version: 66.03
glider: 126
mission: 7
dive: 265
start: 4 12 108 23 24 0
data:
$ID,126
$MISSION,7
$DIVE,265
$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,-624433.19
$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,29
$R_STBD_OVSHOOT,55
$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
$GPS1,231638,1246.177,12021.957,27,0.9,27,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.47
$_SM_ANGLEo,-58.5
$GPS2,232308,1246.254,12021.922,13,1.3,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M1_EB_S6
$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,31.8,1397,-21.3,-9.016
$D_GRID,821
$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,-101.9,0.0,0.0,0,95,0.00,0.00,-66.60,0.000,6,0.000,0.000,416,2354,3244
$GC,98,-2.39,-101.9,0.2,-19.7,13,110,10.05,0.00,0.00,0.000,6,0.169,0.000,2202,2354,3245
$GC,449,-2.24,-101.9,74.0,-17.3,75,455,0.15,1.70,0.00,0.000,4,0.125,0.038,2234,3370,3248
$GC,501,-2.12,-101.9,82.3,-15.0,84,508,0.12,1.75,0.00,0.000,6,0.107,0.023,2263,2281,3247
$GC,847,-2.12,-101.9,125.3,-10.6,145,852,0.00,1.83,0.00,0.000,4,0.000,0.038,2263,3360,3248
$GC,1045,-2.12,-101.9,144.2,-10.4,180,1051,0.00,1.58,0.00,0.000,6,0.000,0.024,2263,2363,3249
$GC,1389,-2.13,-104.9,175.6,-8.8,241,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2361,3251
$GC,1732,-2.17,-110.8,205.7,-8.6,302,1737,0.00,1.70,0.00,0.000,4,0.000,0.041,2263,3367,3251
$GC,1856,-2.17,-112.5,217.5,-8.9,324,1862,0.00,1.52,0.00,0.000,6,0.000,0.026,2263,2405,3250
$GC,2200,-2.23,-123.3,248.1,-8.3,385,2206,0.00,1.83,0.00,0.000,4,0.000,0.035,2263,1319,3250
$GC,2296,-2.25,-137.6,255.9,-8.0,395,2302,0.10,1.75,0.00,0.000,6,0.071,0.026,2232,2387,3251
$GC,2622,-2.25,-138.8,282.3,-8.9,426,2625,0.00,1.83,0.00,0.000,4,0.000,0.037,2232,1316,3249
$GC,2671,-2.25,-138.8,287.1,-9.3,430,2678,0.00,1.75,0.00,0.000,6,0.000,0.027,2232,2362,3249
$GC,2998,-2.25,-138.8,318.6,-9.7,461,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2364,3247
$GC,3315,-2.25,-138.8,349.7,-10.0,491,3318,0.00,1.77,0.00,0.000,4,0.000,0.041,2232,1331,3246
$GC,3394,-2.25,-138.8,357.4,-9.9,498,3397,0.00,1.73,0.00,0.000,6,0.000,0.028,2232,2369,3246
$GC,3725,-2.25,-138.8,388.2,-9.1,529,3729,0.00,1.73,0.00,0.000,4,0.000,0.048,2232,3374,3243
$GC,3775,-2.25,-138.8,393.2,-10.0,533,3781,0.00,1.62,0.00,0.000,6,0.000,0.029,2232,2393,3243
$GC,4101,-2.26,-144.5,421.7,-8.6,564,4105,0.00,1.85,0.00,0.000,4,0.000,0.049,2232,1328,3241
$GC,4248,-2.26,-145.1,434.4,-9.0,577,4252,0.00,1.70,0.00,0.000,6,0.000,0.032,2232,2340,3240
$GC,4580,-2.26,-145.1,464.4,-9.2,608,4583,0.00,1.80,0.00,0.000,4,0.000,0.051,2232,3377,3238
$GC,4607,-2.26,-145.1,467.4,-10.4,610,4613,0.00,1.67,0.00,0.000,6,0.000,0.032,2232,2395,3238
$GC,4934,-2.26,-145.1,498.7,-10.1,641,4937,0.00,1.90,0.00,0.000,4,0.000,0.061,2232,1332,3237
$GC,4979,-2.26,-145.1,503.5,-9.9,644,4983,0.00,1.75,0.00,0.000,6,0.000,0.040,2232,2334,3236
$GC,5311,-2.26,-145.1,534.6,-9.4,660,5314,0.00,1.85,0.00,0.000,4,0.000,0.063,2232,3375,3234
$GC,5383,-2.26,-145.1,541.6,-9.5,663,5387,0.00,1.67,0.00,0.000,6,0.000,0.036,2232,2392,3233
$GC,5710,-2.26,-145.1,572.9,-9.6,679,5713,0.00,1.92,0.00,0.000,4,0.000,0.071,2232,1331,3232
$GC,5760,-2.26,-145.1,577.7,-10.0,681,5763,0.00,1.75,0.00,0.000,6,0.000,0.054,2232,2314,3231
$GC,6087,-2.26,-146.0,607.0,-8.8,697,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2316,3229
$GC,6396,-2.26,-146.0,634.9,-8.9,712,6400,0.00,2.05,0.00,0.000,4,0.000,0.095,2232,3389,3228
$GC,6441,-2.26,-146.0,639.3,-9.4,714,6445,0.00,1.90,0.00,0.000,6,0.000,0.073,2232,2374,3227
$GC,6773,-2.26,-146.0,669.4,-9.4,730,6777,0.00,2.03,0.00,0.000,4,0.000,0.107,2232,3391,3226
$GC,6840,-2.26,-146.0,675.8,-9.2,733,6844,0.00,2.10,0.00,0.000,6,0.000,0.091,2232,2315,3225
$GC,7168,-2.26,-146.0,704.1,-8.6,749,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2314,3223
$GC,7476,-2.26,-146.0,733.3,-9.4,764,7480,0.00,2.22,0.00,0.000,4,0.000,0.146,2232,1268,3221
$GC,7544,-2.26,-146.0,739.9,-9.8,767,7549,0.00,2.12,0.00,0.000,6,0.000,0.123,2232,2292,3222
$GC,7874,-2.29,-146.0,770.5,-9.5,783,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2292,3221
$GC,8180,-2.29,-146.0,798.2,-9.0,798,8184,0.00,2.50,0.00,0.000,4,0.000,0.179,2232,3383,3220
$GC,8229,-2.29,-146.0,802.8,-9.3,800,8233,0.00,2.47,0.00,0.000,6,0.000,0.163,2232,2298,3219
$STATE,8459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8459,begin apogee
$GC,8466,-0.52,0.0,822.2,8.2,811,8555,1.83,0.00,84.12,1.305,6,0.098,0.000,2614,1960,2825
$STATE,8556,end apogee,CONTROL_FINISHED_OK
$STATE,8556,begin climb
$GC,8558,2.47,146.0,824.4,0.0,815,8694,2.90,2.85,126.35,1.271,4,0.057,0.219,3275,900,2228
$GC,8787,2.33,146.0,811.0,10.8,825,8792,0.20,2.42,0.00,0.000,6,0.106,0.154,3237,1962,2224
$GC,9114,2.25,146.0,780.1,9.3,841,9117,0.00,1.88,0.00,0.000,4,0.000,0.047,3237,3049,2221
$GC,9227,2.15,146.0,769.1,10.0,846,9231,0.20,1.90,0.00,0.000,6,0.107,0.037,3199,1952,2221
$GC,9559,2.17,157.1,741.6,8.2,862,9573,0.00,1.98,9.60,1.119,4,0.000,0.047,3199,3046,2184
$GC,9603,2.13,161.5,737.5,8.7,864,9613,0.00,1.83,5.47,0.942,6,0.000,0.036,3198,1993,2166
$GC,9929,2.16,174.5,710.1,8.1,880,9950,0.00,2.05,12.90,1.160,4,0.000,0.061,3198,913,2113
$GC,10041,2.12,174.5,699.9,9.3,885,10045,0.00,1.92,0.00,0.000,6,0.000,0.031,3198,2040,2112
$GC,10374,2.15,190.3,673.3,7.9,901,10395,0.00,1.80,14.95,1.162,4,0.000,0.050,3198,3046,2049
$GC,10418,2.16,194.7,669.2,8.7,903,10429,0.00,1.83,5.72,0.934,6,0.000,0.036,3199,1997,2031
$GC,10745,2.17,203.9,641.4,8.4,919,10759,0.00,1.90,9.62,1.085,4,0.000,0.048,3199,3046,1993
$GC,10843,2.17,203.9,632.2,9.2,923,10847,0.00,1.83,0.00,0.000,6,0.000,0.037,3198,2008,1991
$GC,11166,2.17,203.9,602.9,9.6,939,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2008,1991
$GC,11474,2.17,203.9,572.6,10.2,954,11477,0.00,1.98,0.00,0.000,4,0.000,0.062,3198,911,1990
$GC,11557,2.17,203.9,563.4,11.0,957,11563,0.00,1.95,0.00,0.000,6,0.000,0.031,3198,2062,1990
$GC,11873,2.17,203.9,532.4,9.5,973,11876,0.00,1.70,0.00,0.000,4,0.000,0.049,3198,3042,1990
$GC,11990,2.17,203.9,521.2,9.4,978,11994,0.00,1.73,0.00,0.000,6,0.000,0.036,3199,2035,1989
$GC,12309,2.18,211.5,493.2,8.5,997,12320,0.00,1.85,7.70,0.971,4,0.000,0.047,3198,3042,1962
$GC,12366,2.18,211.5,487.9,9.4,1002,12370,0.00,1.67,0.00,0.000,6,0.000,0.035,3198,2084,1961
$GC,12698,2.21,225.8,459.9,8.0,1033,12719,0.00,2.20,14.12,1.041,4,0.000,0.061,3198,912,1903
$GC,12777,2.22,232.1,452.8,8.6,1040,12789,0.00,2.03,6.82,0.907,6,0.000,0.031,3198,2099,1878
$GC,13107,2.25,250.0,425.1,7.8,1071,13128,0.00,2.25,16.98,1.025,4,0.000,0.056,3198,915,1805
$GC,13213,2.25,252.5,415.3,8.8,1080,13219,0.00,1.98,0.00,0.000,6,0.000,0.031,3198,2076,1803
$GC,13539,2.25,252.5,385.7,9.4,1111,13542,0.00,2.10,0.00,0.000,4,0.000,0.055,3198,915,1803
$GC,13595,2.25,252.5,380.0,9.2,1116,13598,0.00,1.90,0.00,0.000,6,0.000,0.031,3198,2035,1802
$GC,13927,2.29,252.5,348.4,9.9,1147,13931,0.12,1.75,0.00,0.000,4,0.073,0.047,3232,3048,1802
$GC,14063,2.29,252.5,333.8,11.0,1159,14066,0.00,1.80,0.00,0.000,6,0.000,0.035,3232,1994,1802
$GC,14393,2.29,252.5,299.1,9.8,1190,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1993,1802
$GC,14712,2.29,252.5,269.6,9.5,1220,14715,0.00,1.85,0.00,0.000,4,0.000,0.044,3232,3041,1802
$GC,14859,2.29,252.5,255.4,10.5,1233,14863,0.00,1.75,0.00,0.000,6,0.000,0.033,3232,2007,1802
$GC,15199,2.31,265.9,225.4,8.1,1288,15220,0.00,2.00,14.65,0.874,4,0.000,0.057,3232,910,1739
$GC,15244,2.33,278.3,221.4,8.2,1296,15260,0.00,1.98,11.90,0.841,6,0.000,0.029,3232,2077,1690
$GC,15598,2.33,278.3,188.6,9.8,1359,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2078,1688
$GC,15941,2.37,283.5,158.8,8.7,1420,15952,0.00,1.67,5.88,0.696,4,0.000,0.041,3232,3054,1668
$GC,16037,2.37,283.5,150.1,9.4,1437,16043,0.00,1.80,0.00,0.000,6,0.000,0.031,3232,1987,1668
$GC,16382,2.49,317.7,124.5,6.7,1498,16421,0.17,1.90,29.90,0.808,4,0.058,0.040,3285,3045,1529
$GC,16462,2.51,330.9,118.4,8.1,1512,16479,0.00,1.75,12.30,0.749,6,0.000,0.029,3285,2028,1476
$GC,16818,2.59,355.7,91.0,7.3,1575,16844,0.00,0.00,21.60,0.754,6,0.000,0.000,3285,2027,1374
$GC,17182,2.77,415.4,67.5,4.9,1640,17237,0.17,1.85,50.05,0.724,4,0.053,0.037,3342,3059,1130
$GC,17249,2.81,436.5,62.8,7.6,1652,17271,0.00,1.60,18.70,0.673,6,0.000,0.025,3342,2109,1045
$GC,17610,2.84,436.5,27.5,11.2,1716,17617,0.00,1.62,0.00,0.000,4,0.000,0.037,3342,3050,1042
$GC,17709,2.88,436.5,16.8,11.0,1733,17715,0.00,1.65,0.00,0.000,6,0.000,0.024,3342,2040,1042
$STATE,17869,end climb,SURFACE_DEPTH_REACHED
$STATE,17869,begin surface coast
$FINISH,-0.3,1.021297
$STATE,17888,end surface coast,CONTROL_FINISHED_OK
$STATE,17888,begin surface
$SM_CCo,17910,29.05,0.638,0,0,887,475.15
$SM_GC,-6.79,0.00,0.00,29.05,0.000,0.000,0.638,415,2385,887,-10.65,1.67,475.15
$IRIDIUM_FIX,1243.25,12024.46,070797,181837
$TT8_MAMPS,0.025311
$HUMID,1898
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,507
$24V_AH,23.1,41.502
$10V_AH,10.2,30.920
$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,28.700,133.200,479.350,29.050,0.000,25.759,36.939,189.008,135.000,0.000,0.000,15.325,2863.732,11125.806,581.004,3147.085,632.065,0.000,2131.191,0.000,3108.851,0.000,60.707
$DEVICE_MAMPS,168.740,219.362,1305.434,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1194.677,445.334,736.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94663,1765
$CAP_FILE_SIZE,177737,0
$CFSIZE,260165632,234655744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130408,042408,1247.131,12022.798,30,1.1,30,-0.8