version: 66.03
glider: 126
mission: 7
dive: 258
start: 4 11 108 8 50 13
data:
$ID,126
$MISSION,7
$DIVE,258
$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,-624312.81
$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,33
$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
$GPS1,084255,1247.957,12019.672,25,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.63
$_SM_ANGLEo,-59.6
$GPS2,084921,1248.072,12019.635,11,1.4,11,-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,114.9,5313,-19.0,-9.016
$D_GRID,907
$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,-66.72,0.000,6,0.000,0.000,413,2362,3320
$GC,97,-2.18,-120.8,0.3,-20.4,13,114,10.32,1.70,0.00,0.000,4,0.169,0.038,2251,3364,3321
$GC,347,-1.99,-120.8,54.3,-17.2,57,353,0.22,1.73,0.00,0.000,6,0.116,0.023,2294,2274,3323
$GC,691,-1.93,-120.8,99.3,-12.1,118,697,0.00,1.88,0.00,0.000,4,0.000,0.038,2294,3362,3325
$GC,732,-1.86,-120.8,103.9,-10.9,125,739,0.15,1.65,0.00,0.000,6,0.114,0.023,2323,2300,3326
$GC,1078,-1.89,-138.9,136.5,-7.9,186,1084,0.00,1.83,0.00,0.000,4,0.000,0.038,2323,3360,3327
$GC,1203,-1.89,-138.9,148.1,-9.4,208,1209,0.00,1.52,0.00,0.000,6,0.000,0.024,2323,2386,3328
$GC,1548,-1.95,-146.0,177.1,-8.1,269,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2386,3328
$GC,1891,-2.01,-146.0,204.7,-7.8,330,1898,0.15,1.65,0.00,0.000,4,0.056,0.041,2274,3359,3328
$GC,2018,-1.98,-146.0,216.3,-9.0,352,2025,0.10,1.48,0.00,0.000,6,0.087,0.026,2305,2431,3328
$GC,2362,-2.01,-146.0,247.3,-9.2,413,2368,0.00,1.88,0.00,0.000,4,0.000,0.036,2305,1320,3328
$GC,2452,-2.01,-146.0,255.9,-9.4,424,2456,0.00,1.80,0.00,0.000,6,0.000,0.026,2305,2411,3327
$GC,2785,-2.05,-146.0,285.6,-8.7,455,2789,0.00,1.85,0.00,0.000,4,0.000,0.038,2306,1326,3325
$GC,2869,-2.08,-146.0,293.4,-9.4,462,2875,0.12,1.77,0.00,0.000,6,0.063,0.028,2269,2399,3325
$GC,3194,-2.08,-146.0,322.5,-8.7,493,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2399,3323
$GC,3512,-2.08,-146.0,352.3,-9.1,523,3515,0.00,1.65,0.00,0.000,4,0.000,0.047,2269,3365,3322
$GC,3618,-2.08,-146.0,362.0,-9.4,532,3624,0.00,1.55,0.00,0.000,6,0.000,0.028,2269,2418,3321
$GC,3944,-2.08,-146.0,391.2,-9.0,563,3948,0.00,1.88,0.00,0.000,4,0.000,0.044,2269,1330,3318
$GC,3972,-2.08,-146.0,393.9,-9.5,565,3977,0.00,1.75,0.00,0.000,6,0.000,0.030,2269,2378,3318
$GC,4298,-2.08,-146.0,423.3,-9.1,596,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2378,3316
$GC,4615,-2.08,-146.0,451.5,-8.5,626,4619,0.00,1.85,0.00,0.000,4,0.000,0.048,2269,1327,3315
$GC,4654,-2.08,-146.0,455.0,-8.6,629,4660,0.00,1.75,0.00,0.000,6,0.000,0.032,2269,2366,3314
$GC,4980,-2.08,-146.0,483.3,-8.9,660,4984,0.00,1.75,0.00,0.000,4,0.000,0.051,2269,3373,3312
$GC,5116,-2.08,-146.0,495.1,-7.9,672,5119,0.00,1.58,0.00,0.000,6,0.000,0.031,2269,2443,3311
$GC,5449,-2.08,-146.0,522.0,-8.3,691,5452,0.00,1.98,0.00,0.000,4,0.000,0.059,2268,1333,3309
$GC,5495,-2.08,-146.0,525.7,-8.5,693,5498,0.00,1.85,0.00,0.000,6,0.000,0.041,2269,2404,3309
$GC,5827,-2.08,-146.0,553.5,-8.9,709,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2404,3307
$GC,6136,-2.08,-146.0,582.9,-9.7,724,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2404,3305
$GC,6446,-2.08,-146.0,611.8,-9.3,739,6449,0.00,2.00,0.00,0.000,4,0.000,0.080,2269,1340,3304
$GC,6540,-2.08,-146.0,620.9,-9.8,743,6544,0.00,1.98,0.00,0.000,6,0.000,0.070,2269,2392,3304
$GC,6869,-2.08,-146.0,651.3,-9.6,759,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2392,3302
$GC,7177,-2.08,-146.0,677.5,-8.0,774,7180,0.00,1.92,0.00,0.000,4,0.000,0.114,2269,3365,3301
$GC,7238,-2.08,-146.0,682.7,-8.3,776,7243,0.00,1.73,0.00,0.000,6,0.000,0.092,2269,2475,3300
$GC,7553,-2.08,-146.0,707.6,-7.9,792,7557,0.00,2.30,0.00,0.000,4,0.000,0.127,2269,1347,3298
$GC,7597,-2.08,-146.0,711.5,-8.9,794,7600,0.00,2.08,0.00,0.000,6,0.000,0.108,2269,2379,3298
$GC,7927,-2.08,-146.0,740.4,-8.9,810,7931,0.00,2.22,0.00,0.000,4,0.000,0.143,2269,1349,3296
$GC,8004,-2.08,-146.0,747.9,-9.4,813,8011,0.00,2.10,0.00,0.000,6,0.000,0.127,2269,2349,3296
$GC,8321,-2.08,-146.0,777.4,-9.5,829,8324,0.00,1.83,0.00,0.000,4,0.000,0.052,2269,3405,3295
$GC,8365,-2.08,-146.0,781.4,-9.1,831,8369,0.00,1.67,0.00,0.000,6,0.000,0.032,2269,2400,3295
$GC,8698,-2.08,-146.0,809.6,-8.1,847,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2399,3294
$GC,9007,-2.08,-146.0,835.6,-8.7,862,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2399,3293
$GC,9316,-2.08,-146.0,864.8,-9.8,877,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2399,3293
$GC,9626,-2.08,-146.0,894.1,-9.2,892,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2399,3291
$STATE,9767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9767,begin apogee
$GC,9773,-0.52,0.0,908.5,9.7,899,9877,1.62,0.00,100.32,1.375,6,0.093,0.000,2612,2023,2825
$STATE,9878,end apogee,CONTROL_FINISHED_OK
$STATE,9878,begin climb
$GC,9880,2.22,146.0,912.0,0.0,904,10017,2.70,2.00,127.95,1.338,4,0.067,0.073,3214,980,2229
$GC,10221,2.10,146.0,891.4,9.9,919,10228,0.15,1.75,0.00,0.000,6,0.108,0.032,3185,2000,2223
$GC,10537,2.02,154.9,863.8,8.5,935,10551,0.00,1.85,7.82,1.114,4,0.000,0.049,3185,3015,2193
$GC,10604,1.92,157.9,857.7,8.8,938,10614,0.15,1.75,4.47,0.889,6,0.100,0.043,3151,2027,2180
$GC,10938,1.90,173.9,830.2,8.0,954,10960,0.00,1.95,15.95,1.249,4,0.000,0.061,3151,975,2115
$GC,11091,1.85,173.9,816.3,9.5,960,11097,0.00,1.70,0.00,0.000,6,0.000,0.031,3151,1971,2113
$GC,11407,1.81,177.8,788.1,8.8,976,11417,0.15,1.85,4.53,0.900,4,0.107,0.048,3118,3006,2100
$GC,11474,1.82,179.3,782.2,8.9,979,11478,0.00,1.75,0.00,0.000,6,0.000,0.037,3118,2015,2100
$GC,11806,1.85,200.4,755.9,7.7,995,11832,0.00,1.85,21.42,1.256,4,0.000,0.048,3118,3006,2008
$GC,11882,1.87,214.2,749.4,8.2,998,11901,0.00,1.73,14.23,1.195,6,0.000,0.037,3118,2018,1950
$GC,12218,1.90,229.6,720.9,8.1,1015,12240,0.10,1.95,14.70,1.196,4,0.084,0.062,3145,969,1888
$GC,12319,1.90,229.6,711.5,9.6,1019,12322,0.00,1.67,0.00,0.000,6,0.000,0.030,3146,1953,1887
$GC,12640,1.90,229.8,682.8,9.0,1035,12643,0.00,1.85,0.00,0.000,4,0.000,0.048,3145,3001,1886
$GC,12708,1.91,237.9,676.7,8.5,1038,12722,0.00,1.70,8.68,1.095,6,0.000,0.038,3145,2021,1855
$GC,13039,1.91,237.9,646.0,9.1,1054,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2020,1853
$GC,13348,1.91,237.9,615.9,9.7,1069,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2020,1853
$GC,13658,1.91,237.9,586.0,9.6,1084,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2020,1853
$GC,13966,1.91,237.9,557.8,9.0,1099,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2020,1852
$GC,14275,1.91,237.9,530.0,9.2,1114,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2020,1852
$GC,14585,1.92,241.1,502.7,8.8,1129,14595,0.00,1.77,4.20,0.764,4,0.000,0.047,3145,3006,1842
$GC,14690,1.92,242.7,493.2,8.9,1136,14696,0.00,1.75,0.00,0.000,6,0.000,0.036,3145,2008,1841
$GC,15017,1.93,250.1,466.0,8.6,1167,15031,0.00,1.83,9.57,1.006,4,0.000,0.047,3145,3027,1805
$GC,15128,1.94,252.5,456.2,8.9,1177,15139,0.00,1.77,3.88,0.707,6,0.000,0.035,3145,1998,1795
$GC,15457,1.96,262.9,428.6,8.4,1208,15473,0.00,2.00,10.95,0.996,4,0.000,0.061,3145,908,1753
$GC,15534,1.97,272.2,421.6,8.4,1214,15551,0.00,1.88,9.73,0.966,6,0.000,0.030,3146,2012,1715
$GC,15869,2.03,282.1,391.8,8.4,1246,15884,0.12,1.75,9.73,0.951,4,0.073,0.048,3180,3003,1675
$GC,15917,2.03,282.4,387.0,9.0,1250,15923,0.00,1.73,0.00,0.000,6,0.000,0.035,3180,2005,1674
$GC,16244,2.03,282.4,355.5,9.6,1281,16248,0.00,1.75,0.00,0.000,4,0.000,0.045,3180,3004,1674
$GC,16300,2.03,282.4,349.8,10.2,1286,16304,0.00,1.65,0.00,0.000,6,0.000,0.034,3181,2040,1673
$GC,16632,2.03,282.4,318.1,9.6,1317,16636,0.00,2.03,0.00,0.000,4,0.000,0.058,3180,904,1673
$GC,16693,2.03,282.4,311.7,9.9,1322,16699,0.00,1.90,0.00,0.000,6,0.000,0.030,3181,2010,1673
$GC,17020,2.03,283.1,281.9,9.0,1353,17024,0.00,1.98,0.00,0.000,4,0.000,0.054,3180,911,1673
$GC,17088,2.06,298.7,275.8,8.0,1359,17109,0.00,1.85,15.80,0.917,6,0.000,0.035,3180,2003,1607
$GC,17430,2.06,299.3,247.0,9.0,1394,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2003,1605
$GC,17773,2.08,312.8,216.3,8.2,1455,17794,0.00,2.05,13.57,0.861,4,0.000,0.053,3181,905,1549
$GC,17909,2.08,313.8,203.8,9.0,1479,17915,0.00,1.80,0.00,0.000,6,0.000,0.029,3181,1970,1549
$GC,18253,2.12,317.6,174.9,8.8,1540,18265,0.00,1.77,5.60,0.690,4,0.000,0.045,3181,3003,1530
$GC,18389,2.12,317.6,162.4,9.6,1564,18395,0.00,1.70,0.00,0.000,6,0.000,0.031,3180,1996,1529
$GC,18733,2.23,338.7,133.2,7.7,1625,18757,0.15,1.85,18.80,0.806,4,0.061,0.041,3229,3015,1444
$GC,18775,2.24,343.0,129.5,8.8,1632,18786,0.00,1.70,5.45,0.633,6,0.000,0.029,3229,2031,1426
$GC,19128,2.34,370.9,103.8,7.3,1694,19161,0.00,1.77,24.80,0.775,4,0.000,0.039,3229,3011,1311
$GC,19259,2.39,370.9,93.1,9.1,1717,19265,0.00,1.80,0.00,0.000,6,0.000,0.028,3229,1938,1310
$GC,19603,2.56,406.8,68.4,6.8,1778,19642,0.22,1.85,30.95,0.728,4,0.048,0.048,3297,914,1165
$GC,19823,2.56,406.8,49.1,9.4,1817,19829,0.00,1.85,0.00,0.000,6,0.000,0.024,3297,2049,1164
$GC,20167,2.65,442.7,20.4,6.8,1878,20205,0.00,2.05,30.30,0.663,4,0.000,0.041,3297,909,1020
$GC,20369,2.66,443.8,2.5,8.9,1914,20375,0.00,1.77,0.00,0.000,6,0.000,0.023,3297,2001,1019
$STATE,20379,end climb,SURFACE_DEPTH_REACHED
$STATE,20379,begin surface coast
$FINISH,-0.5,1.021229
$STATE,20403,end surface coast,CONTROL_FINISHED_OK
$STATE,20403,begin surface
$SM_CCo,20425,26.05,0.637,0,0,888,475.15
$SM_GC,-7.25,0.00,0.00,26.05,0.000,0.000,0.637,413,2320,888,-10.66,-0.14,475.15
$IRIDIUM_FIX,1243.25,12016.50,060797,030325
$TT8_MAMPS,0.026078
$HUMID,1889
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,486
$24V_AH,23.0,40.236
$10V_AH,10.2,30.114
$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,28.950,132.200,513.400,26.050,0.000,24.437,39.838,187.993,131.750,0.000,0.000,12.377,3105.112,13093.981,633.707,3377.998,645.283,0.000,2292.366,0.000,3333.198,0.000,75.175
$DEVICE_MAMPS,168.740,142.662,1375.231,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1300.633,466.109,761.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100993,1920
$CAP_FILE_SIZE,196117,0
$CFSIZE,260165632,235278336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,143208,1248.333,12020.930,26,1.4,26,-0.8