version: 66.03
glider: 126
mission: 7
dive: 298
start: 4 21 108 0 56 30
data:
$ID,126
$MISSION,7
$DIVE,298
$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,-625036.69
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,004331,1250.811,12040.933,37,1.3,37,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.84
$_SM_ANGLEo,-59.5
$GPS2,005538,1250.804,12040.865,11,1.3,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,93.7,3408,-21.3,-9.016
$D_GRID,1098
$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,-65.43,0.000,6,0.000,0.000,413,2345,3242
$GC,98,-2.39,-101.9,0.0,-20.3,13,115,10.12,1.73,0.00,0.000,4,0.170,0.036,2204,3366,3244
$GC,173,-2.21,-101.9,20.1,-18.3,26,180,0.17,1.75,0.00,0.000,6,0.116,0.023,2242,2284,3245
$GC,518,-2.13,-101.9,75.1,-14.1,87,524,0.12,1.85,0.00,0.000,4,0.124,0.037,2265,3373,3247
$GC,593,-2.06,-101.9,85.3,-14.1,100,600,0.00,1.67,0.00,0.000,6,0.000,0.023,2265,2323,3246
$GC,937,-2.06,-101.9,124.8,-9.1,161,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2316,3247
$GC,1281,-2.12,-120.2,154.6,-7.8,222,1286,0.00,1.77,0.00,0.000,4,0.000,0.039,2265,3374,3248
$GC,1378,-2.15,-135.8,162.5,-7.9,239,1383,0.00,1.60,0.00,0.000,6,0.000,0.024,2265,2350,3249
$GC,1722,-2.20,-146.0,190.0,-8.1,300,1728,0.00,1.73,0.00,0.000,4,0.000,0.035,2265,1311,3249
$GC,1785,-2.20,-146.0,195.4,-8.5,311,1791,0.00,1.62,0.00,0.000,6,0.000,0.025,2265,2316,3249
$GC,2129,-2.24,-146.0,223.9,-8.7,372,2136,0.12,1.77,0.00,0.000,4,0.062,0.041,2228,3364,3249
$GC,2199,-2.21,-146.0,230.7,-9.7,384,2205,0.00,1.65,0.00,0.000,6,0.000,0.025,2228,2334,3249
$GC,2540,-2.21,-146.0,261.7,-9.2,434,2544,0.00,1.77,0.00,0.000,4,0.000,0.044,2228,3365,3247
$GC,2590,-2.21,-146.0,266.4,-8.8,438,2596,0.00,1.65,0.00,0.000,6,0.000,0.027,2228,2342,3247
$GC,2918,-2.21,-146.0,294.3,-8.6,469,2921,0.00,1.77,0.00,0.000,4,0.000,0.044,2228,3368,3246
$GC,3012,-2.21,-146.0,303.2,-9.1,477,3018,0.00,1.65,0.00,0.000,6,0.000,0.027,2228,2368,3245
$GC,3340,-2.21,-146.0,331.2,-8.8,508,3343,0.00,1.73,0.00,0.000,4,0.000,0.046,2228,3361,3243
$GC,3385,-2.21,-146.0,335.6,-9.3,512,3388,0.00,1.60,0.00,0.000,6,0.000,0.028,2228,2377,3243
$GC,3717,-2.21,-146.0,365.7,-9.6,543,3720,0.00,1.85,0.00,0.000,4,0.000,0.046,2228,1306,3241
$GC,3812,-2.21,-146.0,374.6,-8.7,551,3818,0.00,1.77,0.00,0.000,6,0.000,0.029,2228,2371,3240
$GC,4141,-2.21,-146.0,402.8,-8.6,582,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2372,3238
$GC,4465,-2.21,-146.0,431.9,-9.6,613,4468,0.00,1.88,0.00,0.000,4,0.000,0.047,2228,1299,3236
$GC,4503,-2.21,-146.0,435.6,-9.1,616,4509,0.00,1.83,0.00,0.000,6,0.000,0.031,2228,2366,3236
$GC,4831,-2.21,-146.0,464.2,-8.2,647,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2366,3233
$GC,5146,-2.21,-146.0,489.1,-8.7,677,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2366,3231
$GC,5470,-2.21,-146.0,517.1,-8.7,699,5474,0.00,1.92,0.00,0.000,4,0.000,0.063,2228,1307,3228
$GC,5509,-2.21,-146.0,520.7,-9.0,700,5515,0.00,1.80,0.00,0.000,6,0.000,0.041,2228,2351,3229
$GC,5825,-2.21,-146.0,549.9,-9.5,716,5830,0.00,1.85,0.00,0.000,4,0.000,0.068,2228,3377,3227
$GC,5897,-2.21,-146.0,557.2,-10.1,719,5901,0.00,1.73,0.00,0.000,6,0.000,0.042,2228,2384,3226
$GC,6224,-2.21,-146.0,585.7,-8.6,735,6227,0.00,1.98,0.00,0.000,4,0.000,0.074,2228,1306,3224
$GC,6257,-2.21,-146.0,588.5,-9.0,736,6261,0.00,1.90,0.00,0.000,6,0.000,0.059,2228,2360,3224
$GC,6578,-2.21,-146.0,614.6,-7.7,752,6582,0.00,1.92,0.00,0.000,4,0.000,0.089,2228,3384,3222
$GC,6611,-2.21,-146.0,617.3,-7.9,753,6615,0.00,1.77,0.00,0.000,6,0.000,0.063,2228,2412,3222
$GC,6933,-2.21,-146.0,642.9,-7.9,769,6937,0.00,1.90,0.00,0.000,4,0.000,0.044,2228,1304,3220
$GC,6983,-2.21,-146.0,647.4,-8.5,771,6987,0.00,1.83,0.00,0.000,6,0.000,0.031,2228,2388,3221
$GC,7311,-2.21,-146.0,675.2,-8.7,787,7314,0.00,1.75,0.00,0.000,4,0.000,0.051,2228,3397,3218
$GC,7349,-2.21,-146.0,679.0,-9.5,788,7355,0.00,1.73,0.00,0.000,6,0.000,0.032,2228,2388,3218
$GC,7665,-2.21,-146.0,708.6,-8.5,804,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2388,3216
$GC,7976,-2.21,-146.0,734.2,-7.5,819,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2388,3215
$GC,8284,-2.56,-146.0,742.5,-0.0,834,8288,0.22,1.90,0.00,0.000,4,0.052,0.054,2162,1311,3214
$STATE,8298,end dive,NO_VERTICAL_VELOCITY
$STATE,8298,begin apogee
$GC,8306,-0.52,0.0,742.5,0.0,835,8393,2.08,0.00,82.38,1.248,6,0.074,0.000,2619,1992,2825
$STATE,8393,end apogee,CONTROL_FINISHED_OK
$STATE,8393,begin climb
$GC,8396,2.47,146.0,742.3,0.0,839,8531,2.80,1.83,125.38,1.213,4,0.046,0.048,3275,2997,2228
$GC,8612,2.35,146.0,733.3,9.1,849,8617,0.17,1.75,0.00,0.000,6,0.107,0.036,3242,1985,2224
$GC,8941,2.30,162.1,706.3,7.9,865,8962,0.00,1.88,14.20,1.126,4,0.000,0.046,3241,3005,2164
$GC,9036,2.22,162.1,695.8,10.5,869,9040,0.15,1.80,0.00,0.000,6,0.116,0.036,3214,1961,2162
$GC,9364,2.20,174.9,666.9,8.1,885,9385,0.00,1.92,12.20,1.104,4,0.000,0.044,3214,3005,2112
$GC,9454,2.16,174.9,659.2,9.6,889,9457,0.00,1.77,0.00,0.000,6,0.000,0.035,3214,1975,2111
$GC,9786,2.26,234.4,637.5,4.9,905,9845,0.00,0.00,53.05,1.167,6,0.000,0.000,3214,1975,1868
$GC,10154,2.26,234.4,605.0,9.8,923,10158,0.00,1.80,0.00,0.000,4,0.000,0.044,3214,3002,1864
$GC,10290,2.26,234.4,591.8,9.6,929,10293,0.00,1.75,0.00,0.000,6,0.000,0.035,3214,1986,1863
$GC,10622,2.26,234.4,559.1,9.9,945,10626,0.00,1.77,0.00,0.000,4,0.000,0.044,3214,3005,1862
$GC,10689,2.26,234.4,552.7,9.4,948,10692,0.00,1.73,0.00,0.000,6,0.000,0.035,3214,2000,1862
$GC,11022,2.26,236.1,525.0,8.9,964,11025,0.00,1.75,0.00,0.000,4,0.000,0.044,3214,3005,1861
$GC,11117,2.26,236.1,515.7,9.6,968,11120,0.00,1.67,0.00,0.000,6,0.000,0.035,3214,2044,1861
$GC,11437,2.26,236.1,487.5,9.4,989,11441,0.00,2.03,0.00,0.000,4,0.000,0.059,3214,910,1861
$GC,11471,2.26,236.1,484.2,9.9,992,11474,0.00,1.92,0.00,0.000,6,0.000,0.031,3214,2047,1861
$GC,11802,2.26,236.1,453.7,9.1,1023,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2047,1861
$GC,12122,2.26,236.5,425.0,9.0,1053,12125,0.00,2.03,0.00,0.000,4,0.000,0.054,3214,916,1860
$GC,12183,2.26,236.5,418.7,10.4,1058,12189,0.00,1.88,0.00,0.000,6,0.000,0.030,3214,2032,1860
$GC,12510,2.28,244.3,388.5,8.5,1089,12520,0.00,0.00,8.48,0.927,6,0.000,0.000,3214,2032,1829
$GC,12836,2.30,259.5,361.6,8.0,1120,12858,0.00,2.08,14.60,0.980,4,0.000,0.054,3214,906,1767
$GC,12926,2.30,259.5,353.9,9.2,1128,12930,0.00,1.95,0.00,0.000,6,0.000,0.030,3214,2053,1766
$GC,13258,2.33,278.8,324.9,7.7,1159,13280,0.10,1.73,17.70,0.958,4,0.079,0.047,3242,3001,1688
$GC,13372,2.34,280.5,314.5,8.9,1169,13375,0.00,1.65,0.00,0.000,6,0.000,0.034,3242,2039,1686
$GC,13704,2.34,280.5,282.8,9.4,1200,13707,0.00,1.70,0.00,0.000,4,0.000,0.044,3242,3015,1686
$GC,13754,2.34,280.5,277.3,10.4,1204,13760,0.00,1.58,0.00,0.000,6,0.000,0.031,3242,2080,1685
$GC,14081,2.34,280.5,244.2,9.7,1240,14086,0.00,1.60,0.00,0.000,4,0.000,0.044,3242,3003,1685
$GC,14144,2.34,280.5,237.9,9.9,1251,14149,0.00,1.50,0.00,0.000,6,0.000,0.041,3242,2128,1685
$GC,14488,2.36,293.1,207.1,8.1,1312,14510,0.00,1.60,13.32,0.858,4,0.000,0.043,3242,3002,1630
$GC,14550,2.37,303.2,201.7,8.3,1323,14566,0.00,1.40,10.20,0.817,6,0.000,0.030,3242,2185,1588
$GC,14907,2.41,303.2,170.4,9.2,1386,14912,0.00,2.25,0.00,0.000,4,0.000,0.051,3242,907,1587
$GC,15014,2.41,307.9,160.5,8.7,1405,15026,0.00,2.15,5.55,0.679,6,0.000,0.028,3242,2188,1569
$GC,15365,2.55,341.0,133.1,6.7,1467,15399,0.15,0.00,28.98,0.811,6,0.060,0.000,3291,2188,1434
$GC,15740,2.67,385.3,105.1,6.0,1533,15784,0.00,2.30,37.58,0.773,4,0.000,0.044,3291,903,1253
$GC,15902,2.72,393.6,92.1,8.4,1562,15920,0.15,2.08,8.40,0.679,6,0.058,0.026,3337,2154,1220
$GC,16262,2.74,405.6,60.1,8.2,1625,16279,0.00,1.45,11.60,0.682,4,0.000,0.038,3337,3013,1170
$GC,16319,2.76,413.7,54.8,8.5,1635,16331,0.00,1.52,7.95,0.627,6,0.000,0.025,3337,2093,1138
$GC,16671,2.86,437.9,28.3,7.3,1697,16698,0.00,1.58,21.33,0.667,4,0.000,0.034,3337,3011,1038
$GC,16814,2.93,449.3,15.8,8.2,1722,16832,0.10,1.62,10.73,0.613,6,0.046,0.024,3378,2029,993
$STATE,16953,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,-0.6,1.021123
$STATE,16977,end surface coast,CONTROL_FINISHED_OK
$STATE,16978,begin surface
$SM_CCo,17001,21.58,0.632,0,0,888,475.15
$SM_GC,-6.88,0.00,0.00,21.58,0.000,0.000,0.632,413,2350,888,-10.66,0.71,475.15
$IRIDIUM_FIX,1245.46,12045.31,160797,000043
$TT8_MAMPS,0.026078
$HUMID,1922
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.60
$XPDR_PINGS,519
$24V_AH,23.1,47.865
$10V_AH,10.1,34.904
$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,29.400,121.300,483.600,21.575,0.000,86.461,101.832,262.937,136.000,0.000,0.000,16.475,2817.223,10471.577,603.330,3017.966,855.261,0.000,2085.709,0.000,2985.316,0.000,46.216
$DEVICE_MAMPS,170.274,88.972,1247.909,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.462,463.365,760.473,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94521,1751
$CAP_FILE_SIZE,174443,0
$CFSIZE,260165632,231514112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,054137,1250.843,12042.020,40,1.1,46,-0.8