version: 66.03
glider: 126
mission: 7
dive: 256
start: 4 10 108 20 40 0
data:
$ID,126
$MISSION,7
$DIVE,256
$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,-624286.94
$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,38
$R_STBD_OVSHOOT,59
$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
$GPS1,203237,1247.602,12016.035,39,1.0,44,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.43
$_SM_ANGLEo,-59.8
$GPS2,203908,1247.681,12015.984,15,0.8,32,-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,98.0,11534,-19.0,-9.016
$D_GRID,991
$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,-66.85,0.000,6,0.000,0.000,414,2345,3320
$GC,97,-2.18,-120.8,0.8,-22.2,13,114,10.27,1.70,0.00,0.000,4,0.167,0.035,2250,3355,3322
$GC,323,-1.99,-120.8,51.2,-17.0,53,330,0.22,1.70,0.00,0.000,6,0.110,0.023,2295,2280,3323
$GC,667,-1.93,-120.8,98.2,-12.0,114,674,0.00,1.85,0.00,0.000,4,0.000,0.038,2295,3354,3325
$GC,927,-1.89,-120.8,129.1,-12.5,160,934,0.08,1.58,0.00,0.000,6,0.106,0.023,2313,2348,3327
$GC,1271,-1.93,-140.4,157.5,-7.8,221,1278,0.00,1.70,0.00,0.000,4,0.000,0.039,2313,3357,3328
$GC,1345,-1.93,-140.4,164.2,-9.1,234,1351,0.00,1.55,0.00,0.000,6,0.000,0.024,2313,2373,3328
$GC,1689,-1.97,-146.0,194.3,-8.4,295,1695,0.00,1.67,0.00,0.000,4,0.000,0.041,2313,3364,3328
$GC,1729,-1.97,-146.0,198.1,-9.5,302,1735,0.00,1.58,0.00,0.000,6,0.000,0.025,2313,2368,3328
$GC,2073,-2.01,-146.0,226.3,-7.8,363,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2364,3329
$GC,2418,-2.05,-146.0,254.6,-8.5,420,2422,0.15,1.77,0.00,0.000,4,0.056,0.036,2269,1318,3328
$GC,2534,-2.05,-146.0,265.6,-9.3,430,2541,0.00,1.73,0.00,0.000,6,0.000,0.027,2269,2351,3327
$GC,2862,-2.05,-146.0,294.5,-8.8,461,2865,0.00,1.75,0.00,0.000,4,0.000,0.045,2269,3378,3325
$GC,2923,-2.05,-146.0,300.2,-8.9,466,2929,0.00,1.60,0.00,0.000,6,0.000,0.027,2269,2375,3325
$GC,3249,-2.05,-146.0,329.8,-9.5,497,3253,0.00,1.80,0.00,0.000,4,0.000,0.041,2269,1317,3323
$GC,3294,-2.05,-146.0,334.2,-9.0,501,3298,0.00,1.75,0.00,0.000,6,0.000,0.028,2269,2373,3323
$GC,3627,-2.05,-146.0,364.6,-9.6,532,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2373,3321
$GC,3943,-2.05,-146.0,394.7,-9.0,562,3947,0.00,1.75,0.00,0.000,4,0.000,0.049,2269,3372,3319
$GC,3981,-2.05,-146.0,398.2,-9.0,565,3987,0.00,1.67,0.00,0.000,6,0.000,0.030,2269,2374,3319
$GC,4308,-2.05,-146.0,428.3,-9.0,596,4311,0.00,1.75,0.00,0.000,4,0.000,0.049,2269,3377,3316
$GC,4398,-2.05,-146.0,437.0,-9.3,604,4401,0.00,1.70,0.00,0.000,6,0.000,0.031,2269,2360,3316
$GC,4730,-2.05,-146.0,467.2,-9.2,635,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2360,3314
$GC,5048,-2.05,-146.0,495.4,-8.8,665,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2360,3312
$GC,5359,-2.05,-146.0,521.2,-7.9,683,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2360,3310
$GC,5667,-2.05,-146.0,547.1,-8.6,698,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2359,3308
$GC,5976,-2.05,-146.0,576.4,-9.7,713,5980,0.00,1.88,0.00,0.000,4,0.000,0.077,2269,3369,3306
$GC,6089,-2.05,-146.0,587.7,-10.4,718,6093,0.00,1.80,0.00,0.000,6,0.000,0.053,2269,2377,3306
$GC,6421,-2.05,-146.0,619.3,-9.5,734,6424,0.00,1.88,0.00,0.000,4,0.000,0.089,2269,3359,3304
$GC,6459,-2.05,-146.0,623.1,-9.5,735,6465,0.00,1.80,0.00,0.000,6,0.000,0.067,2269,2378,3304
$GC,6774,-2.05,-146.0,654.0,-9.6,751,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2377,3302
$GC,7084,-2.05,-146.0,683.5,-9.4,766,7088,0.00,1.98,0.00,0.000,4,0.000,0.116,2269,3353,3301
$GC,7151,-2.05,-146.0,689.8,-9.2,769,7159,0.00,1.92,0.00,0.000,6,0.000,0.097,2269,2377,3301
$GC,7486,-2.05,-146.0,718.5,-8.3,785,7490,0.00,2.05,0.00,0.000,4,0.000,0.132,2269,3353,3299
$GC,7532,-2.05,-146.0,722.3,-8.9,787,7536,0.00,1.98,0.00,0.000,6,0.000,0.114,2269,2384,3299
$GC,7867,-2.05,-146.0,751.8,-9.2,803,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2373,3298
$GC,8176,-2.05,-146.0,781.2,-9.8,818,8180,0.00,1.75,0.00,0.000,4,0.000,0.052,2269,3376,3296
$GC,8261,-2.05,-146.0,790.1,-10.4,821,8267,0.00,1.73,0.00,0.000,6,0.000,0.032,2269,2350,3296
$GC,8576,-2.05,-146.0,819.0,-9.2,837,8579,0.00,1.80,0.00,0.000,4,0.000,0.054,2269,3367,3295
$GC,8626,-2.05,-146.0,823.7,-10.1,839,8630,0.00,1.73,0.00,0.000,6,0.000,0.032,2269,2359,3295
$GC,8952,-2.05,-146.0,853.6,-9.3,855,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2359,3294
$GC,9262,-2.05,-146.0,882.6,-9.1,870,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2359,3293
$GC,9571,-2.05,-146.0,907.9,-7.7,885,9575,0.00,1.83,0.00,0.000,4,0.000,0.057,2269,3368,3292
$GC,9693,-2.05,-146.0,918.0,-7.8,890,9697,0.00,1.70,0.00,0.000,6,0.000,0.033,2269,2364,3292
$GC,10015,-2.05,-146.0,944.7,-8.9,906,10019,0.00,1.95,0.00,0.000,4,0.000,0.064,2269,1275,3291
$GC,10054,-2.05,-146.0,948.4,-9.8,907,10060,0.00,1.90,0.00,0.000,6,0.000,0.038,2269,2364,3291
$GC,10370,-2.05,-146.0,979.8,-10.1,923,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2364,3290
$STATE,10471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10471,begin apogee
$GC,10477,-0.52,0.0,990.2,10.0,928,10582,1.62,0.00,101.18,1.439,6,0.091,0.000,2614,1960,2825
$STATE,10583,end apogee,CONTROL_FINISHED_OK
$STATE,10583,begin climb
$GC,10586,2.22,146.0,995.2,0.0,933,10728,2.67,2.05,129.50,1.403,4,0.061,0.073,3220,919,2228
$GC,10904,2.11,164.6,980.8,7.9,947,10926,0.15,1.83,16.90,1.304,6,0.110,0.033,3192,1978,2154
$GC,11237,2.06,183.1,955.0,7.9,963,11256,0.00,0.00,17.85,1.316,6,0.000,0.000,3192,1979,2078
$GC,11564,1.98,183.1,925.4,9.2,979,11568,0.15,1.98,0.00,0.000,4,0.112,0.060,3162,906,2075
$GC,11711,1.92,184.6,912.2,8.9,985,11715,0.00,1.77,0.00,0.000,6,0.000,0.031,3163,1949,2075
$GC,12032,1.88,184.6,883.6,9.2,1001,12034,0.12,0.00,0.00,0.000,6,0.114,0.000,3140,1949,2073
$GC,12342,1.89,188.5,856.5,8.8,1016,12349,0.00,0.00,5.62,1.045,6,0.000,0.000,3140,1949,2056
$GC,12650,1.89,188.5,826.8,9.9,1031,12654,0.00,1.90,0.00,0.000,4,0.000,0.059,3139,909,2055
$GC,12699,1.89,188.5,821.5,10.8,1033,12704,0.00,1.77,0.00,0.000,6,0.000,0.032,3140,1931,2055
$GC,13027,1.89,188.5,790.0,9.3,1049,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1932,2055
$GC,13336,1.89,192.5,762.1,8.8,1064,13345,0.00,1.90,5.12,0.976,4,0.000,0.048,3139,3014,2039
$GC,13390,1.89,192.5,757.0,9.6,1066,13396,0.00,1.90,0.00,0.000,6,0.000,0.039,3139,1939,2039
$GC,13706,1.91,199.6,729.1,8.6,1082,13720,0.00,1.98,8.07,1.130,4,0.000,0.048,3139,3015,2011
$GC,13794,1.91,199.6,721.0,9.5,1086,13797,0.00,1.88,0.00,0.000,6,0.000,0.038,3139,1938,2010
$GC,14128,1.92,211.1,692.5,8.3,1102,14146,0.00,0.00,11.90,1.183,6,0.000,0.000,3139,1938,1964
$GC,14455,1.93,214.2,664.3,8.8,1118,14464,0.00,1.92,4.57,0.886,4,0.000,0.048,3139,3011,1951
$GC,14545,1.93,214.4,656.2,9.0,1122,14548,0.00,1.88,0.00,0.000,6,0.000,0.038,3139,1931,1950
$GC,14879,1.93,214.4,625.4,9.2,1138,14882,0.00,1.85,0.00,0.000,4,0.000,0.065,3140,909,1950
$GC,14946,1.93,214.4,619.0,9.1,1141,14950,0.00,1.75,0.00,0.000,6,0.000,0.031,3140,1939,1950
$GC,15278,1.94,220.4,589.8,8.6,1157,15287,0.00,0.00,6.93,1.014,6,0.000,0.000,3140,1939,1926
$GC,15588,1.98,242.1,564.3,7.7,1172,15613,0.00,1.90,21.00,1.149,4,0.000,0.048,3139,3007,1837
$GC,15663,2.01,262.3,558.0,7.8,1175,15690,0.12,1.92,19.40,1.118,6,0.073,0.041,3172,1911,1754
$GC,16001,2.01,262.3,527.2,9.3,1192,16004,0.00,1.95,0.00,0.000,4,0.000,0.047,3172,3016,1751
$GC,16097,2.02,268.4,518.4,8.6,1196,16107,0.00,1.85,6.12,0.924,6,0.000,0.036,3172,1945,1730
$GC,16424,2.02,268.4,486.0,9.9,1217,16428,0.00,1.88,0.00,0.000,4,0.000,0.046,3172,3015,1729
$GC,16516,2.02,268.4,476.5,10.3,1225,16520,0.00,1.80,0.00,0.000,6,0.000,0.036,3172,1968,1729
$GC,16846,2.02,268.4,443.8,10.1,1256,16850,0.00,1.85,0.00,0.000,4,0.000,0.045,3172,3008,1729
$GC,16918,2.02,268.4,436.4,9.3,1262,16925,0.00,1.75,0.00,0.000,6,0.000,0.035,3172,2004,1729
$GC,17245,2.02,270.3,407.0,8.9,1293,17248,0.00,1.75,0.00,0.000,4,0.000,0.046,3172,3008,1729
$GC,17306,2.02,271.2,401.0,9.0,1298,17316,0.00,1.73,4.20,0.724,6,0.000,0.035,3172,2017,1718
$GC,17641,2.02,271.2,370.1,9.1,1330,17644,0.00,2.00,0.00,0.000,4,0.000,0.062,3172,906,1718
$GC,17675,2.02,271.2,367.1,9.3,1333,17678,0.00,1.95,0.00,0.000,6,0.000,0.031,3172,2059,1718
$GC,18006,2.02,271.2,337.2,9.8,1364,18010,0.00,2.08,0.00,0.000,4,0.000,0.055,3173,907,1718
$GC,18090,2.02,271.2,328.6,10.7,1371,18096,0.00,1.90,0.00,0.000,6,0.000,0.029,3172,2038,1718
$GC,18416,2.05,286.2,299.6,8.1,1402,18437,0.00,2.10,14.25,0.942,4,0.000,0.054,3172,916,1658
$GC,18495,2.05,286.2,292.1,9.1,1409,18498,0.00,1.85,0.00,0.000,6,0.000,0.029,3172,2009,1658
$GC,18825,2.09,290.5,263.3,8.8,1440,18834,0.00,0.00,5.53,0.752,6,0.000,0.000,3172,2010,1640
$GC,19163,2.15,308.1,234.6,7.9,1487,19185,0.12,2.08,16.35,0.887,4,0.071,0.053,3208,907,1569
$GC,19320,2.15,308.1,219.1,9.8,1515,19326,0.00,1.88,0.00,0.000,6,0.000,0.028,3209,2024,1568
$GC,19665,2.15,308.1,187.1,9.4,1576,19671,0.00,1.67,0.00,0.000,4,0.000,0.043,3209,3009,1568
$GC,19699,2.15,308.1,183.7,9.4,1582,19705,0.00,1.70,0.00,0.000,6,0.000,0.033,3208,2004,1568
$GC,20043,2.15,308.1,151.3,9.2,1643,20049,0.00,1.73,0.00,0.000,4,0.000,0.041,3208,3007,1568
$GC,20274,2.21,328.3,130.3,7.8,1684,20296,0.00,1.70,18.30,0.804,6,0.000,0.030,3208,2011,1486
$GC,20637,2.34,353.5,103.9,7.4,1748,20666,0.15,1.75,22.52,0.778,4,0.060,0.038,3257,3016,1382
$GC,20919,2.38,375.4,82.4,7.7,1798,20942,0.00,1.60,19.12,0.742,6,0.000,0.027,3257,2068,1294
$GC,21283,2.47,389.7,54.7,8.1,1862,21302,0.00,2.10,13.18,0.687,4,0.000,0.047,3257,908,1236
$GC,21449,2.57,414.6,41.6,7.5,1891,21477,0.15,1.88,22.02,0.684,6,0.055,0.024,3305,2063,1134
$GC,21818,2.65,434.5,13.7,7.8,1956,21841,0.00,1.65,17.62,0.643,4,0.000,0.035,3305,3012,1053
$STATE,21952,end climb,SURFACE_DEPTH_REACHED
$STATE,21954,begin surface coast
$FINISH,0.3,1.021143
$STATE,21971,end surface coast,CONTROL_FINISHED_OK
$STATE,21971,begin surface
$SM_CCo,21993,31.58,0.643,0,0,888,475.15
$SM_GC,-7.22,0.00,0.00,31.58,0.000,0.000,0.643,413,2272,888,-10.65,-1.41,475.15
$IRIDIUM_FIX,1243.25,12016.50,050797,151528
$TT8_MAMPS,0.025311
$HUMID,1903
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.00
$XPDR_PINGS,436
$24V_AH,23.0,39.843
$10V_AH,10.1,29.873
$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,28.550,138.475,507.275,31.575,0.000,25.187,33.897,179.286,121.500,0.000,0.000,34.218,3259.067,14344.185,634.931,3546.282,652.940,0.000,2352.695,0.000,3466.329,0.000,91.486
$DEVICE_MAMPS,167.206,131.924,1438.892,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1345.667,467.312,751.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104033,1983
$CAP_FILE_SIZE,202822,0
$CFSIZE,260165632,235458560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,024825,1247.701,12018.010,25,1.0,42,-0.8