version: 66.03
glider: 126
mission: 7
dive: 264
start: 4 12 108 17 58 36
data:
$ID,126
$MISSION,7
$DIVE,264
$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,-624417.25
$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,25
$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
$GPS1,175037,1247.340,12022.649,32,1.5,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.52
$_SM_ANGLEo,-58.0
$GPS2,175744,1247.479,12022.686,14,1.5,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S5
$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,212.4,1259,-21.3,-9.016
$D_GRID,857
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-66.30,0.000,6,0.000,0.000,413,2361,3244
$GC,97,-2.39,-101.9,0.1,-19.6,13,114,10.10,1.88,0.00,0.000,4,0.170,0.030,2201,1249,3245
$GC,251,-2.21,-101.9,36.7,-19.2,40,258,0.20,1.75,0.00,0.000,6,0.114,0.024,2244,2314,3247
$GC,597,-2.14,-101.9,93.4,-13.4,101,603,0.00,1.77,0.00,0.000,4,0.000,0.038,2244,3376,3248
$GC,699,-2.07,-101.9,107.4,-13.4,119,706,0.17,1.73,0.00,0.000,6,0.117,0.023,2278,2282,3249
$GC,1045,-2.07,-101.9,142.0,-9.2,180,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2278,3251
$GC,1388,-2.12,-107.9,171.4,-8.6,241,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2277,3251
$GC,1731,-2.20,-126.7,200.5,-7.7,302,1736,0.12,0.00,0.00,0.000,6,0.061,0.000,2238,2277,3251
$GC,2074,-2.20,-126.7,232.0,-9.4,363,2079,0.00,1.85,0.00,0.000,4,0.000,0.042,2238,3364,3251
$GC,2153,-2.20,-126.7,239.7,-9.3,377,2159,0.00,1.60,0.00,0.000,6,0.000,0.026,2238,2352,3251
$GC,2489,-2.20,-126.7,271.2,-9.4,418,2492,0.00,1.75,0.00,0.000,4,0.000,0.044,2238,3369,3251
$GC,2545,-2.20,-126.7,276.4,-9.3,423,2549,0.00,1.60,0.00,0.000,6,0.000,0.027,2239,2383,3251
$GC,2876,-2.20,-126.7,307.4,-9.2,454,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2376,3249
$GC,3195,-2.22,-133.1,335.5,-8.6,484,3198,0.00,1.70,0.00,0.000,4,0.000,0.046,2239,3364,3247
$GC,3279,-2.22,-138.8,342.9,-8.6,491,3285,0.00,1.58,0.00,0.000,6,0.000,0.028,2239,2390,3247
$GC,3605,-2.22,-138.8,373.7,-10.0,522,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2387,3245
$GC,3923,-2.22,-138.8,405.0,-10.0,552,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2387,3243
$GC,4241,-2.24,-146.0,434.6,-8.5,582,4244,0.00,1.88,0.00,0.000,4,0.000,0.051,2238,1318,3242
$GC,4279,-2.24,-146.0,437.9,-8.1,585,4285,0.00,1.77,0.00,0.000,6,0.000,0.033,2238,2369,3241
$GC,4606,-2.24,-146.0,463.6,-8.2,616,4610,0.00,1.75,0.00,0.000,4,0.000,0.052,2238,3380,3239
$GC,4668,-2.24,-146.0,468.9,-8.3,621,4673,0.00,1.65,0.00,0.000,6,0.000,0.031,2238,2410,3239
$GC,4994,-2.24,-146.0,497.5,-9.3,652,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2411,3237
$GC,5312,-2.24,-146.0,528.1,-9.4,669,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2411,3235
$GC,5623,-2.24,-146.0,554.1,-8.2,684,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2411,3233
$GC,5934,-2.24,-146.0,581.2,-9.5,699,5937,0.00,1.80,0.00,0.000,4,0.000,0.078,2239,3373,3232
$GC,5989,-2.24,-146.0,587.0,-9.9,701,5992,0.00,1.70,0.00,0.000,6,0.000,0.054,2239,2441,3231
$GC,6310,-2.24,-146.0,615.6,-8.2,717,6314,0.00,2.10,0.00,0.000,4,0.000,0.088,2238,1327,3230
$GC,6382,-2.27,-146.0,621.8,-9.0,720,6386,0.00,1.90,0.00,0.000,6,0.000,0.073,2239,2350,3230
$GC,6712,-2.30,-146.0,654.4,-7.6,736,6715,0.00,2.03,0.00,0.000,4,0.000,0.107,2238,3386,3228
$GC,6778,-2.30,-146.0,660.9,-9.7,739,6782,0.00,1.83,0.00,0.000,6,0.000,0.087,2238,2438,3227
$GC,7111,-2.30,-146.0,688.1,-8.2,755,7115,0.00,2.20,0.00,0.000,4,0.000,0.120,2238,1335,3225
$GC,7155,-2.30,-146.0,692.3,-9.1,757,7159,0.00,2.05,0.00,0.000,6,0.000,0.103,2238,2372,3225
$GC,7485,-2.34,-146.0,721.3,-8.6,773,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2372,3223
$GC,7792,-2.37,-146.0,745.2,-7.7,788,7797,0.12,2.17,0.00,0.000,4,0.068,0.150,2204,3384,3222
$GC,7863,-2.37,-146.0,751.7,-9.1,791,7867,0.00,2.05,0.00,0.000,6,0.000,0.133,2205,2421,3222
$GC,8185,-2.37,-146.0,778.7,-8.1,807,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2421,3220
$GC,8493,-2.37,-146.0,804.7,-8.9,822,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2409,3218
$GC,8804,-2.37,-146.0,834.8,-9.3,837,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2410,3218
$STATE,9027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9027,begin apogee
$GC,9033,-0.52,0.0,857.0,10.1,848,9122,1.95,0.00,84.57,1.332,6,0.100,0.000,2612,2009,2825
$STATE,9123,end apogee,CONTROL_FINISHED_OK
$STATE,9123,begin climb
$GC,9126,2.47,146.0,860.2,0.0,852,9259,2.92,0.00,127.60,1.302,6,0.059,0.000,3275,2009,2229
$GC,9564,2.36,146.1,830.5,9.0,874,9568,0.15,1.83,0.00,0.000,4,0.112,0.047,3243,3041,2223
$GC,9602,2.26,146.1,826.7,9.7,875,9609,0.10,1.90,0.00,0.000,6,0.127,0.038,3225,1947,2222
$GC,9918,2.22,163.9,800.5,7.8,891,9938,0.00,0.00,15.85,1.213,6,0.000,0.000,3225,1947,2156
$GC,10248,2.16,163.9,770.5,9.6,907,10252,0.12,1.92,0.00,0.000,4,0.118,0.046,3202,3039,2154
$GC,10354,2.12,163.9,760.3,9.1,911,10360,0.00,1.92,0.00,0.000,6,0.000,0.038,3202,1926,2153
$GC,10670,2.12,163.9,728.6,10.2,927,10673,0.00,1.98,0.00,0.000,4,0.000,0.047,3202,3050,2152
$GC,10851,2.07,163.9,710.5,10.5,935,10855,0.00,1.92,0.00,0.000,6,0.000,0.038,3202,1957,2152
$GC,11184,2.09,174.0,681.7,8.3,951,11198,0.00,1.95,9.70,1.121,4,0.000,0.064,3202,912,2115
$GC,11262,2.05,174.0,674.6,9.0,954,11266,0.15,1.88,0.00,0.000,6,0.110,0.032,3174,2009,2114
$GC,11583,2.09,202.4,651.2,7.0,970,11614,0.00,2.08,26.35,1.197,4,0.000,0.060,3174,905,1998
$GC,11737,2.10,207.2,637.8,8.7,977,11747,0.00,1.75,5.38,0.919,6,0.000,0.031,3174,1932,1980
$GC,12058,2.11,214.5,610.7,8.5,992,12072,0.00,1.95,8.12,1.042,4,0.000,0.048,3174,3015,1950
$GC,12111,2.12,215.9,605.7,8.9,994,12115,0.00,1.88,0.00,0.000,6,0.000,0.038,3174,1935,1949
$GC,12433,2.15,217.2,578.5,8.9,1010,12443,0.10,1.95,3.92,0.750,4,0.082,0.047,3202,3013,1939
$GC,12506,2.15,217.2,571.3,9.2,1013,12510,0.00,1.80,0.00,0.000,6,0.000,0.038,3202,1968,1939
$GC,12832,2.15,217.2,539.4,9.2,1029,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1968,1938
$GC,13142,2.18,236.1,514.9,7.7,1044,13162,0.00,0.00,18.05,1.094,6,0.000,0.000,3201,1968,1862
$GC,13476,2.18,236.1,483.7,9.3,1068,13479,0.00,1.85,0.00,0.000,4,0.000,0.047,3202,3018,1860
$GC,13605,2.19,241.1,472.3,8.7,1079,13615,0.00,1.85,5.78,0.880,6,0.000,0.037,3202,1943,1842
$GC,13934,2.19,241.1,441.8,9.6,1110,13938,0.00,1.88,0.00,0.000,4,0.000,0.046,3201,3014,1841
$GC,13979,2.19,241.1,437.5,9.5,1114,13983,0.00,1.80,0.00,0.000,6,0.000,0.037,3201,1967,1841
$GC,14309,2.19,242.3,406.4,8.9,1145,14313,0.00,1.83,0.00,0.000,4,0.000,0.046,3201,3010,1841
$GC,14377,2.19,242.3,399.8,9.4,1151,14380,0.00,1.77,0.00,0.000,6,0.000,0.036,3201,1974,1841
$GC,14709,2.19,242.3,367.9,9.8,1182,14710,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1973,1840
$GC,15028,2.19,242.3,337.4,9.6,1212,15032,0.00,1.83,0.00,0.000,4,0.000,0.045,3202,3019,1841
$GC,15096,2.19,242.3,330.8,9.2,1218,15100,0.00,1.70,0.00,0.000,6,0.000,0.035,3202,2023,1841
$GC,15428,2.21,250.5,302.4,8.5,1249,15439,0.00,0.00,9.62,0.893,6,0.000,0.000,3202,2022,1803
$GC,15755,2.24,250.5,272.9,9.1,1280,15758,0.00,1.73,0.00,0.000,4,0.000,0.045,3201,3013,1802
$GC,15793,2.24,252.2,269.3,8.9,1283,15799,0.00,1.65,0.00,0.000,6,0.000,0.033,3202,2055,1803
$GC,16125,2.30,261.0,238.9,8.4,1325,16142,0.12,1.70,10.68,0.860,4,0.069,0.044,3238,3013,1759
$GC,16199,2.30,261.0,232.1,9.1,1338,16205,0.00,1.60,0.00,0.000,6,0.000,0.031,3238,2071,1759
$GC,16542,2.30,261.0,198.2,9.7,1399,16548,0.00,2.05,0.00,0.000,4,0.000,0.054,3238,910,1759
$GC,16655,2.30,261.0,186.7,10.4,1419,16661,0.00,1.95,0.00,0.000,6,0.000,0.029,3238,2074,1758
$GC,16999,2.30,261.0,154.3,9.1,1480,17005,0.00,2.08,0.00,0.000,4,0.000,0.050,3238,899,1758
$GC,17074,2.32,271.2,147.6,8.3,1493,17090,0.00,1.95,10.00,0.782,6,0.000,0.028,3238,2071,1719
$GC,17430,2.39,286.3,120.4,8.0,1556,17452,0.00,2.12,14.07,0.785,4,0.000,0.047,3238,912,1657
$GC,17666,2.55,341.2,106.4,5.2,1598,17721,0.15,1.92,46.17,0.783,6,0.044,0.027,3296,2056,1434
$GC,18059,2.68,388.8,78.1,5.7,1668,18102,0.00,0.00,39.78,0.735,6,0.000,0.000,3296,2055,1240
$GC,18444,2.82,421.2,48.8,6.8,1736,18478,0.15,2.10,27.88,0.690,4,0.054,0.043,3349,904,1106
$GC,18731,2.82,421.2,19.9,9.9,1787,18737,0.00,1.95,0.00,0.000,6,0.000,0.024,3350,2099,1105
$STATE,18931,end climb,SURFACE_DEPTH_REACHED
$STATE,18931,begin surface coast
$FINISH,-0.1,1.021296
$STATE,18955,end surface coast,CONTROL_FINISHED_OK
$STATE,18955,begin surface
$SM_CCo,18978,38.67,0.640,0,0,887,475.15
$SM_GC,-6.16,0.00,0.00,38.67,0.000,0.000,0.640,416,2354,887,-10.64,0.82,475.15
$IRIDIUM_FIX,1243.25,12021.43,070797,121250
$TT8_MAMPS,0.026078
$HUMID,1889
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.50
$XPDR_PINGS,524
$ALTIM_BOTTOM_PING,821.1,108.0
$24V_AH,23.1,41.324
$10V_AH,10.1,30.808
$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,29.375,109.150,463.525,38.675,0.000,29.845,40.264,200.963,139.500,0.000,0.000,33.244,2949.463,12112.876,596.916,3143.052,659.825,0.000,2102.476,0.000,3092.796,0.000,63.600
$DEVICE_MAMPS,170.274,149.565,1332.279,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1237.636,460.705,743.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97728,1827
$CAP_FILE_SIZE,177631,0
$CFSIZE,260165632,234749952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,231638,1246.177,12021.957,27,0.9,27,-0.8