version: 66.03
glider: 126
mission: 7
dive: 259
start: 4 11 108 14 39 48
data:
$ID,126
$MISSION,7
$DIVE,259
$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,-624326.38
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,143208,1248.333,12020.930,26,1.4,26,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.54
$_SM_ANGLEo,-59.0
$GPS2,143856,1248.365,12020.854,12,1.5,12,-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,136.5,3792,-19.0,-9.016
$D_GRID,886
$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,-67.05,0.000,6,0.000,0.000,414,2321,3319
$GC,97,-2.18,-120.8,0.4,-20.9,13,114,10.35,1.77,0.00,0.000,4,0.170,0.031,2250,1268,3321
$GC,262,-2.02,-120.8,37.7,-18.0,42,269,0.15,1.73,0.00,0.000,6,0.108,0.025,2283,2318,3322
$GC,609,-1.92,-120.8,90.6,-13.4,103,615,0.12,1.77,0.00,0.000,4,0.117,0.038,2306,3375,3324
$GC,712,-1.86,-120.8,103.6,-11.7,121,718,0.00,1.70,0.00,0.000,6,0.000,0.023,2307,2291,3325
$GC,1056,-1.86,-120.8,138.4,-11.0,182,1062,0.00,1.65,0.00,0.000,4,0.000,0.034,2307,1307,3326
$GC,1120,-1.86,-120.8,145.0,-10.5,193,1126,0.00,1.62,0.00,0.000,6,0.000,0.023,2306,2318,3326
$GC,1464,-1.87,-123.8,177.6,-8.8,254,1470,0.00,1.75,0.00,0.000,4,0.000,0.040,2306,3363,3327
$GC,1516,-1.87,-124.2,182.3,-9.0,263,1522,0.00,1.67,0.00,0.000,6,0.000,0.024,2307,2297,3327
$GC,1860,-1.91,-146.0,210.6,-7.4,324,1865,0.00,1.83,0.00,0.000,4,0.000,0.041,2306,3367,3328
$GC,1952,-1.91,-146.0,218.1,-7.8,340,1958,0.00,1.67,0.00,0.000,6,0.000,0.025,2306,2304,3328
$GC,2295,-1.94,-146.0,247.1,-8.6,401,2301,0.00,1.65,0.00,0.000,4,0.000,0.038,2307,1319,3327
$GC,2353,-1.94,-146.0,252.1,-8.2,409,2357,0.00,1.60,0.00,0.000,6,0.000,0.025,2307,2302,3327
$GC,2686,-1.98,-146.0,281.0,-9.0,440,2689,0.00,1.83,0.00,0.000,4,0.000,0.044,2306,3362,3325
$GC,2854,-1.98,-146.0,297.7,-9.7,455,2858,0.00,1.67,0.00,0.000,6,0.000,0.027,2307,2317,3325
$GC,3187,-2.02,-146.0,328.0,-8.5,486,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2311,3323
$GC,3505,-2.06,-146.0,356.0,-9.4,516,3509,0.12,1.83,0.00,0.000,4,0.064,0.044,2271,3369,3321
$GC,3628,-2.06,-146.0,368.9,-9.8,527,3632,0.00,1.65,0.00,0.000,6,0.000,0.028,2271,2356,3320
$GC,3962,-2.06,-146.0,399.2,-9.0,558,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2353,3318
$GC,4287,-2.06,-146.0,429.2,-8.8,589,4290,0.00,1.77,0.00,0.000,4,0.000,0.048,2271,3371,3316
$GC,4321,-2.06,-146.0,432.5,-9.6,592,4324,0.00,1.65,0.00,0.000,6,0.000,0.031,2271,2381,3316
$GC,4653,-2.06,-146.0,463.9,-9.9,623,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2381,3313
$GC,4970,-2.06,-146.0,493.7,-8.9,653,4974,0.00,1.95,0.00,0.000,4,0.000,0.061,2271,1289,3313
$GC,5027,-2.06,-146.0,499.0,-9.3,658,5031,0.00,1.85,0.00,0.000,6,0.000,0.037,2271,2371,3312
$GC,5360,-2.06,-146.0,526.9,-8.0,675,5363,0.00,1.77,0.00,0.000,4,0.000,0.061,2271,3374,3309
$GC,5428,-2.06,-146.0,532.7,-8.6,678,5432,0.00,1.65,0.00,0.000,6,0.000,0.034,2271,2397,3308
$GC,5761,-2.06,-146.0,561.1,-8.7,694,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2397,3307
$GC,6071,-2.06,-146.0,589.0,-9.0,709,6075,0.00,2.00,0.00,0.000,4,0.000,0.074,2271,1305,3305
$GC,6144,-2.06,-146.0,596.2,-9.7,712,6147,0.00,1.95,0.00,0.000,6,0.000,0.061,2271,2382,3305
$GC,6470,-2.06,-146.0,625.8,-8.7,728,6474,0.00,2.08,0.00,0.000,4,0.000,0.087,2270,1296,3303
$GC,6543,-2.06,-146.0,632.4,-9.4,731,6546,0.00,1.98,0.00,0.000,6,0.000,0.074,2271,2354,3303
$GC,6869,-2.06,-146.0,662.6,-9.6,747,6873,0.00,2.03,0.00,0.000,4,0.000,0.109,2271,3390,3302
$GC,6924,-2.06,-146.0,668.3,-11.0,749,6927,0.00,1.90,0.00,0.000,6,0.000,0.085,2271,2415,3301
$GC,7246,-2.06,-146.0,697.6,-8.8,765,7249,0.00,2.00,0.00,0.000,4,0.000,0.121,2271,3389,3300
$GC,7313,-2.06,-146.0,704.0,-9.6,768,7316,0.00,1.90,0.00,0.000,6,0.000,0.103,2271,2436,3300
$GC,7645,-2.06,-146.0,732.0,-7.8,784,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2436,3298
$GC,7954,-2.06,-146.0,758.5,-8.8,799,7959,0.00,2.45,0.00,0.000,4,0.000,0.155,2271,1309,3296
$GC,8039,-2.06,-146.0,766.4,-9.4,803,8042,0.00,1.85,0.00,0.000,6,0.000,0.031,2271,2401,3296
$GC,8371,-2.06,-146.0,795.4,-8.6,819,8375,0.00,1.73,0.00,0.000,4,0.000,0.054,2271,3393,3295
$GC,8466,-2.06,-146.0,803.8,-8.1,823,8470,0.00,1.70,0.00,0.000,6,0.000,0.032,2271,2377,3295
$GC,8793,-2.06,-146.0,832.5,-9.1,839,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2376,3294
$GC,9102,-2.06,-146.0,859.8,-9.0,854,9107,0.00,1.83,0.00,0.000,4,0.000,0.061,2271,3403,3292
$GC,9174,-2.06,-146.0,866.7,-9.2,857,9178,0.00,1.73,0.00,0.000,6,0.000,0.032,2271,2398,3292
$STATE,9395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9395,begin apogee
$GC,9401,-0.52,0.0,887.4,9.3,868,9506,1.62,0.00,100.62,1.356,6,0.092,0.000,2616,1984,2825
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9507,begin climb
$GC,9509,2.22,146.0,892.1,0.0,873,9645,2.67,2.00,127.65,1.322,4,0.060,0.064,3219,918,2228
$GC,9754,2.10,155.3,884.0,8.4,883,9769,0.17,1.85,9.10,1.131,6,0.107,0.031,3186,2002,2190
$GC,10092,2.01,155.3,855.4,9.1,900,10096,0.00,1.98,0.00,0.000,4,0.000,0.057,3185,918,2187
$GC,10165,1.90,155.3,848.3,10.0,903,10169,0.17,1.77,0.00,0.000,6,0.097,0.030,3147,1945,2187
$GC,10491,1.88,167.6,821.7,8.3,919,10505,0.00,0.00,11.60,1.198,6,0.000,0.000,3146,1945,2141
$GC,10800,1.89,193.4,797.3,7.4,934,10829,0.00,1.88,24.20,1.266,4,0.000,0.047,3147,3008,2036
$GC,10880,1.87,204.6,790.8,8.3,938,10896,0.00,1.85,11.50,1.168,6,0.000,0.036,3147,1961,1990
$GC,11206,1.89,217.9,764.3,8.2,953,11228,0.00,1.92,13.07,1.195,4,0.000,0.047,3147,3004,1936
$GC,11300,1.89,217.9,755.3,9.1,957,11304,0.00,1.80,0.00,0.000,6,0.000,0.044,3147,1983,1934
$GC,11627,1.89,217.9,724.6,9.4,973,11631,0.00,1.92,0.00,0.000,4,0.000,0.062,3146,916,1934
$GC,11666,1.86,217.9,720.9,9.1,974,11672,0.00,1.83,0.00,0.000,6,0.000,0.031,3146,1992,1933
$GC,11981,1.86,217.9,691.9,9.2,990,11985,0.00,1.75,0.00,0.000,4,0.000,0.048,3146,3005,1932
$GC,12060,1.87,223.4,684.6,8.7,993,12071,0.00,1.75,5.90,0.986,6,0.000,0.036,3146,1985,1913
$GC,12380,1.87,225.5,654.7,8.9,1009,12383,0.00,1.80,0.00,0.000,4,0.000,0.046,3146,3015,1913
$GC,12572,1.90,239.0,637.9,8.2,1017,12592,0.00,1.67,15.40,1.161,6,0.000,0.035,3146,2036,1850
$GC,12908,1.90,241.4,609.0,8.9,1034,12912,0.00,2.03,0.00,0.000,4,0.000,0.061,3146,913,1848
$GC,13048,1.90,241.4,596.0,9.6,1040,13052,0.00,1.90,0.00,0.000,6,0.000,0.031,3146,2034,1848
$GC,13375,1.91,248.2,566.8,8.6,1056,13389,0.00,2.12,9.12,1.055,4,0.000,0.058,3146,908,1813
$GC,13445,1.91,248.2,560.1,9.5,1059,13449,0.00,1.88,0.00,0.000,6,0.000,0.031,3146,1992,1813
$GC,13772,1.91,248.2,531.3,9.0,1075,13776,0.00,1.75,0.00,0.000,4,0.000,0.047,3146,3007,1812
$GC,13846,1.91,248.2,524.5,9.5,1078,13849,0.00,1.73,0.00,0.000,6,0.000,0.035,3146,1998,1811
$GC,14164,1.91,249.9,496.6,8.9,1095,14167,0.00,1.80,0.00,0.000,4,0.000,0.045,3146,3010,1811
$GC,14247,1.94,266.2,488.9,8.0,1102,14268,0.00,1.70,17.27,1.078,6,0.000,0.035,3146,2031,1739
$GC,14587,1.95,273.7,459.3,8.5,1134,14599,0.00,1.80,7.85,0.957,4,0.000,0.045,3146,3013,1709
$GC,14638,1.95,273.7,454.3,9.2,1138,14644,0.00,1.67,0.00,0.000,6,0.000,0.033,3146,2056,1708
$GC,14965,1.99,273.7,424.0,9.1,1169,14969,0.00,1.67,0.00,0.000,4,0.000,0.044,3146,3015,1708
$GC,15003,1.99,273.7,420.1,9.4,1172,15010,0.00,1.62,0.00,0.000,6,0.000,0.033,3146,2080,1708
$GC,15332,2.04,286.9,393.3,8.2,1203,15349,0.12,0.00,13.02,0.989,6,0.073,0.000,3181,2080,1655
$GC,15667,2.04,286.9,361.5,9.4,1235,15670,0.00,2.10,0.00,0.000,4,0.000,0.058,3181,907,1654
$GC,15716,2.04,286.9,356.4,10.6,1239,15722,0.00,2.00,0.00,0.000,6,0.000,0.030,3181,2092,1653
$GC,16043,2.04,286.9,325.3,9.3,1270,16044,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2092,1654
$GC,16359,2.04,286.9,295.0,9.7,1300,16361,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2092,1654
$GC,16679,2.04,286.9,265.3,9.2,1330,16682,0.00,2.10,0.00,0.000,4,0.000,0.051,3181,916,1654
$GC,16746,2.04,286.9,258.9,9.2,1336,16750,0.00,1.98,0.00,0.000,6,0.000,0.029,3181,2074,1654
$GC,17083,2.06,300.5,228.7,8.2,1387,17104,0.00,2.15,13.10,0.872,4,0.000,0.051,3181,914,1599
$GC,17195,2.07,303.9,218.5,8.8,1407,17206,0.00,1.90,4.57,0.660,6,0.000,0.028,3181,2045,1585
$GC,17543,2.07,303.9,186.2,9.3,1469,17548,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2047,1585
$GC,17885,2.11,303.9,153.1,9.0,1530,17891,0.00,1.65,0.00,0.000,4,0.000,0.043,3181,3019,1585
$GC,17927,2.16,303.9,149.1,9.4,1537,17933,0.00,1.70,0.00,0.000,6,0.000,0.031,3181,2006,1585
$GC,18271,2.31,349.8,123.7,6.2,1598,18321,0.20,2.03,39.60,0.810,4,0.054,0.052,3241,916,1398
$GC,18434,2.31,355.1,109.8,8.7,1627,18446,0.00,1.77,5.65,0.639,6,0.000,0.026,3241,1992,1377
$GC,18786,2.41,376.9,85.0,7.7,1689,18813,0.00,1.98,19.42,0.742,4,0.000,0.045,3241,913,1288
$GC,18876,2.51,401.7,77.8,7.5,1705,18905,0.15,1.73,21.98,0.726,6,0.056,0.025,3286,1967,1187
$GC,19244,2.58,419.3,47.5,7.9,1770,19266,0.00,1.75,15.90,0.679,4,0.000,0.035,3286,2998,1115
$GC,19387,2.65,438.8,36.6,7.8,1795,19410,0.00,1.70,17.27,0.664,6,0.000,0.025,3286,1962,1036
$GC,19751,2.72,441.6,8.7,8.8,1859,19763,0.15,1.83,4.22,0.448,4,0.054,0.044,3338,924,1024
$STATE,19812,end climb,SURFACE_DEPTH_REACHED
$STATE,19812,begin surface coast
$FINISH,-0.0,1.021142
$STATE,19831,end surface coast,CONTROL_FINISHED_OK
$STATE,19831,begin surface
$SM_CCo,19855,26.35,0.634,0,0,888,475.15
$SM_GC,-7.13,0.00,0.00,26.35,0.000,0.000,0.634,419,2328,888,-10.64,0.08,475.15
$IRIDIUM_FIX,1245.46,12019.52,060797,080846
$TT8_MAMPS,0.025311
$HUMID,1891
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.60
$XPDR_PINGS,416
$24V_AH,23.1,40.429
$10V_AH,10.1,30.233
$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,28.700,144.000,508.050,26.350,0.000,23.880,32.729,212.789,113.750,0.000,0.000,12.952,3068.664,12576.979,623.355,3377.320,661.755,0.000,2281.243,0.000,3325.698,0.000,71.567
$DEVICE_MAMPS,169.507,154.934,1356.056,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1268.548,464.425,747.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100858,1873
$CAP_FILE_SIZE,195710,0
$CFSIZE,260165632,235184128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110408,201226,1247.193,12022.090,38,1.2,38,-0.8