version: 66.03
glider: 126
mission: 7
dive: 250
start: 4 9 108 16 51 25
data:
$ID,126
$MISSION,7
$DIVE,250
$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,-624120.88
$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,31
$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
$GPS1,164408,1246.694,12014.690,36,1.4,36,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.29
$_SM_ANGLEo,-59.1
$GPS2,165033,1246.813,12014.625,14,1.6,14,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST_S4
$TGT_LATLONG,1245.620,12015.500
$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,145.2,2716,-21.3,-9.016
$D_GRID,829
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.72,0.000,6,0.000,0.000,418,2354,3244
$GC,97,-2.39,-101.9,0.8,-21.3,13,114,10.05,1.85,0.00,0.000,4,0.170,0.032,2202,1264,3245
$GC,290,-2.21,-101.9,47.9,-20.3,47,296,0.22,1.70,0.00,0.000,6,0.117,0.024,2245,2313,3247
$GC,635,-2.15,-101.9,104.5,-13.4,108,642,0.00,1.80,0.00,0.000,4,0.000,0.040,2245,3367,3248
$GC,745,-2.09,-101.9,117.5,-9.7,127,751,0.15,1.60,0.00,0.000,6,0.114,0.023,2274,2336,3248
$GC,1089,-2.13,-101.9,148.5,-9.6,188,1095,0.00,1.77,0.00,0.000,4,0.000,0.039,2274,3366,3250
$GC,1174,-2.13,-101.9,156.7,-9.3,203,1180,0.00,1.48,0.00,0.000,6,0.000,0.024,2274,2425,3250
$GC,1518,-2.18,-101.9,187.5,-9.1,264,1523,0.00,1.85,0.00,0.000,4,0.000,0.035,2274,1313,3250
$GC,1586,-2.23,-101.9,193.9,-9.2,276,1593,0.15,1.80,0.00,0.000,6,0.058,0.026,2231,2413,3250
$GC,1930,-2.23,-101.9,226.5,-10.6,337,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2415,3251
$GC,2266,-2.23,-101.9,263.0,-11.2,387,2270,0.00,1.88,0.00,0.000,4,0.000,0.038,2231,1331,3250
$GC,2383,-2.23,-101.9,275.8,-10.9,397,2389,0.00,1.77,0.00,0.000,6,0.000,0.027,2231,2387,3250
$GC,2709,-2.23,-101.9,307.8,-9.1,428,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2388,3249
$GC,3026,-2.25,-115.0,334.2,-8.1,458,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2388,3247
$GC,3345,-2.25,-115.0,362.4,-9.8,488,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2388,3245
$GC,3663,-2.25,-115.0,393.7,-9.7,518,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2388,3243
$GC,3982,-2.25,-115.0,427.1,-9.4,548,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2388,3241
$GC,4301,-2.25,-115.0,456.5,-9.4,578,4304,0.00,1.85,0.00,0.000,4,0.000,0.050,2230,1336,3239
$GC,4350,-2.25,-115.0,461.2,-9.0,582,4356,0.00,1.77,0.00,0.000,6,0.000,0.034,2231,2369,3239
$GC,4679,-2.26,-120.4,489.4,-8.6,613,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2369,3237
$GC,4998,-2.28,-129.7,516.3,-8.4,635,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2370,3236
$GC,5307,-2.29,-136.2,541.8,-8.6,650,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2370,3233
$GC,5617,-2.29,-136.2,571.1,-9.3,665,5620,0.00,1.90,0.00,0.000,4,0.000,0.070,2230,1336,3231
$GC,5678,-2.29,-136.2,576.9,-9.1,667,5684,0.00,1.85,0.00,0.000,6,0.000,0.054,2230,2357,3231
$GC,5994,-2.30,-146.0,603.6,-8.0,683,5998,0.00,1.90,0.00,0.000,4,0.000,0.083,2230,3383,3229
$GC,6107,-2.30,-146.0,612.9,-8.9,688,6111,0.00,1.73,0.00,0.000,6,0.000,0.061,2230,2451,3229
$GC,6442,-2.30,-146.0,641.2,-8.9,704,6445,0.00,2.10,0.00,0.000,4,0.000,0.093,2230,1337,3227
$GC,6509,-2.30,-146.0,647.7,-9.3,707,6513,0.00,1.95,0.00,0.000,6,0.000,0.078,2230,2374,3227
$GC,6843,-2.30,-146.0,677.5,-9.0,723,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2375,3224
$GC,7151,-2.30,-146.0,705.2,-8.5,738,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2374,3223
$GC,7460,-2.30,-146.0,733.1,-10.0,753,7463,0.00,1.77,0.00,0.000,4,0.000,0.052,2230,3402,3222
$GC,7521,-2.30,-146.0,739.3,-9.2,755,7527,0.00,1.67,0.00,0.000,6,0.000,0.031,2230,2397,3222
$STATE,7793,end dive,NO_VERTICAL_VELOCITY
$STATE,7793,begin apogee
$GC,7798,-0.52,0.0,745.0,0.0,769,7886,1.70,0.00,83.50,1.243,6,0.060,0.000,2619,2011,2825
$STATE,7887,end apogee,CONTROL_FINISHED_OK
$STATE,7887,begin climb
$GC,7889,2.47,146.0,744.6,0.0,773,8020,2.85,0.00,125.53,1.210,6,0.050,0.000,3276,2011,2229
$GC,8327,2.35,146.0,715.5,9.1,795,8332,0.15,2.08,0.00,0.000,4,0.112,0.082,3243,919,2223
$GC,8376,2.25,146.0,710.3,10.2,797,8381,0.12,1.83,0.00,0.000,6,0.117,0.031,3221,1987,2222
$GC,8700,2.22,158.6,681.9,8.1,813,8715,0.00,1.80,11.05,1.091,4,0.000,0.047,3221,3008,2177
$GC,8784,2.16,162.9,674.6,8.7,816,8794,0.12,1.80,5.28,0.888,6,0.117,0.035,3198,1964,2160
$GC,9110,2.16,162.9,645.2,9.3,832,9114,0.00,1.85,0.00,0.000,4,0.000,0.045,3198,3021,2158
$GC,9171,2.12,162.9,639.5,9.1,834,9177,0.00,1.77,0.00,0.000,6,0.000,0.035,3198,1984,2158
$GC,9488,2.15,179.6,614.0,7.9,850,9507,0.00,0.00,15.85,1.123,6,0.000,0.000,3198,1984,2092
$GC,9816,2.15,179.6,584.3,9.6,866,9819,0.00,1.80,0.00,0.000,4,0.000,0.046,3198,3013,2090
$GC,9939,2.16,187.0,573.0,8.5,871,9951,0.00,1.77,7.62,0.997,6,0.000,0.035,3198,1994,2062
$GC,10260,2.21,216.2,548.7,7.0,887,10288,0.00,0.00,26.70,1.118,6,0.000,0.000,3198,1994,1943
$GC,10589,2.22,222.6,522.2,8.6,903,10602,0.00,2.03,6.88,0.940,4,0.000,0.061,3198,916,1917
$GC,10687,2.22,222.6,512.7,9.9,907,10691,0.00,1.85,0.00,0.000,6,0.000,0.030,3198,2006,1916
$GC,11013,2.22,222.6,479.7,11.0,932,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2006,1915
$GC,11334,2.25,238.2,451.1,7.9,962,11352,0.00,0.00,14.70,1.032,6,0.000,0.000,3198,2007,1853
$GC,11672,2.27,247.9,422.0,8.3,994,11687,0.12,2.03,9.73,0.965,4,0.073,0.056,3231,909,1814
$GC,11739,2.23,247.9,415.6,9.5,1000,11743,0.00,1.88,0.00,0.000,6,0.000,0.031,3230,1995,1813
$GC,12070,2.23,247.9,384.0,9.9,1031,12074,0.00,1.75,0.00,0.000,4,0.000,0.046,3230,3014,1812
$GC,12182,2.23,247.9,371.7,10.5,1041,12185,0.00,1.75,0.00,0.000,6,0.000,0.035,3230,1988,1812
$GC,12514,2.23,247.9,337.0,10.0,1072,12518,0.00,1.80,0.00,0.000,4,0.000,0.045,3231,3007,1812
$GC,12649,2.23,247.9,323.9,10.7,1084,12652,0.00,1.67,0.00,0.000,6,0.000,0.033,3231,2021,1811
$GC,12981,2.24,253.0,289.8,8.7,1115,12992,0.00,2.00,5.93,0.784,4,0.000,0.056,3231,907,1792
$GC,13038,2.24,253.0,284.2,10.0,1120,13041,0.00,1.90,0.00,0.000,6,0.000,0.029,3231,2028,1792
$GC,13370,2.24,253.0,250.2,10.4,1151,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2028,1792
$GC,13704,2.24,253.0,217.5,10.1,1210,13710,0.00,2.00,0.00,0.000,4,0.000,0.060,3231,903,1792
$GC,13796,2.24,253.0,208.6,10.1,1226,13802,0.00,1.88,0.00,0.000,6,0.000,0.035,3230,2024,1792
$GC,14139,2.25,255.5,175.8,8.8,1287,14145,0.00,0.00,3.80,0.562,6,0.000,0.000,3231,2024,1783
$GC,14484,2.29,261.4,145.9,8.6,1348,14496,0.00,1.70,6.75,0.726,4,0.000,0.042,3231,3013,1758
$GC,14606,2.38,286.8,137.5,7.3,1369,14634,0.00,1.67,22.55,0.821,6,0.000,0.029,3231,2014,1655
$GC,14975,2.50,311.8,112.3,7.3,1434,15004,0.15,1.98,21.77,0.787,4,0.060,0.051,3278,913,1553
$GC,15186,2.57,351.9,99.0,6.2,1471,15229,0.00,2.03,34.15,0.767,6,0.000,0.026,3279,2137,1389
$GC,15571,2.67,367.6,68.9,7.9,1539,15593,0.15,1.52,13.73,0.698,4,0.057,0.038,3329,3014,1325
$GC,15687,2.70,384.7,59.1,7.8,1559,15709,0.00,1.48,15.82,0.687,6,0.000,0.024,3329,2117,1255
$GC,16051,2.80,414.0,32.1,7.0,1623,16084,0.00,2.15,25.02,0.665,4,0.000,0.043,3329,908,1137
$GC,16210,2.85,414.0,18.7,9.4,1651,16216,0.00,2.08,0.00,0.000,6,0.000,0.024,3329,2182,1136
$STATE,16396,end climb,SURFACE_DEPTH_REACHED
$STATE,16396,begin surface coast
$FINISH,-0.5,1.021239
$STATE,16417,end surface coast,CONTROL_FINISHED_OK
$STATE,16417,begin surface
$SM_CCo,16439,41.15,0.635,0,0,887,475.15
$SM_GC,-5.66,0.00,0.00,41.15,0.000,0.000,0.635,412,2350,887,-10.66,0.74,475.15
$IRIDIUM_FIX,1241.04,12013.48,040797,111144
$TT8_MAMPS,0.026078
$HUMID,1876
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.80
$XPDR_PINGS,374
$ALTIM_BOTTOM_PING,721.0,37.6
$24V_AH,23.2,38.804
$10V_AH,10.2,29.217
$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,28.600,88.700,456.350,41.150,0.000,27.865,31.738,192.120,99.500,0.000,0.000,15.382,2685.253,10183.107,600.522,2829.510,589.588,0.000,1952.128,0.000,2808.036,0.000,45.301
$DEVICE_MAMPS,169.507,92.807,1243.307,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.121,464.105,727.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91548,1688
$CAP_FILE_SIZE,156444,0
$CFSIZE,260165632,236023808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,212725,1246.394,12014.946,41,1.3,41,-0.8