version: 66.03
glider: 126
mission: 7
dive: 121
start: 3 13 108 6 53 49
data:
$ID,126
$MISSION,7
$DIVE,121
$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,-621792.81
$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,46
$R_STBD_OVSHOOT,50
$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
$GPS1,064625,1247.895,12036.917,40,1.0,40,-0.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.56
$_SM_ANGLEo,-56.1
$GPS2,065257,1247.838,12036.950,12,1.2,12,-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,264.7,38962,-22.0,-7.990
$D_GRID,1541
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-67.30,0.000,6,0.000,0.000,416,2327,3102
$GC,92,-2.33,-67.0,-0.1,-14.9,13,109,10.07,1.77,0.00,0.000,4,0.171,0.032,2199,1277,3104
$GC,138,-2.07,-67.0,17.1,-31.2,21,144,0.30,1.73,0.00,0.000,6,0.116,0.025,2257,2330,3105
$GC,482,-2.02,-67.0,78.9,-16.7,82,488,0.00,1.80,0.00,0.000,4,0.000,0.044,2257,3371,3105
$GC,640,-1.97,-67.0,103.2,-14.8,110,647,0.08,1.70,0.00,0.000,6,0.109,0.024,2276,2321,3107
$GC,985,-1.97,-67.0,147.9,-12.5,171,990,0.00,1.80,0.00,0.000,4,0.000,0.044,2276,3364,3108
$GC,1120,-1.97,-67.0,163.9,-11.4,195,1126,0.00,1.58,0.00,0.000,6,0.000,0.025,2276,2379,3108
$GC,1463,-2.00,-67.0,199.7,-10.6,256,1469,0.00,1.75,0.00,0.000,4,0.000,0.048,2276,3369,3108
$GC,1599,-2.02,-67.0,213.8,-10.1,280,1605,0.00,1.60,0.00,0.000,6,0.000,0.026,2276,2378,3108
$GC,1945,-2.06,-67.0,246.2,-9.7,341,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2377,3108
$GC,2277,-2.10,-67.0,275.3,-8.6,376,2282,0.12,1.83,0.00,0.000,4,0.066,0.039,2241,1296,3107
$GC,2337,-2.10,-67.0,281.4,-10.4,381,2344,0.00,1.83,0.00,0.000,6,0.000,0.028,2241,2378,3106
$GC,2664,-2.10,-67.0,313.3,-9.4,412,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2378,3104
$GC,2981,-2.10,-67.0,345.9,-9.9,442,2984,0.00,1.85,0.00,0.000,4,0.000,0.042,2241,1304,3102
$GC,3029,-2.10,-67.0,350.9,-10.5,446,3036,0.00,1.83,0.00,0.000,6,0.000,0.031,2241,2370,3102
$GC,3356,-2.13,-67.0,383.2,-9.6,477,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2370,3100
$GC,3674,-2.15,-67.0,414.7,-9.8,507,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2370,3098
$GC,3993,-2.18,-67.0,444.4,-9.2,537,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2370,3096
$GC,4311,-2.20,-67.0,475.0,-9.9,567,4315,0.00,1.90,0.00,0.000,4,0.000,0.061,2240,1317,3093
$GC,4435,-2.23,-67.0,487.5,-10.1,578,4439,0.00,1.83,0.00,0.000,6,0.000,0.040,2241,2373,3093
$GC,4773,-2.26,-67.0,520.2,-9.5,600,4776,0.00,1.85,0.00,0.000,4,0.000,0.075,2241,3384,3090
$GC,4869,-2.26,-67.0,530.0,-10.4,604,4873,0.00,1.65,0.00,0.000,6,0.000,0.046,2240,2429,3090
$GC,5196,-2.29,-67.0,561.1,-9.5,620,5198,0.12,0.00,0.00,0.000,6,0.071,0.000,2207,2429,3088
$GC,5503,-2.29,-67.0,593.0,-10.4,635,5507,0.00,2.05,0.00,0.000,4,0.000,0.077,2207,1316,3086
$GC,5615,-2.29,-67.0,604.1,-9.6,640,5619,0.00,1.95,0.00,0.000,6,0.000,0.065,2207,2381,3085
$GC,5947,-2.29,-67.0,635.6,-9.2,656,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2381,3083
$GC,6256,-2.29,-67.0,664.3,-9.5,671,6259,0.00,2.12,0.00,0.000,4,0.000,0.107,2207,1314,3082
$GC,6360,-2.29,-67.0,674.3,-9.5,675,6367,0.00,2.05,0.00,0.000,6,0.000,0.093,2208,2356,3082
$GC,6676,-2.29,-67.0,702.7,-8.8,691,6680,0.00,2.15,0.00,0.000,4,0.000,0.126,2207,1319,3079
$GC,6748,-2.29,-67.0,709.2,-8.9,694,6752,0.00,2.10,0.00,0.000,6,0.000,0.109,2207,2351,3079
$GC,7069,-2.29,-67.0,736.8,-8.6,710,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2351,3078
$GC,7378,-2.29,-67.0,765.6,-9.6,725,7382,0.00,2.38,0.00,0.000,4,0.000,0.179,2208,3389,3076
$GC,7439,-2.29,-67.0,771.3,-8.9,728,7443,0.00,2.15,0.00,0.000,6,0.000,0.153,2207,2426,3076
$GC,7766,-2.29,-67.0,801.1,-9.4,744,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2412,3075
$GC,8076,-2.29,-67.0,831.5,-10.0,759,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2412,3074
$GC,8386,-2.29,-67.0,861.5,-9.7,774,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2412,3073
$GC,8692,-2.29,-67.0,889.7,-8.8,789,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2413,3072
$GC,9002,-2.30,-72.6,914.5,-7.5,804,9005,0.00,1.95,0.00,0.000,4,0.000,0.052,2207,1306,3071
$GC,9062,-2.30,-73.0,919.1,-7.9,806,9068,0.00,1.90,0.00,0.000,6,0.000,0.037,2207,2395,3071
$GC,9377,-2.30,-73.0,947.1,-9.1,822,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2396,3070
$GC,9687,-2.30,-73.0,974.9,-9.0,837,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2395,3068
$STATE,9852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9852,begin apogee
$GC,9857,-0.51,0.0,990.0,9.2,845,9915,1.88,0.00,53.50,1.447,6,0.104,0.000,2596,1990,2825
$STATE,9916,end apogee,CONTROL_FINISHED_OK
$STATE,9916,begin climb
$GC,9918,2.34,73.0,992.0,0.0,848,9992,2.90,0.00,65.60,1.417,6,0.071,0.000,3221,1990,2526
$GC,10302,2.32,86.4,971.0,6.7,867,10321,0.00,0.00,13.05,1.309,6,0.000,0.000,3222,1990,2472
$GC,10630,2.29,95.0,947.5,7.2,883,10641,0.00,0.00,9.18,1.240,6,0.000,0.000,3221,1990,2437
$GC,10939,2.25,95.0,922.1,8.4,898,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1990,2436
$GC,11249,2.21,97.3,898.0,7.8,913,11250,0.15,0.00,0.00,0.000,6,0.116,0.000,3194,1990,2435
$GC,11557,2.21,98.1,873.9,7.9,928,11563,0.00,0.00,3.78,0.835,6,0.000,0.000,3194,1990,2425
$GC,11867,2.23,106.5,850.9,7.2,943,11878,0.00,0.00,9.32,1.238,6,0.000,0.000,3194,1990,2390
$GC,12176,2.23,106.5,826.1,8.5,958,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1990,2389
$GC,12485,2.23,106.7,802.0,8.0,973,12489,0.00,1.88,0.00,0.000,4,0.000,0.058,3194,3031,2389
$GC,12660,2.21,109.5,787.7,7.7,980,12669,0.00,1.90,4.18,0.890,6,0.000,0.049,3193,1955,2378
$GC,12996,2.22,113.8,760.3,7.6,997,13003,0.00,0.00,5.75,1.043,6,0.000,0.000,3194,1955,2360
$GC,13305,2.22,115.2,737.1,7.9,1012,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1955,2360
$GC,13614,2.23,117.8,712.8,7.7,1027,13621,0.00,0.00,5.00,0.963,6,0.000,0.000,3194,1955,2344
$GC,13924,2.23,118.2,688.4,8.0,1042,13927,0.00,1.95,0.00,0.000,4,0.000,0.057,3194,3041,2344
$GC,14001,2.23,118.2,681.8,8.2,1045,14005,0.00,1.92,0.00,0.000,6,0.000,0.046,3194,1966,2344
$GC,14322,2.23,118.2,655.8,8.2,1061,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1965,2344
$GC,14632,2.24,127.7,632.7,7.1,1076,14646,0.00,1.95,10.30,1.134,4,0.000,0.066,3194,911,2304
$GC,14720,2.23,135.0,626.0,7.3,1080,14734,0.00,1.85,7.97,1.069,6,0.000,0.032,3193,1992,2274
$GC,15051,2.23,135.0,599.8,8.2,1096,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1993,2273
$GC,15359,2.23,135.0,573.3,8.9,1111,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1994,2273
$GC,15669,2.23,135.0,545.0,8.7,1126,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1994,2273
$GC,15978,2.23,135.0,519.0,8.7,1141,15979,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1994,2273
$GC,16289,2.23,135.0,493.1,8.2,1159,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1996,2273
$GC,16610,2.25,144.7,468.7,7.1,1189,16624,0.00,2.00,10.02,1.024,4,0.000,0.058,3194,906,2234
$GC,16719,2.25,145.2,459.7,7.9,1198,16725,0.00,1.83,0.00,0.000,6,0.000,0.031,3194,1961,2233
$GC,17045,2.27,153.9,433.7,7.2,1229,17059,0.00,1.90,9.35,0.985,4,0.000,0.054,3193,3003,2197
$GC,17155,2.27,153.9,425.0,8.1,1239,17159,0.00,1.80,0.00,0.000,6,0.000,0.044,3194,1972,2196
$GC,17485,2.27,153.9,397.7,8.6,1270,17488,0.00,1.85,0.00,0.000,4,0.000,0.053,3194,3017,2196
$GC,17585,2.27,153.9,388.5,9.0,1279,17589,0.00,1.75,0.00,0.000,6,0.000,0.041,3194,2005,2196
$GC,17916,2.27,153.9,358.2,9.0,1310,17917,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2005,2197
$GC,18235,2.28,160.8,333.1,7.3,1340,18244,0.00,0.00,7.50,0.873,6,0.000,0.000,3194,2005,2169
$GC,18563,2.28,160.8,307.1,8.4,1371,18566,0.00,1.77,0.00,0.000,4,0.000,0.054,3193,3006,2169
$GC,18675,2.28,160.8,297.9,9.0,1381,18678,0.00,1.73,0.00,0.000,6,0.000,0.039,3194,1998,2169
$GC,19004,2.28,160.8,270.6,8.4,1412,19006,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1999,2169
$GC,19326,2.28,160.8,244.2,8.2,1448,19332,0.00,1.95,0.00,0.000,4,0.000,0.060,3193,916,2169
$GC,19413,2.28,162.3,237.6,7.8,1463,19419,0.00,1.88,0.00,0.000,6,0.000,0.030,3194,2036,2169
$GC,19756,2.33,175.3,213.9,6.8,1524,19779,0.10,2.10,13.82,0.867,4,0.077,0.053,3222,901,2110
$GC,19888,2.33,175.3,203.1,8.3,1547,19894,0.00,1.88,0.00,0.000,6,0.000,0.030,3222,2017,2110
$GC,20231,2.33,178.7,176.1,7.7,1608,20238,0.00,0.00,4.75,0.641,6,0.000,0.000,3222,2017,2096
$GC,20578,2.39,202.1,156.0,5.8,1669,20605,0.00,1.77,20.52,0.824,4,0.000,0.049,3222,3017,2001
$GC,20859,2.45,219.0,138.2,6.4,1719,20882,0.00,1.73,15.30,0.780,6,0.000,0.032,3222,1989,1932
$GC,21223,2.56,258.1,115.3,4.3,1783,21262,0.15,1.88,32.97,0.772,4,0.060,0.044,3271,3015,1771
$GC,21515,2.56,261.9,93.1,7.6,1835,21527,0.00,1.70,4.53,0.547,6,0.000,0.030,3271,1994,1756
$GC,21866,2.59,261.9,65.7,8.0,1897,21871,0.00,1.75,0.00,0.000,4,0.000,0.041,3271,3017,1756
$GC,21968,2.62,261.9,57.7,8.2,1915,21974,0.00,1.73,0.00,0.000,6,0.000,0.028,3270,1970,1756
$GC,22311,2.72,293.9,39.2,5.0,1976,22345,0.12,1.83,27.25,0.676,4,0.064,0.039,3311,3017,1626
$GC,22577,2.75,300.5,19.1,7.4,2023,22589,0.00,1.65,6.93,0.567,6,0.000,0.028,3311,2006,1599
$STATE,22814,end climb,SURFACE_DEPTH_REACHED
$STATE,22814,begin surface coast
$FINISH,-0.1,1.021399
$STATE,22841,end surface coast,CONTROL_FINISHED_OK
$STATE,22841,begin surface
$SM_CCo,22862,121.03,0.625,0,0,785,500.17
$SM_GC,-5.70,0.00,0.00,121.03,0.000,0.000,0.625,415,2343,785,-10.56,0.54,500.17
$IRIDIUM_FIX,1245.46,12037.35,070697,000031
$TT8_MAMPS,0.026078
$HUMID,1704
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,404
$24V_AH,23.1,18.151
$10V_AH,10.2,14.634
$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,28.575,98.250,340.575,121.025,0.000,22.680,30.990,217.063,113.500,0.000,0.000,12.589,3342.652,15315.675,602.030,3543.119,590.253,0.000,2227.002,0.000,3511.878,0.000,91.492
$DEVICE_MAMPS,171.041,178.711,1446.562,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1407.132,845.757,783.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113678,2070
$CAP_FILE_SIZE,195757,0
$CFSIZE,260165632,247095296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130308,131807,1247.754,12034.432,39,0.9,39,-0.8