version: 66.03
glider: 126
mission: 7
dive: 280
start: 4 16 108 6 40 56
data:
$ID,126
$MISSION,7
$DIVE,280
$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,-624685.44
$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,41
$R_STBD_OVSHOOT,56
$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
$GPS1,063255,1248.652,12028.329,35,1.7,52,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.82
$_SM_ANGLEo,-57.1
$GPS2,064005,1248.638,12028.351,11,2.2,30,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S8
$TGT_LATLONG,1248.170,12029.140
$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,122.1,1668,-21.3,-9.016
$D_GRID,973
$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,-66.68,0.000,6,0.000,0.000,416,2360,3244
$GC,97,-2.39,-101.9,-0.4,-18.9,13,115,10.07,1.70,0.00,0.000,4,0.170,0.037,2202,3359,3246
$GC,276,-2.21,-101.9,39.5,-18.9,44,283,0.17,1.73,0.00,0.000,6,0.104,0.023,2242,2284,3247
$GC,621,-2.14,-101.9,90.4,-13.0,105,627,0.10,1.60,0.00,0.000,4,0.122,0.031,2261,1309,3248
$GC,673,-2.10,-101.9,97.3,-13.3,114,679,0.00,1.65,0.00,0.000,6,0.000,0.023,2261,2319,3248
$GC,1017,-2.10,-101.9,132.5,-9.5,175,1023,0.00,1.75,0.00,0.000,4,0.000,0.038,2260,3369,3251
$GC,1136,-2.10,-101.9,144.9,-10.4,196,1142,0.00,1.70,0.00,0.000,6,0.000,0.024,2261,2291,3251
$GC,1481,-2.11,-107.8,174.6,-8.6,257,1486,0.00,1.60,0.00,0.000,4,0.000,0.034,2261,1325,3251
$GC,1572,-2.12,-115.3,182.2,-8.5,273,1578,0.00,1.65,0.00,0.000,6,0.000,0.025,2261,2344,3251
$GC,1916,-2.16,-115.3,211.3,-9.3,334,1921,0.00,1.73,0.00,0.000,4,0.000,0.042,2261,3369,3251
$GC,1995,-2.16,-115.3,219.0,-9.5,348,2001,0.00,1.62,0.00,0.000,6,0.000,0.025,2261,2337,3251
$GC,2339,-2.20,-117.6,250.1,-8.9,409,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2336,3251
$GC,2659,-2.26,-127.5,276.5,-8.3,439,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2336,3250
$GC,2977,-2.32,-142.7,302.8,-8.0,469,2981,0.15,1.73,0.00,0.000,4,0.060,0.036,2214,1321,3250
$GC,3022,-2.33,-146.0,307.0,-8.7,473,3026,0.00,1.70,0.00,0.000,6,0.000,0.028,2214,2350,3250
$GC,3354,-2.33,-146.0,335.8,-8.8,504,3358,0.00,1.75,0.00,0.000,4,0.000,0.046,2214,3375,3247
$GC,3422,-2.29,-146.0,342.4,-9.7,510,3426,0.00,1.65,0.00,0.000,6,0.000,0.028,2214,2363,3247
$GC,3755,-2.29,-146.0,375.1,-10.4,541,3758,0.00,1.80,0.00,0.000,4,0.000,0.041,2214,1309,3244
$GC,3800,-2.29,-146.0,380.0,-10.4,545,3803,0.00,1.73,0.00,0.000,6,0.000,0.028,2214,2347,3244
$GC,4132,-2.29,-146.0,411.7,-9.1,576,4135,0.00,1.77,0.00,0.000,4,0.000,0.048,2214,3378,3242
$GC,4245,-2.26,-146.0,422.9,-9.6,586,4249,0.08,1.65,0.00,0.000,6,0.104,0.030,2233,2394,3241
$GC,4574,-2.26,-146.0,453.0,-9.7,617,4578,0.00,1.90,0.00,0.000,4,0.000,0.051,2233,1308,3240
$GC,4612,-2.26,-146.0,456.7,-9.3,620,4618,0.00,1.85,0.00,0.000,6,0.000,0.033,2233,2381,3239
$GC,4940,-2.26,-146.0,486.6,-9.0,651,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2381,3238
$GC,5251,-2.26,-146.0,512.4,-8.1,674,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2381,3236
$GC,5560,-2.26,-146.0,538.6,-8.7,689,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2381,3234
$GC,5870,-2.26,-146.0,565.6,-8.8,704,5874,0.00,1.95,0.00,0.000,4,0.000,0.070,2233,1322,3232
$GC,5960,-2.26,-146.0,573.4,-8.2,708,5964,0.00,1.85,0.00,0.000,6,0.000,0.054,2233,2356,3232
$GC,6296,-2.26,-146.0,601.3,-8.8,724,6300,0.00,1.92,0.00,0.000,4,0.000,0.083,2233,3377,3230
$GC,6334,-2.26,-146.0,605.1,-9.1,725,6340,0.00,1.73,0.00,0.000,6,0.000,0.058,2233,2438,3229
$GC,6650,-2.26,-146.0,631.8,-8.1,741,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2438,3228
$GC,6959,-2.26,-146.0,655.7,-7.7,756,6963,0.00,2.17,0.00,0.000,4,0.000,0.102,2233,1320,3227
$GC,7021,-2.26,-146.0,660.7,-8.3,759,7025,0.00,2.03,0.00,0.000,6,0.000,0.087,2233,2374,3226
$GC,7354,-2.26,-146.0,688.4,-8.4,775,7358,0.00,2.03,0.00,0.000,4,0.000,0.120,2233,3384,3224
$GC,7482,-2.26,-146.0,699.6,-8.6,780,7488,0.00,1.85,0.00,0.000,6,0.000,0.100,2233,2449,3224
$GC,7798,-2.26,-146.0,726.6,-9.2,796,7801,0.00,1.95,0.00,0.000,4,0.000,0.046,2233,1317,3222
$GC,7870,-2.26,-146.0,733.4,-8.9,799,7874,0.00,1.85,0.00,0.000,6,0.000,0.033,2233,2408,3222
$GC,8199,-2.26,-146.0,761.5,-8.4,815,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2409,3221
$GC,8506,-2.26,-146.0,787.5,-8.4,830,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2408,3220
$GC,8816,-2.29,-146.0,813.0,-8.5,845,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2408,3219
$GC,9125,-2.29,-146.0,838.9,-8.4,860,9129,0.00,1.92,0.00,0.000,4,0.000,0.054,2233,1318,3217
$GC,9186,-2.29,-146.0,844.2,-8.8,862,9192,0.00,1.85,0.00,0.000,6,0.000,0.036,2232,2400,3217
$GC,9506,-2.33,-146.0,870.7,-8.3,878,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2400,3216
$GC,9812,-2.36,-146.0,895.6,-8.1,893,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2400,3215
$GC,10121,-2.39,-146.0,919.0,-7.6,908,10123,0.10,0.00,0.00,0.000,6,0.078,0.000,2206,2400,3214
$GC,10430,-2.39,-146.0,946.8,-9.2,923,10434,0.00,1.77,0.00,0.000,4,0.000,0.056,2206,3399,3213
$GC,10479,-2.39,-146.0,951.5,-9.5,925,10483,0.00,1.70,0.00,0.000,6,0.000,0.035,2206,2393,3213
$STATE,10741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10742,begin apogee
$GC,10748,-0.52,0.0,974.5,8.6,938,10838,1.92,0.00,85.07,1.436,6,0.096,0.000,2612,2000,2825
$STATE,10838,end apogee,CONTROL_FINISHED_OK
$STATE,10839,begin climb
$GC,10841,2.47,146.0,977.2,0.0,942,10984,2.90,2.12,129.95,1.402,4,0.057,0.074,3272,917,2229
$GC,11036,2.33,146.0,968.6,9.6,951,11041,0.17,1.88,0.00,0.000,6,0.112,0.033,3240,2000,2225
$GC,11363,2.25,146.0,936.0,9.3,967,11365,0.12,0.00,0.00,0.000,6,0.117,0.000,3217,2000,2221
$GC,11673,2.19,146.6,907.8,9.0,982,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2000,2220
$GC,11982,2.13,146.6,878.7,9.7,997,11984,0.12,0.00,0.00,0.000,6,0.115,0.000,3194,2000,2219
$GC,12291,2.11,156.4,853.1,8.3,1012,12305,0.00,1.83,8.62,1.199,4,0.000,0.049,3194,3011,2187
$GC,12397,2.07,158.1,843.8,8.9,1016,12403,0.00,1.83,0.00,0.000,6,0.000,0.036,3194,1954,2186
$GC,12714,2.09,167.6,817.6,8.4,1032,12738,0.00,1.92,13.65,1.094,4,0.000,0.047,3194,3005,2141
$GC,12826,2.06,172.1,807.5,8.7,1037,12836,0.00,1.80,5.78,1.048,6,0.000,0.038,3194,1967,2123
$GC,13152,2.07,176.1,778.4,8.7,1053,13161,0.00,1.88,5.18,0.995,4,0.000,0.046,3194,3017,2106
$GC,13251,2.07,178.2,769.3,8.9,1057,13257,0.00,1.77,0.00,0.000,6,0.000,0.037,3194,1994,2106
$GC,13568,2.08,181.8,742.2,8.8,1073,13577,0.00,0.00,6.80,1.088,6,0.000,0.000,3194,1993,2083
$GC,13876,2.09,184.6,714.6,8.8,1088,13885,0.00,1.85,4.07,0.846,4,0.000,0.048,3194,3015,2072
$GC,13976,2.09,186.0,705.2,8.9,1092,13980,0.00,1.75,0.00,0.000,6,0.000,0.036,3194,2003,2072
$GC,14299,2.09,186.2,675.7,9.0,1108,14303,0.00,1.98,0.00,0.000,4,0.000,0.061,3194,905,2072
$GC,14349,2.09,186.2,670.9,9.0,1110,14353,0.00,1.88,0.00,0.000,6,0.000,0.031,3194,2003,2071
$GC,14676,2.09,190.5,642.5,8.7,1126,14687,0.00,1.83,6.75,1.039,4,0.000,0.049,3194,3008,2048
$GC,14771,2.09,190.5,633.9,9.1,1130,14775,0.00,1.77,0.00,0.000,6,0.000,0.038,3194,1983,2048
$GC,15094,2.11,201.0,606.6,8.3,1146,15109,0.00,1.98,11.00,1.127,4,0.000,0.059,3194,909,2005
$GC,15155,2.11,201.0,601.1,9.6,1148,15158,0.00,1.90,0.00,0.000,6,0.000,0.032,3194,2017,2005
$GC,15488,2.12,208.2,573.0,8.5,1164,15501,0.00,1.80,7.85,1.042,4,0.000,0.049,3194,3005,1976
$GC,15581,2.12,208.2,564.1,9.3,1168,15584,0.00,1.73,0.00,0.000,6,0.000,0.037,3194,2021,1975
$GC,15910,2.13,212.3,534.8,8.7,1184,15917,0.00,0.00,5.40,0.905,6,0.000,0.000,3194,2021,1959
$GC,16217,2.13,214.4,506.5,8.9,1199,16220,0.00,1.73,0.00,0.000,4,0.000,0.047,3194,3004,1959
$GC,16262,2.13,214.4,502.2,9.3,1201,16265,0.00,1.70,0.00,0.000,6,0.000,0.036,3194,2015,1958
$GC,16594,2.14,216.8,472.5,8.8,1230,16606,0.00,1.77,6.07,0.913,4,0.000,0.045,3194,3016,1939
$GC,16667,2.16,227.6,465.8,8.3,1236,16684,0.00,1.67,10.80,1.029,6,0.000,0.035,3194,2040,1897
$GC,17002,2.17,233.0,437.0,8.6,1268,17012,0.00,0.00,6.35,0.904,6,0.000,0.000,3194,2040,1875
$GC,17333,2.20,233.0,408.1,9.3,1299,17336,0.00,1.70,0.00,0.000,4,0.000,0.046,3194,3012,1874
$GC,17383,2.20,233.0,403.4,9.3,1303,17389,0.00,1.62,0.00,0.000,6,0.000,0.035,3194,2060,1874
$GC,17710,2.24,239.1,376.1,8.6,1334,17719,0.10,0.00,7.03,0.892,6,0.077,0.000,3222,2060,1850
$GC,18036,2.24,239.1,343.4,10.2,1365,18039,0.00,1.67,0.00,0.000,4,0.000,0.046,3222,3015,1850
$GC,18069,2.24,239.1,339.8,10.9,1368,18073,0.00,1.60,0.00,0.000,6,0.000,0.034,3222,2076,1849
$GC,18402,2.25,244.6,309.3,8.6,1399,18413,0.00,1.70,6.50,0.833,4,0.000,0.046,3222,3005,1828
$GC,18517,2.25,244.6,298.6,9.7,1409,18520,0.00,1.58,0.00,0.000,6,0.000,0.034,3222,2096,1827
$GC,18849,2.25,246.6,268.6,8.9,1440,18853,0.00,2.10,0.00,0.000,4,0.000,0.056,3223,912,1827
$GC,18876,2.25,246.6,265.9,9.1,1442,18882,0.00,2.05,0.00,0.000,6,0.000,0.031,3222,2123,1827
$GC,19208,2.25,246.6,238.0,9.2,1485,19214,0.00,2.17,0.00,0.000,4,0.000,0.052,3222,905,1827
$GC,19299,2.25,246.6,229.5,9.3,1501,19305,0.00,1.98,0.00,0.000,6,0.000,0.030,3222,2076,1827
$GC,19642,2.27,258.0,200.7,8.2,1562,19659,0.00,1.70,12.88,0.864,4,0.000,0.046,3222,3015,1773
$GC,19694,2.27,258.0,196.2,9.0,1571,19699,0.00,1.67,0.00,0.000,6,0.000,0.031,3222,2031,1772
$GC,20037,2.31,284.0,169.2,7.2,1632,20068,0.00,2.05,23.05,0.858,4,0.000,0.053,3222,916,1667
$GC,20126,2.32,288.9,161.7,8.7,1648,20137,0.00,1.95,5.90,0.696,6,0.000,0.028,3222,2073,1647
$GC,20478,2.48,330.2,134.0,6.2,1710,20517,0.17,0.00,35.42,0.821,6,0.056,0.000,3277,2074,1479
$GC,20858,2.56,345.2,101.7,8.0,1777,20880,0.00,2.12,13.65,0.758,4,0.000,0.046,3277,912,1416
$GC,20985,2.63,359.7,91.2,8.0,1799,21008,0.10,1.98,13.65,0.741,6,0.070,0.026,3310,2101,1357
$GC,21350,2.67,361.0,61.5,8.9,1863,21356,0.00,1.55,0.00,0.000,4,0.000,0.038,3310,3009,1355
$GC,21488,2.77,398.6,50.5,6.4,1887,21526,0.05,1.52,32.97,0.713,6,0.062,0.025,3347,2083,1200
$GC,21867,2.83,407.8,20.6,8.4,1954,21879,0.00,0.00,9.15,0.616,6,0.000,0.000,3347,2080,1161
$STATE,22079,end climb,SURFACE_DEPTH_REACHED
$STATE,22079,begin surface coast
$FINISH,-0.4,1.021244
$STATE,22110,end surface coast,CONTROL_FINISHED_OK
$STATE,22110,begin surface
$SM_CCo,22133,46.15,0.647,0,0,888,475.15
$SM_GC,-6.39,0.00,0.00,46.15,0.000,0.000,0.647,415,2364,888,-10.65,1.10,475.15
$IRIDIUM_FIX,1241.04,12029.39,110797,000002
$TT8_MAMPS,0.026078
$HUMID,1886
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,484
$24V_AH,22.9,44.282
$10V_AH,10.1,32.643
$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,29.075,135.000,473.550,46.150,0.000,30.728,38.396,201.042,133.000,0.000,0.000,31.618,3261.943,14525.307,622.064,3500.045,716.435,0.000,2324.160,0.000,3434.618,0.000,87.865
$DEVICE_MAMPS,169.507,119.652,1435.824,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1355.381,454.115,760.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107152,1997
$CAP_FILE_SIZE,207252,0
$CFSIZE,260165632,233254912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160408,125155,1247.717,12030.184,41,1.5,41,-0.8