version: 66.03
glider: 126
mission: 7
dive: 201
start: 3 30 108 2 3 54
data:
$ID,126
$MISSION,7
$DIVE,201
$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,-623242.31
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,015608,1248.107,12029.817,27,1.1,27,-0.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.05
$_SM_ANGLEo,-58.8
$GPS2,020302,1248.104,12029.804,12,2.0,17,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S5
$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,276.6,1205,-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,-101.9,0.0,0.0,0,93,0.00,0.00,-65.47,0.000,6,0.000,0.000,414,2317,3243
$GC,96,-2.39,-101.9,1.0,-21.2,13,113,10.10,1.77,0.00,0.000,4,0.171,0.039,2202,3358,3244
$GC,366,-2.20,-101.9,66.7,-20.8,61,373,0.22,1.70,0.00,0.000,6,0.122,0.023,2244,2290,3246
$GC,710,-2.16,-101.9,120.1,-13.3,122,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2283,3247
$GC,1052,-2.16,-101.9,159.9,-11.5,183,1058,0.00,1.83,0.00,0.000,4,0.000,0.039,2244,3369,3249
$GC,1265,-2.16,-101.9,183.9,-10.7,221,1271,0.00,1.73,0.00,0.000,6,0.000,0.024,2244,2278,3249
$GC,1609,-2.16,-101.9,220.6,-10.9,282,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2274,3250
$GC,1953,-2.16,-101.9,257.1,-10.3,338,1957,0.00,1.88,0.00,0.000,4,0.000,0.042,2244,3369,3249
$GC,2171,-2.16,-101.9,279.8,-10.3,357,2177,0.00,1.77,0.00,0.000,6,0.000,0.025,2244,2288,3249
$GC,2498,-2.16,-101.9,312.4,-10.4,388,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2285,3247
$GC,2814,-2.16,-101.9,345.0,-10.3,418,2818,0.00,1.85,0.00,0.000,4,0.000,0.045,2244,3359,3244
$GC,2904,-2.16,-101.9,354.2,-10.7,426,2908,0.00,1.77,0.00,0.000,6,0.000,0.028,2244,2279,3244
$GC,3235,-2.16,-101.9,388.2,-11.0,457,3239,0.00,1.90,0.00,0.000,4,0.000,0.048,2244,3355,3242
$GC,3341,-2.16,-101.9,400.6,-11.4,466,3347,0.00,1.80,0.00,0.000,6,0.000,0.029,2244,2284,3241
$GC,3667,-2.16,-101.9,436.3,-11.0,497,3671,0.00,1.90,0.00,0.000,4,0.000,0.048,2244,3358,3239
$GC,3802,-2.16,-101.9,451.2,-10.8,509,3806,0.00,1.77,0.00,0.000,6,0.000,0.030,2244,2296,3238
$GC,4134,-2.19,-101.9,484.9,-9.8,540,4137,0.00,1.88,0.00,0.000,4,0.000,0.053,2244,3360,3235
$GC,4228,-2.19,-101.9,494.8,-9.9,548,4235,0.00,1.77,0.00,0.000,6,0.000,0.032,2244,2330,3235
$GC,4559,-2.22,-101.9,526.5,-9.7,567,4563,0.00,1.83,0.00,0.000,4,0.000,0.061,2244,3350,3233
$GC,4637,-2.22,-101.9,534.7,-10.1,570,4641,0.00,1.77,0.00,0.000,6,0.000,0.036,2244,2333,3233
$GC,4960,-2.26,-101.9,566.2,-9.6,586,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2332,3230
$GC,5267,-2.29,-101.9,596.4,-9.7,601,5271,0.00,1.92,0.00,0.000,4,0.000,0.082,2245,3354,3228
$GC,5524,-2.29,-101.9,621.7,-9.6,612,5529,0.00,1.85,0.00,0.000,6,0.000,0.067,2244,2366,3227
$GC,5849,-2.33,-101.9,651.7,-9.3,628,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2366,3225
$GC,6157,-2.37,-101.9,681.0,-9.3,643,6161,0.15,1.98,0.00,0.000,4,0.064,0.116,2200,3339,3224
$GC,6287,-2.34,-101.9,694.1,-9.9,649,6291,0.10,1.98,0.00,0.000,6,0.123,0.102,2218,2347,3223
$GC,6620,-2.34,-101.9,726.9,-10.2,665,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2347,3221
$GC,6927,-2.34,-101.9,756.1,-9.4,680,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2337,3219
$GC,7237,-2.34,-106.5,784.3,-8.7,695,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2333,3217
$GC,7546,-2.34,-106.5,812.4,-9.3,710,7549,0.00,1.77,0.00,0.000,4,0.000,0.062,2218,3356,3216
$GC,7606,-2.34,-106.5,818.4,-10.2,712,7612,0.00,1.80,0.00,0.000,6,0.000,0.031,2218,2301,3215
$GC,7922,-2.34,-106.5,848.9,-10.4,728,7926,0.00,1.88,0.00,0.000,4,0.000,0.054,2218,3363,3215
$GC,8005,-2.34,-106.5,858.4,-11.9,731,8011,0.00,1.75,0.00,0.000,6,0.000,0.031,2218,2343,3214
$GC,8321,-2.34,-106.5,894.7,-11.4,747,8325,0.00,1.80,0.00,0.000,4,0.000,0.056,2218,3360,3213
$GC,8388,-2.34,-106.5,902.7,-11.2,750,8392,0.00,1.70,0.00,0.000,6,0.000,0.032,2218,2350,3213
$GC,8720,-2.34,-106.5,938.2,-10.2,766,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2350,3212
$GC,9030,-2.34,-106.5,968.7,-9.4,781,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2350,3211
$STATE,9089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9094,-0.52,0.0,974.2,8.8,784,9182,1.88,0.00,83.70,1.430,6,0.097,0.000,2613,1966,2825
$STATE,9183,end apogee,CONTROL_FINISHED_OK
$STATE,9183,begin climb
$GC,9185,2.40,106.5,976.5,0.0,788,9288,2.83,2.15,94.62,1.391,4,0.058,0.091,3253,912,2390
$GC,9470,2.27,106.5,956.6,10.6,801,9475,0.15,1.77,0.00,0.000,6,0.114,0.031,3226,1945,2385
$GC,9803,2.20,106.5,926.6,9.1,817,9807,0.00,1.92,0.00,0.000,4,0.000,0.061,3225,916,2383
$GC,9954,2.12,117.6,912.7,8.3,823,9969,0.17,1.80,10.05,1.236,6,0.109,0.031,3192,1971,2345
$GC,10292,2.16,140.2,886.1,7.5,840,10318,0.00,1.90,21.45,1.329,4,0.000,0.049,3192,3004,2253
$GC,10362,2.13,146.5,880.2,8.6,843,10374,0.00,1.83,6.95,1.110,6,0.000,0.038,3192,1958,2227
$GC,10683,2.13,147.2,851.3,9.0,859,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1958,2225
$GC,10991,2.13,147.2,821.0,10.3,874,10995,0.00,1.90,0.00,0.000,4,0.000,0.065,3192,913,2224
$GC,11052,2.09,147.2,814.5,10.0,876,11058,0.00,1.80,0.00,0.000,6,0.000,0.032,3192,1972,2224
$GC,11368,2.09,150.3,785.7,8.8,892,11374,0.00,0.00,4.38,0.907,6,0.000,0.000,3192,1972,2212
$GC,11677,2.10,154.1,758.4,8.8,907,11686,0.00,1.83,5.35,1.007,4,0.000,0.049,3192,3012,2196
$GC,11737,2.10,154.1,752.8,9.2,910,11741,0.00,1.85,0.00,0.000,6,0.000,0.038,3192,1948,2195
$GC,12069,2.10,154.1,721.6,9.2,926,12073,0.00,1.88,0.00,0.000,4,0.000,0.064,3192,913,2195
$GC,12192,2.07,156.3,710.0,8.9,931,12196,0.00,1.75,0.00,0.000,6,0.000,0.031,3192,1947,2195
$GC,12513,2.07,156.3,681.9,9.1,947,12517,0.00,1.90,0.00,0.000,4,0.000,0.060,3192,906,2195
$GC,12630,2.07,156.3,670.5,9.6,952,12634,0.00,1.75,0.00,0.000,6,0.000,0.030,3192,1921,2194
$GC,12958,2.08,159.7,641.7,8.8,968,12968,0.00,1.92,6.22,1.018,4,0.000,0.048,3192,3016,2173
$GC,13012,2.08,159.7,636.2,9.7,970,13019,0.00,1.92,0.00,0.000,6,0.000,0.038,3192,1920,2174
$GC,13328,2.08,159.7,606.7,9.5,986,13331,0.00,1.92,0.00,0.000,4,0.000,0.047,3192,3017,2173
$GC,13430,2.08,159.7,597.1,9.3,990,13433,0.00,1.88,0.00,0.000,6,0.000,0.037,3192,1925,2173
$GC,13750,2.08,162.7,567.8,8.8,1006,13757,0.00,0.00,4.47,0.846,6,0.000,0.000,3192,1925,2161
$GC,14060,2.10,173.5,541.6,8.3,1021,14075,0.00,1.95,11.18,1.097,4,0.000,0.045,3192,3013,2116
$GC,14189,2.10,175.4,530.2,8.9,1026,14193,0.00,1.88,0.00,0.000,6,0.000,0.037,3192,1944,2115
$GC,14521,2.13,189.8,503.2,8.0,1042,14543,0.00,1.92,15.40,1.096,4,0.000,0.045,3192,3017,2051
$GC,14627,2.13,189.8,493.8,9.3,1049,14633,0.00,1.83,0.00,0.000,6,0.000,0.035,3192,1959,2049
$GC,14952,2.13,189.8,464.7,9.1,1080,14956,0.00,1.85,0.00,0.000,4,0.000,0.046,3192,3017,2049
$GC,15081,2.13,189.8,452.9,9.5,1091,15087,0.00,1.77,0.00,0.000,6,0.000,0.035,3192,1977,2049
$GC,15407,2.13,189.8,424.0,9.4,1122,15410,0.00,1.92,0.00,0.000,4,0.000,0.064,3192,907,2049
$GC,15468,2.13,189.8,417.9,10.1,1127,15474,0.00,1.83,0.00,0.000,6,0.000,0.031,3192,1993,2049
$GC,15793,2.16,207.3,389.1,7.8,1158,15815,0.00,2.05,16.48,1.020,4,0.000,0.056,3192,916,1978
$GC,15854,2.16,207.3,383.3,9.3,1163,15860,0.00,1.85,0.00,0.000,6,0.000,0.031,3192,1984,1977
$GC,16180,2.18,217.5,355.2,8.3,1194,16198,0.00,1.85,10.05,0.945,4,0.000,0.047,3192,3008,1938
$GC,16237,2.18,221.5,349.9,8.7,1199,16247,0.00,1.80,5.40,0.791,6,0.000,0.035,3193,1980,1920
$GC,16572,2.22,225.1,319.2,8.8,1231,16582,0.00,0.00,4.62,0.729,6,0.000,0.000,3192,1979,1907
$GC,16902,2.26,225.1,289.1,9.4,1262,16904,0.12,0.00,0.00,0.000,6,0.071,0.000,3227,1979,1907
$GC,17219,2.26,225.1,257.3,10.2,1292,17223,0.00,1.80,0.00,0.000,4,0.000,0.044,3227,3002,1906
$GC,17304,2.26,225.1,248.2,11.0,1300,17310,0.00,1.73,0.00,0.000,6,0.000,0.042,3227,1983,1907
$GC,17647,2.26,225.1,213.6,9.4,1361,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1983,1906
$GC,17990,2.28,239.6,183.3,8.0,1422,18006,0.00,0.00,13.80,0.849,6,0.000,0.000,3227,1982,1848
$GC,18344,2.37,266.1,154.0,7.2,1485,18372,0.00,1.88,23.20,0.838,4,0.000,0.044,3227,3014,1740
$GC,18626,2.44,278.4,131.5,8.2,1535,18644,0.15,1.67,11.23,0.769,6,0.063,0.029,3270,2014,1690
$GC,18983,2.53,297.7,103.3,7.7,1598,19006,0.00,1.75,17.48,0.765,4,0.000,0.038,3270,3017,1611
$GC,19088,2.65,342.3,95.8,5.9,1616,19132,0.12,1.67,37.47,0.757,6,0.046,0.028,3313,2031,1429
$GC,19473,2.70,353.3,63.5,8.3,1684,19490,0.00,0.00,10.57,0.676,6,0.000,0.000,3314,2030,1383
$GC,19829,2.76,356.7,33.7,8.8,1747,19841,0.00,1.98,4.38,0.491,4,0.000,0.047,3314,916,1370
$GC,19910,2.84,380.0,27.2,7.4,1761,19938,0.15,1.90,20.50,0.665,6,0.055,0.024,3360,2085,1274
$STATE,20205,end climb,SURFACE_DEPTH_REACHED
$STATE,20205,begin surface coast
$FINISH,0.1,1.021205
$STATE,20229,end surface coast,CONTROL_FINISHED_OK
$STATE,20231,begin surface
$SM_CCo,20253,63.20,0.644,0,0,888,475.15
$SM_GC,-6.47,0.00,0.00,63.20,0.000,0.000,0.644,416,2342,888,-10.64,0.48,475.15
$IRIDIUM_FIX,1243.25,12029.39,230697,212141
$TT8_MAMPS,0.026078
$HUMID,1848
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.60
$XPDR_PINGS,434
$24V_AH,23.1,30.144
$10V_AH,10.1,23.827
$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,28.975,118.950,438.950,63.200,0.000,25.461,32.705,222.584,120.500,0.000,0.000,17.545,3003.657,13145.813,595.177,3367.382,640.809,0.000,2219.765,0.000,3307.039,0.000,87.856
$DEVICE_MAMPS,171.041,115.817,1429.688,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.496,421.042,690.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97862,1818
$CAP_FILE_SIZE,190211,0
$CFSIZE,260165632,240230400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300308,074338,1248.333,12028.300,31,1.5,31,-0.8