version: 66.03
glider: 126
mission: 7
dive: 257
start: 4 11 108 2 55 55
data:
$ID,126
$MISSION,7
$DIVE,257
$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,-624299.81
$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,71
$R_STBD_OVSHOOT,42
$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
$GPS1,024825,1247.701,12018.010,25,1.0,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.71
$_SM_ANGLEo,-59.3
$GPS2,025503,1247.857,12017.964,12,1.8,12,-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,103.5,8065,-19.0,-9.016
$D_GRID,928
$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,-67.20,0.000,6,0.000,0.000,413,2269,3320
$GC,97,-2.18,-120.8,0.2,-20.9,13,114,10.35,1.62,0.00,0.000,4,0.169,0.031,2249,1301,3322
$GC,144,-1.91,-120.8,16.8,-23.1,21,151,0.30,1.67,0.00,0.000,6,0.109,0.023,2309,2337,3322
$GC,488,-1.84,-120.8,71.3,-14.0,82,495,0.00,1.75,0.00,0.000,4,0.000,0.040,2309,3362,3324
$GC,642,-1.78,-120.8,91.2,-11.9,109,649,0.15,1.67,0.00,0.000,6,0.104,0.022,2339,2293,3325
$GC,987,-1.82,-120.8,126.1,-10.3,170,994,0.00,1.85,0.00,0.000,4,0.000,0.038,2339,3368,3327
$GC,1138,-1.91,-146.0,139.2,-6.8,196,1145,0.08,1.62,0.00,0.000,6,0.050,0.024,2305,2332,3327
$GC,1484,-1.91,-146.0,168.1,-8.1,257,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2329,3328
$GC,1827,-1.94,-146.0,198.9,-9.8,318,1833,0.00,1.75,0.00,0.000,4,0.000,0.041,2305,3363,3328
$GC,1962,-1.94,-146.0,212.2,-9.8,342,1968,0.00,1.60,0.00,0.000,6,0.000,0.025,2305,2345,3327
$GC,2306,-1.97,-146.0,243.3,-8.2,403,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2336,3327
$GC,2642,-2.01,-146.0,273.8,-9.0,441,2646,0.00,1.75,0.00,0.000,4,0.000,0.039,2305,1325,3326
$GC,2721,-2.01,-146.0,281.0,-9.0,448,2724,0.00,1.65,0.00,0.000,6,0.000,0.027,2305,2329,3326
$GC,3053,-2.05,-146.0,307.7,-8.2,479,3056,0.00,1.73,0.00,0.000,4,0.000,0.039,2305,1325,3324
$GC,3123,-2.08,-146.0,313.5,-8.7,485,3127,0.15,1.62,0.00,0.000,6,0.058,0.028,2263,2309,3324
$GC,3452,-2.08,-146.0,343.9,-9.6,516,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2309,3322
$GC,3771,-2.08,-146.0,375.9,-9.8,546,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2309,3319
$GC,4089,-2.08,-146.0,406.0,-9.1,576,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2309,3317
$GC,4408,-2.08,-146.0,435.8,-9.2,606,4412,0.00,1.83,0.00,0.000,4,0.000,0.049,2262,3370,3315
$GC,4453,-2.08,-146.0,440.2,-9.9,610,4457,0.00,1.70,0.00,0.000,6,0.000,0.031,2263,2353,3314
$GC,4786,-2.08,-146.0,469.6,-8.4,641,4789,0.00,1.92,0.00,0.000,4,0.000,0.058,2262,1279,3313
$GC,4842,-2.08,-146.0,474.7,-9.0,646,4845,0.00,1.77,0.00,0.000,6,0.000,0.035,2262,2328,3312
$GC,5172,-2.08,-146.0,505.1,-9.8,675,5176,0.00,1.85,0.00,0.000,4,0.000,0.057,2262,3369,3310
$GC,5227,-2.08,-146.0,510.9,-10.4,677,5231,0.00,1.80,0.00,0.000,6,0.000,0.031,2262,2318,3309
$GC,5551,-2.08,-146.0,541.8,-9.0,693,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2318,3308
$GC,5859,-2.08,-146.0,567.8,-8.2,708,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2317,3306
$GC,6167,-2.08,-146.0,593.7,-8.4,723,6171,0.00,1.98,0.00,0.000,4,0.000,0.079,2262,3374,3305
$GC,6236,-2.08,-146.0,599.7,-9.1,726,6241,0.00,1.85,0.00,0.000,6,0.000,0.057,2262,2347,3304
$GC,6570,-2.08,-146.0,628.6,-8.7,742,6574,0.00,2.05,0.00,0.000,4,0.000,0.092,2262,1266,3302
$GC,6653,-2.08,-146.0,636.6,-9.5,745,6660,0.00,2.00,0.00,0.000,6,0.000,0.076,2262,2317,3302
$GC,6970,-2.08,-146.0,664.8,-8.9,761,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2318,3301
$GC,7279,-2.08,-146.0,692.1,-9.1,776,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2317,3299
$GC,7591,-2.08,-146.0,720.1,-9.0,791,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2317,3297
$GC,7897,-2.08,-146.0,747.1,-8.7,806,7901,0.00,2.28,0.00,0.000,4,0.000,0.149,2262,1275,3296
$GC,7937,-2.08,-146.0,750.3,-8.3,808,7941,0.00,2.25,0.00,0.000,6,0.000,0.130,2262,2344,3296
$GC,8264,-2.08,-146.0,779.6,-9.4,824,8272,0.00,2.33,0.00,0.000,4,0.000,0.170,2262,3383,3294
$GC,8334,-2.08,-146.0,786.6,-9.4,827,8338,0.00,2.05,0.00,0.000,6,0.000,0.100,2262,2318,3294
$GC,8666,-2.08,-146.0,816.5,-8.5,843,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2317,3293
$GC,8976,-2.08,-146.0,841.2,-7.8,858,8980,0.00,1.92,0.00,0.000,4,0.000,0.055,2262,3401,3293
$GC,9032,-2.08,-146.0,846.1,-9.0,860,9035,0.00,1.77,0.00,0.000,6,0.000,0.033,2262,2355,3292
$GC,9353,-2.08,-146.0,872.2,-8.1,876,9357,0.00,1.88,0.00,0.000,4,0.000,0.056,2262,3406,3291
$GC,9408,-2.08,-146.0,877.3,-9.8,878,9412,0.00,1.77,0.00,0.000,6,0.000,0.034,2262,2379,3291
$GC,9730,-2.08,-146.0,904.7,-8.3,894,9734,0.00,1.98,0.00,0.000,4,0.000,0.067,2262,1289,3290
$GC,9831,-2.08,-146.0,913.3,-8.4,898,9834,0.00,1.92,0.00,0.000,6,0.000,0.039,2262,2399,3290
$STATE,10005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10005,begin apogee
$GC,10011,-0.52,0.0,928.2,8.3,907,10116,1.65,0.00,100.50,1.396,6,0.091,0.000,2613,1966,2825
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10120,2.22,146.0,931.2,0.0,912,10257,2.67,2.08,128.52,1.359,4,0.060,0.090,3220,921,2228
$GC,10410,2.08,146.0,914.0,9.2,924,10417,0.20,1.85,0.00,0.000,6,0.106,0.035,3182,1992,2223
$GC,10728,2.00,153.7,887.7,8.5,940,10739,0.00,2.10,6.70,1.081,4,0.000,0.064,3182,910,2198
$GC,10870,1.90,153.7,874.4,9.3,946,10874,0.20,1.80,0.00,0.000,6,0.106,0.032,3143,1960,2197
$GC,11193,1.88,170.8,848.0,8.0,962,11214,0.00,1.95,16.58,1.274,4,0.000,0.050,3143,3021,2128
$GC,11306,1.85,170.8,838.0,9.1,967,11309,0.00,1.83,0.00,0.000,6,0.000,0.039,3143,1976,2127
$GC,11637,1.87,186.1,810.5,8.1,983,11657,0.00,0.00,15.07,1.253,6,0.000,0.000,3143,1976,2066
$GC,11967,1.88,191.8,781.6,8.7,999,11977,0.00,1.92,6.43,1.067,4,0.000,0.048,3143,3017,2043
$GC,12017,1.87,202.4,777.3,8.4,1001,12033,0.00,1.80,11.27,1.193,6,0.000,0.038,3143,1984,1999
$GC,12354,1.90,223.8,750.5,7.7,1018,12376,0.00,0.00,20.65,1.251,6,0.000,0.000,3143,1984,1912
$GC,12683,1.90,223.8,721.6,9.1,1034,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1984,1909
$GC,12992,1.91,228.7,693.8,8.7,1049,13002,0.00,1.85,5.53,0.974,4,0.000,0.048,3143,3018,1892
$GC,13070,1.91,230.6,686.6,8.9,1052,13075,0.00,1.83,0.00,0.000,6,0.000,0.038,3143,1966,1891
$GC,13385,1.93,240.1,659.8,8.4,1068,13401,0.00,1.90,11.68,1.155,4,0.000,0.047,3143,3019,1845
$GC,13480,1.93,240.9,651.0,9.0,1071,13483,0.00,1.77,0.00,0.000,6,0.000,0.038,3143,1998,1845
$GC,13801,1.93,240.9,620.5,9.7,1087,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1998,1844
$GC,14110,1.93,241.0,591.3,9.0,1102,14113,0.00,1.80,0.00,0.000,4,0.000,0.048,3143,3022,1844
$GC,14187,1.93,241.0,584.2,9.3,1105,14191,0.00,1.83,0.00,0.000,6,0.000,0.038,3143,1982,1844
$GC,14509,1.95,250.5,556.3,8.4,1121,14522,0.00,0.00,10.70,1.084,6,0.000,0.000,3143,1982,1803
$GC,14818,1.95,250.5,528.1,9.3,1136,14821,0.00,1.83,0.00,0.000,4,0.000,0.046,3143,3022,1802
$GC,14901,1.95,250.5,520.1,9.3,1139,14908,0.00,1.75,0.00,0.000,6,0.000,0.037,3143,2025,1801
$GC,15220,1.95,254.6,490.9,8.8,1159,15231,0.00,1.77,4.90,0.838,4,0.000,0.047,3143,3021,1787
$GC,15259,1.95,254.6,487.1,9.2,1162,15265,0.00,1.75,0.00,0.000,6,0.000,0.036,3143,2027,1787
$GC,15586,1.97,266.1,459.5,8.3,1193,15602,0.00,1.83,11.93,1.033,4,0.000,0.047,3143,3014,1740
$GC,15670,1.99,274.9,451.7,8.5,1200,15684,0.00,1.65,9.45,0.983,6,0.000,0.035,3143,2058,1704
$GC,16010,2.03,274.9,422.8,9.2,1232,16015,0.12,2.08,0.00,0.000,4,0.071,0.060,3177,908,1702
$GC,16087,2.03,274.9,414.9,10.0,1238,16094,0.00,2.00,0.00,0.000,6,0.000,0.031,3177,2072,1702
$GC,16416,2.03,274.9,385.1,9.6,1269,16420,0.00,2.10,0.00,0.000,4,0.000,0.056,3177,910,1701
$GC,16465,2.03,274.9,379.9,10.1,1273,16471,0.00,1.98,0.00,0.000,6,0.000,0.031,3177,2061,1702
$GC,16794,2.03,274.9,348.9,9.8,1304,16799,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2061,1701
$GC,17118,2.03,274.9,316.4,9.7,1335,17120,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2061,1702
$GC,17439,2.04,282.6,287.6,8.5,1365,17453,0.00,2.12,7.97,0.857,4,0.000,0.057,3177,914,1672
$GC,17511,2.06,295.6,281.2,8.2,1371,17530,0.00,1.92,12.77,0.910,6,0.000,0.030,3177,2056,1620
$GC,17851,2.06,295.6,249.4,9.7,1404,17856,0.00,2.08,0.00,0.000,4,0.000,0.054,3177,899,1619
$GC,17947,2.06,295.6,239.9,9.3,1421,17952,0.00,1.90,0.00,0.000,6,0.000,0.029,3177,2029,1618
$GC,18289,2.06,295.6,207.2,10.3,1482,18295,0.00,2.00,0.00,0.000,4,0.000,0.052,3177,908,1618
$GC,18335,2.06,295.6,202.2,11.5,1490,18341,0.00,1.90,0.00,0.000,6,0.000,0.028,3177,2044,1618
$GC,18679,2.11,307.1,169.0,8.3,1551,18695,0.00,1.70,11.18,0.815,4,0.000,0.042,3177,3022,1572
$GC,18786,2.15,332.3,159.9,7.4,1570,18813,0.00,1.73,22.73,0.835,6,0.000,0.031,3177,2005,1470
$GC,19154,2.25,333.7,127.3,8.9,1635,19160,0.15,1.75,0.00,0.000,4,0.059,0.039,3225,3019,1468
$GC,19262,2.26,339.4,117.5,8.7,1654,19274,0.00,1.60,7.18,0.705,6,0.000,0.029,3225,2080,1441
$GC,19611,2.40,392.4,93.2,5.7,1716,19661,0.12,1.70,45.22,0.772,4,0.065,0.039,3264,3016,1225
$GC,19756,2.42,403.1,80.4,8.4,1742,19773,0.00,1.60,10.32,0.693,6,0.000,0.027,3264,2073,1181
$GC,20115,2.53,431.5,52.7,7.3,1805,20147,0.00,2.10,24.35,0.703,4,0.000,0.048,3264,913,1066
$GC,20274,2.62,445.0,39.5,8.2,1833,20292,0.10,1.90,12.85,0.657,6,0.046,0.024,3313,2062,1010
$GC,20629,2.63,451.3,6.5,8.6,1896,20640,0.00,0.00,6.57,0.552,6,0.000,0.000,3313,2062,984
$STATE,20672,end climb,SURFACE_DEPTH_REACHED
$STATE,20672,begin surface coast
$FINISH,-0.2,1.021100
$STATE,20696,end surface coast,CONTROL_FINISHED_OK
$STATE,20696,begin surface
$SM_CCo,20719,20.45,0.638,0,0,887,475.15
$SM_GC,-5.75,0.00,0.00,20.45,0.000,0.000,0.638,413,2362,887,-10.66,1.05,475.15
$IRIDIUM_FIX,1243.25,12013.48,050797,202026
$TT8_MAMPS,0.026078
$HUMID,1901
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.60
$XPDR_PINGS,416
$24V_AH,23.0,40.040
$10V_AH,10.1,29.993
$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,28.825,131.450,521.050,20.450,0.000,24.927,38.669,196.599,114.750,0.000,0.000,12.246,3108.301,13407.119,636.402,3343.184,660.044,0.000,2276.418,0.000,3301.736,0.000,78.822
$DEVICE_MAMPS,168.740,169.507,1395.940,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.501,460.703,743.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100754,1908
$CAP_FILE_SIZE,195344,0
$CFSIZE,260165632,235372544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,084255,1247.957,12019.672,25,1.2,42,-0.8