version: 66.03
glider: 126
mission: 7
dive: 213
start: 4 2 108 1 13 1
data:
$ID,126
$MISSION,7
$DIVE,213
$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,-623430.38
$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,32
$R_STBD_OVSHOOT,54
$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
$GPS1,010601,1249.028,12036.191,39,1.7,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.37
$_SM_ANGLEo,-59.1
$GPS2,011209,1249.094,12036.121,12,1.7,12,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S6
$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,337.0,721,-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,-65.68,0.000,6,0.000,0.000,418,2356,3242
$GC,97,-2.39,-101.9,1.0,-22.4,13,114,10.12,1.85,0.00,0.000,4,0.172,0.031,2203,1265,3243
$GC,238,-2.22,-101.9,40.7,-20.2,38,245,0.17,1.73,0.00,0.000,6,0.114,0.024,2241,2312,3244
$GC,583,-2.13,-101.9,99.6,-16.1,99,589,0.12,1.77,0.00,0.000,4,0.120,0.038,2264,3368,3246
$GC,748,-2.10,-101.9,123.2,-13.1,128,755,0.00,1.65,0.00,0.000,6,0.000,0.023,2264,2332,3246
$GC,1092,-2.10,-101.9,163.5,-10.0,189,1098,0.00,1.77,0.00,0.000,4,0.000,0.039,2264,3381,3248
$GC,1233,-2.10,-101.9,177.5,-9.5,214,1239,0.00,1.58,0.00,0.000,6,0.000,0.024,2264,2386,3248
$GC,1577,-2.14,-105.3,210.1,-8.8,275,1583,0.00,1.67,0.00,0.000,4,0.000,0.041,2264,3371,3248
$GC,1741,-2.14,-105.3,226.0,-9.2,304,1747,0.00,1.58,0.00,0.000,6,0.000,0.025,2264,2386,3248
$GC,2079,-2.17,-105.3,259.7,-10.2,356,2082,0.00,1.70,0.00,0.000,4,0.000,0.044,2264,3377,3248
$GC,2303,-2.17,-105.3,283.0,-9.9,376,2307,0.00,1.55,0.00,0.000,6,0.000,0.026,2264,2418,3247
$GC,2636,-2.22,-105.3,313.9,-9.7,407,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2413,3246
$GC,2953,-2.26,-105.3,345.7,-10.0,437,2955,0.12,0.00,0.00,0.000,6,0.065,0.000,2228,2413,3244
$GC,3271,-2.26,-105.3,378.2,-10.6,467,3274,0.00,1.88,0.00,0.000,4,0.000,0.043,2228,1325,3242
$GC,3342,-2.26,-105.3,386.1,-10.8,473,3349,0.00,1.88,0.00,0.000,6,0.000,0.033,2228,2422,3241
$GC,3668,-2.26,-105.3,418.9,-9.6,504,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2422,3239
$GC,3986,-2.26,-105.3,449.6,-10.1,534,3990,0.00,1.95,0.00,0.000,4,0.000,0.048,2228,1315,3237
$GC,4023,-2.26,-105.3,453.5,-10.3,537,4030,0.00,1.85,0.00,0.000,6,0.000,0.032,2228,2392,3237
$GC,4350,-2.26,-105.3,488.7,-10.8,568,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2393,3235
$GC,4664,-2.26,-105.3,521.8,-10.6,588,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2393,3233
$GC,4970,-2.26,-105.3,554.2,-10.2,603,4973,0.00,1.75,0.00,0.000,4,0.000,0.068,2228,3366,3231
$GC,5019,-2.26,-105.3,559.6,-10.1,605,5024,0.00,1.58,0.00,0.000,6,0.000,0.041,2228,2466,3230
$GC,5347,-2.26,-105.3,591.1,-9.6,621,5350,0.00,2.08,0.00,0.000,4,0.000,0.076,2227,1331,3228
$GC,5426,-2.26,-105.3,598.6,-9.4,624,5429,0.00,1.90,0.00,0.000,6,0.000,0.062,2228,2380,3228
$GC,5747,-2.26,-105.3,628.4,-9.2,640,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2380,3226
$GC,6056,-2.26,-105.3,658.7,-10.2,655,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2380,3225
$GC,6365,-2.27,-109.4,687.0,-8.7,670,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2380,3223
$GC,6674,-2.27,-111.3,713.8,-8.9,685,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2380,3222
$GC,6983,-2.27,-111.3,744.3,-9.9,700,6987,0.00,1.70,0.00,0.000,4,0.000,0.051,2228,3366,3220
$GC,7044,-2.27,-111.3,751.0,-11.0,702,7050,0.00,1.60,0.00,0.000,6,0.000,0.031,2228,2421,3219
$GC,7360,-2.27,-111.3,783.8,-10.7,718,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2420,3218
$GC,7669,-2.30,-111.3,815.5,-9.7,733,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2420,3217
$GC,7978,-2.32,-122.1,843.3,-8.3,748,7981,0.00,1.67,0.00,0.000,4,0.000,0.054,2228,3370,3215
$GC,8084,-2.32,-122.1,852.9,-9.1,752,8090,0.00,1.60,0.00,0.000,6,0.000,0.031,2228,2427,3215
$GC,8400,-2.35,-122.1,881.9,-9.2,768,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2426,3214
$GC,8711,-2.39,-122.1,910.2,-9.1,783,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2426,3212
$GC,9018,-2.42,-122.1,939.8,-9.8,798,9020,0.12,0.00,0.00,0.000,6,0.071,0.000,2195,2426,3211
$GC,9327,-2.42,-122.1,972.6,-10.3,813,9330,0.00,1.92,0.00,0.000,4,0.000,0.054,2194,1333,3211
$GC,9371,-2.42,-122.1,977.4,-10.7,815,9375,0.00,1.83,0.00,0.000,6,0.000,0.036,2195,2397,3211
$STATE,9497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9498,begin apogee
$GC,9504,-0.52,0.0,990.3,10.2,821,9592,2.00,0.00,84.12,1.439,6,0.098,0.000,2614,2001,2826
$STATE,9593,end apogee,CONTROL_FINISHED_OK
$STATE,9593,begin climb
$GC,9595,2.43,122.1,992.7,0.0,825,9712,2.88,2.05,108.32,1.406,4,0.058,0.067,3263,919,2326
$GC,9803,2.29,122.1,979.2,11.0,834,9807,0.17,1.80,0.00,0.000,6,0.112,0.031,3230,1961,2323
$GC,10134,2.21,122.1,945.1,10.1,850,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1961,2321
$GC,10444,2.13,122.1,915.0,9.6,865,10448,0.17,1.92,0.00,0.000,4,0.111,0.057,3197,907,2319
$GC,10512,2.07,122.1,908.3,10.2,868,10516,0.00,1.80,0.00,0.000,6,0.000,0.031,3197,1961,2318
$GC,10845,2.05,130.6,878.6,8.4,884,10859,0.00,2.00,7.60,1.164,4,0.000,0.058,3197,913,2292
$GC,10944,2.00,130.6,869.1,10.1,888,10948,0.15,1.77,0.00,0.000,6,0.120,0.031,3169,1948,2291
$GC,11266,2.02,141.1,842.8,8.3,904,11282,0.00,1.92,11.00,1.248,4,0.000,0.059,3169,906,2249
$GC,11328,2.03,147.3,837.5,8.6,906,11339,0.00,1.75,7.05,1.123,6,0.000,0.031,3169,1925,2224
$GC,11655,2.04,152.3,809.9,8.7,922,11662,0.00,0.00,5.85,1.056,6,0.000,0.000,3169,1924,2204
$GC,11964,2.04,155.3,782.1,8.8,937,11971,0.00,0.00,4.53,0.927,6,0.000,0.000,3169,1924,2191
$GC,12273,2.05,158.9,754.4,8.8,952,12282,0.00,1.88,4.90,0.960,4,0.000,0.059,3169,914,2177
$GC,12317,2.05,158.9,750.2,10.1,954,12320,0.00,1.70,0.00,0.000,6,0.000,0.031,3169,1903,2177
$GC,12649,2.06,167.3,721.3,8.4,970,12660,0.00,0.00,9.25,1.157,6,0.000,0.000,3169,1903,2142
$GC,12958,2.07,172.0,694.7,8.7,985,12965,0.00,0.00,5.90,1.018,6,0.000,0.000,3169,1903,2124
$GC,13267,2.07,172.0,666.8,9.2,1000,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1905,2122
$GC,13576,2.07,174.0,638.3,8.9,1015,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1905,2122
$GC,13885,2.07,174.0,610.7,9.0,1030,13889,0.00,1.92,0.00,0.000,4,0.000,0.049,3169,3015,2122
$GC,13946,2.07,174.0,604.8,9.5,1032,13952,0.00,1.92,0.00,0.000,6,0.000,0.036,3169,1895,2122
$GC,14262,2.09,186.3,578.2,8.2,1048,14281,0.00,0.00,13.73,1.136,6,0.000,0.000,3169,1896,2065
$GC,14591,2.10,191.0,549.8,8.7,1064,14601,0.00,2.00,5.85,0.944,4,0.000,0.045,3169,3019,2046
$GC,14668,2.12,198.6,543.0,8.5,1067,14683,0.00,1.92,8.30,1.028,6,0.000,0.035,3169,1903,2015
$GC,15005,2.16,198.6,512.6,9.4,1084,15009,0.12,1.95,0.00,0.000,4,0.071,0.044,3203,3015,2014
$GC,15061,2.16,198.6,506.8,9.5,1086,15064,0.00,1.90,0.00,0.000,6,0.000,0.035,3203,1910,2013
$GC,15392,2.16,198.6,474.5,9.4,1114,15395,0.00,1.92,0.00,0.000,4,0.000,0.045,3203,3011,2013
$GC,15459,2.16,198.6,467.8,9.0,1120,15463,0.00,1.88,0.00,0.000,6,0.000,0.035,3203,1918,2013
$GC,15789,2.17,206.9,439.6,8.4,1151,15803,0.00,1.98,8.65,0.980,4,0.000,0.045,3203,3006,1981
$GC,15922,2.17,206.9,426.6,9.7,1163,15925,0.00,1.80,0.00,0.000,6,0.000,0.035,3203,1958,1980
$GC,16255,2.17,206.9,394.2,10.1,1194,16259,0.00,1.88,0.00,0.000,4,0.000,0.060,3203,911,1980
$GC,16356,2.17,206.9,383.4,10.1,1203,16360,0.00,1.77,0.00,0.000,6,0.000,0.031,3203,1956,1980
$GC,16689,2.17,206.9,352.2,9.5,1234,16694,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1957,1980
$GC,17015,2.19,216.1,322.6,8.4,1265,17029,0.00,1.88,9.57,0.921,4,0.000,0.048,3203,3017,1944
$GC,17083,2.19,216.1,316.7,9.6,1271,17086,0.00,1.90,0.00,0.000,6,0.000,0.034,3203,1911,1944
$GC,17414,2.21,228.6,289.9,8.2,1302,17435,0.00,2.03,12.18,0.923,4,0.000,0.044,3203,3016,1893
$GC,17530,2.21,228.6,279.6,9.5,1312,17536,0.00,1.85,0.00,0.000,6,0.000,0.033,3203,1933,1892
$GC,17856,2.25,235.3,249.2,8.6,1343,17868,0.00,0.00,7.53,0.823,6,0.000,0.000,3203,1933,1865
$GC,18205,2.29,235.3,217.7,9.7,1405,18211,0.12,1.88,0.00,0.000,4,0.067,0.042,3239,3021,1864
$GC,18285,2.29,235.3,209.2,10.3,1419,18291,0.00,1.85,0.00,0.000,6,0.000,0.031,3238,1928,1864
$GC,18629,2.31,247.0,178.7,8.2,1480,18646,0.00,1.98,11.57,0.825,4,0.000,0.041,3238,3021,1817
$GC,18877,2.31,249.2,157.9,8.9,1524,18883,0.00,1.80,0.00,0.000,6,0.000,0.030,3238,1950,1815
$GC,19222,2.46,310.7,132.1,4.8,1585,19282,0.12,1.88,53.22,0.814,4,0.065,0.051,3277,912,1557
$GC,19316,2.48,325.8,125.2,8.0,1602,19334,0.00,1.75,13.75,0.749,6,0.000,0.027,3276,1943,1496
$GC,19676,2.54,328.0,93.5,8.9,1665,19681,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1944,1493
$GC,20018,2.67,370.5,68.5,6.1,1726,20062,0.15,1.83,37.22,0.723,4,0.056,0.036,3327,3006,1313
$GC,20102,2.67,370.5,60.5,10.0,1741,20108,0.00,1.80,0.00,0.000,6,0.000,0.026,3327,1924,1311
$GC,20447,2.72,374.6,27.9,8.7,1802,20454,0.00,0.00,4.55,0.494,6,0.000,0.000,3327,1924,1298
$STATE,20755,end climb,SURFACE_DEPTH_REACHED
$STATE,20755,begin surface coast
$FINISH,-0.2,1.021212
$STATE,20779,end surface coast,CONTROL_FINISHED_OK
$STATE,20779,begin surface
$SM_CCo,20800,66.70,0.644,0,0,888,475.15
$SM_GC,-6.82,0.00,0.00,66.70,0.000,0.000,0.644,413,2345,888,-10.66,0.57,475.15
$IRIDIUM_FIX,1245.46,12034.32,260697,191922
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.80
$XPDR_PINGS,413
$24V_AH,23.0,32.345
$10V_AH,10.1,25.225
$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,29.225,107.250,434.650,66.700,0.000,26.065,31.436,183.897,115.750,0.000,0.000,12.473,3036.885,13821.897,594.793,3211.709,591.462,0.000,2146.231,0.000,3161.777,0.000,91.482
$DEVICE_MAMPS,171.808,75.933,1438.892,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1263.523,419.697,699.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97606,1861
$CAP_FILE_SIZE,185224,0
$CFSIZE,260165632,239116288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020408,070207,1251.422,12035.233,41,1.5,41,-0.8