version: 66.03
glider: 126
mission: 7
dive: 260
start: 4 11 108 20 19 49
data:
$ID,126
$MISSION,7
$DIVE,260
$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,-624341.44
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,201226,1247.193,12022.090,38,1.2,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.52
$_SM_ANGLEo,-59.5
$GPS2,201857,1247.193,12022.022,13,1.4,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S1
$TGT_LATLONG,1246.900,12022.320
$TGT_RADIUS,9999.000
$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,136.1,763,-21.3,-9.016
$D_GRID,870
$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,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.50,0.000,6,0.000,0.000,418,2328,3244
$GC,97,-2.39,-101.9,0.6,-21.2,13,114,10.02,1.77,0.00,0.000,4,0.169,0.031,2202,1277,3245
$GC,167,-2.19,-101.9,20.8,-19.2,25,174,0.25,1.73,0.00,0.000,6,0.114,0.024,2250,2342,3246
$GC,512,-2.11,-101.9,77.3,-14.4,86,518,0.10,1.75,0.00,0.000,4,0.130,0.038,2268,3370,3247
$GC,621,-2.04,-101.9,92.6,-13.1,105,627,0.00,1.62,0.00,0.000,6,0.000,0.022,2267,2328,3248
$GC,963,-2.04,-101.9,133.5,-11.5,166,969,0.00,1.70,0.00,0.000,4,0.000,0.032,2267,1310,3248
$GC,1032,-2.04,-101.9,140.2,-9.5,178,1038,0.00,1.75,0.00,0.000,6,0.000,0.023,2267,2374,3249
$GC,1375,-2.08,-104.2,171.2,-8.9,239,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2374,3250
$GC,1719,-2.13,-111.8,200.6,-8.5,300,1724,0.00,1.67,0.00,0.000,4,0.000,0.041,2267,3371,3250
$GC,1843,-2.13,-111.8,212.6,-10.1,322,1849,0.00,1.60,0.00,0.000,6,0.000,0.025,2267,2349,3250
$GC,2187,-2.17,-111.8,246.7,-9.8,383,2193,0.00,1.73,0.00,0.000,4,0.000,0.036,2267,1317,3250
$GC,2266,-2.21,-111.8,254.7,-9.8,393,2270,0.00,1.65,0.00,0.000,6,0.000,0.025,2268,2330,3250
$GC,2600,-2.26,-111.8,286.3,-9.3,424,2604,0.15,1.77,0.00,0.000,4,0.058,0.043,2220,3372,3249
$GC,2694,-2.23,-111.8,296.1,-9.7,432,2701,0.12,1.65,0.00,0.000,6,0.106,0.026,2244,2332,3249
$GC,3019,-2.27,-135.0,321.8,-7.4,463,3023,0.00,1.75,0.00,0.000,4,0.000,0.040,2244,1314,3247
$GC,3080,-2.29,-146.0,326.7,-7.9,468,3087,0.00,1.70,0.00,0.000,6,0.000,0.027,2244,2327,3247
$GC,3408,-2.29,-146.0,354.6,-9.0,499,3412,0.00,1.80,0.00,0.000,4,0.000,0.046,2244,3379,3245
$GC,3521,-2.29,-146.0,365.5,-9.5,509,3525,0.00,1.67,0.00,0.000,6,0.000,0.028,2244,2344,3244
$GC,3853,-2.32,-146.0,395.6,-8.8,540,3857,0.00,1.80,0.00,0.000,4,0.000,0.046,2244,3378,3242
$GC,3903,-2.32,-146.0,400.1,-8.6,544,3909,0.00,1.67,0.00,0.000,6,0.000,0.028,2244,2355,3241
$GC,4229,-2.32,-146.0,427.3,-8.6,575,4233,0.00,1.85,0.00,0.000,4,0.000,0.050,2244,1285,3240
$GC,4309,-2.32,-146.0,434.4,-8.4,582,4313,0.00,1.75,0.00,0.000,6,0.000,0.031,2244,2316,3239
$GC,4640,-2.35,-146.0,464.1,-9.6,613,4644,0.12,1.83,0.00,0.000,4,0.068,0.049,2211,3373,3237
$GC,4731,-2.32,-146.0,473.6,-10.7,621,4735,0.00,1.73,0.00,0.000,6,0.000,0.031,2210,2344,3236
$GC,5071,-2.32,-146.0,508.0,-9.6,649,5074,0.00,1.90,0.00,0.000,4,0.000,0.062,2210,1274,3235
$GC,5120,-2.32,-146.0,513.2,-10.1,651,5124,0.00,1.83,0.00,0.000,6,0.000,0.038,2210,2324,3234
$GC,5447,-2.32,-146.0,544.2,-9.3,667,5451,0.00,1.90,0.00,0.000,4,0.000,0.064,2210,3374,3232
$GC,5515,-2.29,-146.0,550.5,-9.3,670,5520,0.10,1.80,0.00,0.000,6,0.118,0.038,2229,2329,3232
$GC,5852,-2.29,-146.0,580.4,-8.9,686,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2328,3230
$GC,6157,-2.29,-146.0,608.5,-9.4,701,6160,0.00,2.00,0.00,0.000,4,0.000,0.084,2228,3396,3229
$GC,6224,-2.29,-146.0,615.1,-9.5,704,6228,0.00,1.90,0.00,0.000,6,0.000,0.061,2229,2357,3228
$GC,6559,-2.29,-146.0,640.7,-7.3,720,6563,0.00,2.08,0.00,0.000,4,0.000,0.097,2228,1267,3226
$GC,6667,-2.29,-146.0,650.2,-9.5,724,6673,0.00,2.00,0.00,0.000,6,0.000,0.082,2229,2327,3225
$GC,6984,-2.29,-146.0,677.9,-8.6,740,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2326,3224
$GC,7291,-2.29,-146.0,706.1,-9.2,755,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2326,3222
$GC,7601,-2.29,-146.0,732.9,-8.6,770,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2326,3221
$GC,7911,-2.29,-146.0,761.2,-9.9,785,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2326,3219
$GC,8219,-2.29,-146.0,793.4,-9.8,800,8223,0.00,2.42,0.00,0.000,4,0.000,0.179,2229,3383,3218
$GC,8376,-2.29,-146.0,808.9,-9.8,807,8380,0.00,1.83,0.00,0.000,6,0.000,0.042,2229,2324,3217
$GC,8703,-2.29,-146.0,839.5,-8.8,823,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2322,3216
$GC,9011,-2.29,-146.0,867.1,-9.1,838,9015,0.00,1.90,0.00,0.000,4,0.000,0.055,2229,3393,3216
$STATE,9043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9043,begin apogee
$GC,9051,-0.52,0.0,870.1,9.7,839,9142,1.80,0.00,84.20,1.339,6,0.098,0.000,2615,1968,2824
$STATE,9143,end apogee,CONTROL_FINISHED_OK
$STATE,9143,begin climb
$GC,9146,2.47,146.0,872.6,0.0,844,9282,2.92,2.03,127.07,1.305,4,0.063,0.074,3275,917,2229
$GC,9322,2.33,146.0,863.4,11.6,852,9327,0.20,1.85,0.00,0.000,6,0.109,0.032,3237,1988,2226
$GC,9644,2.24,146.0,830.5,9.6,868,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1987,2222
$GC,9953,2.15,146.0,799.3,9.9,883,9957,0.17,1.98,0.00,0.000,4,0.110,0.058,3199,908,2221
$GC,9992,2.09,146.0,795.7,9.4,885,9995,0.00,1.80,0.00,0.000,6,0.000,0.032,3199,1961,2221
$GC,10325,2.11,176.2,769.9,6.9,901,10356,0.00,1.88,26.17,1.250,4,0.000,0.048,3199,3015,2105
$GC,10485,2.07,176.2,756.2,9.1,908,10489,0.00,1.80,0.00,0.000,6,0.000,0.037,3199,1971,2103
$GC,10806,2.09,191.1,729.5,8.0,924,10828,0.00,1.90,13.98,1.187,4,0.000,0.048,3199,3007,2046
$GC,10906,2.09,191.1,720.0,9.9,928,10909,0.00,1.80,0.00,0.000,6,0.000,0.036,3199,1985,2044
$GC,11227,2.10,198.5,690.6,8.5,944,11237,0.00,0.00,8.00,1.077,6,0.000,0.000,3199,1985,2015
$GC,11536,2.10,198.5,661.8,9.0,959,11539,0.00,1.80,0.00,0.000,4,0.000,0.046,3199,3013,2014
$GC,11695,2.11,199.4,648.7,8.9,966,11699,0.00,1.77,0.00,0.000,6,0.000,0.036,3199,1981,2013
$GC,12028,2.12,205.5,620.0,8.6,982,12041,0.00,2.03,7.38,1.029,4,0.000,0.061,3199,906,1987
$GC,12167,2.12,205.5,606.3,9.7,988,12171,0.00,1.83,0.00,0.000,6,0.000,0.031,3199,1977,1986
$GC,12494,2.12,205.5,575.0,9.7,1004,12497,0.00,1.77,0.00,0.000,4,0.000,0.047,3199,3010,1986
$GC,12599,2.12,205.5,564.6,9.0,1008,12605,0.00,1.80,0.00,0.000,6,0.000,0.037,3199,1978,1985
$GC,12915,2.12,205.5,535.5,9.5,1024,12919,0.00,1.80,0.00,0.000,4,0.000,0.046,3199,3011,1985
$GC,12976,2.12,206.1,529.7,9.0,1026,12982,0.00,1.75,0.00,0.000,6,0.000,0.036,3200,2006,1985
$GC,13292,2.12,206.4,502.0,9.0,1042,13295,0.00,1.75,0.00,0.000,4,0.000,0.047,3199,3010,1985
$GC,13337,2.12,206.4,497.5,9.6,1045,13341,0.00,1.67,0.00,0.000,6,0.000,0.035,3200,2031,1985
$GC,13669,2.12,206.4,465.8,9.3,1076,13672,0.00,2.00,0.00,0.000,4,0.000,0.061,3200,913,1985
$GC,13753,2.12,208.6,457.5,8.9,1083,13762,0.00,1.90,4.25,0.747,6,0.000,0.031,3199,2039,1973
$GC,14088,2.13,211.8,427.2,8.8,1115,14098,0.00,0.00,4.70,0.786,6,0.000,0.000,3199,2040,1961
$GC,14419,2.16,229.1,399.8,7.8,1146,14441,0.00,1.77,16.45,1.015,4,0.000,0.047,3199,3015,1890
$GC,14469,2.16,231.4,395.2,8.9,1150,14478,0.00,1.75,3.78,0.650,6,0.000,0.035,3200,1997,1881
$GC,14804,2.16,232.1,368.9,9.0,1182,14807,0.00,1.77,0.00,0.000,4,0.000,0.044,3199,3014,1880
$GC,14939,2.16,234.9,356.6,8.8,1194,14951,0.00,1.67,4.75,0.751,6,0.000,0.034,3199,2032,1867
$GC,15269,2.19,251.4,328.7,7.9,1225,15291,0.00,1.75,15.65,0.956,4,0.000,0.044,3200,3013,1799
$GC,15386,2.20,258.5,318.4,8.5,1235,15401,0.00,1.65,7.55,0.852,6,0.000,0.032,3199,2064,1771
$GC,15720,2.25,264.9,292.3,8.6,1267,15732,0.00,2.12,7.15,0.830,4,0.000,0.056,3199,916,1745
$GC,15822,2.25,264.9,282.1,10.5,1276,15826,0.00,1.95,0.00,0.000,6,0.000,0.030,3199,2064,1745
$GC,16155,2.31,266.8,249.8,8.9,1307,16161,0.15,0.00,0.00,0.000,6,0.066,0.000,3240,2064,1744
$GC,16497,2.31,266.8,220.1,9.6,1368,16504,0.00,2.05,0.00,0.000,4,0.000,0.051,3240,913,1744
$GC,16617,2.31,266.8,207.6,10.0,1389,16623,0.00,1.92,0.00,0.000,6,0.000,0.028,3240,2061,1744
$GC,16961,2.33,277.1,174.2,8.3,1450,16978,0.00,1.73,11.82,0.818,4,0.000,0.045,3240,3017,1695
$GC,17058,2.33,277.1,164.7,10.2,1467,17064,0.00,1.67,0.00,0.000,6,0.000,0.030,3240,2028,1694
$GC,17402,2.40,294.0,135.2,7.8,1528,17424,0.00,1.77,15.48,0.802,4,0.000,0.041,3240,3015,1625
$GC,17679,2.54,334.4,113.6,6.2,1577,17723,0.20,1.58,34.62,0.794,6,0.053,0.028,3296,2086,1460
$GC,18060,2.62,357.3,84.2,7.4,1645,18088,0.00,1.67,19.90,0.739,4,0.000,0.038,3296,3016,1368
$GC,18181,2.66,361.0,73.9,8.8,1666,18192,0.00,1.45,4.65,0.545,6,0.000,0.025,3296,2150,1352
$GC,18532,2.84,420.1,50.0,4.9,1728,18587,0.20,2.25,49.58,0.696,4,0.048,0.046,3362,907,1112
$GC,18599,2.89,455.3,45.2,6.6,1740,18638,0.00,2.10,30.10,0.667,6,0.000,0.025,3362,2175,967
$GC,18978,2.93,455.3,7.1,10.0,1807,18984,0.00,1.42,0.00,0.000,4,0.000,0.037,3362,3016,965
$STATE,19016,end climb,SURFACE_DEPTH_REACHED
$STATE,19016,begin surface coast
$FINISH,0.0,1.021187
$STATE,19035,end surface coast,CONTROL_FINISHED_OK
$STATE,19035,begin surface
$SM_CCo,19058,16.52,0.626,0,0,888,475.15
$SM_GC,-5.32,0.00,0.00,16.52,0.000,0.000,0.626,418,2269,888,-10.63,-1.58,475.15
$IRIDIUM_FIX,1243.25,12019.52,060797,141400
$TT8_MAMPS,0.026078
$HUMID,1927
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,393
$24V_AH,23.1,40.606
$10V_AH,10.1,30.349
$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,29.325,134.175,497.225,16.525,0.000,24.367,44.779,185.186,107.750,0.000,0.000,14.427,2967.735,12011.885,599.803,3275.904,629.280,0.000,2215.497,0.000,3225.336,0.000,69.749
$DEVICE_MAMPS,168.740,179.478,1339.182,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1229.460,446.782,734.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97817,1817
$CAP_FILE_SIZE,188201,0
$CFSIZE,260165632,235102208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,013902,1245.957,12023.301,41,1.2,41,-0.8