version: 66.03
glider: 126
mission: 7
dive: 263
start: 4 12 108 12 22 14
data:
$ID,126
$MISSION,7
$DIVE,263
$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,-624383.38
$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,47
$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
$GPS1,121502,1248.622,12021.967,38,1.4,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.47
$_SM_ANGLEo,-59.5
$GPS2,122121,1248.681,12021.999,11,1.8,11,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S4
$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,170.8,3349,-19.0,-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,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-66.90,0.000,6,0.000,0.000,418,2318,3320
$GC,97,-2.18,-120.8,0.8,-21.4,13,114,10.23,1.77,0.00,0.000,4,0.166,0.037,2249,3365,3322
$GC,248,-1.98,-120.8,35.4,-18.4,39,254,0.25,1.70,0.00,0.000,6,0.115,0.023,2297,2288,3323
$GC,592,-1.93,-120.8,86.7,-12.3,100,598,0.00,1.65,0.00,0.000,4,0.000,0.032,2297,1301,3325
$GC,622,-1.86,-120.8,90.3,-12.4,105,628,0.08,1.55,0.00,0.000,6,0.086,0.023,2322,2251,3325
$GC,966,-1.90,-120.8,126.6,-10.0,166,972,0.00,1.88,0.00,0.000,4,0.000,0.038,2322,3356,3327
$GC,1012,-1.94,-144.8,130.4,-7.5,174,1018,0.00,1.75,0.00,0.000,6,0.000,0.023,2322,2265,3327
$GC,1356,-2.00,-144.8,160.2,-10.0,235,1363,0.12,1.88,0.00,0.000,4,0.058,0.038,2282,3370,3329
$GC,1465,-2.00,-144.8,170.3,-9.2,254,1471,0.00,1.73,0.00,0.000,6,0.000,0.025,2282,2278,3329
$GC,1809,-2.00,-146.0,200.0,-8.0,315,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2271,3329
$GC,2152,-2.00,-146.0,231.4,-8.8,376,2158,0.00,1.85,0.00,0.000,4,0.000,0.042,2282,3360,3329
$GC,2192,-2.00,-146.0,235.0,-8.8,383,2198,0.00,1.70,0.00,0.000,6,0.000,0.026,2282,2291,3329
$GC,2533,-2.00,-146.0,265.6,-9.8,430,2536,0.00,1.65,0.00,0.000,4,0.000,0.038,2282,1308,3327
$GC,2582,-2.00,-146.0,270.8,-9.7,434,2588,0.00,1.60,0.00,0.000,6,0.000,0.026,2282,2272,3327
$GC,2909,-2.00,-146.0,302.7,-9.3,465,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2272,3325
$GC,3226,-2.00,-146.0,332.4,-9.1,495,3229,0.00,1.65,0.00,0.000,4,0.000,0.041,2282,1310,3323
$GC,3264,-2.00,-146.0,336.0,-9.3,498,3270,0.00,1.60,0.00,0.000,6,0.000,0.028,2282,2260,3323
$GC,3592,-2.00,-146.0,363.0,-8.6,529,3595,0.00,1.88,0.00,0.000,4,0.000,0.046,2282,3354,3321
$GC,3686,-2.00,-146.0,371.6,-9.1,537,3693,0.00,1.75,0.00,0.000,6,0.000,0.028,2282,2306,3321
$GC,4013,-2.00,-146.0,399.8,-8.0,568,4017,0.00,1.75,0.00,0.000,4,0.000,0.046,2282,1289,3319
$GC,4063,-2.00,-146.0,404.2,-7.8,572,4069,0.00,1.62,0.00,0.000,6,0.000,0.030,2282,2252,3318
$GC,4390,-2.00,-146.0,431.6,-8.5,603,4393,0.00,1.90,0.00,0.000,4,0.000,0.048,2282,3353,3316
$GC,4451,-2.00,-146.0,437.2,-8.8,608,4457,0.00,1.77,0.00,0.000,6,0.000,0.031,2282,2289,3316
$GC,4777,-2.00,-146.0,466.1,-9.4,639,4781,0.00,1.88,0.00,0.000,4,0.000,0.050,2282,3359,3314
$GC,4845,-2.00,-146.0,472.6,-9.4,645,4849,0.00,1.80,0.00,0.000,6,0.000,0.032,2282,2306,3313
$GC,5184,-2.00,-146.0,504.3,-9.3,675,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2305,3312
$GC,5493,-2.00,-146.0,532.7,-9.4,690,5497,0.00,1.88,0.00,0.000,4,0.000,0.062,2282,3349,3309
$GC,5561,-2.00,-146.0,539.0,-9.5,693,5564,0.00,1.77,0.00,0.000,6,0.000,0.037,2282,2313,3309
$GC,5893,-2.00,-146.0,567.6,-8.5,709,5897,0.00,1.92,0.00,0.000,4,0.000,0.077,2282,1281,3308
$GC,5926,-2.00,-146.0,570.5,-8.5,710,5930,0.00,1.80,0.00,0.000,6,0.000,0.052,2282,2283,3307
$GC,6246,-2.00,-146.0,595.8,-7.5,726,6250,0.00,2.03,0.00,0.000,4,0.000,0.081,2282,3389,3305
$GC,6330,-2.00,-146.0,602.3,-7.3,729,6336,0.00,1.90,0.00,0.000,6,0.000,0.058,2282,2338,3305
$GC,6646,-2.00,-146.0,626.8,-7.9,745,6650,0.00,2.03,0.00,0.000,4,0.000,0.093,2282,1268,3304
$GC,6679,-2.00,-146.0,629.7,-8.0,746,6683,0.00,2.00,0.00,0.000,6,0.000,0.073,2282,2346,3304
$GC,7001,-2.00,-146.0,655.6,-8.7,762,7004,0.00,2.03,0.00,0.000,4,0.000,0.106,2282,3387,3302
$GC,7119,-2.00,-146.0,666.2,-9.1,767,7123,0.00,1.98,0.00,0.000,6,0.000,0.086,2282,2357,3301
$GC,7448,-2.03,-146.0,693.5,-8.5,783,7452,0.00,2.22,0.00,0.000,4,0.000,0.124,2282,1259,3300
$GC,7533,-2.03,-146.0,701.4,-9.6,787,7537,0.00,2.15,0.00,0.000,6,0.000,0.104,2282,2341,3299
$GC,7862,-2.03,-146.0,730.1,-8.5,803,7866,0.00,2.20,0.00,0.000,4,0.000,0.141,2282,3389,3297
$GC,7930,-2.03,-146.0,736.2,-8.4,806,7935,0.00,2.20,0.00,0.000,6,0.000,0.121,2282,2331,3298
$GC,8254,-2.06,-146.0,763.8,-8.3,822,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2331,3296
$GC,8564,-2.10,-146.0,791.6,-9.0,837,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2322,3295
$GC,8870,-2.13,-146.0,819.1,-8.7,852,8874,0.00,1.90,0.00,0.000,4,0.000,0.054,2282,3403,3294
$GC,8909,-2.13,-146.0,822.6,-9.6,853,8915,0.00,1.88,0.00,0.000,6,0.000,0.034,2282,2298,3294
$GC,9225,-2.17,-146.0,849.4,-8.5,869,9227,0.12,0.00,0.00,0.000,6,0.072,0.000,2249,2298,3293
$STATE,9450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9450,begin apogee
$GC,9456,-0.52,0.0,871.2,9.7,880,9561,1.73,0.00,100.40,1.341,6,0.091,0.000,2616,1966,2825
$STATE,9562,end apogee,CONTROL_FINISHED_OK
$STATE,9562,begin climb
$GC,9564,2.22,146.0,875.4,0.0,885,9700,2.65,2.03,127.25,1.309,4,0.058,0.077,3218,918,2229
$GC,9923,2.10,153.8,857.0,8.5,900,9935,0.15,1.85,7.28,1.068,6,0.109,0.034,3190,1993,2198
$GC,10258,2.04,169.6,831.0,8.0,917,10276,0.00,0.00,15.65,1.223,6,0.000,0.000,3189,1993,2133
$GC,10587,1.98,173.1,801.9,8.8,933,10596,0.15,2.05,4.25,0.849,4,0.109,0.061,3156,894,2119
$GC,10676,1.93,180.4,793.9,8.6,937,10690,0.00,1.83,8.60,1.125,6,0.000,0.033,3156,1957,2088
$GC,11007,1.97,200.5,767.3,7.8,953,11028,0.00,0.00,18.77,1.233,6,0.000,0.000,3157,1957,2007
$GC,11336,1.98,209.9,739.4,8.4,969,11347,0.00,0.00,9.90,1.143,6,0.000,0.000,3156,1958,1969
$GC,11645,1.98,210.4,711.0,9.0,984,11649,0.00,1.83,0.00,0.000,4,0.000,0.048,3156,3013,1967
$GC,11785,1.98,210.4,698.0,9.2,990,11789,0.00,1.88,0.00,0.000,6,0.000,0.038,3156,1948,1967
$GC,12112,1.99,215.2,670.1,8.7,1006,12123,0.00,1.92,6.32,1.005,4,0.000,0.065,3156,905,1946
$GC,12201,1.99,215.2,661.7,9.2,1010,12205,0.00,1.77,0.00,0.000,6,0.000,0.031,3157,1925,1946
$GC,12530,2.01,223.2,634.5,8.5,1026,12544,0.00,1.95,8.57,1.078,4,0.000,0.048,3156,3008,1914
$GC,12641,2.01,226.9,624.4,8.8,1031,12650,0.00,1.88,4.88,0.886,6,0.000,0.039,3156,1933,1899
$GC,12973,2.02,233.3,595.7,8.6,1047,12982,0.00,0.00,7.30,1.017,6,0.000,0.000,3156,1933,1874
$GC,13283,2.04,240.9,569.3,8.5,1062,13297,0.00,1.98,8.62,1.042,4,0.000,0.048,3156,3010,1842
$GC,13417,2.06,256.4,557.4,8.1,1068,13438,0.05,1.92,14.98,1.103,6,0.074,0.039,3179,1923,1779
$GC,13747,2.06,256.4,526.2,9.5,1084,13751,0.00,1.92,0.00,0.000,4,0.000,0.047,3179,3017,1777
$GC,13792,2.06,256.4,521.6,9.5,1086,13796,0.00,1.90,0.00,0.000,6,0.000,0.038,3179,1924,1777
$GC,14117,2.06,256.4,489.4,9.7,1106,14120,0.00,1.92,0.00,0.000,4,0.000,0.046,3179,3021,1776
$GC,14263,2.06,256.4,474.6,10.1,1119,14267,0.00,1.80,0.00,0.000,6,0.000,0.036,3179,1976,1776
$GC,14593,2.06,256.4,443.7,9.2,1150,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1976,1776
$GC,14912,2.06,256.4,412.8,9.3,1180,14916,0.00,1.83,0.00,0.000,4,0.000,0.045,3179,3022,1776
$GC,15029,2.06,256.4,401.8,9.0,1190,15035,0.00,1.77,0.00,0.000,6,0.000,0.036,3179,2006,1775
$GC,15357,2.09,274.4,374.6,7.9,1221,15377,0.00,1.83,16.38,0.999,4,0.000,0.047,3179,3005,1707
$GC,15407,2.09,274.4,369.9,9.0,1226,15411,0.00,1.75,0.00,0.000,6,0.000,0.035,3179,1998,1705
$GC,15738,2.11,283.7,342.1,8.4,1257,15752,0.00,1.85,9.48,0.918,4,0.000,0.047,3179,3015,1668
$GC,15884,2.11,286.4,328.7,8.8,1270,15896,0.00,1.65,4.18,0.683,6,0.000,0.034,3179,2054,1656
$GC,16214,2.11,286.4,296.9,10.0,1301,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2054,1656
$GC,16533,2.11,286.4,266.3,9.9,1331,16537,0.00,1.70,0.00,0.000,4,0.000,0.047,3179,3009,1656
$GC,16583,2.11,286.4,261.2,9.5,1335,16589,0.00,1.65,0.00,0.000,6,0.000,0.033,3179,2038,1656
$GC,16920,2.11,287.8,229.5,8.9,1385,16925,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2038,1656
$GC,17263,2.17,303.6,198.2,8.0,1446,17285,0.10,1.73,16.25,0.860,4,0.075,0.044,3209,3012,1586
$GC,17409,2.17,303.6,184.8,9.1,1472,17414,0.00,1.62,0.00,0.000,6,0.000,0.031,3209,2054,1585
$GC,17752,2.21,324.6,156.1,7.7,1533,17778,0.00,1.75,19.17,0.825,4,0.000,0.043,3209,3017,1500
$GC,17835,2.22,329.8,149.0,8.7,1548,17847,0.00,1.60,5.65,0.667,6,0.000,0.030,3209,2091,1480
$GC,18187,2.31,350.8,119.9,7.7,1610,18210,0.10,2.20,18.85,0.786,4,0.073,0.052,3243,902,1396
$GC,18334,2.37,386.9,108.2,6.8,1636,18373,0.00,2.05,31.67,0.775,6,0.000,0.028,3243,2112,1247
$GC,18713,2.48,418.6,79.7,7.0,1703,18748,0.12,2.15,27.12,0.737,4,0.060,0.044,3283,906,1117
$GC,18861,2.57,448.5,66.7,7.2,1729,18894,0.00,1.90,26.08,0.712,6,0.000,0.025,3283,2061,995
$GC,19237,2.68,469.4,36.0,7.7,1795,19260,0.12,1.70,17.98,0.663,4,0.061,0.038,3323,3025,911
$GC,19514,2.71,469.4,8.6,10.9,1844,19521,0.00,1.67,0.00,0.000,6,0.000,0.025,3324,2021,909
$STATE,19580,end climb,SURFACE_DEPTH_REACHED
$STATE,19581,begin surface coast
$FINISH,-1.0,1.021303
$STATE,19604,end surface coast,CONTROL_FINISHED_OK
$STATE,19604,begin surface
$SM_CCo,19627,5.68,0.520,0,0,888,475.15
$SM_GC,-3.46,0.00,0.00,5.68,0.000,0.000,0.520,413,2354,888,-10.66,0.82,475.15
$IRIDIUM_FIX,1238.83,12024.46,070797,060600
$TT8_MAMPS,0.026078
$HUMID,1937
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.60
$XPDR_PINGS,399
$24V_AH,23.1,41.144
$10V_AH,10.1,30.693
$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,28.575,134.100,535.575,5.675,0.000,23.111,33.625,189.378,109.250,0.000,0.000,11.537,3035.096,12405.468,625.080,3318.511,649.219,0.000,2255.377,0.000,3277.327,0.000,69.747
$DEVICE_MAMPS,165.672,141.128,1341.483,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.355,457.235,745.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97793,1860
$CAP_FILE_SIZE,192501,0
$CFSIZE,260165632,234823680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,175037,1247.340,12022.649,32,1.5,32,-0.8