version: 66.03
glider: 126
mission: 7
dive: 285
start: 4 17 108 13 44 5
data:
$ID,126
$MISSION,7
$DIVE,285
$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,-624795
$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,29
$R_STBD_OVSHOOT,51
$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
$GPS1,133608,1249.170,12036.697,34,1.6,34,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.83
$_SM_ANGLEo,-58.9
$GPS2,134314,1249.214,12036.671,13,1.6,30,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB
$TGT_LATLONG,1249.450,12035.960
$TGT_RADIUS,1000.000
$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,289.6,1356,-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,-66.03,0.000,6,0.000,0.000,419,2330,3243
$GC,97,-2.39,-101.9,-0.2,-19.9,13,114,10.02,1.77,0.00,0.000,4,0.167,0.037,2205,3370,3244
$GC,211,-2.20,-101.9,27.9,-19.1,33,218,0.22,1.73,0.00,0.000,6,0.121,0.023,2247,2280,3245
$GC,557,-2.13,-101.9,82.2,-14.8,94,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2273,3247
$GC,900,-2.13,-101.9,124.2,-10.9,155,906,0.00,1.85,0.00,0.000,4,0.000,0.038,2248,3374,3247
$GC,962,-2.09,-101.9,131.3,-11.4,166,969,0.10,1.65,0.00,0.000,6,0.108,0.023,2271,2323,3247
$GC,1307,-2.12,-101.9,163.1,-9.6,227,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2321,3249
$GC,1650,-2.18,-112.7,192.1,-8.3,288,1656,0.00,1.65,0.00,0.000,4,0.000,0.034,2270,1329,3249
$GC,1765,-2.23,-122.7,201.8,-8.3,308,1771,0.12,1.70,0.00,0.000,6,0.060,0.025,2232,2376,3249
$GC,2109,-2.24,-125.8,231.9,-8.8,369,2114,0.00,1.67,0.00,0.000,4,0.000,0.042,2232,3370,3249
$GC,2256,-2.24,-125.8,245.8,-9.8,395,2262,0.00,1.55,0.00,0.000,6,0.000,0.027,2232,2400,3249
$GC,2583,-2.24,-126.8,275.7,-9.0,430,2587,0.00,1.83,0.00,0.000,4,0.000,0.037,2232,1335,3249
$GC,2667,-2.24,-126.8,283.4,-9.7,437,2673,0.00,1.67,0.00,0.000,6,0.000,0.027,2232,2359,3249
$GC,2993,-2.24,-126.8,313.9,-9.5,468,2997,0.00,1.73,0.00,0.000,4,0.000,0.044,2232,3372,3246
$GC,3050,-2.24,-126.8,319.6,-9.7,473,3054,0.00,1.55,0.00,0.000,6,0.000,0.028,2232,2419,3246
$GC,3382,-2.24,-130.8,350.1,-8.7,504,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2414,3244
$GC,3699,-2.24,-130.8,380.1,-9.8,534,3703,0.00,1.88,0.00,0.000,4,0.000,0.041,2232,1340,3241
$GC,3760,-2.24,-130.8,386.3,-9.5,539,3766,0.00,1.80,0.00,0.000,6,0.000,0.030,2232,2401,3241
$GC,4088,-2.24,-130.8,417.0,-9.1,570,4092,0.00,1.85,0.00,0.000,4,0.000,0.044,2232,1336,3240
$GC,4134,-2.25,-132.7,421.4,-8.9,574,4138,0.00,1.73,0.00,0.000,6,0.000,0.031,2232,2364,3239
$GC,4468,-2.25,-134.7,451.0,-8.9,605,4471,0.00,1.75,0.00,0.000,4,0.000,0.049,2232,3378,3236
$GC,4547,-2.25,-134.7,458.3,-9.1,612,4551,0.00,1.62,0.00,0.000,6,0.000,0.031,2232,2419,3237
$GC,4879,-2.26,-142.9,487.1,-8.4,643,4883,0.00,1.88,0.00,0.000,4,0.000,0.053,2232,1347,3235
$GC,4947,-2.26,-142.9,493.2,-9.3,649,4950,0.00,1.73,0.00,0.000,6,0.000,0.035,2232,2358,3234
$GC,5280,-2.26,-142.9,523.4,-9.2,669,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2359,3232
$GC,5591,-2.27,-146.0,550.8,-8.5,684,5594,0.00,1.83,0.00,0.000,4,0.000,0.065,2232,3380,3230
$GC,5641,-2.27,-146.0,555.4,-8.9,686,5645,0.00,1.62,0.00,0.000,6,0.000,0.038,2232,2431,3229
$GC,5968,-2.27,-146.0,583.7,-8.4,702,5972,0.00,2.00,0.00,0.000,4,0.000,0.069,2232,1342,3228
$GC,6000,-2.27,-146.0,586.6,-8.7,703,6004,0.00,1.80,0.00,0.000,6,0.000,0.055,2232,2352,3228
$GC,6322,-2.27,-146.0,614.1,-8.5,719,6326,0.00,1.95,0.00,0.000,4,0.000,0.085,2232,3403,3225
$GC,6374,-2.27,-146.0,618.6,-9.0,721,6377,0.00,1.75,0.00,0.000,6,0.000,0.060,2232,2435,3224
$GC,6701,-2.27,-146.0,645.8,-8.2,737,6705,0.00,1.88,0.00,0.000,4,0.000,0.044,2232,1340,3223
$GC,6824,-2.27,-146.0,656.6,-8.7,742,6828,0.00,1.73,0.00,0.000,6,0.000,0.032,2232,2367,3222
$GC,7146,-2.27,-146.0,684.2,-8.7,758,7150,0.00,1.80,0.00,0.000,4,0.000,0.046,2232,1338,3221
$GC,7202,-2.27,-146.0,689.1,-8.6,760,7205,0.00,1.70,0.00,0.000,6,0.000,0.033,2232,2348,3221
$GC,7524,-2.27,-146.0,717.3,-8.5,776,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2348,3220
$GC,7833,-2.27,-146.0,744.4,-8.8,791,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2348,3218
$GC,8144,-2.27,-146.0,771.0,-8.6,806,8147,0.00,1.77,0.00,0.000,4,0.000,0.049,2231,1340,3216
$GC,8190,-2.27,-146.0,775.1,-8.7,808,8193,0.00,1.67,0.00,0.000,6,0.000,0.035,2232,2329,3216
$GC,8522,-2.27,-146.0,804.3,-9.0,824,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3215
$GC,8835,-2.27,-146.0,830.7,-8.4,839,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3213
$GC,9142,-2.31,-146.0,858.1,-8.8,854,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3213
$GC,9451,-2.34,-146.0,883.7,-7.9,869,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3212
$GC,9763,-2.37,-146.0,910.0,-8.9,884,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3211
$GC,10069,-2.41,-146.0,936.7,-8.7,899,10071,0.12,0.00,0.00,0.000,6,0.070,0.000,2198,2330,3210
$GC,10378,-2.41,-146.0,967.3,-10.2,914,10382,0.00,1.83,0.00,0.000,4,0.000,0.054,2198,3376,3209
$GC,10446,-2.41,-146.0,974.7,-11.3,917,10449,0.00,1.67,0.00,0.000,6,0.000,0.034,2198,2378,3209
$STATE,10591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10591,begin apogee
$GC,10597,-0.52,0.0,990.5,10.7,924,10686,2.00,0.00,84.43,1.449,6,0.101,0.000,2615,2022,2825
$STATE,10687,end apogee,CONTROL_FINISHED_OK
$STATE,10687,begin climb
$GC,10690,2.47,146.0,994.5,0.0,928,10832,2.92,1.98,130.05,1.409,4,0.064,0.065,3270,988,2228
$GC,10913,2.33,146.0,985.8,9.8,938,10917,0.17,1.67,0.00,0.000,6,0.110,0.031,3238,1967,2224
$GC,11235,2.25,146.0,956.6,9.4,954,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1967,2221
$GC,11544,2.16,146.0,927.7,9.3,969,11546,0.20,0.00,0.00,0.000,6,0.109,0.000,3199,1967,2219
$GC,11854,2.15,157.8,901.5,8.2,984,11868,0.00,1.85,10.15,1.247,4,0.000,0.048,3199,3013,2181
$GC,11902,2.10,157.8,897.0,9.2,986,11906,0.00,1.73,0.00,0.000,6,0.000,0.035,3199,2012,2180
$GC,12230,2.08,163.3,868.6,8.6,1002,12241,0.00,2.08,6.47,1.118,4,0.000,0.058,3199,906,2158
$GC,12348,2.03,163.3,857.6,9.3,1007,12352,0.15,1.77,0.00,0.000,6,0.113,0.031,3171,1947,2157
$GC,12669,2.04,174.3,831.7,8.3,1023,12685,0.00,1.90,11.40,1.252,4,0.000,0.048,3171,3017,2113
$GC,12763,2.05,178.9,822.7,8.7,1026,12775,0.00,1.88,5.68,1.045,6,0.000,0.037,3171,1936,2096
$GC,13084,2.05,179.1,793.8,9.0,1042,13087,0.00,1.90,0.00,0.000,4,0.000,0.047,3171,3016,2094
$GC,13167,2.05,179.1,786.0,9.0,1045,13173,0.00,1.80,0.00,0.000,6,0.000,0.036,3171,1967,2094
$GC,13483,2.07,189.3,759.5,8.3,1061,13498,0.00,1.88,10.80,1.210,4,0.000,0.046,3171,3011,2052
$GC,13562,2.09,201.0,752.9,8.2,1063,13578,0.00,1.77,12.02,1.210,6,0.000,0.036,3171,1982,2005
$GC,13894,2.09,201.0,723.1,9.1,1080,13897,0.00,1.92,0.00,0.000,4,0.000,0.068,3171,915,2003
$GC,13927,2.09,201.0,719.9,9.6,1081,13930,0.00,1.88,0.00,0.000,6,0.000,0.033,3171,2011,2003
$GC,14248,2.09,201.0,690.5,9.2,1097,14252,0.00,2.00,0.00,0.000,4,0.000,0.057,3171,906,2002
$GC,14281,2.09,201.0,687.3,9.1,1098,14285,0.00,1.85,0.00,0.000,6,0.000,0.032,3171,1976,2002
$GC,14604,2.13,209.0,659.9,8.5,1114,14619,0.10,1.85,8.25,1.099,4,0.082,0.048,3199,3002,1973
$GC,14653,2.13,209.0,655.1,9.4,1116,14656,0.00,1.77,0.00,0.000,6,0.000,0.036,3199,1975,1972
$GC,14980,2.14,212.8,626.1,8.8,1132,14989,0.00,1.85,5.40,0.950,4,0.000,0.045,3199,3016,1956
$GC,15041,2.16,226.9,620.6,8.0,1135,15063,0.00,1.80,14.43,1.159,6,0.000,0.035,3199,1991,1899
$GC,15372,2.16,226.9,589.9,9.1,1151,15373,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1991,1897
$GC,15681,2.18,234.9,562.9,8.5,1166,15695,0.00,1.85,8.15,1.041,4,0.000,0.045,3199,3004,1867
$GC,15827,2.18,234.9,549.5,9.6,1172,15830,0.00,1.70,0.00,0.000,6,0.000,0.035,3199,2011,1866
$GC,16148,2.18,234.9,519.2,9.5,1188,16151,0.00,1.75,0.00,0.000,4,0.000,0.046,3199,3010,1866
$GC,16209,2.18,234.9,513.3,9.3,1190,16215,0.00,1.67,0.00,0.000,6,0.000,0.035,3199,2029,1866
$GC,16529,2.18,234.9,483.9,9.0,1214,16533,0.00,2.00,0.00,0.000,4,0.000,0.059,3199,913,1866
$GC,16574,2.18,234.9,479.7,10.0,1218,16578,0.00,1.88,0.00,0.000,6,0.000,0.031,3199,2015,1866
$GC,16907,2.18,235.1,450.9,9.0,1249,16911,0.00,1.73,0.00,0.000,4,0.000,0.048,3199,3013,1866
$GC,17010,2.18,237.0,441.6,8.9,1258,17013,0.00,1.70,0.00,0.000,6,0.000,0.035,3199,2017,1866
$GC,17342,2.19,239.1,412.4,8.9,1289,17353,0.00,0.00,5.40,0.837,6,0.000,0.000,3199,2018,1849
$GC,17673,2.21,251.6,383.6,8.2,1320,17694,0.00,1.83,12.35,0.996,4,0.000,0.045,3198,3006,1799
$GC,17745,2.22,262.0,377.6,8.3,1326,17761,0.00,1.70,10.50,0.955,6,0.000,0.034,3199,2013,1757
$GC,18081,2.28,269.3,348.5,8.5,1358,18093,0.12,1.83,7.88,0.895,4,0.071,0.045,3234,3008,1727
$GC,18150,2.28,269.3,341.7,9.8,1364,18154,0.00,1.65,0.00,0.000,6,0.000,0.033,3235,2046,1727
$GC,18484,2.28,269.3,309.4,9.5,1395,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2046,1727
$GC,18809,2.28,269.3,278.1,9.7,1426,18812,0.00,2.03,0.00,0.000,4,0.000,0.056,3234,907,1727
$GC,18876,2.28,269.3,271.4,10.2,1432,18880,0.00,1.95,0.00,0.000,6,0.000,0.030,3234,2061,1727
$GC,19206,2.29,278.6,240.9,8.4,1471,19218,0.00,0.00,9.50,0.855,6,0.000,0.000,3234,2062,1689
$GC,19556,2.30,281.5,208.4,8.8,1533,19567,0.00,2.10,4.30,0.640,4,0.000,0.051,3234,916,1677
$GC,19601,2.30,281.5,203.9,9.7,1541,19607,0.00,1.88,0.00,0.000,6,0.000,0.029,3234,2027,1677
$GC,19945,2.33,281.5,172.8,9.3,1602,19950,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2028,1676
$GC,20290,2.41,308.8,145.4,7.1,1663,20323,0.00,2.08,24.48,0.834,4,0.000,0.049,3234,906,1566
$GC,20382,2.45,310.3,137.6,8.9,1679,20388,0.12,1.95,0.00,0.000,6,0.065,0.028,3273,2066,1565
$GC,20726,2.55,342.7,110.8,6.8,1740,20760,0.00,2.15,29.20,0.792,4,0.000,0.047,3273,909,1427
$GC,20888,2.63,366.6,98.7,7.4,1768,20916,0.08,1.90,20.98,0.762,6,0.053,0.026,3309,2040,1330
$GC,21259,2.73,383.5,68.0,7.8,1833,21282,0.00,1.70,15.12,0.714,4,0.000,0.038,3309,3010,1261
$GC,21421,2.82,401.1,55.5,7.8,1861,21444,0.15,1.60,15.85,0.696,6,0.051,0.025,3360,2033,1190
$GC,21784,2.83,405.3,26.0,8.7,1925,21795,0.00,0.00,5.65,0.544,6,0.000,0.000,3360,2033,1171
$STATE,22051,end climb,SURFACE_DEPTH_REACHED
$STATE,22052,begin surface coast
$FINISH,-0.1,1.021219
$STATE,22076,end surface coast,CONTROL_FINISHED_OK
$STATE,22076,begin surface
$SM_CCo,22099,46.97,0.643,0,0,888,475.15
$SM_GC,-6.56,0.00,0.00,46.97,0.000,0.000,0.643,418,2354,888,-10.63,0.82,475.15
$IRIDIUM_FIX,1245.46,12037.35,120797,070710
$TT8_MAMPS,0.025311
$HUMID,1894
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.60
$XPDR_PINGS,523
$24V_AH,22.9,45.274
$10V_AH,10.1,33.265
$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,29.425,138.400,468.425,46.975,0.000,23.928,32.881,205.848,143.250,0.000,0.000,30.743,3252.709,14504.073,607.122,3494.175,728.469,0.000,2320.566,0.000,3439.064,0.000,91.485
$DEVICE_MAMPS,167.206,85.137,1448.863,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1342.200,454.325,751.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104069,1977
$CAP_FILE_SIZE,207395,0
$CFSIZE,260165632,232763392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,195426,1250.517,12034.607,36,1.5,36,-0.8