version: 66.03
glider: 126
mission: 7
dive: 119
start: 3 12 108 17 59 0
data:
$ID,126
$MISSION,7
$DIVE,119
$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,413
$T_MISSION,496
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,500
$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,-621761.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$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,26
$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
$GPS1,175137,1250.172,12040.150,39,1.4,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.80
$_SM_ANGLEo,-57.7
$GPS2,175809,1250.122,12040.135,13,1.9,13,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,260.2,45272,-22.0,-7.990
$D_GRID,1395
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-67.12,0.000,6,0.000,0.000,415,2334,3101
$GC,92,-2.33,-67.0,0.1,-16.4,13,110,10.02,1.85,0.00,0.000,4,0.170,0.035,2194,1250,3103
$GC,363,-2.23,-67.0,64.6,-19.7,61,370,0.15,1.75,0.00,0.000,6,0.128,0.025,2221,2324,3104
$GC,707,-2.17,-67.0,122.7,-15.2,122,713,0.00,1.80,0.00,0.000,4,0.000,0.044,2221,3364,3105
$GC,775,-2.11,-67.0,133.1,-15.5,134,782,0.10,1.75,0.00,0.000,6,0.113,0.025,2245,2292,3105
$GC,1119,-2.11,-67.0,173.8,-11.2,195,1125,0.00,1.85,0.00,0.000,4,0.000,0.044,2245,3365,3106
$GC,1378,-2.11,-67.0,205.3,-12.4,241,1384,0.00,1.65,0.00,0.000,6,0.000,0.026,2245,2338,3107
$GC,1720,-2.11,-67.0,242.9,-10.6,302,1727,0.00,1.83,0.00,0.000,4,0.000,0.050,2245,3366,3107
$GC,1895,-2.11,-67.0,262.8,-10.7,323,1901,0.00,1.65,0.00,0.000,6,0.000,0.028,2245,2366,3107
$GC,2220,-2.11,-67.0,295.0,-9.8,354,2223,0.00,1.83,0.00,0.000,4,0.000,0.041,2245,1287,3106
$GC,2332,-2.11,-67.0,307.1,-10.4,364,2336,0.00,1.77,0.00,0.000,6,0.000,0.031,2245,2334,3105
$GC,2662,-2.13,-67.0,340.5,-10.0,395,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3103
$GC,2982,-2.15,-67.0,372.1,-9.7,425,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3101
$GC,3299,-2.18,-67.0,403.7,-10.3,455,3302,0.00,1.83,0.00,0.000,4,0.000,0.061,2245,3366,3100
$GC,3359,-2.18,-67.0,410.2,-10.6,460,3366,0.00,1.73,0.00,0.000,6,0.000,0.035,2245,2360,3099
$GC,3685,-2.21,-67.0,443.5,-10.4,491,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2358,3097
$GC,4004,-2.24,-67.0,474.4,-9.7,521,4008,0.12,1.83,0.00,0.000,4,0.071,0.064,2212,3366,3094
$GC,4109,-2.24,-67.0,486.1,-10.8,530,4116,0.00,1.77,0.00,0.000,6,0.000,0.040,2212,2356,3094
$GC,4440,-2.24,-67.0,520.0,-10.5,553,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3092
$GC,4748,-2.24,-67.0,552.6,-10.2,568,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3090
$GC,5057,-2.24,-67.0,583.3,-9.8,583,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3088
$GC,5367,-2.24,-67.0,611.9,-9.1,598,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3086
$GC,5678,-2.24,-67.0,641.7,-9.3,613,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3084
$GC,5988,-2.24,-67.0,671.8,-9.7,628,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3083
$GC,6294,-2.24,-67.0,700.0,-9.0,643,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2354,3081
$GC,6603,-2.24,-67.0,729.0,-9.3,658,6607,0.00,2.25,0.00,0.000,4,0.000,0.161,2212,3359,3079
$GC,6642,-2.24,-67.0,732.4,-8.9,660,6646,0.00,2.12,0.00,0.000,6,0.000,0.134,2212,2365,3079
$GC,6968,-2.24,-67.0,761.9,-9.4,676,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2364,3077
$GC,7278,-2.24,-67.0,791.2,-9.1,691,7282,0.00,2.55,0.00,0.000,4,0.000,0.183,2211,1258,3076
$GC,7339,-2.24,-67.0,796.7,-9.2,694,7343,0.00,2.40,0.00,0.000,6,0.000,0.159,2212,2335,3076
$GC,7670,-2.24,-67.0,827.2,-9.4,710,7674,0.00,2.65,0.00,0.000,4,0.000,0.202,2212,1265,3075
$GC,7776,-2.24,-67.0,837.1,-8.9,715,7779,0.00,1.88,0.00,0.000,6,0.000,0.036,2212,2360,3075
$GC,8107,-2.24,-67.0,867.8,-9.0,731,8110,0.00,1.95,0.00,0.000,4,0.000,0.051,2212,1252,3074
$GC,8174,-2.24,-67.0,873.6,-8.9,734,8178,0.00,1.83,0.00,0.000,6,0.000,0.036,2212,2321,3074
$GC,8508,-2.27,-73.3,900.1,-7.4,750,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2321,3072
$GC,8816,-2.28,-78.0,923.0,-7.5,765,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2320,3071
$GC,9124,-2.30,-78.0,947.1,-8.3,780,9128,0.00,1.90,0.00,0.000,4,0.000,0.071,2211,3371,3071
$GC,9201,-2.30,-78.0,953.8,-8.2,783,9206,0.00,1.90,0.00,0.000,6,0.000,0.041,2212,2293,3071
$GC,9524,-2.33,-78.0,980.8,-8.4,799,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2293,3069
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9645,begin apogee
$GC,9650,-0.51,0.0,991.7,9.0,805,9708,1.85,0.00,53.40,1.447,6,0.105,0.000,2595,1965,2825
$STATE,9708,end apogee,CONTROL_FINISHED_OK
$STATE,9709,begin climb
$GC,9710,2.35,78.0,993.7,0.0,808,9792,2.88,2.08,69.22,1.411,4,0.074,0.074,3223,904,2505
$GC,9870,2.31,91.1,986.9,6.8,815,9889,0.00,1.88,12.95,1.291,6,0.000,0.035,3223,1967,2453
$GC,10211,2.27,91.1,961.2,8.1,832,10215,0.00,1.88,0.00,0.000,4,0.000,0.061,3223,3016,2451
$GC,10301,2.22,96.0,953.8,7.5,836,10312,0.15,1.90,5.57,1.062,6,0.115,0.051,3196,1952,2433
$GC,10629,2.21,101.8,929.1,7.4,852,10637,0.00,0.00,6.70,1.144,6,0.000,0.000,3196,1953,2410
$GC,10937,2.19,101.8,904.7,8.4,867,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1953,2408
$GC,11246,2.17,101.8,876.1,9.7,882,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1953,2407
$GC,11555,2.15,101.8,847.1,9.0,897,11559,0.00,1.90,0.00,0.000,4,0.000,0.065,3195,901,2407
$GC,11678,2.11,101.8,835.9,8.4,902,11683,0.10,1.85,0.00,0.000,6,0.109,0.035,3173,1965,2407
$GC,11999,2.11,101.8,810.4,8.0,918,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1965,2406
$GC,12308,2.12,106.8,787.7,7.5,933,12318,0.00,1.95,5.65,1.039,4,0.000,0.063,3173,907,2388
$GC,12491,2.12,106.8,772.0,8.9,941,12496,0.00,1.80,0.00,0.000,6,0.000,0.035,3173,1942,2388
$GC,12813,2.12,106.8,744.2,8.9,957,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1942,2387
$GC,13122,2.12,107.6,717.9,7.9,972,13126,0.00,1.90,0.00,0.000,4,0.000,0.061,3173,900,2387
$GC,13379,2.13,111.5,696.4,7.6,983,13391,0.00,1.80,5.53,0.994,6,0.000,0.035,3173,1941,2370
$GC,13700,2.13,111.5,671.1,8.0,999,13701,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1941,2369
$GC,14009,2.14,118.5,647.5,7.3,1014,14023,0.00,1.98,7.82,1.084,4,0.000,0.056,3173,3012,2341
$GC,14108,2.15,123.1,639.8,7.6,1018,14120,0.00,1.92,5.70,0.979,6,0.000,0.046,3173,1937,2323
$GC,14428,2.16,131.2,616.5,7.2,1034,14439,0.00,0.00,8.73,1.089,6,0.000,0.000,3173,1937,2290
$GC,14754,2.16,131.2,590.1,8.0,1050,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1937,2289
$GC,15063,2.18,140.9,566.2,7.1,1065,15077,0.00,1.95,10.27,1.087,4,0.000,0.054,3173,3009,2250
$GC,15241,2.20,150.4,552.9,7.1,1073,15255,0.00,1.88,9.52,1.059,6,0.000,0.044,3172,1942,2211
$GC,15571,2.20,150.7,526.2,8.0,1089,15575,0.00,1.90,0.00,0.000,4,0.000,0.053,3172,3004,2211
$GC,15631,2.20,150.7,521.2,8.1,1091,15638,0.00,1.88,0.00,0.000,6,0.000,0.044,3172,1949,2210
$GC,15948,2.22,150.7,494.9,8.0,1109,15952,0.00,1.88,0.00,0.000,4,0.000,0.052,3173,3006,2210
$GC,16038,2.22,150.7,487.4,8.2,1117,16041,0.00,1.83,0.00,0.000,6,0.000,0.043,3172,1955,2211
$GC,16370,2.24,150.7,459.0,8.7,1148,16372,0.10,0.00,0.00,0.000,6,0.084,0.000,3199,1955,2210
$GC,16687,2.24,150.7,429.9,9.0,1178,16690,0.00,1.88,0.00,0.000,4,0.000,0.052,3199,3015,2211
$GC,16837,2.24,150.7,415.5,9.2,1191,16843,0.00,1.83,0.00,0.000,6,0.000,0.041,3200,1977,2211
$GC,17163,2.24,150.7,388.3,8.5,1222,17166,0.00,1.92,0.00,0.000,4,0.000,0.064,3199,903,2211
$GC,17241,2.24,154.7,381.4,7.6,1229,17253,0.00,1.80,5.40,0.815,6,0.000,0.031,3199,1972,2194
$GC,17570,2.25,156.2,354.7,7.8,1260,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1972,2194
$GC,17888,2.25,156.2,328.0,8.5,1290,17892,0.00,1.80,0.00,0.000,4,0.000,0.051,3199,3011,2194
$GC,17937,2.25,156.2,323.4,10.3,1294,17944,0.00,1.85,0.00,0.000,6,0.000,0.041,3199,1955,2194
$GC,18263,2.25,156.2,297.9,8.2,1325,18264,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1955,2194
$GC,18583,2.25,157.0,270.8,7.9,1355,18591,0.00,0.00,4.00,0.627,6,0.000,0.000,3199,1955,2184
$GC,18912,2.28,174.5,248.9,6.3,1387,18933,0.00,0.00,16.08,0.899,6,0.000,0.000,3199,1955,2113
$GC,19272,2.30,187.0,222.9,6.8,1451,19289,0.00,1.95,11.98,0.850,4,0.000,0.056,3199,905,2062
$GC,19442,2.30,187.0,208.9,8.6,1481,19448,0.00,1.75,0.00,0.000,6,0.000,0.030,3199,1950,2061
$GC,19786,2.34,197.9,180.0,7.0,1542,19803,0.00,1.83,10.48,0.800,4,0.000,0.047,3200,2997,2018
$GC,19922,2.40,212.6,170.2,6.6,1566,19945,0.10,1.83,13.77,0.807,6,0.056,0.035,3236,1938,1958
$GC,20283,2.44,221.3,143.6,7.2,1630,20301,0.00,1.90,8.65,0.737,4,0.000,0.044,3236,2996,1922
$GC,20526,2.49,239.4,129.1,6.3,1673,20549,0.00,1.73,16.27,0.773,6,0.000,0.032,3236,1960,1849
$GC,20890,2.56,248.9,102.4,7.1,1737,20907,0.12,1.85,9.35,0.696,4,0.065,0.042,3274,2999,1810
$GC,21093,2.56,252.0,86.7,7.7,1773,21104,0.00,1.65,4.38,0.528,6,0.000,0.030,3274,2000,1797
$GC,21444,2.62,268.2,66.0,6.5,1835,21467,0.00,1.77,14.93,0.687,4,0.000,0.041,3274,2998,1731
$GC,21720,2.68,285.1,47.8,6.4,1884,21742,0.00,1.60,15.23,0.664,6,0.000,0.028,3274,2039,1661
$GC,22082,2.76,297.6,23.2,6.8,1948,22101,0.15,1.67,11.73,0.622,4,0.058,0.038,3324,3013,1610
$GC,22354,2.78,310.5,2.6,6.8,1996,22367,0.00,1.52,9.07,0.580,2,0.000,0.027,3324,2088,1572
$STATE,22367,end climb,SURFACE_DEPTH_REACHED
$STATE,22367,begin surface coast
$FINISH,-0.5,1.021516
$STATE,22395,end surface coast,CONTROL_FINISHED_OK
$STATE,22395,begin surface
$SM_CCo,22416,115.78,0.621,0,0,785,500.17
$SM_GC,-5.90,0.00,0.00,115.78,0.000,0.000,0.621,417,2341,785,-10.54,0.45,500.17
$IRIDIUM_FIX,1247.67,12042.28,060697,111101
$TT8_MAMPS,0.026078
$HUMID,1721
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.90
$XPDR_PINGS,317
$24V_AH,23.1,17.841
$10V_AH,10.2,14.360
$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,28.500,113.525,352.375,115.775,0.000,28.979,32.332,208.088,91.750,0.000,0.000,13.779,3277.517,14896.824,586.937,3614.686,564.502,0.000,2266.226,0.000,3554.067,0.000,91.481
$DEVICE_MAMPS,170.274,202.488,1446.562,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1360.731,801.394,746.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110270,2003
$CAP_FILE_SIZE,200048,0
$CFSIZE,260165632,247291904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130308,001537,1249.392,12038.255,30,1.3,30,-0.8