version: 66.03
glider: 126
mission: 7
dive: 209
start: 4 1 108 1 2 37
data:
$ID,126
$MISSION,7
$DIVE,209
$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,-623369.31
$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,44
$R_STBD_OVSHOOT,59
$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
$GPS1,005537,1250.826,12034.575,28,1.8,28,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.36
$_SM_ANGLEo,-59.0
$GPS2,010145,1250.865,12034.508,16,1.9,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S2
$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,135.8,3708,-19.0,-9.016
$D_GRID,1542
$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,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.18,0.000,6,0.000,0.000,416,2341,3321
$GC,97,-2.18,-120.8,1.0,-21.9,13,114,10.25,1.83,0.00,0.000,4,0.166,0.032,2250,1269,3322
$GC,204,-1.99,-120.8,32.0,-20.4,32,211,0.17,1.73,0.00,0.000,6,0.107,0.024,2289,2315,3323
$GC,550,-1.91,-120.8,89.3,-13.4,93,556,0.12,0.00,0.00,0.000,6,0.117,0.000,2312,2315,3325
$GC,893,-1.91,-120.8,132.4,-9.9,154,899,0.00,1.80,0.00,0.000,4,0.000,0.039,2312,3372,3326
$GC,983,-1.91,-120.8,142.1,-11.0,170,989,0.00,1.70,0.00,0.000,6,0.000,0.023,2312,2305,3326
$GC,1326,-1.91,-120.8,175.1,-9.5,231,1332,0.00,1.83,0.00,0.000,4,0.000,0.040,2312,3378,3327
$GC,1405,-1.91,-120.8,183.0,-9.8,245,1411,0.00,1.55,0.00,0.000,6,0.000,0.024,2313,2388,3327
$GC,1749,-1.95,-120.8,214.5,-9.3,306,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2388,3327
$GC,2091,-2.00,-122.4,245.4,-8.9,367,2097,0.00,1.67,0.00,0.000,4,0.000,0.043,2312,3371,3327
$GC,2175,-2.01,-131.0,252.8,-8.5,379,2181,0.00,1.52,0.00,0.000,6,0.000,0.026,2312,2409,3327
$GC,2502,-2.06,-131.7,282.0,-9.0,410,2504,0.15,0.00,0.00,0.000,6,0.058,0.000,2269,2409,3326
$GC,2819,-2.06,-131.7,312.3,-9.2,440,2823,0.00,1.65,0.00,0.000,4,0.000,0.046,2269,3370,3324
$GC,2877,-2.06,-131.7,318.1,-10.5,445,2880,0.00,1.52,0.00,0.000,6,0.000,0.028,2269,2426,3324
$GC,3208,-2.06,-131.7,350.5,-10.5,476,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2420,3322
$GC,3525,-2.06,-131.7,383.0,-10.4,506,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2420,3320
$GC,3843,-2.06,-131.7,413.7,-9.3,536,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2418,3318
$GC,4162,-2.06,-131.7,443.6,-9.6,566,4166,0.00,1.92,0.00,0.000,4,0.000,0.052,2269,1328,3316
$GC,4218,-2.06,-131.7,448.9,-9.3,571,4222,0.00,1.83,0.00,0.000,6,0.000,0.033,2269,2408,3316
$GC,4550,-2.06,-131.7,479.6,-9.1,602,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2408,3314
$GC,4866,-2.06,-131.7,510.4,-10.0,627,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2408,3311
$GC,5175,-2.06,-131.7,540.9,-9.9,642,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2408,3309
$GC,5485,-2.06,-131.7,570.1,-9.1,657,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2408,3307
$GC,5791,-2.06,-131.7,599.6,-9.3,672,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2408,3306
$GC,6101,-2.06,-131.7,629.2,-9.6,687,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2408,3304
$GC,6410,-2.06,-134.0,657.4,-8.9,702,6413,0.00,2.15,0.00,0.000,4,0.000,0.110,2269,1336,3302
$GC,6459,-2.06,-134.0,662.1,-9.6,704,6464,0.00,2.03,0.00,0.000,6,0.000,0.089,2269,2372,3302
$GC,6786,-2.06,-134.0,692.5,-9.3,720,6790,0.00,2.05,0.00,0.000,4,0.000,0.123,2269,3389,3301
$GC,6841,-2.06,-134.0,697.9,-10.3,722,6845,0.00,1.80,0.00,0.000,6,0.000,0.100,2269,2489,3301
$GC,7163,-2.06,-134.0,727.6,-9.3,738,7166,0.00,2.05,0.00,0.000,4,0.000,0.054,2269,1325,3299
$GC,7201,-2.06,-134.0,731.4,-9.6,739,7207,0.00,1.88,0.00,0.000,6,0.000,0.033,2269,2416,3299
$GC,7518,-2.06,-134.0,761.7,-9.8,755,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2416,3297
$GC,7827,-2.06,-134.0,790.4,-9.3,770,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2416,3296
$GC,8135,-2.06,-134.0,819.3,-9.4,785,8139,0.00,1.73,0.00,0.000,4,0.000,0.056,2269,3391,3295
$GC,8181,-2.06,-134.0,823.8,-10.6,787,8185,0.00,1.60,0.00,0.000,6,0.000,0.031,2269,2433,3295
$GC,8513,-2.06,-134.0,856.0,-9.4,803,8517,0.00,2.00,0.00,0.000,4,0.000,0.068,2269,1335,3294
$GC,8568,-2.06,-134.0,861.5,-10.0,805,8573,0.00,1.90,0.00,0.000,6,0.000,0.039,2269,2417,3294
$GC,8892,-2.06,-134.0,891.5,-9.6,821,8896,0.00,1.70,0.00,0.000,4,0.000,0.056,2269,3393,3293
$GC,8942,-2.06,-134.0,896.6,-9.6,823,8946,0.00,1.62,0.00,0.000,6,0.000,0.031,2269,2440,3293
$GC,9269,-2.07,-136.6,926.0,-8.9,839,9272,0.00,1.98,0.00,0.000,4,0.000,0.061,2269,1338,3291
$GC,9346,-2.07,-136.6,933.0,-9.3,842,9350,0.00,1.85,0.00,0.000,6,0.000,0.039,2269,2413,3291
$GC,9668,-2.08,-144.4,961.3,-8.5,858,9672,0.00,1.73,0.00,0.000,4,0.000,0.057,2269,3399,3291
$GC,9706,-2.08,-144.4,964.9,-9.3,859,9713,0.00,1.67,0.00,0.000,6,0.000,0.032,2269,2419,3291
$STATE,10002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10002,begin apogee
$GC,10008,-0.52,0.0,990.1,8.7,874,10113,1.65,0.00,101.07,1.441,6,0.095,0.000,2617,2013,2825
$STATE,10114,end apogee,CONTROL_FINISHED_OK
$STATE,10114,begin climb
$GC,10116,2.22,144.4,992.3,0.0,879,10252,2.62,2.20,127.45,1.404,4,0.058,0.094,3217,916,2235
$GC,10378,2.07,144.4,974.9,10.2,890,10383,0.17,1.88,0.00,0.000,6,0.106,0.035,3183,1996,2231
$GC,10700,1.99,144.4,943.7,9.6,906,10703,0.00,1.80,0.00,0.000,4,0.000,0.051,3183,3021,2228
$GC,10749,1.91,144.4,938.6,10.5,908,10754,0.12,1.88,0.00,0.000,6,0.088,0.037,3147,1960,2227
$GC,11076,1.88,153.5,911.1,8.5,924,11086,0.00,0.00,7.82,1.172,6,0.000,0.000,3148,1960,2199
$GC,11385,1.85,153.5,882.8,9.3,939,11389,0.00,1.92,0.00,0.000,4,0.000,0.068,3147,913,2197
$GC,11457,1.80,153.5,875.8,9.6,942,11462,0.08,1.83,0.00,0.000,6,0.087,0.032,3122,1960,2197
$GC,11784,1.82,167.9,848.6,8.1,958,11805,0.00,1.90,14.25,1.289,4,0.000,0.049,3122,3006,2140
$GC,11868,1.82,168.5,841.1,9.0,961,11874,0.00,1.83,0.00,0.000,6,0.000,0.038,3123,1956,2138
$GC,12183,1.83,172.2,813.5,8.8,977,12190,0.00,0.00,5.47,1.034,6,0.000,0.000,3122,1955,2122
$GC,12493,1.84,178.6,786.9,8.6,992,12506,0.00,1.95,7.45,1.137,4,0.000,0.048,3122,3010,2096
$GC,12574,1.84,178.6,779.6,9.2,995,12581,0.00,1.88,0.00,0.000,6,0.000,0.038,3122,1951,2095
$GC,12890,1.87,196.5,754.7,7.9,1011,12910,0.00,0.00,17.12,1.261,6,0.000,0.000,3122,1951,2024
$GC,13220,1.88,200.7,726.4,8.8,1027,13229,0.00,1.90,5.15,0.973,4,0.000,0.046,3122,3016,2007
$GC,13285,1.88,201.5,720.1,9.0,1030,13290,0.00,1.88,0.00,0.000,6,0.000,0.046,3122,1953,2006
$GC,13612,1.88,204.4,690.9,8.8,1046,13619,0.00,0.00,5.22,0.964,6,0.000,0.000,3122,1953,1991
$GC,13921,1.90,212.6,663.9,8.5,1061,13935,0.00,1.95,8.98,1.122,4,0.000,0.048,3123,3015,1958
$GC,13988,1.90,212.6,657.8,9.1,1064,13992,0.00,1.83,0.00,0.000,6,0.000,0.036,3122,1979,1957
$GC,14320,1.93,212.7,628.0,9.0,1080,14322,0.12,0.00,0.00,0.000,6,0.072,0.000,3156,1980,1956
$GC,14631,1.93,212.7,597.1,10.1,1095,14634,0.00,1.95,0.00,0.000,4,0.000,0.066,3156,907,1956
$GC,14692,1.90,212.7,590.5,10.9,1097,14698,0.00,1.83,0.00,0.000,6,0.000,0.031,3156,1981,1956
$GC,15007,1.90,212.7,560.0,9.6,1113,15010,0.00,1.77,0.00,0.000,4,0.000,0.048,3156,3010,1956
$GC,15051,1.90,212.7,555.5,10.1,1115,15055,0.00,1.77,0.00,0.000,6,0.000,0.036,3156,1978,1956
$GC,15384,1.90,212.7,522.8,9.6,1131,15385,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1978,1956
$GC,15694,1.90,217.3,494.3,8.7,1149,15704,0.00,0.00,5.65,0.901,6,0.000,0.000,3156,1978,1939
$GC,16025,1.91,219.1,464.7,8.9,1180,16026,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1978,1938
$GC,16343,1.93,231.5,436.6,8.2,1210,16361,0.00,0.00,14.00,1.047,6,0.000,0.000,3156,1978,1881
$GC,16682,1.93,231.5,405.4,9.7,1242,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1978,1879
$GC,16998,1.93,231.5,375.3,9.2,1272,17002,0.00,1.92,0.00,0.000,4,0.000,0.061,3156,907,1880
$GC,17082,1.93,231.5,367.0,9.2,1279,17088,0.00,1.88,0.00,0.000,6,0.000,0.040,3156,2011,1879
$GC,17408,1.93,235.0,337.8,8.8,1310,17419,0.00,2.03,4.78,0.755,4,0.000,0.058,3156,904,1866
$GC,17492,1.93,235.0,329.5,9.1,1317,17498,0.00,1.83,0.00,0.000,6,0.000,0.031,3156,1978,1866
$GC,17818,1.94,238.0,300.5,8.8,1348,17826,0.00,0.00,4.47,0.709,6,0.000,0.000,3156,1979,1854
$GC,18146,1.94,241.8,270.9,8.8,1379,18155,0.00,0.00,5.10,0.743,6,0.000,0.000,3156,1979,1839
$GC,18478,1.98,243.0,242.5,8.9,1417,18484,0.00,1.77,0.00,0.000,4,0.000,0.048,3156,3008,1838
$GC,18535,1.98,244.9,237.5,8.9,1427,18547,0.00,1.80,4.47,0.675,6,0.000,0.035,3156,1946,1826
$GC,18886,2.04,259.3,208.4,8.1,1489,18908,0.00,1.92,13.55,0.867,4,0.000,0.042,3156,3015,1768
$GC,18965,2.10,277.1,201.3,7.9,1503,18987,0.15,1.77,16.55,0.857,6,0.064,0.031,3197,1969,1695
$GC,19326,2.12,285.3,168.4,8.5,1567,19342,0.00,1.95,8.12,0.769,4,0.000,0.054,3197,907,1661
$GC,19444,2.12,285.3,157.1,9.8,1588,19450,0.00,1.80,0.00,0.000,6,0.000,0.028,3197,1985,1661
$GC,19788,2.23,319.8,129.7,6.9,1649,19826,0.00,1.98,30.08,0.806,4,0.000,0.048,3197,919,1521
$GC,19850,2.32,339.1,125.0,7.8,1660,19873,0.12,1.80,17.25,0.765,6,0.047,0.027,3242,1979,1442
$GC,20211,2.38,356.4,95.6,7.9,1724,20233,0.00,1.75,15.45,0.744,4,0.000,0.038,3242,2996,1371
$GC,20487,2.44,369.0,73.8,8.2,1773,20504,0.00,1.70,11.68,0.698,6,0.000,0.026,3242,1965,1320
$GC,20843,2.54,384.3,46.2,8.1,1836,20862,0.15,1.90,14.15,0.677,4,0.054,0.046,3294,916,1258
$GC,20924,2.54,384.3,38.6,9.4,1850,20931,0.00,1.85,0.00,0.000,6,0.000,0.025,3294,2031,1258
$GC,21270,2.56,396.0,9.8,8.3,1911,21287,0.00,1.95,11.35,0.624,4,0.000,0.041,3294,921,1209
$STATE,21359,end climb,SURFACE_DEPTH_REACHED
$STATE,21359,begin surface coast
$FINISH,-0.5,1.021356
$STATE,21385,end surface coast,CONTROL_FINISHED_OK
$STATE,21385,begin surface
$SM_CCo,21408,53.45,0.646,0,0,888,475.15
$SM_GC,-6.28,0.00,0.00,53.45,0.000,0.000,0.646,415,2331,888,-10.64,0.17,475.15
$IRIDIUM_FIX,1243.25,12037.35,250697,191922
$TT8_MAMPS,0.026078
$HUMID,1855
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.50
$XPDR_PINGS,372
$24V_AH,23.0,31.625
$10V_AH,10.1,24.759
$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,28.400,118.875,476.650,53.450,0.000,24.187,37.650,176.919,105.500,0.000,0.000,16.182,3137.536,14185.480,640.956,3292.154,594.207,0.000,2239.980,0.000,3237.746,0.000,91.466
$DEVICE_MAMPS,166.439,122.720,1441.193,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1309.911,440.517,731.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100942,1931
$CAP_FILE_SIZE,192280,0
$CFSIZE,260165632,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010408,070138,1249.510,12036.313,42,1.3,42,-0.8