version: 66.03
glider: 126
mission: 7
dive: 278
start: 4 15 108 19 13 13
data:
$ID,126
$MISSION,7
$DIVE,278
$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,-624637.69
$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,48
$R_STBD_OVSHOOT,61
$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
$GPS1,190108,1246.644,12030.044,30,1.5,30,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.79
$_SM_ANGLEo,-57.8
$GPS2,191221,1246.708,12030.104,15,1.3,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S6
$TGT_LATLONG,1248.170,12029.140
$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,328.0,3219,-19.0,-9.016
$D_GRID,807
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-2.18,-120.8,0.0,0.0,0,96,0.00,0.00,-68.03,0.000,6,0.000,0.000,414,2356,3319
$GC,99,-2.18,-120.8,-0.7,-18.4,13,116,10.25,1.70,0.00,0.000,4,0.166,0.038,2251,3353,3322
$GC,370,-1.99,-120.8,54.0,-16.9,61,376,0.22,1.67,0.00,0.000,6,0.102,0.023,2296,2285,3323
$GC,715,-1.94,-120.8,97.6,-11.2,122,721,0.00,1.85,0.00,0.000,4,0.000,0.038,2296,3358,3324
$GC,751,-1.89,-120.8,101.8,-12.8,128,758,0.08,1.65,0.00,0.000,6,0.104,0.023,2314,2317,3324
$GC,1096,-1.89,-120.8,135.3,-9.4,189,1102,0.00,1.65,0.00,0.000,4,0.000,0.033,2314,1314,3326
$GC,1125,-1.89,-120.8,138.1,-9.5,194,1131,0.00,1.60,0.00,0.000,6,0.000,0.024,2315,2291,3326
$GC,1469,-1.96,-140.9,167.2,-7.8,255,1474,0.00,1.62,0.00,0.000,4,0.000,0.034,2314,1319,3327
$GC,1533,-2.00,-146.0,172.2,-8.2,266,1539,0.00,1.60,0.00,0.000,6,0.000,0.025,2315,2310,3327
$GC,1877,-2.04,-146.0,199.4,-7.9,327,1883,0.12,1.77,0.00,0.000,4,0.060,0.040,2276,3364,3327
$GC,1907,-2.04,-146.0,202.1,-9.0,332,1913,0.00,1.73,0.00,0.000,6,0.000,0.025,2276,2276,3326
$GC,2250,-2.04,-146.0,234.4,-9.9,393,2256,0.00,1.88,0.00,0.000,4,0.000,0.041,2276,3370,3326
$GC,2290,-2.04,-146.0,238.3,-9.9,400,2296,0.00,1.73,0.00,0.000,6,0.000,0.026,2276,2287,3326
$GC,2627,-2.04,-146.0,269.6,-8.7,442,2630,0.00,1.62,0.00,0.000,4,0.000,0.038,2275,1319,3325
$GC,2661,-2.04,-146.0,272.5,-8.6,445,2665,0.00,1.62,0.00,0.000,6,0.000,0.027,2276,2312,3324
$GC,2993,-2.04,-146.0,300.9,-8.7,476,2997,0.00,1.80,0.00,0.000,4,0.000,0.044,2276,3369,3323
$GC,3050,-2.04,-146.0,306.4,-9.6,481,3053,0.00,1.70,0.00,0.000,6,0.000,0.028,2276,2309,3322
$GC,3381,-2.04,-146.0,337.2,-9.3,512,3385,0.00,1.70,0.00,0.000,4,0.000,0.041,2276,1307,3321
$GC,3427,-2.04,-146.0,341.4,-9.6,516,3431,0.00,1.62,0.00,0.000,6,0.000,0.028,2276,2291,3320
$GC,3759,-2.04,-146.0,369.7,-8.4,547,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2292,3318
$GC,4075,-2.04,-146.0,397.7,-9.1,577,4079,0.00,1.85,0.00,0.000,4,0.000,0.047,2276,3369,3316
$GC,4113,-2.04,-146.0,401.5,-10.0,580,4120,0.00,1.80,0.00,0.000,6,0.000,0.030,2276,2303,3316
$GC,4441,-2.04,-146.0,430.7,-8.5,611,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2303,3314
$GC,4757,-2.04,-146.0,457.6,-8.5,641,4761,0.00,1.88,0.00,0.000,4,0.000,0.049,2276,3372,3312
$GC,4814,-2.04,-146.0,462.5,-8.9,646,4818,0.00,1.83,0.00,0.000,6,0.000,0.032,2276,2303,3311
$GC,5146,-2.04,-146.0,488.8,-7.7,677,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2303,3309
$GC,5467,-2.04,-146.0,514.9,-8.0,699,5470,0.00,1.90,0.00,0.000,4,0.000,0.056,2276,3372,3307
$GC,5513,-2.04,-146.0,518.7,-8.5,701,5516,0.00,1.83,0.00,0.000,6,0.000,0.034,2276,2299,3307
$GC,5847,-2.04,-146.0,546.6,-8.6,717,5850,0.00,1.92,0.00,0.000,4,0.000,0.062,2276,3370,3306
$GC,5892,-2.04,-146.0,550.7,-9.0,719,5896,0.00,1.83,0.00,0.000,6,0.000,0.038,2276,2310,3305
$GC,6225,-2.04,-146.0,578.1,-8.3,735,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2310,3303
$GC,6534,-2.04,-146.0,603.2,-8.2,750,6538,0.00,1.95,0.00,0.000,4,0.000,0.081,2276,3358,3302
$GC,6607,-2.04,-146.0,609.4,-8.6,753,6610,0.00,1.88,0.00,0.000,6,0.000,0.057,2276,2316,3302
$GC,6935,-2.04,-146.0,636.4,-8.4,769,6938,0.00,1.98,0.00,0.000,4,0.000,0.090,2276,1267,3300
$GC,6975,-2.04,-146.0,640.1,-9.3,770,6981,0.00,1.88,0.00,0.000,6,0.000,0.073,2275,2280,3300
$GC,7290,-2.04,-146.0,667.4,-8.7,786,7294,0.00,2.15,0.00,0.000,4,0.000,0.106,2276,3383,3298
$GC,7363,-2.04,-146.0,674.1,-8.7,789,7367,0.00,2.05,0.00,0.000,6,0.000,0.084,2275,2313,3297
$GC,7685,-2.04,-146.0,702.1,-8.7,805,7688,0.00,1.83,0.00,0.000,4,0.000,0.048,2276,1253,3296
$GC,7740,-2.04,-146.0,707.0,-8.4,807,7744,0.00,1.83,0.00,0.000,6,0.000,0.031,2275,2340,3296
$GC,8062,-2.04,-146.0,732.3,-7.6,823,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2340,3295
$GC,8371,-2.04,-146.0,756.0,-7.8,838,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2342,3293
$GC,8683,-2.04,-146.0,781.1,-8.3,853,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2342,3293
$STATE,8986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8987,begin apogee
$GC,8993,-0.52,0.0,807.5,8.7,868,9096,1.58,0.00,99.28,1.299,6,0.088,0.000,2613,1941,2825
$STATE,9097,end apogee,CONTROL_FINISHED_OK
$STATE,9097,begin climb
$GC,9099,2.22,146.0,811.5,0.0,873,9235,2.65,1.95,126.00,1.263,4,0.058,0.064,3217,917,2228
$GC,9327,2.09,146.0,802.2,9.2,883,9333,0.15,1.80,0.00,0.000,6,0.106,0.031,3188,1972,2224
$GC,9645,2.05,167.5,777.7,7.7,899,9666,0.00,0.00,18.88,1.195,6,0.000,0.000,3188,1972,2143
$GC,9972,1.99,175.3,749.8,8.5,915,9987,0.12,1.88,8.35,1.075,4,0.109,0.047,3164,3012,2110
$GC,10032,1.96,190.7,744.6,8.1,917,10051,0.00,1.83,15.12,1.167,6,0.000,0.044,3165,1957,2047
$GC,10365,1.95,203.6,716.8,8.2,933,10386,0.00,1.95,12.43,1.146,4,0.000,0.046,3165,3012,1994
$GC,10454,1.92,209.1,709.0,8.7,937,10465,0.00,1.83,6.47,0.992,6,0.000,0.035,3164,1955,1972
$GC,10781,1.94,218.9,682.4,8.4,953,10796,0.00,1.90,10.35,1.110,4,0.000,0.044,3164,3015,1932
$GC,10847,1.94,218.9,676.0,9.9,955,10850,0.00,1.80,0.00,0.000,6,0.000,0.035,3164,1990,1930
$GC,11174,1.94,218.9,646.3,9.2,971,11177,0.00,1.77,0.00,0.000,4,0.000,0.045,3164,3006,1929
$GC,11246,1.94,218.9,639.3,9.3,974,11250,0.00,1.73,0.00,0.000,6,0.000,0.035,3165,2014,1929
$GC,11573,1.95,222.5,609.8,8.8,990,11579,0.00,0.00,4.35,0.811,6,0.000,0.000,3164,2014,1917
$GC,11883,1.95,223.0,581.8,9.0,1005,11886,0.00,1.75,0.00,0.000,4,0.000,0.045,3165,3015,1916
$GC,11977,1.95,223.0,573.1,9.2,1009,11982,0.00,1.73,0.00,0.000,6,0.000,0.035,3165,2024,1916
$GC,12304,1.97,236.3,546.2,8.2,1025,12324,0.00,0.00,13.62,1.094,6,0.000,0.000,3165,2025,1861
$GC,12634,1.98,242.3,517.6,8.6,1041,12645,0.00,1.80,6.90,0.956,4,0.000,0.046,3164,3005,1837
$GC,12765,2.01,259.9,506.2,7.9,1047,12787,0.00,1.70,16.88,1.080,6,0.000,0.035,3164,2033,1765
$GC,13103,2.01,262.9,476.8,8.8,1075,13114,0.00,1.75,4.12,0.739,4,0.000,0.046,3164,3003,1753
$GC,13176,2.02,265.4,470.0,8.9,1081,13185,0.00,1.65,3.85,0.700,6,0.000,0.034,3164,2039,1743
$GC,13511,2.02,269.6,440.7,8.8,1113,13522,0.00,2.05,5.72,0.857,4,0.000,0.058,3164,908,1725
$GC,13561,2.03,275.6,436.1,8.6,1117,13572,0.00,1.95,6.70,0.900,6,0.000,0.031,3164,2057,1701
$GC,13891,2.05,284.0,408.6,8.5,1148,13905,0.00,1.70,8.68,0.942,4,0.000,0.047,3164,3004,1667
$GC,13974,2.06,292.9,401.5,8.5,1155,13990,0.00,1.65,9.88,0.951,6,0.000,0.037,3164,2043,1630
$GC,14309,2.10,292.9,371.3,9.1,1187,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2043,1628
$GC,14629,2.13,294.7,341.9,8.9,1217,14634,0.12,1.70,0.00,0.000,4,0.072,0.044,3199,3001,1627
$GC,14674,2.13,294.7,337.3,9.6,1221,14678,0.00,1.65,0.00,0.000,6,0.000,0.034,3199,2051,1627
$GC,15006,2.13,294.7,306.6,9.6,1252,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2051,1627
$GC,15323,2.13,294.7,275.4,9.8,1282,15326,0.00,1.67,0.00,0.000,4,0.000,0.045,3199,3016,1627
$GC,15373,2.13,294.7,270.3,9.5,1286,15379,0.00,1.67,0.00,0.000,6,0.000,0.033,3199,2047,1627
$GC,15703,2.16,308.2,239.9,8.2,1327,15720,0.00,0.00,14.27,0.892,6,0.000,0.000,3199,2047,1568
$GC,16058,2.16,308.2,206.3,9.7,1390,16063,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2047,1566
$GC,16401,2.16,308.2,171.7,9.6,1451,16406,0.00,1.67,0.00,0.000,4,0.000,0.044,3200,3012,1566
$GC,16446,2.16,308.2,167.3,9.3,1459,16452,0.00,1.67,0.00,0.000,6,0.000,0.031,3199,2017,1566
$GC,16790,2.24,318.8,140.2,8.4,1520,16807,0.00,1.77,10.35,0.784,4,0.000,0.041,3199,3007,1525
$GC,16866,2.33,342.8,134.2,7.5,1533,16894,0.17,1.60,21.52,0.810,6,0.058,0.030,3251,2056,1427
$GC,17232,2.41,389.8,104.3,6.1,1598,17281,0.00,2.10,40.12,0.784,4,0.000,0.051,3251,908,1236
$GC,17295,2.49,414.2,99.8,7.5,1609,17323,0.00,2.10,21.70,0.745,6,0.000,0.028,3251,2156,1136
$GC,17664,2.57,417.5,67.6,8.8,1674,17677,0.15,2.22,4.07,0.501,4,0.054,0.044,3301,914,1122
$GC,17852,2.57,420.4,50.1,8.8,1707,17864,0.00,1.98,4.15,0.492,6,0.000,0.025,3301,2116,1111
$GC,18203,2.64,435.9,20.7,8.1,1769,18220,0.00,0.00,14.43,0.656,6,0.000,0.000,3301,2117,1047
$STATE,18425,end climb,SURFACE_DEPTH_REACHED
$STATE,18426,begin surface coast
$FINISH,-0.6,1.021215
$STATE,18455,end surface coast,CONTROL_FINISHED_OK
$STATE,18455,begin surface
$SM_CCo,18478,29.15,0.648,0,0,888,475.15
$SM_GC,-6.48,0.00,0.00,29.15,0.000,0.000,0.648,414,2350,888,-10.65,0.71,475.15
$IRIDIUM_FIX,1243.25,12031.29,100797,191918
$TT8_MAMPS,0.026078
$HUMID,1925
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.50
$XPDR_PINGS,472
$24V_AH,23.1,43.898
$10V_AH,10.1,32.395
$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,28.150,119.900,508.200,29.150,0.000,50.613,89.117,325.941,125.750,0.000,0.000,15.620,2928.334,11659.391,619.283,3125.191,865.281,0.000,2156.433,0.000,3085.137,0.000,57.067
$DEVICE_MAMPS,165.672,105.846,1298.531,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1228.457,457.465,753.471,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97811,1814
$CAP_FILE_SIZE,185364,0
$CFSIZE,260165632,233476096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,002256,1247.746,12029.716,38,1.5,38,-0.8