version: 66.03
glider: 126
mission: 7
dive: 291
start: 4 19 108 3 39 47
data:
$ID,126
$MISSION,7
$DIVE,291
$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,-624913.06
$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,54
$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
$GPS1,033156,1249.441,12036.128,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.83
$_SM_ANGLEo,-59.0
$GPS2,033856,1249.519,12036.113,14,1.1,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M3_EB_S5
$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,246.1,305,-21.3,-9.016
$D_GRID,1738
$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,-2.39,-101.9,0.0,0.0,0,95,0.00,0.00,-66.22,0.000,6,0.000,0.000,417,2357,3244
$GC,98,-2.39,-101.9,-0.4,-19.1,13,115,10.05,1.85,0.00,0.000,4,0.168,0.031,2203,1264,3246
$GC,172,-2.22,-101.9,19.7,-18.9,26,179,0.17,1.75,0.00,0.000,6,0.108,0.025,2241,2317,3246
$GC,517,-2.13,-101.9,75.8,-14.5,87,524,0.12,1.77,0.00,0.000,4,0.121,0.038,2264,3374,3248
$GC,564,-2.06,-101.9,82.2,-13.7,95,570,0.00,1.70,0.00,0.000,6,0.000,0.022,2264,2290,3248
$GC,909,-2.06,-101.9,123.3,-10.6,156,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2283,3248
$GC,1252,-2.09,-116.3,154.8,-8.0,217,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2283,3250
$GC,1596,-2.14,-127.3,183.4,-8.3,278,1601,0.00,1.62,0.00,0.000,4,0.000,0.035,2264,1306,3250
$GC,1692,-2.16,-142.8,191.4,-7.9,295,1698,0.00,1.75,0.00,0.000,6,0.000,0.025,2264,2381,3251
$GC,2036,-2.20,-146.0,218.9,-8.2,356,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2381,3250
$GC,2379,-2.25,-146.0,247.9,-8.1,417,2385,0.10,0.00,0.00,0.000,6,0.070,0.000,2232,2381,3250
$GC,2712,-2.25,-146.0,276.4,-8.6,450,2716,0.00,1.83,0.00,0.000,4,0.000,0.037,2232,1313,3249
$GC,2814,-2.25,-146.0,285.7,-9.2,459,2817,0.00,1.73,0.00,0.000,6,0.000,0.026,2232,2362,3249
$GC,3145,-2.25,-146.0,316.0,-9.2,490,3149,0.00,1.73,0.00,0.000,4,0.000,0.045,2232,3377,3247
$GC,3202,-2.25,-146.0,321.5,-9.7,495,3206,0.00,1.62,0.00,0.000,6,0.000,0.027,2232,2358,3247
$GC,3534,-2.25,-146.0,352.1,-9.4,526,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2358,3245
$GC,3851,-2.25,-146.0,381.4,-9.3,556,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2352,3243
$GC,4170,-2.25,-146.0,408.9,-8.3,586,4173,0.00,1.75,0.00,0.000,4,0.000,0.047,2232,3367,3241
$GC,4242,-2.25,-146.0,415.4,-8.8,592,4248,0.00,1.60,0.00,0.000,6,0.000,0.029,2232,2389,3241
$GC,4568,-2.25,-146.0,444.4,-9.5,623,4572,0.00,1.88,0.00,0.000,4,0.000,0.051,2232,1316,3239
$GC,4636,-2.25,-146.0,450.9,-9.4,629,4640,0.00,1.80,0.00,0.000,6,0.000,0.032,2232,2364,3238
$GC,4968,-2.25,-146.0,480.2,-8.6,660,4972,0.00,1.75,0.00,0.000,4,0.000,0.051,2232,3374,3237
$GC,5040,-2.25,-146.0,487.1,-9.4,666,5046,0.00,1.62,0.00,0.000,6,0.000,0.031,2232,2416,3236
$GC,5373,-2.25,-146.0,516.9,-8.8,689,5377,0.00,1.95,0.00,0.000,4,0.000,0.061,2232,1321,3234
$GC,5474,-2.25,-146.0,526.5,-9.0,693,5477,0.00,1.80,0.00,0.000,6,0.000,0.041,2232,2369,3233
$GC,5795,-2.25,-146.0,555.7,-9.0,709,5799,0.00,1.80,0.00,0.000,4,0.000,0.066,2232,3376,3231
$GC,5851,-2.25,-146.0,561.0,-9.4,711,5855,0.00,1.65,0.00,0.000,6,0.000,0.039,2232,2433,3231
$GC,6175,-2.25,-146.0,590.2,-9.2,727,6179,0.00,2.03,0.00,0.000,4,0.000,0.071,2232,1319,3229
$GC,6214,-2.25,-146.0,594.1,-9.7,728,6220,0.00,1.90,0.00,0.000,6,0.000,0.058,2232,2373,3229
$GC,6532,-2.25,-146.0,621.3,-8.6,744,6535,0.00,1.90,0.00,0.000,4,0.000,0.088,2232,3388,3227
$GC,6600,-2.25,-146.0,627.5,-8.9,747,6604,0.00,1.75,0.00,0.000,6,0.000,0.064,2232,2433,3226
$GC,6933,-2.25,-146.0,655.5,-8.7,763,6937,0.00,2.10,0.00,0.000,4,0.000,0.097,2232,1329,3224
$GC,7068,-2.25,-146.0,667.2,-8.3,769,7072,0.00,1.95,0.00,0.000,6,0.000,0.086,2232,2349,3223
$GC,7403,-2.25,-146.0,696.2,-8.9,785,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2348,3222
$GC,7709,-2.25,-146.0,722.6,-8.7,800,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2351,3221
$GC,8019,-2.25,-146.0,748.6,-8.2,815,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2351,3220
$GC,8328,-2.25,-146.0,775.2,-8.5,830,8331,0.00,1.83,0.00,0.000,4,0.000,0.052,2232,1309,3219
$GC,8400,-2.25,-146.0,781.8,-10.2,833,8404,0.00,1.77,0.00,0.000,6,0.000,0.032,2232,2364,3218
$GC,8732,-2.28,-146.0,810.0,-8.3,849,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2364,3217
$GC,9037,-2.31,-146.0,836.6,-8.7,864,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2367,3215
$GC,9346,-2.34,-146.0,863.5,-8.5,879,9350,0.00,1.83,0.00,0.000,4,0.000,0.044,2232,1318,3214
$GC,9407,-2.34,-146.0,868.8,-8.5,881,9413,0.00,1.73,0.00,0.000,6,0.000,0.032,2232,2345,3214
$GC,9725,-2.37,-146.0,894.9,-8.1,897,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2346,3213
$GC,10033,-2.40,-146.0,921.5,-9.0,912,10035,0.12,0.00,0.00,0.000,6,0.068,0.000,2199,2346,3212
$GC,10342,-2.40,-146.0,950.2,-9.5,927,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2346,3212
$GC,10650,-2.40,-146.0,978.7,-8.7,942,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2346,3211
$STATE,10793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10793,begin apogee
$GC,10800,-0.52,0.0,991.8,9.1,949,10889,1.98,0.00,84.95,1.440,6,0.098,0.000,2614,1987,2825
$STATE,10890,end apogee,CONTROL_FINISHED_OK
$STATE,10890,begin climb
$GC,10893,2.47,146.0,994.3,0.0,953,11036,2.88,2.03,130.32,1.404,4,0.057,0.064,3270,930,2228
$GC,11129,2.33,146.0,981.0,10.5,964,11133,0.17,1.80,0.00,0.000,6,0.110,0.031,3237,1978,2224
$GC,11461,2.24,146.0,949.9,9.1,980,11464,0.00,1.80,0.00,0.000,4,0.000,0.048,3237,3010,2221
$GC,11534,2.15,146.0,943.4,9.3,983,11538,0.20,1.77,0.00,0.000,6,0.110,0.035,3199,1982,2220
$GC,11860,2.13,160.8,917.1,8.0,999,11879,0.00,0.00,12.90,1.292,6,0.000,0.000,3199,1982,2169
$GC,12189,2.10,165.2,888.4,8.7,1015,12196,0.00,0.00,5.62,1.055,6,0.000,0.000,3199,1981,2151
$GC,12498,2.10,165.2,860.7,9.1,1030,12502,0.00,1.80,0.00,0.000,4,0.000,0.046,3199,3009,2150
$GC,12582,2.06,165.2,852.8,9.0,1033,12588,0.00,1.77,0.00,0.000,6,0.000,0.035,3199,1975,2149
$GC,12898,2.08,174.6,826.2,8.4,1049,12909,0.00,0.00,9.73,1.216,6,0.000,0.000,3199,1975,2113
$GC,13207,2.08,175.9,798.5,8.9,1064,13210,0.00,1.83,0.00,0.000,4,0.000,0.045,3199,3013,2112
$GC,13330,2.04,175.9,787.1,9.4,1069,13334,0.12,1.75,0.00,0.000,6,0.119,0.036,3176,1993,2111
$GC,13652,2.07,188.8,759.7,8.1,1085,13670,0.00,0.00,14.20,1.246,6,0.000,0.000,3176,1993,2055
$GC,13979,2.07,191.4,729.9,8.8,1101,13983,0.00,1.80,0.00,0.000,4,0.000,0.046,3176,3017,2053
$GC,14131,2.08,199.5,716.0,8.5,1107,14146,0.00,1.75,11.00,1.183,6,0.000,0.035,3176,2012,2011
$GC,14462,2.08,199.6,686.5,9.0,1124,14466,0.00,1.75,0.00,0.000,4,0.000,0.045,3176,3013,2010
$GC,14530,2.09,202.5,680.4,8.8,1127,14540,0.00,1.73,4.38,0.868,6,0.000,0.035,3176,2010,1998
$GC,14862,2.09,206.1,650.8,8.8,1143,14871,0.00,1.77,5.07,0.930,4,0.000,0.044,3176,3011,1983
$GC,14929,2.09,206.1,644.8,9.2,1146,14933,0.00,1.70,0.00,0.000,6,0.000,0.035,3176,2041,1983
$GC,15262,2.13,211.3,616.0,8.7,1162,15273,0.00,2.05,6.45,1.004,4,0.000,0.058,3176,913,1963
$GC,15302,2.14,216.4,612.3,8.7,1164,15313,0.00,1.92,6.28,0.987,6,0.000,0.031,3176,2040,1942
$GC,15631,2.19,225.3,584.0,8.4,1180,15646,0.15,1.75,9.48,1.079,4,0.068,0.047,3220,3008,1906
$GC,15754,2.16,225.3,572.3,9.3,1185,15758,0.00,1.65,0.00,0.000,6,0.000,0.034,3220,2048,1905
$GC,16076,2.16,225.3,541.2,9.8,1201,16079,0.00,1.70,0.00,0.000,4,0.000,0.045,3220,3018,1905
$GC,16131,2.13,225.3,535.6,10.0,1203,16135,0.15,1.65,0.00,0.000,6,0.107,0.035,3191,2054,1905
$GC,16453,2.14,236.1,508.6,8.3,1219,16468,0.00,1.73,11.07,1.058,4,0.000,0.044,3191,3016,1862
$GC,16492,2.15,237.8,505.0,8.9,1220,16496,0.00,1.65,0.00,0.000,6,0.000,0.034,3191,2062,1861
$GC,16824,2.20,248.7,477.0,8.3,1248,16845,0.00,1.75,12.65,1.053,4,0.000,0.044,3191,3008,1809
$GC,16907,2.20,248.7,469.1,9.1,1255,16912,0.00,1.60,0.00,0.000,6,0.000,0.033,3191,2076,1809
$GC,17235,2.23,248.7,440.4,9.2,1286,17239,0.12,1.65,0.00,0.000,4,0.074,0.044,3224,3017,1808
$GC,17314,2.23,248.7,432.3,10.8,1293,17318,0.00,1.55,0.00,0.000,6,0.000,0.033,3225,2121,1808
$GC,17646,2.23,248.7,400.6,9.3,1324,17649,0.00,1.58,0.00,0.000,4,0.000,0.046,3224,3021,1808
$GC,17748,2.23,248.7,390.3,10.0,1333,17751,0.00,1.48,0.00,0.000,6,0.000,0.032,3224,2165,1808
$GC,18079,2.23,248.7,358.1,9.5,1364,18083,0.00,2.22,0.00,0.000,4,0.000,0.055,3225,913,1808
$GC,18214,2.23,248.7,345.2,9.0,1375,18221,0.00,2.10,0.00,0.000,6,0.000,0.030,3225,2158,1808
$GC,18540,2.25,257.5,317.3,8.4,1406,18554,0.00,2.30,8.73,0.896,4,0.000,0.051,3225,913,1775
$GC,18607,2.25,257.5,311.0,9.3,1412,18611,0.00,2.05,0.00,0.000,6,0.000,0.030,3225,2117,1775
$GC,18938,2.25,257.5,282.0,9.3,1443,18942,0.00,2.15,0.00,0.000,4,0.000,0.051,3225,912,1775
$GC,18993,2.26,263.0,276.6,8.6,1447,19004,0.00,2.00,6.90,0.824,6,0.000,0.029,3224,2099,1752
$GC,19325,2.27,268.3,245.8,8.7,1482,19337,0.00,2.15,6.12,0.774,4,0.000,0.050,3225,906,1731
$GC,19400,2.27,268.3,238.9,9.2,1495,19406,0.00,1.98,0.00,0.000,6,0.000,0.029,3225,2080,1730
$GC,19743,2.27,268.3,207.6,9.1,1556,19749,0.00,2.08,0.00,0.000,4,0.000,0.050,3224,913,1731
$GC,19784,2.27,268.3,204.0,9.2,1563,19789,0.00,1.92,0.00,0.000,6,0.000,0.028,3224,2065,1730
$GC,20128,2.31,270.9,175.5,8.8,1624,20140,0.00,1.65,4.15,0.602,4,0.000,0.042,3225,3009,1720
$GC,20192,2.36,284.1,170.3,8.1,1635,20208,0.00,1.62,12.68,0.828,6,0.000,0.030,3225,2045,1666
$GC,20548,2.45,303.2,141.2,7.7,1698,20570,0.15,0.00,17.52,0.818,6,0.061,0.000,3273,2045,1588
$GC,20910,2.56,341.7,114.0,6.4,1762,20948,0.00,0.00,32.58,0.801,6,0.000,0.000,3273,2045,1431
$GC,21288,2.68,370.9,86.3,7.0,1829,21321,0.15,1.73,25.05,0.753,4,0.058,0.038,3323,3010,1313
$GC,21362,2.71,394.7,80.1,7.4,1842,21390,0.00,1.70,21.45,0.727,6,0.000,0.026,3323,2004,1214
$GC,21732,2.83,427.9,50.3,6.7,1907,21766,0.10,1.98,28.20,0.698,4,0.065,0.045,3362,917,1080
$GC,21870,2.84,434.1,38.7,8.6,1931,21883,0.00,1.80,6.85,0.590,6,0.000,0.025,3362,2027,1054
$GC,22222,2.88,436.1,5.7,8.9,1993,22228,0.00,1.65,0.00,0.000,4,0.000,0.035,3362,3022,1054
$STATE,22260,end climb,SURFACE_DEPTH_REACHED
$STATE,22260,begin surface coast
$FINISH,-0.4,1.021164
$STATE,22283,end surface coast,CONTROL_FINISHED_OK
$STATE,22283,begin surface
$SM_CCo,22307,31.70,0.643,0,0,887,475.15
$SM_GC,-7.36,0.00,0.00,31.70,0.000,0.000,0.643,412,2278,887,-10.66,-1.33,475.15
$IRIDIUM_FIX,1243.25,12034.32,130797,212105
$TT8_MAMPS,0.026078
$HUMID,1896
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.70
$XPDR_PINGS,539
$24V_AH,22.9,46.428
$10V_AH,10.1,34.018
$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,29.575,137.350,494.325,31.700,0.000,24.071,32.001,200.757,147.250,0.000,0.000,31.611,3288.120,14559.744,620.982,3593.726,711.428,0.000,2369.637,0.000,3517.011,0.000,91.488
$DEVICE_MAMPS,167.973,96.642,1439.659,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1359.385,459.379,757.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107309,2004
$CAP_FILE_SIZE,210976,0
$CFSIZE,260165632,232165376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,095325,1249.348,12033.973,24,1.1,41,-0.8