955,2147
$GC,12378,2.08,166.7,748.0,9.0,948,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1956,2145
$GC,12687,2.08,166.7,719.2,9.7,963,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1956,2145
$GC,12996,2.08,166.7,689.2,10.0,978,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1956,2144
$GC,13306,2.08,166.7,660.2,9.2,993,13310,0.00,1.90,0.00,0.000,4,0.000,0.059,3168,911,2144
$GC,13374,2.08,166.7,653.6,9.4,996,13377,0.00,1.77,0.00,0.000,6,0.000,0.031,3168,1956,2144
$GC,13706,2.09,172.9,624.1,8.6,1012,13715,0.00,0.00,7.05,1.045,6,0.000,0.000,3168,1957,2120
$GC,14015,2.09,177.3,596.6,8.7,1027,14022,0.00,0.00,5.62,0.959,6,0.000,0.000,3168,1957,2102
$GC,14324,2.13,177.3,569.8,9.0,1042,14326,0.12,0.00,0.00,0.000,6,0.073,0.000,3201,1957,2101
$GC,14633,2.13,177.3,539.7,9.9,1057,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1957,2101
$GC,14942,2.13,177.3,510.1,9.6,1072,14946,0.00,1.90,0.00,0.000,4,0.000,0.058,3201,906,2101
$GC,15020,2.13,177.3,502.7,9.4,1075,15024,0.00,1.83,0.00,0.000,6,0.000,0.031,3201,1966,2101
$GC,15351,2.13,180.7,474.1,8.8,1105,15363,0.00,1.83,4.78,0.828,4,0.000,0.048,3200,3008,2088
$GC,15441,2.13,180.7,466.0,9.2,1113,15445,0.00,1.77,0.00,0.000,6,0.000,0.041,3201,1970,2087
$GC,15773,2.16,195.7,439.5,8.0,1144,15794,0.00,1.88,14.43,1.053,4,0.000,0.055,3201,3001,2027
$GC,15867,2.16,196.3,430.8,9.0,1152,15873,0.00,1.77,0.00,0.000,6,0.000,0.034,3201,1984,2026
$GC,16193,2.17,203.2,401.9,8.5,1183,16207,0.00,2.00,8.20,0.950,4,0.000,0.058,3201,909,1996
$GC,16286,2.17,203.2,393.1,9.8,1191,16293,0.00,1.85,0.00,0.000,6,0.000,0.030,3201,1984,1995
$GC,16613,2.17,203.8,364.0,9.0,1222,16617,0.00,1.75,0.00,0.000,4,0.000,0.045,3201,3005,1995
$GC,16663,2.18,208.3,359.2,8.7,1226,16673,0.00,1.80,5.93,0.841,6,0.000,0.035,3201,1965,1975
$GC,16993,2.18,209.7,328.5,8.9,1257,16996,0.00,1.88,0.00,0.000,4,0.000,0.058,3201,913,1974
$GC,17065,2.18,209.7,321.5,10.0,1263,17071,0.00,1.83,0.00,0.000,6,0.000,0.033,3201,1978,1975
$GC,17391,2.18,211.6,292.3,8.9,1294,17400,0.00,0.00,4.53,0.708,6,0.000,0.000,3201,1979,1962
$GC,17719,2.18,211.6,261.9,9.3,1325,17723,0.00,1.90,0.00,0.000,4,0.000,0.053,3201,916,1961
$GC,17798,2.18,212.5,254.5,8.9,1332,17802,0.00,1.80,0.00,0.000,6,0.000,0.030,3201,1988,1962
$GC,18139,2.22,213.5,225.8,9.0,1388,18145,0.00,1.92,0.00,0.000,4,0.000,0.053,3201,909,1962
$GC,18235,2.22,216.6,216.9,8.8,1405,18247,0.00,1.77,6.15,0.759,6,0.000,0.028,3201,1971,1942
$GC,18586,2.31,237.2,187.8,7.6,1467,18613,0.15,1.85,18.92,0.864,4,0.064,0.044,3248,3004,1856
$GC,18665,2.32,242.5,181.3,8.6,1481,18676,0.00,1.80,6.05,0.713,6,0.000,0.031,3247,1946,1836
$GC,19014,2.35,262.9,151.8,7.6,1543,19037,0.00,1.92,18.27,0.821,4,0.000,0.054,3247,911,1753
$GC,19172,2.35,265.2,137.5,8.9,1571,19178,0.00,1.77,0.00,0.000,6,0.000,0.027,3247,1981,1751
$GC,19516,2.43,282.1,111.9,7.8,1632,19539,0.00,1.75,16.98,0.776,4,0.000,0.038,3247,3000,1673
$GC,19592,2.51,299.3,105.9,7.8,1645,19615,0.12,1.73,15.62,0.749,6,0.064,0.027,3285,1966,1603
$GC,19956,2.61,331.5,80.5,6.8,1709,19989,0.00,1.85,27.50,0.739,4,0.000,0.054,3285,921,1473
$GC,20108,2.67,346.5,68.7,8.0,1736,20126,0.08,1.77,13.45,0.695,6,0.051,0.025,3320,1989,1412
$GC,20467,2.71,346.5,38.6,9.3,1799,20473,0.00,1.67,0.00,0.000,4,0.000,0.037,3320,2997,1411
$GC,20553,2.78,365.0,31.7,7.7,1814,20575,0.00,1.67,16.52,0.660,6,0.000,0.025,3320,1988,1336
$GC,20915,2.84,371.7,2.4,8.6,1878,20923,0.12,0.00,5.18,0.502,2,0.057,0.000,3365,1987,1319
$STATE,20924,end climb,SURFACE_DEPTH_REACHED
$STATE,20924,begin surface coast
$FINISH,-0.9,1.021318
$STATE,20946,end surface coast,CONTROL_FINISHED_OK
$STATE,20946,begin surface
$SM_CCo,20967,70.22,0.640,0,0,887,475.15
$SM_GC,-6.88,0.00,0.00,70.22,0.000,0.000,0.640,416,2336,887,-10.64,0.31,475.15
$IRIDIUM_FIX,1247.67,12034.32,260697,010119
$TT8_MAMPS,0.026078
$HUMID,1847
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.70
$XPDR_PINGS,371
$24V_AH,23.0,31.800
$10V_AH,10.1,24.876
$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,29.075,117.225,435.125,70.225,0.000,27.393,31.917,188.476,105.250,0.000,0.000,15.753,3087.328,13842.470,613.026,3286.464,606.391,0.000,2200.892,0.000,3228.554,0.000,91.481
$DEVICE_MAMPS,168.740,148.798,1443.494,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1277.793,428.303,712.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100911,1883
$CAP_FILE_SIZE,192548,0
$CFSIZE,260165632,239382528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010408,130038,1249.612,12033.951,34,1.1,34,-0.8