version: 66.03
glider: 126
mission: 7
dive: 255
start: 4 10 108 15 21 51
data:
$ID,126
$MISSION,7
$DIVE,255
$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,-624252.12
$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,46
$R_STBD_OVSHOOT,56
$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
$GPS1,151438,1246.687,12014.864,35,1.0,35,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.25
$_SM_ANGLEo,-59.7
$GPS2,152057,1246.777,12014.812,12,1.7,12,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB
$TGT_LATLONG,1246.900,12022.320
$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,89.8,13562,-19.0,-9.016
$D_GRID,941
$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,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.28,0.000,6,0.000,0.000,417,2348,3320
$GC,97,-2.18,-120.8,0.7,-20.6,13,114,10.23,1.80,0.00,0.000,4,0.166,0.031,2249,1279,3322
$GC,223,-2.00,-120.8,31.7,-18.2,35,229,0.22,1.67,0.00,0.000,6,0.107,0.024,2294,2315,3323
$GC,567,-1.92,-120.8,82.2,-13.0,96,573,0.00,1.80,0.00,0.000,4,0.000,0.039,2294,3370,3325
$GC,744,-1.85,-120.8,105.8,-12.2,127,751,0.17,1.67,0.00,0.000,6,0.099,0.023,2329,2297,3326
$GC,1088,-1.91,-126.3,138.3,-8.7,188,1094,0.00,1.85,0.00,0.000,4,0.000,0.038,2329,3373,3328
$GC,1249,-1.94,-126.3,153.7,-9.1,216,1255,0.00,1.62,0.00,0.000,6,0.000,0.024,2328,2324,3328
$GC,1593,-2.03,-146.0,182.2,-7.5,277,1599,0.17,1.77,0.00,0.000,4,0.052,0.040,2274,3370,3328
$GC,1725,-2.03,-146.0,194.2,-9.7,300,1731,0.00,1.60,0.00,0.000,6,0.000,0.025,2274,2342,3328
$GC,2068,-2.03,-146.0,226.0,-9.7,361,2074,0.00,1.70,0.00,0.000,4,0.000,0.036,2274,1328,3328
$GC,2114,-2.03,-146.0,230.3,-10.1,369,2119,0.00,1.73,0.00,0.000,6,0.000,0.026,2274,2378,3328
$GC,2455,-2.03,-146.0,261.6,-9.5,420,2459,0.00,1.80,0.00,0.000,4,0.000,0.037,2274,1321,3327
$GC,2557,-2.03,-146.0,271.4,-10.0,429,2560,0.00,1.67,0.00,0.000,6,0.000,0.027,2274,2339,3327
$GC,2888,-2.03,-146.0,304.7,-10.5,460,2892,0.00,1.77,0.00,0.000,4,0.000,0.047,2274,3377,3325
$GC,2926,-2.03,-146.0,308.9,-10.3,463,2933,0.00,1.67,0.00,0.000,6,0.000,0.027,2274,2355,3325
$GC,3254,-2.03,-146.0,336.9,-8.5,494,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2350,3323
$GC,3570,-2.03,-146.0,364.4,-9.2,524,3573,0.00,1.77,0.00,0.000,4,0.000,0.047,2274,3376,3321
$GC,3631,-2.03,-146.0,370.2,-9.7,529,3637,0.00,1.65,0.00,0.000,6,0.000,0.028,2274,2368,3320
$GC,3957,-2.03,-146.0,399.8,-8.8,560,3961,0.00,1.75,0.00,0.000,4,0.000,0.048,2274,3372,3318
$GC,4075,-2.03,-146.0,410.3,-8.7,570,4080,0.00,1.60,0.00,0.000,6,0.000,0.031,2274,2404,3317
$GC,4400,-2.03,-146.0,441.5,-9.4,601,4404,0.00,1.95,0.00,0.000,4,0.000,0.054,2274,1290,3316
$GC,4496,-2.03,-146.0,450.3,-8.8,609,4501,0.00,1.83,0.00,0.000,6,0.000,0.032,2274,2376,3315
$GC,4822,-2.03,-146.0,476.0,-7.8,640,4825,0.00,1.90,0.00,0.000,4,0.000,0.050,2274,1295,3314
$GC,4878,-2.03,-146.0,480.7,-7.8,645,4882,0.00,1.83,0.00,0.000,6,0.000,0.035,2274,2368,3313
$GC,5220,-2.03,-146.0,511.2,-9.0,671,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2369,3311
$GC,5525,-2.03,-146.0,537.9,-8.8,686,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2369,3309
$GC,5834,-2.03,-146.0,564.9,-9.2,701,5838,0.00,1.83,0.00,0.000,4,0.000,0.072,2274,3376,3307
$GC,5895,-2.03,-146.0,570.7,-9.4,703,5901,0.00,1.77,0.00,0.000,6,0.000,0.045,2274,2379,3307
$GC,6211,-2.03,-146.0,599.2,-8.8,719,6215,0.00,1.88,0.00,0.000,4,0.000,0.081,2274,3378,3305
$GC,6234,-2.03,-146.0,601.3,-8.9,720,6238,0.00,1.80,0.00,0.000,6,0.000,0.055,2274,2393,3305
$GC,6570,-2.09,-146.0,630.1,-8.5,736,6574,0.00,2.08,0.00,0.000,4,0.000,0.091,2273,1298,3303
$GC,6827,-2.09,-146.0,652.3,-8.0,747,6831,0.00,1.92,0.00,0.000,6,0.000,0.084,2274,2312,3301
$GC,7149,-2.09,-146.0,679.3,-8.9,763,7153,0.00,2.03,0.00,0.000,4,0.000,0.112,2274,1306,3300
$GC,7233,-2.09,-146.0,687.2,-9.2,766,7239,0.00,1.98,0.00,0.000,6,0.000,0.099,2274,2313,3301
$GC,7548,-2.09,-146.0,714.1,-8.2,782,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2314,3298
$GC,7860,-2.09,-146.0,740.8,-9.5,797,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2313,3296
$GC,8167,-2.09,-146.0,768.6,-9.0,812,8171,0.00,2.28,0.00,0.000,4,0.000,0.162,2274,1301,3296
$GC,8256,-2.09,-146.0,776.7,-9.7,816,8260,0.00,1.75,0.00,0.000,6,0.000,0.031,2274,2342,3296
$GC,8583,-2.09,-146.0,804.0,-8.1,832,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2342,3295
$GC,8893,-2.31,-146.0,829.4,-2.3,847,8897,0.17,1.85,0.00,0.000,4,0.058,0.046,2220,1285,3294
$STATE,9020,end dive,NO_VERTICAL_VELOCITY
$STATE,9020,begin apogee
$GC,9028,-0.52,0.0,829.4,0.0,852,9134,1.73,0.00,99.72,1.312,6,0.069,0.000,2616,1969,2824
$STATE,9135,end apogee,CONTROL_FINISHED_OK
$STATE,9135,begin climb
$GC,9137,2.22,146.0,829.0,0.0,858,9273,2.67,1.88,126.35,1.275,4,0.060,0.048,3218,2998,2229
$GC,9530,2.10,146.0,801.2,9.7,876,9534,0.15,1.77,0.00,0.000,6,0.108,0.036,3190,1972,2222
$GC,9864,2.07,174.9,774.5,7.2,892,9893,0.00,1.88,25.35,1.230,4,0.000,0.045,3190,3014,2111
$GC,9972,2.00,176.1,764.4,8.9,897,9976,0.12,1.83,0.00,0.000,6,0.110,0.035,3166,1959,2108
$GC,10301,1.95,179.9,737.3,8.8,913,10311,0.00,1.92,5.47,0.950,4,0.000,0.060,3166,904,2091
$GC,10350,1.89,179.9,732.5,9.5,915,10354,0.12,1.83,0.00,0.000,6,0.111,0.030,3143,1976,2091
$GC,10671,1.92,197.1,706.8,7.9,931,10693,0.00,1.88,16.45,1.187,4,0.000,0.046,3143,3005,2021
$GC,10755,1.92,197.1,699.6,9.0,934,10761,0.00,1.80,0.00,0.000,6,0.000,0.036,3142,1961,2020
$GC,11071,1.95,216.0,674.3,7.8,950,11093,0.00,1.95,17.80,1.178,4,0.000,0.046,3143,3015,1944
$GC,11193,1.95,216.0,663.0,9.8,955,11197,0.00,1.75,0.00,0.000,6,0.000,0.036,3143,2002,1942
$GC,11514,1.95,216.0,633.0,9.4,971,11518,0.00,1.98,0.00,0.000,4,0.000,0.062,3143,908,1941
$GC,11587,1.95,216.0,626.2,9.7,974,11590,0.00,1.88,0.00,0.000,6,0.000,0.030,3143,2017,1941
$GC,11913,1.95,216.0,597.2,9.2,990,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2017,1941
$GC,12222,1.96,221.2,568.8,8.7,1005,12232,0.00,1.73,5.65,0.913,4,0.000,0.047,3143,3016,1922
$GC,12306,1.98,234.5,561.6,8.2,1009,12328,0.00,1.77,13.38,1.098,6,0.000,0.036,3143,1987,1869
$GC,12637,2.00,249.5,535.1,8.1,1025,12658,0.10,1.88,14.32,1.086,4,0.081,0.056,3170,3009,1807
$GC,12745,1.99,260.6,525.7,8.3,1029,12760,0.00,1.70,11.23,1.042,6,0.000,0.035,3170,2018,1762
$GC,13078,2.00,266.6,495.4,8.6,1048,13090,0.00,1.83,6.62,0.925,4,0.000,0.046,3170,3013,1738
$GC,13125,2.00,266.6,490.7,10.5,1052,13128,0.00,1.70,0.00,0.000,6,0.000,0.035,3170,2026,1737
$GC,13456,2.05,297.4,464.1,7.1,1083,13491,0.00,2.10,28.10,1.068,4,0.000,0.061,3171,915,1612
$GC,13588,2.05,297.4,452.4,9.6,1095,13592,0.00,1.92,0.00,0.000,6,0.000,0.031,3170,2025,1611
$GC,13920,2.05,297.4,418.6,9.6,1126,13923,0.00,2.03,0.00,0.000,4,0.000,0.056,3170,907,1609
$GC,13965,2.05,297.4,414.4,9.2,1130,13968,0.00,1.85,0.00,0.000,6,0.000,0.030,3170,1998,1609
$GC,14297,2.05,297.4,382.0,11.0,1161,14300,0.00,1.75,0.00,0.000,4,0.000,0.047,3170,3015,1608
$GC,14368,2.05,297.4,374.4,9.9,1167,14375,0.00,1.77,0.00,0.000,6,0.000,0.035,3170,1994,1608
$GC,14696,2.05,297.4,342.5,10.3,1198,14700,0.00,1.95,0.00,0.000,4,0.000,0.059,3170,904,1608
$GC,14732,2.05,297.4,338.8,9.5,1201,14735,0.00,1.85,0.00,0.000,6,0.000,0.030,3170,2001,1608
$GC,15061,2.05,297.4,304.7,9.8,1232,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2001,1608
$GC,15380,2.05,297.4,275.1,9.2,1262,15383,0.00,1.73,0.00,0.000,4,0.000,0.047,3170,3006,1608
$GC,15418,2.05,297.4,271.1,10.3,1265,15424,0.00,1.75,0.00,0.000,6,0.000,0.041,3171,1992,1608
$GC,15748,2.05,297.4,240.9,9.0,1305,15754,0.00,1.92,0.00,0.000,4,0.000,0.056,3170,907,1608
$GC,15873,2.05,297.4,228.8,9.3,1327,15879,0.00,1.77,0.00,0.000,6,0.000,0.028,3170,1972,1608
$GC,16216,2.09,297.4,196.5,10.0,1388,16222,0.00,1.88,0.00,0.000,4,0.000,0.051,3170,916,1608
$GC,16262,2.09,297.4,191.8,9.8,1396,16268,0.00,1.73,0.00,0.000,6,0.000,0.028,3170,1956,1608
$GC,16607,2.18,327.4,163.0,7.2,1457,16639,0.15,1.83,26.02,0.844,4,0.063,0.041,3218,3007,1490
$GC,16742,2.18,327.4,149.8,10.7,1481,16748,0.00,1.77,0.00,0.000,6,0.000,0.031,3218,1954,1487
$GC,17085,2.26,376.9,120.3,5.9,1542,17134,0.00,1.85,42.12,0.802,4,0.000,0.038,3218,3005,1288
$GC,17304,2.36,397.1,104.1,7.8,1581,17328,0.12,1.67,17.80,0.757,6,0.066,0.028,3256,2003,1206
$GC,17669,2.46,422.4,73.6,7.4,1645,17696,0.00,1.75,21.88,0.729,4,0.000,0.036,3256,3011,1103
$GC,17818,2.52,425.6,61.5,8.8,1671,17829,0.00,1.50,4.28,0.512,6,0.000,0.025,3256,2108,1089
$GC,18169,2.64,446.5,32.3,7.7,1733,18197,0.17,2.12,18.95,0.669,4,0.051,0.044,3315,917,1004
$GC,18284,2.65,455.5,22.4,8.5,1753,18301,0.00,1.98,8.85,0.604,6,0.000,0.024,3314,2131,967
$STATE,18501,end climb,SURFACE_DEPTH_REACHED
$STATE,18501,begin surface coast
$FINISH,-0.4,1.021188
$STATE,18525,end surface coast,CONTROL_FINISHED_OK
$STATE,18525,begin surface
$SM_CCo,18547,16.98,0.630,0,0,888,475.15
$SM_GC,-5.63,0.00,0.00,16.98,0.000,0.000,0.630,413,2345,888,-10.65,0.57,475.15
$IRIDIUM_FIX,1243.25,12016.50,050797,101052
$TT8_MAMPS,0.026078
$HUMID,1926
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.60
$XPDR_PINGS,410
$ALTIM_BOTTOM_PING,770.1,58.6
$24V_AH,23.1,39.644
$10V_AH,10.1,29.748
$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,28.900,134.450,510.350,16.975,0.000,23.139,36.833,187.856,110.000,0.000,0.000,12.661,2929.646,11555.928,609.945,3246.026,628.003,0.000,2204.841,0.000,3203.826,0.000,57.308
$DEVICE_MAMPS,165.672,161.837,1311.570,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1215.563,450.498,736.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94607,1796
$CAP_FILE_SIZE,183563,0
$CFSIZE,260165632,235577344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,203237,1247.602,12016.035,39,1.0,44,-0.8