version: 66.03
glider: 126
mission: 7
dive: 275
start: 4 15 108 1 33 15
data:
$ID,126
$MISSION,7
$DIVE,275
$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,-624592
$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,97
$R_STBD_OVSHOOT,49
$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
$GPS1,012608,1246.885,12030.304,32,1.0,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.99
$_SM_ANGLEo,-55.1
$GPS2,013221,1246.876,12030.266,15,1.3,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,M2_EB_S3
$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,320.5,3142,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.95,0.000,6,0.000,0.000,414,2324,3320
$GC,97,-2.18,-120.8,0.5,-19.4,13,115,10.32,1.77,0.00,0.000,4,0.170,0.037,2249,3367,3322
$GC,368,-2.01,-120.8,55.7,-17.1,61,375,0.20,1.60,0.00,0.000,6,0.112,0.023,2287,2337,3324
$GC,713,-1.94,-120.8,98.9,-11.4,122,719,0.00,1.77,0.00,0.000,4,0.000,0.038,2287,3367,3326
$GC,856,-1.87,-120.8,116.0,-11.4,147,862,0.10,1.52,0.00,0.000,6,0.100,0.023,2319,2384,3327
$GC,1200,-1.89,-131.4,149.1,-8.4,208,1206,0.00,1.80,0.00,0.000,4,0.000,0.032,2319,1315,3328
$GC,1246,-1.90,-142.3,153.0,-8.3,216,1252,0.00,1.65,0.00,0.000,6,0.000,0.023,2319,2344,3328
$GC,1590,-1.96,-146.0,180.7,-8.4,277,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2344,3328
$GC,1935,-2.03,-146.0,208.7,-8.6,338,1941,0.15,1.73,0.00,0.000,4,0.056,0.034,2270,1320,3328
$GC,2015,-2.03,-146.0,215.8,-8.8,352,2021,0.00,1.62,0.00,0.000,6,0.000,0.025,2270,2322,3328
$GC,2358,-2.03,-146.0,244.8,-8.1,413,2364,0.00,1.77,0.00,0.000,4,0.000,0.043,2270,3372,3328
$GC,2465,-2.03,-146.0,254.6,-9.6,428,2471,0.00,1.67,0.00,0.000,6,0.000,0.026,2270,2329,3328
$GC,2791,-2.03,-146.0,283.5,-9.1,459,2795,0.00,1.70,0.00,0.000,4,0.000,0.038,2270,1319,3326
$GC,2863,-2.03,-146.0,290.7,-9.6,465,2870,0.00,1.67,0.00,0.000,6,0.000,0.026,2270,2322,3326
$GC,3192,-2.03,-146.0,320.1,-8.9,496,3196,0.00,1.80,0.00,0.000,4,0.000,0.044,2270,3377,3324
$GC,3260,-2.03,-146.0,326.9,-9.3,502,3264,0.00,1.70,0.00,0.000,6,0.000,0.027,2270,2322,3323
$GC,3592,-2.03,-146.0,356.6,-8.9,533,3596,0.00,1.83,0.00,0.000,4,0.000,0.045,2270,3375,3322
$GC,3631,-2.03,-146.0,360.5,-9.4,536,3637,0.00,1.73,0.00,0.000,6,0.000,0.028,2270,2333,3321
$GC,3957,-2.03,-146.0,389.5,-9.3,567,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3319
$GC,4275,-2.03,-146.0,418.6,-9.6,597,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3318
$GC,4593,-2.03,-146.0,449.3,-9.3,627,4596,0.00,1.83,0.00,0.000,4,0.000,0.048,2270,3376,3316
$GC,4665,-2.03,-146.0,456.5,-10.0,633,4671,0.00,1.70,0.00,0.000,6,0.000,0.031,2270,2354,3315
$GC,4991,-2.03,-146.0,484.7,-8.5,664,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2353,3313
$GC,5308,-2.03,-146.0,511.2,-8.3,688,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2353,3311
$GC,5614,-2.03,-146.0,536.3,-8.2,703,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2353,3309
$GC,5925,-2.03,-146.0,561.4,-8.6,718,5928,0.00,1.85,0.00,0.000,4,0.000,0.069,2270,3367,3307
$GC,5975,-2.03,-146.0,565.7,-8.2,720,5978,0.00,1.75,0.00,0.000,6,0.000,0.042,2270,2358,3307
$GC,6301,-2.03,-146.0,592.8,-8.5,736,6305,0.00,2.00,0.00,0.000,4,0.000,0.077,2270,1266,3305
$GC,6347,-2.03,-146.0,596.7,-9.1,738,6351,0.00,1.95,0.00,0.000,6,0.000,0.059,2270,2331,3305
$GC,6681,-2.03,-146.0,624.0,-8.1,754,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3303
$GC,6991,-2.03,-146.0,650.3,-8.4,769,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3302
$GC,7298,-2.03,-146.0,676.4,-8.7,784,7302,0.00,2.08,0.00,0.000,4,0.000,0.113,2270,3380,3301
$GC,7388,-2.03,-146.0,684.6,-9.1,788,7392,0.00,1.98,0.00,0.000,6,0.000,0.091,2270,2357,3300
$GC,7722,-2.03,-146.0,713.4,-8.7,804,7726,0.00,1.83,0.00,0.000,4,0.000,0.051,2270,3395,3298
$GC,7760,-2.03,-146.0,717.0,-9.2,805,7767,0.00,1.80,0.00,0.000,6,0.000,0.031,2270,2338,3298
$GC,8077,-2.03,-146.0,743.3,-8.2,821,8081,0.00,1.85,0.00,0.000,4,0.000,0.052,2270,1276,3297
$GC,8145,-2.03,-146.0,749.2,-8.5,824,8148,0.00,1.88,0.00,0.000,6,0.000,0.034,2270,2381,3297
$GC,8478,-2.03,-146.0,776.4,-8.2,840,8482,0.00,1.77,0.00,0.000,4,0.000,0.054,2270,3385,3295
$GC,8580,-2.03,-146.0,784.9,-7.8,844,8584,0.00,1.67,0.00,0.000,6,0.000,0.033,2270,2385,3295
$STATE,8857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8863,-0.52,0.0,807.2,7.9,858,8967,1.62,0.00,99.50,1.301,6,0.089,0.000,2617,1965,2825
$STATE,8968,end apogee,CONTROL_FINISHED_OK
$STATE,8968,begin climb
$GC,8971,2.22,146.0,810.5,0.0,863,9106,2.62,2.03,126.07,1.265,4,0.058,0.067,3218,911,2229
$GC,9237,2.09,146.0,795.4,10.1,875,9242,0.17,1.85,0.00,0.000,6,0.105,0.031,3184,1996,2224
$GC,9559,2.03,159.8,768.8,8.2,891,9578,0.00,0.00,12.45,1.155,6,0.000,0.000,3184,1995,2173
$GC,9888,1.97,176.7,742.0,8.0,907,9909,0.12,0.00,16.15,1.187,6,0.114,0.000,3161,1996,2104
$GC,10219,1.96,197.9,715.5,7.7,923,10240,0.00,0.00,19.52,1.197,6,0.000,0.000,3161,1995,2018
$GC,10547,1.98,208.1,689.0,8.4,939,10559,0.00,0.00,10.27,1.116,6,0.000,0.000,3161,1996,1976
$GC,10857,1.98,209.2,661.4,8.9,954,10860,0.00,1.75,0.00,0.000,4,0.000,0.048,3160,3007,1974
$GC,10930,1.95,209.7,654.7,9.0,957,10933,0.00,1.80,0.00,0.000,6,0.000,0.036,3160,1958,1974
$GC,11256,1.95,215.0,626.2,8.7,973,11266,0.00,0.00,7.65,1.036,6,0.000,0.000,3161,1958,1948
$GC,11566,1.96,218.7,598.6,8.8,988,11575,0.00,1.88,4.75,0.861,4,0.000,0.046,3160,3015,1933
$GC,11626,1.93,218.8,593.0,9.0,990,11632,0.00,1.80,0.00,0.000,6,0.000,0.035,3161,1966,1933
$GC,11942,1.96,238.5,567.0,7.8,1006,11967,0.00,1.98,18.95,1.132,4,0.000,0.061,3160,917,1852
$GC,12007,1.96,238.5,560.9,9.3,1009,12010,0.00,1.85,0.00,0.000,6,0.000,0.031,3160,1999,1851
$GC,12339,1.96,238.5,531.1,9.2,1025,12342,0.00,1.73,0.00,0.000,4,0.000,0.047,3160,3001,1850
$GC,12424,1.96,238.5,523.3,9.6,1028,12430,0.00,1.75,0.00,0.000,6,0.000,0.036,3160,1985,1849
$GC,12741,1.98,250.2,495.5,8.3,1046,12756,0.00,1.88,11.48,1.045,4,0.000,0.044,3160,3006,1804
$GC,12818,1.99,259.1,488.6,8.5,1052,12835,0.00,1.73,9.40,0.999,6,0.000,0.041,3160,2001,1768
$GC,13153,2.02,275.4,460.7,8.0,1084,13174,0.00,1.80,15.62,1.047,4,0.000,0.044,3160,3008,1701
$GC,13236,2.03,278.6,453.5,8.8,1091,13245,0.00,1.67,4.20,0.729,6,0.000,0.035,3160,2030,1689
$GC,13571,2.03,278.6,424.3,9.2,1123,13575,0.00,1.70,0.00,0.000,4,0.000,0.045,3160,3004,1688
$GC,13678,2.03,278.6,413.7,9.9,1132,13684,0.00,1.62,0.00,0.000,6,0.000,0.034,3160,2069,1687
$GC,14004,2.03,278.6,383.9,9.2,1163,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2068,1687
$GC,14322,2.03,280.9,354.7,8.9,1193,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2068,1686
$GC,14641,2.03,283.4,326.3,8.9,1223,14652,0.00,1.65,5.65,0.795,4,0.000,0.044,3160,3006,1669
$GC,14675,2.03,283.4,322.9,9.2,1226,14679,0.00,1.60,0.00,0.000,6,0.000,0.034,3160,2070,1668
$GC,15007,2.04,287.1,293.5,8.8,1257,15015,0.00,0.00,4.90,0.730,6,0.000,0.000,3160,2070,1654
$GC,15336,2.07,287.1,263.4,9.1,1288,15340,0.00,2.08,0.00,0.000,4,0.000,0.058,3160,907,1654
$GC,15392,2.09,295.3,258.1,8.5,1293,15407,0.10,2.05,9.07,0.857,6,0.077,0.031,3190,2124,1619
$GC,15740,2.09,295.3,224.9,9.5,1347,15746,0.00,1.52,0.00,0.000,4,0.000,0.046,3190,3002,1618
$GC,15786,2.09,295.3,220.6,9.6,1355,15792,0.00,1.55,0.00,0.000,6,0.000,0.031,3190,2096,1618
$GC,16129,2.10,300.6,189.9,8.7,1416,16141,0.00,2.12,5.93,0.726,4,0.000,0.054,3190,908,1599
$GC,16165,2.10,302.3,186.7,8.9,1422,16171,0.00,2.03,0.00,0.000,6,0.000,0.029,3189,2112,1599
$GC,16508,2.12,313.4,157.1,8.3,1483,16525,0.00,1.60,12.62,0.813,4,0.000,0.043,3190,3005,1546
$GC,16560,2.13,320.8,152.9,8.6,1492,16572,0.00,1.58,7.82,0.741,6,0.000,0.030,3190,2088,1517
$GC,16912,2.28,362.6,125.2,6.4,1554,16956,0.15,2.15,36.05,0.805,4,0.061,0.052,3238,916,1346
$GC,17041,2.31,381.4,114.8,7.8,1577,17064,0.00,1.98,16.73,0.765,6,0.000,0.028,3238,2099,1270
$GC,17404,2.39,392.6,84.8,8.3,1641,17421,0.00,2.12,10.85,0.713,4,0.000,0.045,3238,910,1224
$GC,17475,2.45,396.2,78.8,8.8,1653,17487,0.12,1.90,4.78,0.561,6,0.061,0.025,3278,2061,1208
$GC,17830,2.55,429.3,50.1,7.0,1715,17863,0.00,2.12,28.60,0.706,4,0.000,0.043,3278,899,1074
$GC,17968,2.65,459.2,39.3,7.2,1739,18002,0.12,2.05,25.83,0.679,6,0.059,0.025,3320,2147,951
$GC,18343,2.66,462.3,4.8,8.8,1805,18355,0.00,2.20,3.78,0.419,4,0.000,0.041,3320,903,939
$STATE,18370,end climb,SURFACE_DEPTH_REACHED
$STATE,18370,begin surface coast
$FINISH,-0.5,1.021132
$STATE,18394,end surface coast,CONTROL_FINISHED_OK
$STATE,18394,begin surface
$SM_CCo,18419,11.65,0.613,0,0,888,475.15
$SM_GC,-4.52,0.00,0.00,11.65,0.000,0.000,0.613,415,2343,888,-10.65,0.51,475.15
$IRIDIUM_FIX,1241.04,12032.42,090797,212140
$TT8_MAMPS,0.026078
$HUMID,1932
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.50
$XPDR_PINGS,449
$24V_AH,23.1,43.319
$10V_AH,10.1,32.035
$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,28.450,117.525,528.625,11.650,0.000,27.575,30.743,179.779,120.000,0.000,0.000,15.272,2919.572,11552.982,623.911,3109.777,623.426,0.000,2149.101,0.000,3065.789,0.000,57.069
$DEVICE_MAMPS,170.274,112.749,1300.832,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1227.425,452.291,754.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97666,1814
$CAP_FILE_SIZE,178685,0
$CFSIZE,260165632,233766912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,064137,1247.375,12029.486,33,1.0,33,-0.8