version: 66.03
glider: 126
mission: 7
dive: 270
start: 4 14 108 1 13 37
data:
$ID,126
$MISSION,7
$DIVE,270
$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,-624512.06
$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,51
$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
$GPS1,010602,1247.534,12025.365,41,1.5,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.41
$_SM_ANGLEo,-57.0
$GPS2,011245,1247.489,12025.344,15,1.1,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB
$TGT_LATLONG,1248.170,12029.140
$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,80.4,6971,-19.0,-9.016
$D_GRID,662
$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,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.68,0.000,6,0.000,0.000,417,2343,3319
$GC,97,-2.18,-120.8,0.2,-19.9,13,115,10.25,1.83,0.00,0.000,4,0.166,0.032,2252,1263,3321
$GC,155,-1.99,-120.8,17.6,-18.9,23,162,0.22,1.73,0.00,0.000,6,0.114,0.024,2294,2329,3322
$GC,501,-1.91,-120.8,69.7,-14.1,84,507,0.00,1.77,0.00,0.000,4,0.000,0.039,2295,3372,3324
$GC,553,-1.80,-120.8,77.2,-13.8,93,560,0.20,1.73,0.00,0.000,6,0.107,0.023,2333,2278,3324
$GC,898,-1.80,-121.4,116.6,-9.0,154,904,0.00,1.88,0.00,0.000,4,0.000,0.038,2333,3367,3326
$GC,972,-1.80,-121.4,124.5,-10.7,167,978,0.00,1.55,0.00,0.000,6,0.000,0.024,2334,2372,3327
$GC,1316,-1.91,-129.8,154.6,-8.5,228,1322,0.00,1.67,0.00,0.000,4,0.000,0.040,2333,3368,3328
$GC,1340,-1.99,-133.6,156.8,-8.8,232,1346,0.10,1.50,0.00,0.000,6,0.044,0.025,2286,2412,3328
$GC,1684,-1.99,-133.6,188.3,-9.2,293,1689,0.00,1.80,0.00,0.000,4,0.000,0.033,2286,1330,3328
$GC,1752,-2.00,-140.2,194.3,-8.6,305,1758,0.00,1.73,0.00,0.000,6,0.000,0.025,2286,2389,3328
$GC,2097,-2.01,-145.3,223.4,-8.7,366,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2389,3328
$GC,2437,-2.01,-146.0,252.7,-8.5,424,2441,0.00,1.67,0.00,0.000,4,0.000,0.044,2286,3376,3328
$GC,2465,-2.01,-146.0,255.3,-9.0,426,2471,0.00,1.58,0.00,0.000,6,0.000,0.026,2286,2365,3327
$GC,2793,-2.01,-146.0,283.4,-8.8,457,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2364,3326
$GC,3118,-2.01,-146.0,313.0,-8.3,488,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2364,3325
$GC,3436,-2.01,-146.0,340.6,-8.7,518,3440,0.00,1.73,0.00,0.000,4,0.000,0.046,2286,3369,3322
$GC,3516,-2.01,-146.0,347.6,-8.6,525,3520,0.00,1.58,0.00,0.000,6,0.000,0.028,2286,2405,3322
$GC,3848,-2.01,-146.0,376.0,-8.7,556,3851,0.00,1.85,0.00,0.000,4,0.000,0.042,2286,1323,3320
$GC,3887,-2.01,-146.0,379.6,-8.2,559,3893,0.00,1.75,0.00,0.000,6,0.000,0.030,2286,2373,3320
$GC,4214,-2.01,-146.0,406.6,-7.8,590,4217,0.00,1.73,0.00,0.000,4,0.000,0.060,2286,3374,3317
$GC,4270,-2.01,-146.0,411.3,-8.0,595,4274,0.00,1.60,0.00,0.000,6,0.000,0.030,2286,2404,3317
$GC,4603,-2.01,-146.0,437.2,-8.1,626,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2403,3315
$GC,4921,-2.04,-146.0,465.0,-9.1,656,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2402,3313
$GC,5238,-2.04,-146.0,493.5,-8.5,686,5242,0.00,1.73,0.00,0.000,4,0.000,0.054,2286,3379,3311
$GC,5318,-2.04,-146.0,500.5,-8.3,693,5322,0.00,1.62,0.00,0.000,6,0.000,0.031,2286,2413,3311
$GC,5640,-2.04,-146.0,527.3,-8.4,709,5643,0.00,1.95,0.00,0.000,4,0.000,0.068,2286,1334,3309
$GC,5685,-2.04,-146.0,531.4,-9.6,711,5688,0.00,1.80,0.00,0.000,6,0.000,0.041,2286,2373,3309
$GC,6019,-2.04,-146.0,561.0,-9.1,727,6023,0.00,1.88,0.00,0.000,4,0.000,0.061,2286,1337,3307
$GC,6065,-2.04,-146.0,565.5,-9.7,729,6069,0.00,1.83,0.00,0.000,6,0.000,0.049,2286,2372,3307
$GC,6397,-2.04,-146.0,595.7,-9.1,745,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2372,3305
$GC,6709,-2.08,-146.0,620.7,-7.8,760,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2372,3303
$GC,7018,-2.11,-146.0,645.7,-8.2,775,7021,0.00,1.95,0.00,0.000,4,0.000,0.100,2286,3386,3302
$GC,7051,-2.11,-146.0,648.7,-8.5,776,7055,0.00,1.85,0.00,0.000,6,0.000,0.074,2286,2415,3302
$STATE,7225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7225,begin apogee
$GC,7232,-0.52,0.0,662.9,8.2,785,7335,1.55,0.00,99.15,1.180,6,0.089,0.000,2616,2036,2825
$STATE,7336,end apogee,CONTROL_FINISHED_OK
$STATE,7336,begin climb
$GC,7338,2.22,146.0,667.2,0.0,790,7471,2.65,2.20,123.53,1.147,4,0.062,0.115,3216,978,2228
$GC,7524,2.14,174.3,663.5,7.3,799,7554,0.12,1.90,24.83,1.094,6,0.107,0.081,3193,1960,2114
$GC,7878,2.07,177.8,631.3,8.8,816,7886,0.00,2.05,3.88,0.688,4,0.000,0.083,3193,3028,2100
$GC,7968,1.98,182.9,622.7,8.7,820,7979,0.15,1.85,6.12,0.891,6,0.107,0.068,3164,2040,2079
$GC,8297,1.96,194.9,595.1,8.3,836,8313,0.00,2.10,11.68,1.042,4,0.000,0.081,3164,971,2030
$GC,8433,1.93,206.5,583.2,8.3,841,8449,0.00,1.77,11.70,1.035,6,0.000,0.046,3164,1959,1982
$GC,8758,1.96,222.1,556.2,8.0,857,8779,0.00,1.88,14.62,1.058,4,0.000,0.067,3164,971,1919
$GC,8836,1.93,231.5,549.2,8.4,860,8850,0.00,1.75,9.70,0.989,6,0.000,0.036,3164,1965,1880
$GC,9178,1.93,231.5,518.6,9.1,877,9181,0.00,1.83,0.00,0.000,4,0.000,0.060,3164,961,1878
$GC,9267,1.93,231.5,510.1,9.6,881,9271,0.00,1.65,0.00,0.000,6,0.000,0.032,3164,1931,1878
$GC,9595,1.93,231.5,482.2,9.1,906,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1931,1876
$GC,9914,1.95,242.8,454.6,8.3,936,9929,0.00,1.90,10.73,0.989,4,0.000,0.044,3164,3021,1834
$GC,9963,1.95,242.8,450.2,9.1,940,9967,0.00,1.77,0.00,0.000,6,0.000,0.034,3164,1985,1834
$GC,10295,1.96,246.3,421.7,8.8,971,10306,0.00,1.83,4.62,0.759,4,0.000,0.045,3164,3016,1820
$GC,10352,1.96,246.3,416.1,9.8,976,10356,0.00,1.85,0.00,0.000,6,0.000,0.034,3164,1953,1820
$GC,10683,1.96,246.3,386.0,9.2,1007,10687,0.00,1.85,0.00,0.000,4,0.000,0.044,3164,3016,1819
$GC,10812,1.96,246.3,373.8,9.2,1018,10818,0.00,1.73,0.00,0.000,6,0.000,0.033,3165,2002,1819
$GC,11138,1.96,249.7,345.3,8.8,1049,11146,0.00,0.00,4.38,0.702,6,0.000,0.000,3164,2002,1806
$GC,11467,1.97,255.5,316.4,8.7,1080,11479,0.00,1.85,6.60,0.828,4,0.000,0.043,3164,3023,1783
$GC,11517,1.97,255.5,311.5,9.0,1084,11523,0.00,1.73,0.00,0.000,6,0.000,0.032,3164,2022,1782
$GC,11844,1.99,263.9,284.0,8.5,1115,11859,0.00,2.03,8.85,0.865,4,0.000,0.055,3164,917,1749
$GC,11889,2.00,272.5,279.8,8.5,1119,11903,0.00,1.90,8.98,0.850,6,0.000,0.030,3164,2038,1714
$GC,12228,2.01,277.8,251.0,8.7,1151,12238,0.00,0.00,5.97,0.759,6,0.000,0.000,3164,2039,1692
$GC,12576,2.07,293.5,220.9,8.0,1212,12597,0.00,2.05,14.75,0.866,4,0.000,0.051,3164,916,1628
$GC,12649,2.09,301.2,214.6,8.5,1225,12665,0.00,1.88,8.15,0.784,6,0.000,0.028,3165,2031,1596
$GC,13004,2.14,308.1,183.6,8.6,1288,13017,0.15,2.08,7.53,0.759,4,0.063,0.050,3211,909,1568
$GC,13090,2.14,308.1,174.9,10.2,1303,13097,0.00,1.83,0.00,0.000,6,0.000,0.027,3211,2004,1568
$GC,13434,2.18,329.2,145.7,7.7,1364,13457,0.00,2.05,18.75,0.813,4,0.000,0.049,3211,906,1483
$GC,13487,2.21,346.3,141.4,7.9,1373,13510,0.00,1.80,15.68,0.783,6,0.000,0.028,3211,1982,1413
$GC,13851,2.33,375.1,110.4,7.2,1437,13884,0.12,1.80,25.23,0.779,4,0.064,0.041,3249,2997,1295
$GC,13930,2.41,405.1,104.0,7.2,1451,13963,0.00,1.80,26.30,0.759,6,0.000,0.028,3250,1923,1173
$GC,14304,2.50,432.4,74.6,7.3,1517,14333,0.10,1.85,23.20,0.723,4,0.068,0.048,3283,912,1062
$GC,14374,2.50,432.4,68.2,9.1,1529,14380,0.00,1.62,0.00,0.000,6,0.000,0.025,3283,1914,1061
$GC,14720,2.59,450.2,39.8,7.9,1590,14742,0.00,0.00,16.00,0.670,6,0.000,0.000,3283,1916,989
$GC,15080,2.65,450.2,6.4,9.5,1654,15086,0.10,1.80,0.00,0.000,4,0.067,0.034,3320,2983,988
$STATE,15124,end climb,SURFACE_DEPTH_REACHED
$STATE,15124,begin surface coast
$FINISH,-0.3,1.021173
$STATE,15149,end surface coast,CONTROL_FINISHED_OK
$STATE,15149,begin surface
$SM_CCo,15172,20.92,0.637,0,0,887,475.15
$SM_GC,-6.66,0.00,0.00,20.92,0.000,0.000,0.637,417,2265,887,-10.64,-1.70,475.15
$IRIDIUM_FIX,1243.25,12024.46,080797,202058
$TT8_MAMPS,0.026845
$HUMID,1945
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.40
$XPDR_PINGS,499
$24V_AH,23.2,42.397
$10V_AH,10.2,31.475
$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,28.300,105.075,510.900,20.925,0.000,32.985,52.459,182.146,129.000,0.000,0.000,15.730,2653.281,8927.071,592.774,2830.013,615.979,0.000,1991.810,0.000,2805.696,0.000,31.716
$DEVICE_MAMPS,166.439,115.050,1179.646,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.246,457.431,764.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88267,1666
$CAP_FILE_SIZE,159635,0
$CFSIZE,260165632,234233856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,052807,1247.242,12026.744,39,0.9,39,-0.8