version: 66.03
glider: 126
mission: 7
dive: 276
start: 4 15 108 6 49 13
data:
$ID,126
$MISSION,7
$DIVE,276
$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,-624607.12
$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,28
$R_STBD_OVSHOOT,46
$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
$GPS1,064137,1247.375,12029.486,33,1.0,33,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.47
$_SM_ANGLEo,-59.0
$GPS2,064821,1247.365,12029.473,14,1.5,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S4
$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,338.8,1607,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-66.78,0.000,6,0.000,0.000,415,2347,3243
$GC,97,-2.39,-101.9,-0.3,-18.8,13,115,9.98,1.83,0.00,0.000,4,0.166,0.031,2202,1262,3244
$GC,347,-2.23,-101.9,52.5,-17.7,57,354,0.20,1.73,0.00,0.000,6,0.116,0.024,2240,2330,3246
$GC,692,-2.16,-101.9,99.6,-12.8,118,698,0.00,1.75,0.00,0.000,4,0.000,0.039,2240,3365,3247
$GC,870,-2.10,-101.9,123.0,-12.8,149,876,0.15,1.65,0.00,0.000,6,0.107,0.023,2270,2305,3248
$GC,1215,-2.14,-107.6,155.5,-8.6,210,1221,0.00,1.65,0.00,0.000,4,0.000,0.033,2270,1319,3249
$GC,1266,-2.15,-110.6,160.2,-8.8,219,1272,0.00,1.67,0.00,0.000,6,0.000,0.024,2270,2357,3249
$GC,1611,-2.19,-110.9,190.1,-9.0,280,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2357,3250
$GC,1955,-2.26,-127.7,219.4,-7.9,341,1961,0.15,0.00,0.00,0.000,6,0.058,0.000,2226,2357,3250
$GC,2299,-2.27,-135.8,250.1,-8.5,402,2302,0.00,1.70,0.00,0.000,4,0.000,0.043,2226,3363,3250
$GC,2367,-2.27,-135.8,256.5,-9.6,408,2371,0.00,1.65,0.00,0.000,6,0.000,0.026,2226,2339,3250
$GC,2699,-2.27,-135.8,287.4,-9.6,439,2703,0.00,1.73,0.00,0.000,4,0.000,0.038,2226,1314,3249
$GC,2756,-2.28,-139.4,292.8,-8.8,444,2760,0.00,1.70,0.00,0.000,6,0.000,0.027,2226,2330,3249
$GC,3087,-2.28,-139.4,323.2,-9.7,475,3091,0.00,1.77,0.00,0.000,4,0.000,0.045,2227,3370,3247
$GC,3126,-2.28,-139.4,327.2,-10.3,478,3132,0.00,1.65,0.00,0.000,6,0.000,0.027,2226,2337,3246
$GC,3452,-2.28,-139.4,356.8,-9.3,509,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2330,3245
$GC,3770,-2.28,-139.4,386.7,-9.1,539,3773,0.00,1.75,0.00,0.000,4,0.000,0.044,2226,1313,3243
$GC,3796,-2.28,-139.4,389.5,-9.9,541,3803,0.00,1.73,0.00,0.000,6,0.000,0.030,2226,2333,3243
$GC,4123,-2.28,-139.4,419.6,-9.3,572,4127,0.00,1.80,0.00,0.000,4,0.000,0.048,2226,3380,3241
$GC,4157,-2.28,-139.4,423.0,-10.5,575,4161,0.00,1.70,0.00,0.000,6,0.000,0.030,2226,2357,3240
$GC,4489,-2.28,-139.4,452.1,-9.1,606,4493,0.00,1.80,0.00,0.000,4,0.000,0.050,2226,3367,3239
$GC,4572,-2.28,-139.4,460.0,-9.3,613,4578,0.00,1.73,0.00,0.000,6,0.000,0.031,2226,2357,3238
$GC,4899,-2.29,-144.4,488.6,-8.7,644,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2357,3236
$GC,5220,-2.29,-144.4,517.6,-9.4,666,5223,0.00,1.95,0.00,0.000,4,0.000,0.067,2226,1275,3234
$GC,5281,-2.29,-145.4,523.4,-9.0,668,5287,0.00,1.88,0.00,0.000,6,0.000,0.039,2226,2364,3234
$GC,5597,-2.29,-146.0,552.5,-8.9,684,5600,0.00,1.83,0.00,0.000,4,0.000,0.066,2226,3385,3231
$GC,5687,-2.29,-146.0,560.5,-9.0,688,5690,0.00,1.70,0.00,0.000,6,0.000,0.040,2226,2398,3231
$GC,6019,-2.29,-146.0,589.0,-8.4,704,6023,0.00,2.03,0.00,0.000,4,0.000,0.071,2226,1283,3230
$GC,6115,-2.29,-146.0,596.9,-8.5,708,6118,0.00,2.00,0.00,0.000,6,0.000,0.060,2226,2391,3229
$GC,6441,-2.29,-146.0,624.4,-9.0,724,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2392,3228
$GC,6750,-2.29,-146.0,651.9,-8.8,739,6754,0.00,2.15,0.00,0.000,4,0.000,0.096,2226,1285,3225
$GC,6819,-2.29,-146.0,658.5,-9.7,742,6823,0.00,2.08,0.00,0.000,6,0.000,0.083,2226,2380,3225
$GC,7145,-2.29,-146.0,688.8,-9.2,758,7149,0.00,1.73,0.00,0.000,4,0.000,0.051,2226,3378,3224
$GC,7231,-2.29,-146.0,697.0,-9.7,761,7236,0.00,1.65,0.00,0.000,6,0.000,0.031,2226,2381,3222
$GC,7546,-2.29,-146.0,724.9,-8.4,777,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2380,3221
$GC,7857,-2.29,-146.0,750.1,-7.9,792,7861,0.00,1.95,0.00,0.000,4,0.000,0.053,2225,1268,3220
$GC,7935,-2.29,-146.0,757.0,-8.8,795,7938,0.00,1.92,0.00,0.000,6,0.000,0.034,2226,2400,3220
$GC,8256,-2.29,-146.0,786.5,-9.1,811,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2402,3218
$GC,8566,-2.29,-146.0,814.3,-8.6,826,8569,0.00,1.98,0.00,0.000,4,0.000,0.047,2226,1273,3218
$GC,8621,-2.29,-146.0,819.4,-9.2,828,8625,0.00,1.92,0.00,0.000,6,0.000,0.033,2226,2391,3217
$GC,8942,-2.29,-146.0,848.5,-9.0,844,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2391,3216
$GC,9252,-2.29,-146.0,876.6,-9.3,859,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2391,3215
$GC,9560,-2.29,-146.0,905.1,-9.1,874,9564,0.00,1.95,0.00,0.000,4,0.000,0.046,2226,1276,3213
$GC,9617,-2.29,-146.0,910.4,-10.4,876,9621,0.00,1.88,0.00,0.000,6,0.000,0.033,2226,2385,3213
$GC,9938,-2.29,-146.0,938.2,-8.4,892,9942,0.00,1.95,0.00,0.000,4,0.000,0.046,2226,1272,3212
$GC,9988,-2.29,-146.0,942.7,-8.5,894,9992,0.00,1.88,0.00,0.000,6,0.000,0.034,2226,2364,3212
$GC,10318,-2.29,-146.0,970.7,-8.6,910,10322,0.00,1.77,0.00,0.000,4,0.000,0.054,2226,3383,3211
$STATE,10339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10339,begin apogee
$GC,10347,-0.52,0.0,973.0,8.7,911,10436,1.83,0.00,84.45,1.430,6,0.093,0.000,2612,1967,2825
$STATE,10437,end apogee,CONTROL_FINISHED_OK
$STATE,10437,begin climb
$GC,10440,2.47,146.0,975.5,0.0,915,10582,2.90,2.05,129.25,1.397,4,0.056,0.066,3272,908,2229
$GC,10634,2.33,146.0,966.3,10.6,924,10638,0.17,1.85,0.00,0.000,6,0.110,0.031,3239,1981,2225
$GC,10961,2.24,146.0,934.9,9.7,940,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1981,2221
$GC,11269,2.16,146.0,904.9,9.7,955,11273,0.17,1.95,0.00,0.000,4,0.111,0.055,3202,911,2220
$GC,11319,2.09,146.0,900.2,9.1,957,11322,0.00,1.83,0.00,0.000,6,0.000,0.031,3203,1980,2220
$GC,11646,2.05,146.0,871.3,9.3,973,11648,0.12,0.00,0.00,0.000,6,0.115,0.000,3179,1980,2219
$GC,11955,2.09,164.7,845.8,7.7,988,11974,0.00,0.00,16.00,1.302,6,0.000,0.000,3179,1980,2153
$GC,12284,2.09,169.1,818.4,8.7,1004,12294,0.00,1.83,5.60,1.049,4,0.000,0.048,3179,3015,2135
$GC,12372,2.10,173.1,810.3,8.7,1008,12382,0.00,1.80,5.18,1.005,6,0.000,0.035,3179,1970,2119
$GC,12699,2.11,178.1,781.8,8.7,1024,12707,0.00,0.00,6.32,1.083,6,0.000,0.000,3179,1970,2098
$GC,13007,2.11,178.1,753.6,9.5,1039,13011,0.00,1.83,0.00,0.000,4,0.000,0.048,3179,3006,2097
$GC,13068,2.11,178.1,748.0,9.2,1041,13074,0.00,1.80,0.00,0.000,6,0.000,0.036,3179,1975,2096
$GC,13384,2.12,188.1,721.4,8.3,1057,13399,0.00,1.95,10.23,1.187,4,0.000,0.059,3179,914,2057
$GC,13462,2.14,195.4,714.5,8.5,1059,13476,0.00,1.83,8.12,1.121,6,0.000,0.031,3179,1982,2028
$GC,13799,2.14,195.4,684.1,9.1,1076,13802,0.00,1.77,0.00,0.000,4,0.000,0.049,3179,3004,2027
$GC,13922,2.14,196.5,673.0,8.9,1081,13926,0.00,1.75,0.00,0.000,6,0.000,0.036,3179,1989,2026
$GC,14243,2.14,197.6,644.3,8.9,1097,14247,0.00,1.80,0.00,0.000,4,0.000,0.048,3179,3015,2026
$GC,14289,2.17,212.5,640.3,8.0,1099,14311,0.00,1.73,16.45,1.191,6,0.000,0.036,3179,2012,1958
$GC,14619,2.17,212.5,609.9,9.1,1115,14623,0.00,1.75,0.00,0.000,4,0.000,0.047,3179,3007,1957
$GC,14658,2.17,212.5,606.1,9.7,1116,14664,0.00,1.70,0.00,0.000,6,0.000,0.043,3179,2037,1956
$GC,14974,2.17,217.2,578.0,8.7,1132,14985,0.10,1.73,5.78,0.951,4,0.082,0.046,3207,3006,1938
$GC,15036,2.17,217.2,571.9,9.4,1135,15039,0.00,1.65,0.00,0.000,6,0.000,0.035,3207,2050,1938
$GC,15368,2.18,220.4,541.7,8.8,1151,15374,0.00,0.00,4.30,0.808,6,0.000,0.000,3207,2050,1926
$GC,15677,2.18,220.4,513.7,9.3,1166,15679,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2050,1926
$GC,15990,2.18,220.4,484.3,9.7,1188,15994,0.00,1.70,0.00,0.000,4,0.000,0.054,3206,3016,1926
$GC,16052,2.18,220.4,478.2,9.5,1193,16057,0.00,1.60,0.00,0.000,6,0.000,0.045,3207,2079,1925
$GC,16378,2.18,220.4,447.7,9.2,1224,16379,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2079,1925
$GC,16697,2.19,228.7,419.5,8.4,1254,16711,0.00,1.70,9.05,0.982,4,0.000,0.047,3207,3011,1892
$GC,16751,2.19,228.7,414.2,10.2,1259,16755,0.00,1.60,0.00,0.000,6,0.000,0.046,3207,2082,1892
$GC,17084,2.19,228.7,383.4,9.9,1290,17087,0.00,2.10,0.00,0.000,4,0.000,0.058,3207,906,1892
$GC,17140,2.19,228.7,377.7,10.2,1295,17143,0.00,2.03,0.00,0.000,6,0.000,0.031,3207,2099,1891
$GC,17472,2.19,228.7,347.6,9.2,1326,17475,0.00,2.12,0.00,0.000,4,0.000,0.054,3207,916,1892
$GC,17517,2.19,228.7,343.5,9.2,1330,17521,0.00,1.95,0.00,0.000,6,0.000,0.031,3207,2063,1892
$GC,17849,2.21,241.9,314.6,8.1,1361,17867,0.00,0.00,13.25,0.953,6,0.000,0.000,3207,2063,1837
$GC,18188,2.21,241.9,283.9,9.2,1393,18189,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2063,1837
$GC,18506,2.25,241.9,254.9,9.2,1423,18509,0.00,1.65,0.00,0.000,4,0.000,0.049,3207,3002,1837
$GC,18544,2.25,241.9,251.0,9.2,1426,18550,0.00,1.62,0.00,0.000,6,0.000,0.032,3207,2058,1837
$GC,18887,2.32,264.6,221.5,7.4,1486,18915,0.12,1.73,20.33,0.902,4,0.070,0.044,3242,3004,1745
$GC,18984,2.33,272.3,212.8,8.5,1503,18995,0.00,1.60,8.25,0.805,6,0.000,0.031,3242,2062,1714
$GC,19333,2.33,272.3,179.6,10.0,1565,19338,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2062,1712
$GC,19676,2.36,287.1,148.5,8.0,1626,19694,0.00,1.73,13.60,0.818,4,0.000,0.042,3242,3008,1654
$GC,19745,2.36,287.1,142.3,9.1,1638,19751,0.00,1.62,0.00,0.000,6,0.000,0.029,3242,2064,1653
$GC,20089,2.51,339.8,116.2,5.4,1699,20137,0.15,0.00,44.67,0.808,6,0.059,0.000,3290,2063,1439
$GC,20476,2.59,357.9,86.6,7.8,1768,20499,0.00,1.70,15.95,0.744,4,0.000,0.038,3291,3014,1366
$GC,20702,2.64,358.9,66.7,8.9,1808,20708,0.00,1.52,0.00,0.000,6,0.000,0.025,3291,2100,1364
$GC,21046,2.81,399.8,42.9,6.2,1869,21092,0.17,2.15,35.47,0.703,4,0.054,0.045,3349,906,1195
$GC,21210,2.84,418.9,29.6,7.7,1898,21233,0.00,2.08,16.92,0.661,6,0.000,0.024,3349,2178,1117
$STATE,21529,end climb,SURFACE_DEPTH_REACHED
$STATE,21529,begin surface coast
$FINISH,-0.5,1.021277
$STATE,21553,end surface coast,CONTROL_FINISHED_OK
$STATE,21553,begin surface
$SM_CCo,21576,39.53,0.646,0,0,887,475.15
$SM_GC,-6.68,0.00,0.00,39.53,0.000,0.000,0.646,418,2350,887,-10.63,0.71,475.15
$IRIDIUM_FIX,1243.25,12029.39,100797,010100
$TT8_MAMPS,0.026078
$HUMID,1889
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.30
$XPDR_PINGS,462
$24V_AH,23.0,43.506
$10V_AH,10.1,32.157
$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,28.975,134.625,469.175,39.525,0.000,22.933,39.543,201.355,127.500,0.000,0.000,14.474,3197.702,14126.707,599.102,3421.039,696.039,0.000,2272.281,0.000,3369.017,0.000,87.857
$DEVICE_MAMPS,166.439,95.875,1430.455,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1329.704,460.987,750.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,103940,1959
$CAP_FILE_SIZE,198676,0
$CFSIZE,260165632,233652224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,125038,1248.286,12029.086,31,1.2,31,-0.8