version: 66.03
glider: 126
mission: 7
dive: 281
start: 4 16 108 12 59 37
data:
$ID,126
$MISSION,7
$DIVE,281
$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,-624700.31
$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,28
$R_STBD_OVSHOOT,60
$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
$GPS1,125155,1247.717,12030.184,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.84
$_SM_ANGLEo,-58.5
$GPS2,125845,1247.766,12030.201,14,1.7,14,-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,74.1,10857,-19.0,-9.016
$D_GRID,837
$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,25,-2.18,-120.8,0.0,0.0,0,95,0.00,0.00,-67.68,0.000,6,0.000,0.000,415,2364,3320
$GC,99,-2.18,-120.8,0.1,-20.8,13,116,10.35,1.88,0.00,0.000,4,0.169,0.032,2252,1255,3322
$GC,206,-2.00,-120.8,25.7,-16.7,32,213,0.17,1.75,0.00,0.000,6,0.110,0.024,2289,2318,3323
$GC,553,-1.92,-120.8,76.9,-12.8,93,559,0.12,1.77,0.00,0.000,4,0.117,0.038,2312,3376,3324
$GC,638,-1.85,-120.8,87.4,-12.1,108,645,0.00,1.75,0.00,0.000,6,0.000,0.023,2312,2282,3325
$GC,985,-1.86,-123.8,125.5,-8.8,169,990,0.00,1.85,0.00,0.000,4,0.000,0.038,2312,3375,3326
$GC,1083,-1.82,-123.8,134.7,-9.5,186,1090,0.08,1.65,0.00,0.000,6,0.104,0.023,2331,2325,3327
$GC,1429,-1.91,-133.1,163.5,-8.4,247,1435,0.00,1.65,0.00,0.000,4,0.000,0.033,2331,1326,3327
$GC,1532,-1.99,-146.0,172.0,-8.0,265,1538,0.15,1.65,0.00,0.000,6,0.054,0.024,2285,2348,3328
$GC,1876,-1.99,-146.0,200.8,-8.2,326,1882,0.00,1.70,0.00,0.000,4,0.000,0.034,2285,1335,3328
$GC,1939,-1.99,-146.0,206.1,-8.5,337,1945,0.00,1.65,0.00,0.000,6,0.000,0.025,2285,2350,3328
$GC,2284,-1.99,-146.0,237.4,-8.7,398,2290,0.00,1.73,0.00,0.000,4,0.000,0.042,2285,3369,3327
$GC,2347,-1.99,-146.0,243.3,-9.3,409,2353,0.00,1.60,0.00,0.000,6,0.000,0.026,2285,2352,3327
$GC,2682,-1.99,-146.0,271.1,-8.2,447,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2351,3326
$GC,3003,-1.99,-146.0,298.4,-8.5,477,3007,0.00,1.77,0.00,0.000,4,0.000,0.038,2285,1324,3326
$GC,3070,-1.99,-146.0,304.9,-9.0,483,3074,0.00,1.70,0.00,0.000,6,0.000,0.027,2285,2357,3325
$GC,3403,-1.99,-146.0,334.9,-9.2,514,3406,0.00,1.77,0.00,0.000,4,0.000,0.039,2285,1322,3322
$GC,3430,-1.99,-146.0,337.7,-9.5,516,3436,0.00,1.70,0.00,0.000,6,0.000,0.028,2285,2333,3323
$GC,3757,-1.99,-146.0,366.7,-8.7,547,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2333,3320
$GC,4076,-1.99,-146.0,394.4,-8.8,577,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2333,3318
$GC,4391,-1.99,-146.0,422.7,-9.3,607,4394,0.00,1.77,0.00,0.000,4,0.000,0.049,2285,1320,3317
$GC,4425,-1.99,-146.0,425.9,-9.4,610,4428,0.00,1.70,0.00,0.000,6,0.000,0.031,2285,2335,3316
$GC,4758,-2.02,-146.0,455.3,-8.9,641,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2335,3314
$GC,5076,-2.05,-146.0,483.4,-8.6,671,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2335,3313
$GC,5388,-2.05,-146.0,511.1,-8.8,695,5392,0.00,1.80,0.00,0.000,4,0.000,0.054,2285,1324,3310
$GC,5427,-2.05,-146.0,514.8,-9.3,696,5433,0.00,1.75,0.00,0.000,6,0.000,0.037,2285,2330,3309
$GC,5743,-2.05,-146.0,542.7,-9.0,712,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2330,3308
$GC,6053,-2.09,-146.0,570.0,-8.9,727,6057,0.00,1.83,0.00,0.000,4,0.000,0.066,2285,1329,3307
$GC,6087,-2.09,-146.0,573.2,-9.0,728,6091,0.00,1.75,0.00,0.000,6,0.000,0.051,2285,2322,3306
$GC,6411,-2.12,-146.0,601.4,-9.0,744,6415,0.00,1.95,0.00,0.000,4,0.000,0.079,2285,3383,3304
$GC,6456,-2.12,-146.0,605.8,-9.1,746,6460,0.00,1.80,0.00,0.000,6,0.000,0.054,2285,2378,3304
$GC,6791,-2.16,-146.0,634.3,-8.2,762,6795,0.12,1.83,0.00,0.000,4,0.066,0.043,2250,1315,3303
$GC,6846,-2.16,-146.0,639.4,-9.0,764,6850,0.00,1.73,0.00,0.000,6,0.000,0.031,2250,2345,3302
$GC,7167,-2.16,-146.0,666.6,-8.4,780,7171,0.00,1.77,0.00,0.000,4,0.000,0.046,2250,1329,3301
$GC,7229,-2.16,-146.0,672.0,-9.1,782,7234,0.00,1.65,0.00,0.000,6,0.000,0.032,2250,2314,3301
$GC,7544,-2.16,-146.0,699.0,-8.5,798,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2315,3299
$GC,7854,-2.16,-146.0,725.0,-8.3,813,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2315,3298
$GC,8164,-2.16,-146.0,751.1,-8.5,828,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2315,3296
$GC,8472,-2.16,-146.0,778.4,-9.3,843,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2315,3295
$GC,8781,-2.16,-146.0,806.6,-9.0,858,8785,0.00,1.75,0.00,0.000,4,0.000,0.051,2250,1323,3294
$GC,8821,-2.16,-146.0,810.1,-9.3,859,8826,0.00,1.62,0.00,0.000,6,0.000,0.035,2250,2286,3294
$STATE,9113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9113,begin apogee
$GC,9119,-0.52,0.0,837.4,9.4,874,9224,1.73,0.00,100.20,1.321,6,0.095,0.000,2613,2002,2825
$STATE,9224,end apogee,CONTROL_FINISHED_OK
$STATE,9225,begin climb
$GC,9227,2.22,146.0,842.0,0.0,879,9363,2.67,2.03,126.95,1.287,4,0.058,0.073,3220,925,2229
$GC,9477,2.10,158.0,832.1,8.3,890,9494,0.17,1.80,11.25,1.147,6,0.106,0.032,3187,1974,2180
$GC,9812,2.03,170.5,804.5,8.2,907,9829,0.00,0.00,12.02,1.169,6,0.000,0.000,3187,1974,2130
$GC,10139,1.95,174.7,775.6,8.8,923,10149,0.15,1.83,5.40,0.952,4,0.110,0.047,3155,3014,2111
$GC,10201,1.91,179.5,770.3,8.7,926,10211,0.00,1.83,5.85,0.985,6,0.000,0.035,3155,1973,2092
$GC,10529,1.91,201.4,744.7,7.7,942,10552,0.00,0.00,20.52,1.223,6,0.000,0.000,3155,1972,2004
$GC,10856,1.93,211.6,717.1,8.4,958,10871,0.00,1.88,10.65,1.143,4,0.000,0.044,3155,3016,1961
$GC,10980,1.90,214.1,706.1,8.9,962,10987,0.00,1.80,0.00,0.000,6,0.000,0.035,3155,1968,1960
$GC,11295,1.90,215.6,678.6,8.9,978,11305,0.00,1.85,5.22,0.931,4,0.000,0.044,3155,3011,1944
$GC,11345,1.91,219.0,674.1,8.8,980,11356,0.00,1.75,4.68,0.876,6,0.000,0.035,3154,1992,1931
$GC,11665,1.91,222.6,645.8,8.8,996,11672,0.00,0.00,4.70,0.878,6,0.000,0.000,3155,1992,1917
$GC,11974,1.92,227.5,618.5,8.7,1011,11985,0.00,1.80,6.07,0.974,4,0.000,0.045,3155,3016,1897
$GC,12086,1.93,235.4,608.7,8.5,1016,12102,0.00,1.73,8.73,1.066,6,0.000,0.035,3155,2008,1865
$GC,12411,1.94,237.7,579.7,8.9,1032,12415,0.00,1.77,0.00,0.000,4,0.000,0.046,3155,3020,1864
$GC,12473,1.96,249.2,574.1,8.3,1034,12492,0.00,1.67,13.60,1.115,6,0.000,0.034,3155,2040,1808
$GC,12808,1.96,249.2,543.9,9.1,1051,12812,0.00,1.70,0.00,0.000,4,0.000,0.046,3155,3011,1807
$GC,12876,1.96,249.2,537.7,9.1,1054,12879,0.00,1.62,0.00,0.000,6,0.000,0.035,3155,2064,1806
$GC,13208,1.96,249.2,508.1,9.1,1070,13212,0.00,1.67,0.00,0.000,4,0.000,0.047,3155,3020,1806
$GC,13269,1.96,249.2,502.3,9.2,1072,13275,0.00,1.62,0.00,0.000,6,0.000,0.035,3155,2083,1806
$GC,13596,1.98,261.5,474.9,8.2,1102,13612,0.00,1.73,11.93,1.045,4,0.000,0.047,3155,3013,1758
$GC,13640,2.00,273.2,470.7,8.3,1105,13656,0.00,1.62,11.88,1.021,6,0.000,0.034,3155,2086,1710
$GC,13975,2.00,275.2,441.4,8.9,1137,13979,0.00,2.10,0.00,0.000,4,0.000,0.058,3154,916,1709
$GC,14014,2.01,283.5,437.7,8.5,1140,14030,0.00,1.98,10.15,0.989,6,0.000,0.033,3155,2071,1669
$GC,14349,2.05,283.5,407.0,9.4,1172,14353,0.00,1.65,0.00,0.000,4,0.000,0.051,3154,3020,1667
$GC,14428,2.05,283.5,399.6,9.4,1179,14431,0.00,1.65,0.00,0.000,6,0.000,0.035,3154,2059,1667
$GC,14762,2.10,297.8,371.7,8.1,1210,14784,0.15,1.75,13.77,0.982,4,0.065,0.046,3200,3011,1611
$GC,14835,2.07,297.8,364.6,9.3,1216,14840,0.00,1.60,0.00,0.000,6,0.000,0.034,3200,2079,1611
$GC,15161,2.07,297.8,333.0,10.2,1247,15164,0.00,2.10,0.00,0.000,4,0.000,0.058,3200,905,1610
$GC,15189,2.04,297.8,329.9,10.3,1249,15195,0.15,2.05,0.00,0.000,6,0.100,0.040,3171,2109,1610
$GC,15513,2.06,308.4,301.1,8.4,1280,15529,0.00,2.20,10.90,0.913,4,0.000,0.053,3171,906,1566
$GC,15568,2.07,314.8,296.3,8.6,1284,15584,0.00,2.00,6.97,0.824,6,0.000,0.030,3170,2079,1541
$GC,15902,2.11,314.8,266.2,9.6,1316,15906,0.00,1.62,0.00,0.000,4,0.000,0.050,3170,3017,1540
$GC,15964,2.11,314.8,260.4,9.2,1321,15969,0.00,1.58,0.00,0.000,6,0.000,0.031,3170,2083,1540
$GC,16300,2.15,314.8,230.3,9.5,1371,16305,0.12,0.00,0.00,0.000,6,0.069,0.000,3207,2083,1540
$GC,16642,2.15,314.8,197.0,9.1,1432,16648,0.00,1.62,0.00,0.000,4,0.000,0.044,3207,3019,1540
$GC,16750,2.15,314.8,186.6,9.7,1451,16756,0.00,1.60,0.00,0.000,6,0.000,0.031,3207,2069,1540
$GC,17095,2.16,319.5,156.8,8.7,1512,17107,0.00,2.08,5.93,0.699,4,0.000,0.053,3207,903,1521
$GC,17119,2.17,326.6,154.5,8.6,1516,17131,0.00,2.05,7.62,0.750,6,0.000,0.028,3207,2121,1493
$GC,17471,2.25,349.9,125.5,7.6,1578,17499,0.00,1.60,20.90,0.808,4,0.000,0.043,3207,3017,1397
$GC,17585,2.36,376.8,116.1,7.3,1598,17614,0.12,1.55,23.75,0.788,6,0.046,0.028,3252,2100,1288
$GC,17955,2.39,398.5,85.8,7.7,1663,17977,0.00,0.00,19.25,0.748,6,0.000,0.000,3252,2099,1200
$GC,18318,2.54,425.9,59.0,7.3,1727,18351,0.12,1.65,23.90,0.713,4,0.060,0.038,3294,3016,1087
$GC,18409,2.58,429.0,51.3,8.8,1743,18421,0.00,1.50,4.10,0.483,6,0.000,0.025,3293,2114,1075
$GC,18760,2.64,441.3,24.3,8.3,1805,18777,0.00,2.15,11.88,0.637,4,0.000,0.042,3294,908,1025
$GC,18858,2.70,451.6,16.4,8.4,1822,18877,0.10,2.03,9.88,0.607,6,0.064,0.024,3331,2150,983
$STATE,19010,end climb,SURFACE_DEPTH_REACHED
$STATE,19010,begin surface coast
$FINISH,-0.7,1.021287
$STATE,19034,end surface coast,CONTROL_FINISHED_OK
$STATE,19034,begin surface
$SM_CCo,19056,20.08,0.635,0,0,888,475.15
$SM_GC,-6.96,0.00,0.00,20.08,0.000,0.000,0.635,414,2359,888,-10.65,0.96,475.15
$IRIDIUM_FIX,1243.25,12026.36,110797,060605
$TT8_MAMPS,0.026078
$HUMID,1904
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.30
$XPDR_PINGS,424
$24V_AH,23.0,44.474
$10V_AH,10.1,32.759
$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,29.175,124.875,528.650,20.075,0.000,27.883,32.362,206.506,114.500,0.000,0.000,14.258,2984.960,12029.386,642.287,3170.047,677.508,0.000,2208.562,0.000,3136.434,0.000,62.501
$DEVICE_MAMPS,168.740,79.001,1320.774,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1253.832,469.516,763.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97794,1853
$CAP_FILE_SIZE,188721,0
$CFSIZE,260165632,233185280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,181858,1248.862,12031.485,25,5.0,44,-0.8