version: 66.03
glider: 126
mission: 7
dive: 215
start: 4 2 108 13 12 13
data:
$ID,126
$MISSION,7
$DIVE,215
$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,-623458.69
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,130507,1249.678,12036.097,34,1.7,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.39
$_SM_ANGLEo,-58.5
$GPS2,131121,1249.748,12036.051,10,1.8,10,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S8
$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,197.3,575,-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,-65.32,0.000,6,0.000,0.000,416,2338,3242
$GC,97,-2.39,-101.9,1.2,-23.1,13,114,10.07,1.75,0.00,0.000,4,0.170,0.035,2203,3376,3243
$GC,257,-2.21,-101.9,45.0,-20.1,41,263,0.22,1.73,0.00,0.000,6,0.116,0.023,2246,2287,3244
$GC,600,-2.14,-101.9,103.8,-15.2,102,607,0.00,1.88,0.00,0.000,4,0.000,0.038,2246,3376,3246
$GC,754,-2.09,-101.9,125.4,-13.0,129,761,0.15,1.67,0.00,0.000,6,0.117,0.023,2275,2306,3247
$GC,1098,-2.09,-101.9,161.7,-9.7,190,1104,0.00,1.83,0.00,0.000,4,0.000,0.039,2275,3381,3248
$GC,1155,-2.09,-101.9,167.7,-10.3,200,1161,0.00,1.65,0.00,0.000,6,0.000,0.024,2275,2324,3248
$GC,1499,-2.14,-101.9,201.4,-9.2,261,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2317,3248
$GC,1842,-2.19,-101.9,234.6,-9.9,322,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2317,3249
$GC,2181,-2.25,-101.9,265.9,-9.2,368,2183,0.15,0.00,0.00,0.000,6,0.058,0.000,2232,2317,3248
$GC,2501,-2.25,-101.9,298.6,-10.1,398,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2317,3246
$GC,2818,-2.25,-101.9,332.9,-11.4,428,2821,0.00,1.83,0.00,0.000,4,0.000,0.046,2232,3376,3244
$GC,2924,-2.25,-101.9,345.2,-12.0,437,2929,0.00,1.65,0.00,0.000,6,0.000,0.028,2232,2377,3244
$GC,3249,-2.25,-101.9,379.0,-9.6,468,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2373,3241
$GC,3567,-2.25,-101.9,410.4,-9.8,498,3570,0.00,1.75,0.00,0.000,4,0.000,0.048,2232,3379,3240
$GC,3717,-2.25,-101.9,426.0,-10.4,511,3724,0.00,1.67,0.00,0.000,6,0.000,0.030,2232,2392,3239
$GC,4044,-2.25,-101.9,459.0,-10.5,542,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2392,3237
$GC,4361,-2.25,-101.9,489.8,-9.1,572,4364,0.00,1.73,0.00,0.000,4,0.000,0.054,2232,3368,3235
$GC,4406,-2.25,-101.9,494.0,-9.2,576,4409,0.00,1.62,0.00,0.000,6,0.000,0.032,2232,2402,3235
$GC,4740,-2.25,-104.5,524.8,-8.8,595,4744,0.00,1.75,0.00,0.000,4,0.000,0.061,2232,3376,3232
$GC,4801,-2.25,-104.5,530.8,-9.2,597,4807,0.00,1.62,0.00,0.000,6,0.000,0.035,2232,2440,3231
$GC,5119,-2.25,-104.5,560.7,-9.6,613,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2439,3229
$GC,5428,-2.25,-104.5,591.1,-10.1,628,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2439,3227
$GC,5737,-2.25,-104.5,621.4,-9.7,643,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2439,3226
$GC,6047,-2.25,-104.5,650.9,-9.7,658,6051,0.00,1.83,0.00,0.000,4,0.000,0.105,2232,3363,3224
$GC,6130,-2.25,-104.5,659.8,-10.4,661,6141,0.00,1.75,0.00,0.000,6,0.000,0.083,2232,2463,3224
$GC,6449,-2.25,-104.5,691.2,-10.1,677,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2463,3222
$GC,6757,-2.25,-104.5,721.9,-9.8,692,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2453,3221
$GC,7064,-2.25,-104.5,753.0,-9.9,707,7068,0.00,1.60,0.00,0.000,4,0.000,0.054,2232,3374,3219
$GC,7137,-2.25,-104.5,760.3,-10.1,710,7141,0.00,1.58,0.00,0.000,6,0.000,0.031,2232,2424,3219
$GC,7466,-2.25,-104.5,791.7,-9.5,726,7470,0.00,1.67,0.00,0.000,4,0.000,0.054,2232,3374,3218
$GC,7533,-2.25,-104.5,798.4,-9.9,729,7537,0.00,1.58,0.00,0.000,6,0.000,0.032,2232,2451,3217
$GC,7870,-2.29,-104.5,830.4,-9.7,745,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2451,3215
$GC,8177,-2.32,-104.5,861.0,-9.9,760,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2450,3214
$GC,8487,-2.36,-104.5,891.5,-9.9,775,8490,0.00,1.62,0.00,0.000,4,0.000,0.055,2232,3371,3213
$GC,8565,-2.36,-104.5,900.1,-10.9,778,8569,0.00,1.52,0.00,0.000,6,0.000,0.032,2232,2473,3213
$GC,8889,-2.39,-104.5,931.2,-9.9,794,8891,0.12,0.00,0.00,0.000,6,0.071,0.000,2199,2465,3211
$GC,9195,-2.39,-104.5,964.6,-10.5,809,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2465,3211
$STATE,9441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9441,begin apogee
$GC,9448,-0.52,0.0,990.0,10.7,821,9536,2.00,0.00,83.90,1.441,6,0.100,0.000,2616,2011,2825
$STATE,9537,end apogee,CONTROL_FINISHED_OK
$STATE,9537,begin climb
$GC,9539,2.40,104.5,993.1,0.0,825,9641,2.88,2.10,93.35,1.402,4,0.066,0.074,3253,915,2399
$GC,9742,2.30,128.9,984.5,7.3,834,9773,0.12,1.83,22.52,1.335,6,0.118,0.031,3231,1975,2299
$GC,10084,2.22,128.9,954.3,9.4,851,10087,0.00,1.95,0.00,0.000,4,0.000,0.058,3230,911,2295
$GC,10156,2.12,128.9,947.0,10.2,854,10160,0.20,1.80,0.00,0.000,6,0.109,0.031,3193,1965,2295
$GC,10483,2.14,137.7,918.8,8.4,870,10493,0.00,0.00,8.77,1.211,6,0.000,0.000,3193,1965,2263
$GC,10792,2.15,147.5,893.3,8.3,885,10806,0.00,1.98,9.98,1.243,4,0.000,0.058,3192,910,2223
$GC,10870,2.11,147.5,886.4,9.9,888,10873,0.00,1.77,0.00,0.000,6,0.000,0.031,3192,1946,2222
$GC,11191,2.11,148.8,858.2,8.9,904,11194,0.00,1.85,0.00,0.000,4,0.000,0.050,3192,3009,2221
$GC,11246,2.08,148.8,852.7,9.8,906,11250,0.00,1.85,0.00,0.000,6,0.000,0.038,3193,1940,2221
$GC,11567,2.08,148.8,823.3,9.3,922,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1940,2220
$GC,11876,2.08,149.3,796.2,9.0,937,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1940,2220
$GC,12186,2.09,157.5,770.3,8.4,952,12200,0.00,1.95,9.85,1.198,4,0.000,0.048,3193,3015,2182
$GC,12264,2.10,163.3,763.1,8.6,955,12275,0.00,1.85,6.65,1.086,6,0.000,0.037,3193,1947,2159
$GC,12584,2.12,171.0,734.7,8.5,971,12598,0.00,1.95,8.93,1.158,4,0.000,0.064,3192,917,2127
$GC,12650,2.12,172.7,728.6,8.9,974,12654,0.00,1.83,0.00,0.000,6,0.000,0.032,3192,1962,2126
$GC,12982,2.12,172.7,699.0,9.2,990,12985,0.00,1.83,0.00,0.000,4,0.000,0.048,3192,3015,2125
$GC,13042,2.12,172.7,693.4,9.2,992,13049,0.00,1.88,0.00,0.000,6,0.000,0.037,3193,1949,2125
$GC,13358,2.12,172.7,664.5,9.5,1008,13362,0.00,1.88,0.00,0.000,4,0.000,0.063,3192,910,2125
$GC,13475,2.12,172.7,652.6,10.1,1013,13479,0.00,1.80,0.00,0.000,6,0.000,0.031,3192,1953,2125
$GC,13804,2.12,172.7,621.3,9.4,1029,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1953,2124
$GC,14111,2.14,184.3,594.8,8.2,1044,14126,0.00,0.00,12.77,1.139,6,0.000,0.000,3192,1954,2073
$GC,14420,2.14,184.3,566.3,9.3,1059,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1953,2072
$GC,14730,2.14,184.3,538.9,9.1,1074,14731,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1953,2072
$GC,15039,2.14,186.1,510.5,8.9,1089,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1954,2072
$GC,15354,2.14,186.1,482.7,9.1,1113,15357,0.00,1.90,0.00,0.000,4,0.000,0.058,3192,905,2072
$GC,15410,2.14,186.1,477.3,9.8,1118,15414,0.00,1.75,0.00,0.000,6,0.000,0.031,3192,1938,2072
$GC,15742,2.15,189.2,448.1,8.8,1149,15753,0.00,1.88,5.93,0.893,4,0.000,0.047,3193,3013,2052
$GC,15844,2.15,189.2,438.5,9.0,1158,15847,0.00,1.85,0.00,0.000,6,0.000,0.035,3193,1937,2051
$GC,16175,2.16,194.8,410.5,8.6,1189,16187,0.00,1.95,6.53,0.904,4,0.000,0.044,3192,3011,2030
$GC,16266,2.17,200.2,402.3,8.6,1197,16278,0.00,1.83,6.40,0.887,6,0.000,0.035,3192,1947,2008
$GC,16596,2.17,201.8,373.1,8.9,1228,16599,0.00,1.85,0.00,0.000,4,0.000,0.044,3193,3010,2007
$GC,16731,2.19,212.8,361.8,8.3,1240,16752,0.00,1.77,12.20,0.975,6,0.000,0.034,3193,1970,1957
$GC,17071,2.24,228.4,334.8,7.9,1272,17093,0.12,1.95,14.95,0.966,4,0.071,0.060,3227,910,1893
$GC,17127,2.24,228.4,329.4,9.8,1277,17130,0.00,1.80,0.00,0.000,6,0.000,0.030,3227,1967,1893
$GC,17458,2.24,228.4,297.8,9.8,1308,17462,0.00,1.90,0.00,0.000,4,0.000,0.054,3227,910,1892
$GC,17537,2.24,228.4,289.4,10.0,1315,17541,0.00,1.73,0.00,0.000,6,0.000,0.030,3227,1932,1892
$GC,17869,2.25,230.1,258.3,8.9,1346,17872,0.00,1.85,0.00,0.000,4,0.000,0.044,3227,3014,1892
$GC,17914,2.26,240.6,254.0,8.3,1350,17930,0.00,1.83,11.88,0.888,6,0.000,0.036,3227,1943,1843
$GC,18265,2.26,240.6,218.9,10.1,1408,18271,0.00,1.83,0.00,0.000,4,0.000,0.057,3228,916,1843
$GC,18350,2.26,240.6,209.9,10.8,1423,18356,0.00,1.70,0.00,0.000,6,0.000,0.028,3227,1930,1842
$GC,18693,2.27,243.0,178.0,8.9,1484,18698,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1930,1842
$GC,19037,2.33,258.2,148.6,8.0,1545,19060,0.00,1.90,15.98,0.824,4,0.000,0.052,3227,911,1772
$GC,19095,2.37,264.2,143.2,8.6,1555,19108,0.00,1.70,6.72,0.705,6,0.000,0.028,3227,1924,1748
$GC,19449,2.51,304.2,118.4,6.2,1617,19487,0.17,0.00,34.08,0.795,6,0.055,0.000,3284,1924,1584
$GC,19827,2.60,329.7,90.2,7.3,1684,19854,0.00,0.00,21.75,0.748,6,0.000,0.000,3284,1923,1480
$GC,20193,2.69,346.3,59.3,7.9,1749,20210,0.12,0.00,14.82,0.696,6,0.061,0.000,3325,1924,1413
$GC,20549,2.77,373.8,29.2,7.1,1812,20578,0.00,0.00,23.90,0.674,6,0.000,0.000,3325,1924,1301
$STATE,20868,end climb,SURFACE_DEPTH_REACHED
$STATE,20868,begin surface coast
$FINISH,-0.2,1.021228
$STATE,20892,end surface coast,CONTROL_FINISHED_OK
$STATE,20892,begin surface
$SM_CCo,20914,65.75,0.645,0,0,888,475.15
$SM_GC,-6.85,0.00,0.00,65.75,0.000,0.000,0.645,418,2342,888,-10.64,0.48,475.15
$IRIDIUM_FIX,1245.46,12034.32,270697,070750
$TT8_MAMPS,0.026078
$HUMID,1842
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.90
$XPDR_PINGS,384
$24V_AH,23.0,32.712
$10V_AH,10.1,25.459
$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,29.000,101.750,431.850,65.750,0.000,26.170,33.175,188.837,108.500,0.000,0.000,11.483,3075.754,13843.341,591.195,3248.635,614.532,0.000,2156.724,0.000,3204.726,0.000,91.485
$DEVICE_MAMPS,169.507,105.079,1441.193,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1271.987,431.761,708.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100946,1873
$CAP_FILE_SIZE,185342,0
$CFSIZE,260165632,238927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020408,190307,1248.640,12034.890,37,1.5,37,-0.8