version: 66.03
glider: 126
mission: 7
dive: 212
start: 4 1 108 19 13 49
data:
$ID,126
$MISSION,7
$DIVE,212
$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,-623417.25
$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,68
$R_STBD_OVSHOOT,38
$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
$GPS1,190632,1250.612,12035.768,40,2.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.42
$_SM_ANGLEo,-58.7
$GPS2,191257,1250.689,12035.705,13,1.2,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S5
$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,169.5,2341,-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,24,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.72,0.000,6,0.000,0.000,415,2270,3245
$GC,97,-2.39,-101.9,1.0,-22.4,13,114,10.15,1.62,0.00,0.000,4,0.172,0.031,2205,1302,3247
$GC,204,-2.20,-101.9,33.0,-21.8,32,211,0.17,1.70,0.00,0.000,6,0.111,0.025,2244,2330,3247
$GC,549,-2.12,-101.9,90.9,-14.5,93,555,0.12,1.75,0.00,0.000,4,0.124,0.040,2266,3368,3248
$GC,731,-2.08,-101.9,116.9,-14.2,125,736,0.00,1.62,0.00,0.000,6,0.000,0.022,2267,2329,3249
$GC,1073,-2.08,-101.9,154.1,-9.7,186,1079,0.00,1.77,0.00,0.000,4,0.000,0.039,2267,3376,3250
$GC,1197,-2.08,-101.9,167.0,-10.4,208,1203,0.00,1.55,0.00,0.000,6,0.000,0.023,2267,2396,3250
$GC,1541,-2.11,-101.9,199.8,-9.5,269,1547,0.00,1.67,0.00,0.000,4,0.000,0.041,2267,3380,3251
$GC,1587,-2.11,-101.9,204.5,-10.6,277,1593,0.00,1.55,0.00,0.000,6,0.000,0.025,2266,2405,3251
$GC,1930,-2.15,-101.9,237.7,-9.9,338,1936,0.00,1.83,0.00,0.000,4,0.000,0.038,2266,1318,3251
$GC,1987,-2.19,-101.9,243.4,-10.0,348,1993,0.00,1.80,0.00,0.000,6,0.000,0.026,2267,2410,3251
$GC,2316,-2.24,-101.9,274.6,-9.3,385,2320,0.12,1.65,0.00,0.000,4,0.063,0.044,2230,3377,3250
$GC,2383,-2.24,-101.9,282.0,-10.6,391,2386,0.00,1.55,0.00,0.000,6,0.000,0.026,2230,2419,3250
$GC,2714,-2.24,-101.9,317.3,-10.4,422,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2413,3248
$GC,3031,-2.24,-101.9,349.8,-9.6,452,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2413,3246
$GC,3350,-2.24,-101.9,381.9,-10.3,482,3353,0.00,1.65,0.00,0.000,4,0.000,0.048,2230,3370,3244
$GC,3433,-2.24,-101.9,391.2,-11.3,489,3439,0.00,1.55,0.00,0.000,6,0.000,0.029,2230,2444,3244
$GC,3760,-2.24,-101.9,425.2,-10.2,520,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2444,3241
$GC,4076,-2.24,-101.9,456.8,-10.2,550,4080,0.00,1.65,0.00,0.000,4,0.000,0.051,2230,3370,3239
$GC,4224,-2.24,-101.9,473.0,-11.4,563,4228,0.00,1.55,0.00,0.000,6,0.000,0.030,2230,2454,3238
$GC,4563,-2.24,-101.9,509.0,-10.3,591,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2455,3236
$GC,4871,-2.24,-101.9,538.9,-9.6,606,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2454,3235
$GC,5181,-2.24,-101.9,569.5,-10.2,621,5189,0.00,1.67,0.00,0.000,4,0.000,0.074,2230,3361,3232
$GC,5233,-2.24,-101.9,574.9,-10.4,623,5237,0.00,1.58,0.00,0.000,6,0.000,0.048,2230,2482,3232
$GC,5560,-2.24,-101.9,607.2,-10.2,639,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2481,3230
$GC,5868,-2.24,-101.9,639.8,-10.7,654,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2481,3228
$GC,6178,-2.24,-101.9,672.3,-10.2,669,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2481,3227
$GC,6487,-2.24,-101.9,703.8,-10.0,684,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2481,3225
$GC,6796,-2.24,-101.9,733.8,-9.8,699,6800,0.00,1.58,0.00,0.000,4,0.000,0.053,2230,3377,3223
$GC,6886,-2.24,-101.9,742.5,-9.4,703,6890,0.00,1.55,0.00,0.000,6,0.000,0.031,2230,2457,3223
$GC,7218,-2.24,-101.9,774.1,-9.9,719,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2455,3222
$GC,7527,-2.24,-101.9,804.4,-9.8,734,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2453,3221
$GC,7837,-2.24,-101.9,834.4,-9.5,749,7840,0.00,1.60,0.00,0.000,4,0.000,0.054,2230,3363,3219
$GC,7904,-2.24,-101.9,840.9,-9.9,752,7908,0.00,1.52,0.00,0.000,6,0.000,0.031,2230,2463,3219
$GC,8240,-2.27,-101.9,871.9,-9.1,768,8244,0.00,2.03,0.00,0.000,4,0.000,0.058,2230,1321,3218
$GC,8301,-2.27,-101.9,878.3,-9.6,770,8307,0.00,1.90,0.00,0.000,6,0.000,0.035,2230,2413,3217
$GC,8616,-2.27,-101.9,907.6,-9.4,786,8620,0.00,1.65,0.00,0.000,4,0.000,0.055,2230,3363,3216
$GC,8688,-2.27,-101.9,914.8,-10.0,789,8692,0.00,1.52,0.00,0.000,6,0.000,0.031,2230,2469,3216
$GC,9015,-2.31,-101.9,946.3,-9.8,805,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2469,3215
$GC,9325,-2.34,-101.9,974.9,-9.2,820,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2468,3214
$STATE,9489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9489,begin apogee
$GC,9496,-0.52,0.0,990.3,9.3,828,9585,1.80,0.00,84.72,1.435,6,0.092,0.000,2612,2010,2825
$STATE,9585,end apogee,CONTROL_FINISHED_OK
$STATE,9585,begin climb
$GC,9587,2.39,101.9,992.5,0.0,832,9688,2.85,2.15,90.93,1.397,4,0.058,0.076,3254,913,2409
$GC,9755,2.25,101.9,984.5,9.6,840,9761,0.12,1.83,0.00,0.000,6,0.104,0.031,3220,1954,2405
$GC,10071,2.19,109.3,957.9,8.5,856,10080,0.00,0.00,7.07,1.140,6,0.000,0.000,3221,1955,2379
$GC,10380,2.13,118.3,931.9,8.4,871,10392,0.15,0.00,9.77,1.236,6,0.114,0.000,3192,1954,2342
$GC,10689,2.13,136.9,906.8,7.7,886,10714,0.00,2.00,18.05,1.322,4,0.000,0.059,3192,913,2267
$GC,10793,2.08,136.9,897.4,9.5,890,10799,0.00,1.80,0.00,0.000,6,0.000,0.031,3192,1965,2265
$GC,11108,2.08,136.9,868.7,9.3,906,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1965,2264
$GC,11418,2.08,139.4,841.6,8.8,921,11422,0.00,1.92,0.00,0.000,4,0.000,0.059,3192,910,2263
$GC,11541,2.05,150.6,830.5,8.2,926,11561,0.00,1.77,12.98,1.263,6,0.000,0.031,3192,1951,2210
$GC,11882,2.06,153.6,799.9,8.8,943,11888,0.00,0.00,4.28,0.894,6,0.000,0.000,3192,1951,2198
$GC,12191,2.08,169.0,774.5,8.0,958,12211,0.00,0.00,15.52,1.257,6,0.000,0.000,3192,1951,2134
$GC,12520,2.08,169.0,745.3,9.3,974,12524,0.00,1.90,0.00,0.000,4,0.000,0.058,3192,907,2132
$GC,12588,2.08,169.0,738.8,9.8,977,12591,0.00,1.75,0.00,0.000,6,0.000,0.031,3192,1931,2132
$GC,12920,2.09,170.0,708.3,9.0,993,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1932,2132
$GC,13229,2.09,170.0,679.9,9.1,1008,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1932,2131
$GC,13538,2.09,170.0,651.4,9.1,1023,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1932,2131
$GC,13847,2.09,173.0,623.1,8.8,1038,13854,0.00,0.00,4.40,0.845,6,0.000,0.000,3192,1933,2119
$GC,14156,2.09,173.0,595.4,9.0,1053,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1933,2119
$GC,14466,2.09,173.0,567.0,9.4,1068,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1933,2119
$GC,14775,2.10,176.0,538.9,8.8,1083,14781,0.00,0.00,4.43,0.819,6,0.000,0.000,3192,1935,2107
$GC,15085,2.10,179.5,512.2,8.8,1098,15091,0.00,0.00,4.90,0.858,6,0.000,0.000,3192,1935,2093
$GC,15399,2.12,187.4,484.6,8.5,1121,15409,0.00,0.00,8.38,1.005,6,0.000,0.000,3192,1936,2061
$GC,15729,2.14,200.8,455.3,8.1,1152,15747,0.00,0.00,13.35,1.045,6,0.000,0.000,3192,1936,2005
$GC,16067,2.14,201.7,425.2,9.0,1184,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1938,2004
$GC,16386,2.15,210.9,397.5,8.4,1214,16401,0.00,1.88,10.15,0.972,4,0.000,0.045,3192,3010,1964
$GC,16446,2.15,210.9,391.7,9.7,1219,16450,0.00,1.90,0.00,0.000,6,0.000,0.035,3192,1909,1964
$GC,16778,2.15,210.9,362.3,9.3,1250,16781,0.00,1.80,0.00,0.000,4,0.000,0.059,3192,905,1964
$GC,16849,2.15,210.9,355.2,9.8,1256,16856,0.00,1.77,0.00,0.000,6,0.000,0.030,3192,1939,1964
$GC,17175,2.15,210.9,326.2,9.5,1287,17177,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1940,1964
$GC,17495,2.19,212.9,298.2,8.9,1317,17496,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1941,1964
$GC,17813,2.23,212.9,268.8,9.1,1347,17817,0.10,1.83,0.00,0.000,4,0.078,0.053,3221,911,1964
$GC,17880,2.23,212.9,261.9,10.8,1353,17883,0.00,1.70,0.00,0.000,6,0.000,0.031,3221,1921,1964
$GC,18216,2.26,233.4,232.3,7.6,1401,18242,0.00,1.88,20.45,0.907,4,0.000,0.053,3221,901,1872
$GC,18288,2.28,242.1,226.0,8.4,1414,18304,0.00,1.73,9.02,0.820,6,0.000,0.029,3221,1919,1837
$GC,18642,2.28,242.2,194.7,9.0,1477,18648,0.00,1.88,0.00,0.000,4,0.000,0.044,3221,3012,1836
$GC,18766,2.28,242.2,182.5,10.8,1499,18772,0.00,1.85,0.00,0.000,6,0.000,0.031,3221,1918,1835
$GC,19111,2.34,255.6,153.0,8.1,1560,19128,0.00,1.98,12.30,0.808,4,0.000,0.040,3221,3012,1783
$GC,19197,2.44,285.3,147.0,7.0,1575,19230,0.17,1.88,26.02,0.821,6,0.056,0.033,3271,1907,1661
$GC,19571,2.49,317.1,115.3,6.8,1641,19604,0.00,1.80,27.48,0.785,4,0.000,0.052,3271,906,1531
$GC,19639,2.51,329.0,109.7,8.2,1653,19656,0.00,1.65,11.00,0.719,6,0.000,0.026,3271,1902,1483
$GC,19994,2.59,340.4,80.1,8.2,1716,20012,0.10,1.92,10.75,0.700,4,0.069,0.037,3305,3035,1436
$GC,20265,2.59,341.7,56.0,8.9,1764,20272,0.00,1.92,0.00,0.000,6,0.000,0.026,3305,1893,1435
$GC,20610,2.69,366.0,27.8,7.3,1825,20636,0.00,0.00,22.23,0.673,6,0.000,0.000,3305,1893,1333
$STATE,20938,end climb,SURFACE_DEPTH_REACHED
$STATE,20938,begin surface coast
$FINISH,-0.2,1.021275
$STATE,20961,end surface coast,CONTROL_FINISHED_OK
$STATE,20962,begin surface
$SM_CCo,20984,71.45,0.645,0,0,887,475.15
$SM_GC,-6.61,0.00,0.00,71.45,0.000,0.000,0.645,418,2355,887,-10.64,0.85,475.15
$IRIDIUM_FIX,1245.46,12034.32,260697,131328
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.00
$XPDR_PINGS,341
$24V_AH,23.0,32.168
$10V_AH,10.1,25.110
$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,28.400,89.100,428.175,71.450,0.000,28.040,37.500,189.749,97.750,0.000,0.000,15.144,3055.792,14044.570,601.075,3155.001,603.721,0.000,2111.754,0.000,3106.648,0.000,91.484
$DEVICE_MAMPS,171.808,75.933,1435.057,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.091,430.010,711.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100992,1888
$CAP_FILE_SIZE,180930,0
$CFSIZE,260165632,239206400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020408,010601,1249.028,12036.191,39,1.7,39,-0.8