version: 66.03
glider: 126
mission: 7
dive: 277
start: 4 15 108 12 58 13
data:
$ID,126
$MISSION,7
$DIVE,277
$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,-624621.44
$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,30
$R_STBD_OVSHOOT,63
$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
$GPS1,125038,1248.286,12029.086,31,1.2,31,-0.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-6.81
$_SM_ANGLEo,-57.3
$GPS2,125721,1248.252,12029.102,13,1.5,13,-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,156.3,168,-21.3,-9.016
$D_GRID,999
$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,-66.85,0.000,6,0.000,0.000,419,2351,3243
$GC,98,-2.39,-101.9,-0.6,-18.7,13,115,9.95,1.70,0.00,0.000,4,0.165,0.037,2203,3355,3244
$GC,144,-2.15,-101.9,14.8,-22.9,21,151,0.30,1.70,0.00,0.000,6,0.115,0.023,2261,2284,3245
$GC,489,-2.09,-101.9,66.1,-13.6,82,495,0.00,1.85,0.00,0.000,4,0.000,0.038,2261,3356,3247
$GC,733,-2.03,-101.9,98.7,-13.3,125,739,0.08,1.48,0.00,0.000,6,0.112,0.024,2280,2418,3248
$GC,1076,-2.03,-101.9,135.3,-9.6,186,1083,0.00,1.88,0.00,0.000,4,0.000,0.033,2280,1300,3248
$GC,1220,-2.08,-110.0,148.2,-8.5,211,1226,0.00,1.75,0.00,0.000,6,0.000,0.025,2280,2377,3249
$GC,1565,-2.14,-112.9,176.9,-8.8,272,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2378,3250
$GC,1908,-2.20,-119.4,205.9,-8.6,333,1914,0.15,0.00,0.00,0.000,6,0.057,0.000,2231,2378,3249
$GC,2252,-2.20,-119.4,238.1,-9.4,394,2257,0.00,1.83,0.00,0.000,4,0.000,0.037,2231,1302,3249
$GC,2320,-2.20,-119.4,244.5,-9.1,406,2326,0.00,1.73,0.00,0.000,6,0.000,0.027,2231,2352,3249
$GC,2653,-2.20,-119.4,274.8,-9.2,443,2657,0.00,1.80,0.00,0.000,4,0.000,0.038,2231,1316,3249
$GC,2691,-2.20,-119.4,278.3,-9.6,446,2697,0.00,1.75,0.00,0.000,6,0.000,0.027,2231,2385,3248
$GC,3017,-2.20,-119.4,307.8,-9.1,477,3021,0.00,1.85,0.00,0.000,4,0.000,0.039,2231,1303,3247
$GC,3074,-2.20,-119.4,312.9,-9.1,482,3078,0.00,1.75,0.00,0.000,6,0.000,0.028,2231,2344,3247
$GC,3405,-2.20,-119.4,342.9,-9.3,513,3409,0.00,1.77,0.00,0.000,4,0.000,0.046,2231,3380,3245
$GC,3461,-2.20,-119.4,348.7,-10.3,518,3465,0.00,1.67,0.00,0.000,6,0.000,0.029,2231,2372,3245
$GC,3794,-2.21,-125.4,378.7,-8.6,549,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2370,3243
$GC,4109,-2.21,-125.4,408.9,-9.4,579,4113,0.00,1.85,0.00,0.000,4,0.000,0.047,2231,1296,3241
$GC,4189,-2.21,-125.4,416.4,-9.1,586,4193,0.00,1.80,0.00,0.000,6,0.000,0.031,2231,2350,3241
$GC,4520,-2.21,-125.4,448.0,-9.9,617,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2351,3238
$GC,4838,-2.22,-125.9,477.0,-9.0,647,4841,0.00,1.85,0.00,0.000,4,0.000,0.051,2231,1303,3236
$GC,4895,-2.22,-130.5,482.2,-8.7,652,4899,0.00,1.77,0.00,0.000,6,0.000,0.034,2231,2353,3236
$GC,5224,-2.22,-130.5,512.9,-9.8,677,5227,0.00,1.80,0.00,0.000,4,0.000,0.056,2231,3380,3234
$GC,5279,-2.22,-130.5,518.7,-10.1,679,5283,0.00,1.75,0.00,0.000,6,0.000,0.032,2231,2359,3234
$GC,5600,-2.22,-130.5,549.4,-9.3,695,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2357,3231
$GC,5910,-2.24,-140.2,576.4,-8.3,710,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2358,3230
$GC,6219,-2.25,-146.0,602.1,-8.1,725,6222,0.00,2.00,0.00,0.000,4,0.000,0.079,2231,1275,3229
$GC,6269,-2.25,-146.0,606.3,-8.1,727,6273,0.00,1.90,0.00,0.000,6,0.000,0.062,2231,2324,3228
$GC,6596,-2.25,-146.0,635.2,-9.2,743,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2324,3226
$GC,6905,-2.25,-146.0,664.2,-9.3,758,6908,0.00,1.85,0.00,0.000,4,0.000,0.051,2231,3391,3224
$GC,6951,-2.25,-146.0,668.2,-8.9,760,6954,0.00,1.83,0.00,0.000,6,0.000,0.032,2231,2306,3224
$GC,7285,-2.25,-146.0,696.1,-8.3,776,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2306,3223
$GC,7593,-2.25,-146.0,723.8,-8.8,791,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2305,3221
$GC,7904,-2.25,-146.0,750.6,-8.6,806,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2305,3220
$GC,8211,-2.28,-146.0,777.2,-9.1,821,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2304,3219
$GC,8520,-2.28,-146.0,806.9,-9.3,836,8524,0.00,1.92,0.00,0.000,4,0.000,0.051,2230,3397,3217
$GC,8592,-2.28,-146.0,814.3,-10.3,839,8596,0.00,1.83,0.00,0.000,6,0.000,0.033,2231,2333,3216
$GC,8922,-2.31,-146.0,846.2,-9.8,855,8925,0.00,1.88,0.00,0.000,4,0.000,0.054,2231,3392,3216
$GC,8961,-2.31,-146.0,850.3,-10.0,856,8967,0.00,1.80,0.00,0.000,6,0.000,0.034,2231,2329,3216
$GC,9277,-2.35,-146.0,878.6,-8.4,872,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2330,3214
$GC,9587,-2.38,-146.0,904.6,-8.6,887,9590,0.00,1.83,0.00,0.000,4,0.000,0.053,2231,1285,3213
$GC,9654,-2.38,-146.0,910.7,-8.7,890,9658,0.00,1.83,0.00,0.000,6,0.000,0.035,2231,2357,3213
$GC,9992,-2.41,-146.0,940.8,-8.8,906,9996,0.12,1.77,0.00,0.000,4,0.067,0.054,2196,3372,3212
$GC,10052,-2.41,-146.0,947.2,-10.1,908,10058,0.00,1.77,0.00,0.000,6,0.000,0.035,2196,2340,3211
$GC,10368,-2.41,-146.0,978.1,-10.1,924,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2339,3211
$STATE,10489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10489,begin apogee
$GC,10495,-0.52,0.0,990.4,9.9,930,10584,2.00,0.00,84.70,1.445,6,0.102,0.000,2612,1958,2825
$STATE,10585,end apogee,CONTROL_FINISHED_OK
$STATE,10585,begin climb
$GC,10587,2.47,146.0,993.3,0.0,934,10730,2.92,2.03,129.55,1.410,4,0.058,0.067,3279,913,2229
$GC,10862,2.32,146.0,977.3,10.4,946,10868,0.22,1.83,0.00,0.000,6,0.107,0.033,3237,1974,2224
$GC,11178,2.24,146.0,946.0,10.0,962,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1974,2222
$GC,11488,2.16,146.0,915.6,10.0,977,11492,0.15,1.77,0.00,0.000,4,0.117,0.048,3203,3008,2220
$GC,11555,2.11,146.0,908.8,9.9,980,11559,0.00,1.83,0.00,0.000,6,0.000,0.038,3204,1955,2220
$GC,11889,2.07,151.6,878.9,8.6,996,11898,0.12,1.90,4.57,0.944,4,0.120,0.061,3181,914,2207
$GC,11983,2.04,156.7,870.5,8.7,1000,11994,0.00,1.80,6.65,1.124,6,0.000,0.033,3180,1968,2185
$GC,12304,2.08,175.8,844.4,7.7,1015,12327,0.00,1.88,18.75,1.311,4,0.000,0.048,3181,3015,2107
$GC,12377,2.08,175.8,838.1,9.4,1018,12383,0.00,1.88,0.00,0.000,6,0.000,0.038,3180,1955,2106
$GC,12693,2.08,179.1,810.5,8.8,1034,12702,0.00,1.90,4.32,0.902,4,0.000,0.048,3181,3002,2094
$GC,12820,2.10,189.0,798.7,8.3,1039,12835,0.00,1.75,10.48,1.213,6,0.000,0.037,3181,1992,2054
$GC,13152,2.12,199.9,770.6,8.3,1056,13167,0.00,1.85,11.15,1.210,4,0.000,0.048,3180,3014,2009
$GC,13235,2.13,205.3,763.2,8.6,1059,13246,0.00,1.75,6.57,1.071,6,0.000,0.037,3181,2006,1988
$GC,13562,2.13,205.8,734.2,9.0,1075,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2006,1986
$GC,13871,2.13,205.8,705.6,9.0,1090,13875,0.00,1.77,0.00,0.000,4,0.000,0.048,3180,3015,1986
$GC,13926,2.13,205.8,700.4,9.7,1092,13930,0.00,1.75,0.00,0.000,6,0.000,0.037,3181,2017,1985
$GC,14248,2.13,205.8,670.0,9.5,1108,14251,0.00,1.75,0.00,0.000,4,0.000,0.048,3181,3013,1985
$GC,14304,2.14,211.4,664.8,8.6,1110,14315,0.00,1.67,6.75,1.048,6,0.000,0.036,3180,2036,1963
$GC,14624,2.15,221.7,637.4,8.3,1126,14637,0.00,0.00,10.95,1.144,6,0.000,0.000,3180,2036,1921
$GC,14934,2.15,221.7,609.1,9.5,1141,14937,0.00,1.73,0.00,0.000,4,0.000,0.048,3180,3015,1920
$GC,15040,2.15,221.7,598.7,9.4,1145,15046,0.00,1.65,0.00,0.000,6,0.000,0.036,3180,2054,1919
$GC,15355,2.16,226.6,570.7,8.7,1161,15365,0.00,1.70,6.07,0.963,4,0.000,0.048,3181,3015,1900
$GC,15422,2.17,234.4,564.6,8.5,1164,15438,0.00,1.62,8.70,1.054,6,0.000,0.035,3180,2084,1868
$GC,15747,2.21,234.4,535.4,9.1,1180,15752,0.12,2.12,0.00,0.000,4,0.074,0.058,3214,905,1868
$GC,15814,2.21,234.4,528.9,9.4,1183,15817,0.00,2.05,0.00,0.000,6,0.000,0.032,3214,2105,1868
$GC,16140,2.23,249.3,501.4,8.0,1199,16160,0.00,0.00,14.55,1.088,6,0.000,0.000,3214,2105,1807
$GC,16481,2.23,249.3,471.1,9.1,1230,16482,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2106,1806
$GC,16797,2.23,249.3,441.1,9.1,1260,16800,0.00,2.15,0.00,0.000,4,0.000,0.055,3214,916,1806
$GC,16865,2.24,252.8,434.7,8.8,1266,16876,0.00,2.05,4.47,0.771,6,0.000,0.037,3214,2112,1794
$GC,17194,2.24,252.8,402.4,9.8,1297,17195,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2113,1794
$GC,17513,2.24,252.8,371.4,9.9,1327,17514,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2113,1793
$GC,17834,2.24,255.9,341.5,8.8,1357,17845,0.00,1.60,4.65,0.742,4,0.000,0.049,3214,3010,1780
$GC,17884,2.26,265.4,336.8,8.4,1361,17900,0.00,1.62,10.05,0.931,6,0.000,0.034,3214,2075,1742
$GC,18219,2.26,265.4,306.3,9.2,1393,18222,0.00,1.65,0.00,0.000,4,0.000,0.046,3215,3016,1741
$GC,18257,2.27,273.2,302.6,8.5,1396,18274,0.00,1.62,8.18,0.876,6,0.000,0.033,3214,2079,1711
$GC,18592,2.31,273.2,272.4,9.4,1428,18593,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2079,1710
$GC,18915,2.35,273.2,241.4,9.5,1465,18920,0.12,0.00,0.00,0.000,6,0.067,0.000,3250,2079,1710
$GC,19257,2.35,273.2,206.4,10.3,1526,19263,0.00,2.08,0.00,0.000,4,0.000,0.054,3250,903,1710
$GC,19320,2.35,273.2,200.2,10.4,1537,19326,0.00,2.03,0.00,0.000,6,0.000,0.029,3250,2107,1710
$GC,19664,2.35,273.2,167.4,9.3,1598,19670,0.00,2.12,0.00,0.000,4,0.000,0.050,3250,907,1710
$GC,19698,2.35,273.2,164.1,9.3,1604,19704,0.00,1.95,0.00,0.000,6,0.000,0.028,3250,2072,1711
$GC,20043,2.41,312.2,135.7,6.3,1665,20082,0.00,1.70,33.92,0.834,4,0.000,0.042,3250,3017,1552
$GC,20264,2.46,318.0,116.6,8.6,1704,20276,0.00,1.62,6.22,0.678,6,0.000,0.029,3250,2065,1528
$GC,20616,2.60,351.8,91.7,6.7,1766,20651,0.15,2.12,29.27,0.771,4,0.057,0.048,3299,907,1390
$GC,20680,2.65,384.5,87.2,6.8,1777,20713,0.00,1.95,28.15,0.748,6,0.000,0.026,3299,2078,1257
$GC,21055,2.76,412.0,55.2,7.1,1843,21084,0.15,1.65,23.70,0.714,4,0.056,0.038,3355,3013,1144
$GC,21107,2.80,433.6,51.1,7.5,1852,21135,0.00,1.73,19.33,0.684,6,0.000,0.025,3355,1989,1057
$GC,21476,2.84,433.6,17.9,9.0,1917,21481,0.00,1.75,0.00,0.000,4,0.000,0.035,3355,3024,1055
$GC,21585,2.87,433.6,6.8,10.2,1936,21591,0.00,1.65,0.00,0.000,6,0.000,0.024,3355,2029,1054
$STATE,21634,end climb,SURFACE_DEPTH_REACHED
$STATE,21634,begin surface coast
$FINISH,-0.1,1.021244
$STATE,21652,end surface coast,CONTROL_FINISHED_OK
$STATE,21652,begin surface
$SM_CCo,21675,31.33,0.650,0,0,888,475.15
$SM_GC,-7.08,0.00,0.00,31.33,0.000,0.000,0.650,414,2350,888,-10.66,0.71,475.15
$IRIDIUM_FIX,1243.25,12026.36,100797,060634
$TT8_MAMPS,0.026078
$HUMID,1919
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,435
$ALTIM_BOTTOM_PING,971.9,124.5
$24V_AH,23.0,43.698
$10V_AH,10.1,32.279
$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,29.375,131.700,491.725,31.325,0.000,25.711,34.612,199.276,121.000,0.000,0.000,13.680,3185.558,14228.843,623.758,3390.745,698.988,0.000,2287.688,0.000,3344.417,0.000,90.806
$DEVICE_MAMPS,164.905,79.001,1445.028,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1321.843,457.397,739.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104060,1948
$CAP_FILE_SIZE,201568,0
$CFSIZE,260165632,233549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,190108,1246.644,12030.044,30,1.5,30,-0.8