version: 66.03
glider: 126
mission: 7
dive: 122
start: 3 13 108 13 25 12
data:
$ID,126
$MISSION,7
$DIVE,122
$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,-621808.62
$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,49
$R_STBD_OVSHOOT,47
$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
$GPS1,131807,1247.754,12034.432,39,0.9,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.46
$_SM_ANGLEo,-57.5
$GPS2,132421,1247.715,12034.435,15,1.1,15,-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,264.3,34420,-22.0,-7.990
$D_GRID,1185
$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,-66.40,0.000,6,0.000,0.000,415,2344,3102
$GC,92,-2.33,-67.0,0.5,-16.5,13,109,10.05,1.75,0.00,0.000,4,0.170,0.038,2196,3368,3104
$GC,242,-2.20,-67.0,40.7,-20.9,39,248,0.17,1.70,0.00,0.000,6,0.123,0.024,2228,2303,3105
$GC,585,-2.13,-67.0,103.6,-16.8,100,591,0.00,1.85,0.00,0.000,4,0.000,0.044,2228,3359,3106
$GC,695,-2.07,-67.0,120.2,-13.9,119,701,0.15,1.65,0.00,0.000,6,0.118,0.024,2256,2321,3107
$GC,1038,-2.07,-67.0,164.0,-9.6,180,1044,0.00,1.83,0.00,0.000,4,0.000,0.046,2257,3359,3108
$GC,1280,-2.07,-67.0,190.0,-10.6,223,1286,0.00,1.65,0.00,0.000,6,0.000,0.025,2256,2330,3108
$GC,1623,-2.07,-67.0,223.7,-10.8,284,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2329,3108
$GC,1962,-2.09,-67.0,258.8,-10.2,337,1966,0.00,1.83,0.00,0.000,4,0.000,0.051,2256,3369,3108
$GC,2051,-2.09,-67.0,268.4,-10.2,345,2055,0.00,1.70,0.00,0.000,6,0.000,0.028,2256,2327,3108
$GC,2383,-2.12,-67.0,303.8,-10.9,376,2387,0.00,1.77,0.00,0.000,4,0.000,0.041,2257,1295,3106
$GC,2477,-2.14,-67.0,314.3,-11.1,384,2483,0.00,1.70,0.00,0.000,6,0.000,0.029,2256,2301,3105
$GC,2803,-2.18,-67.0,346.3,-9.5,415,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2301,3103
$GC,3123,-2.21,-67.0,377.8,-10.2,445,3127,0.12,1.88,0.00,0.000,4,0.067,0.057,2223,3366,3101
$GC,3189,-2.21,-67.0,385.3,-10.7,451,3193,0.00,1.75,0.00,0.000,6,0.000,0.031,2222,2320,3101
$GC,3520,-2.21,-67.0,416.3,-9.8,482,3523,0.00,1.88,0.00,0.000,4,0.000,0.058,2223,3367,3098
$GC,3654,-2.21,-67.0,430.0,-10.6,494,3658,0.00,1.75,0.00,0.000,6,0.000,0.035,2222,2337,3098
$GC,3985,-2.21,-67.0,463.8,-10.2,525,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2336,3096
$GC,4302,-2.21,-67.0,495.9,-9.4,555,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2336,3093
$GC,4613,-2.21,-67.0,525.8,-9.7,572,4616,0.00,1.90,0.00,0.000,4,0.000,0.074,2223,3363,3091
$GC,4702,-2.21,-67.0,534.6,-10.3,576,4706,0.00,1.83,0.00,0.000,6,0.000,0.047,2222,2323,3091
$GC,5033,-2.21,-67.0,567.0,-9.9,592,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2322,3088
$GC,5342,-2.21,-67.0,598.7,-10.1,607,5346,0.00,1.95,0.00,0.000,4,0.000,0.084,2222,1273,3087
$GC,5387,-2.21,-67.0,603.0,-10.1,609,5390,0.00,1.92,0.00,0.000,6,0.000,0.064,2222,2330,3087
$GC,5718,-2.21,-67.0,636.5,-10.1,625,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2330,3085
$GC,6028,-2.23,-67.0,664.1,-8.6,640,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2330,3084
$GC,6338,-2.23,-67.0,691.1,-8.8,655,6342,0.00,2.15,0.00,0.000,4,0.000,0.120,2222,1275,3082
$GC,6381,-2.23,-67.0,695.0,-9.1,657,6386,0.00,2.10,0.00,0.000,6,0.000,0.102,2222,2322,3082
$GC,6710,-2.25,-67.0,723.1,-8.9,673,6714,0.00,2.22,0.00,0.000,4,0.000,0.137,2222,1271,3079
$GC,6759,-2.25,-67.0,727.7,-9.1,675,6763,0.00,2.17,0.00,0.000,6,0.000,0.118,2222,2322,3079
$GC,7081,-2.28,-67.0,754.7,-9.2,691,7086,0.00,2.40,0.00,0.000,4,0.000,0.170,2222,3390,3078
$GC,7193,-2.28,-67.0,765.8,-10.2,696,7198,0.00,2.30,0.00,0.000,6,0.000,0.148,2222,2345,3077
$GC,7515,-2.30,-67.0,797.2,-9.6,712,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2344,3076
$GC,7823,-2.32,-67.0,825.5,-8.9,727,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2332,3075
$GC,8135,-2.36,-69.9,850.5,-7.7,742,8139,0.12,1.92,0.00,0.000,4,0.076,0.066,2192,3396,3074
$GC,8306,-2.36,-69.9,867.5,-9.5,749,8313,0.00,1.88,0.00,0.000,6,0.000,0.038,2192,2325,3074
$GC,8623,-2.36,-69.9,897.0,-9.2,765,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2324,3073
$GC,8932,-2.36,-69.9,926.5,-9.5,780,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2324,3072
$GC,9240,-2.36,-69.9,953.1,-8.7,795,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2323,3071
$GC,9550,-2.36,-69.9,978.9,-8.0,810,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2322,3070
$STATE,9693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9693,begin apogee
$GC,9699,-0.51,0.0,991.2,8.3,817,9757,1.95,0.00,53.78,1.444,6,0.104,0.000,2596,1956,2825
$STATE,9758,end apogee,CONTROL_FINISHED_OK
$STATE,9758,begin climb
$GC,9759,2.34,69.9,992.3,0.0,820,9830,2.78,2.00,62.05,1.417,4,0.064,0.072,3220,909,2540
$GC,9941,2.29,78.6,982.7,7.2,828,9956,0.00,1.90,9.20,1.234,6,0.000,0.032,3220,1992,2503
$GC,10284,2.25,81.2,955.9,7.7,845,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1992,2502
$GC,10593,2.23,95.0,933.0,6.7,860,10613,0.12,0.00,15.77,1.332,6,0.117,0.000,3197,1992,2437
$GC,10922,2.20,95.0,907.1,8.7,876,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1992,2435
$GC,11231,2.18,95.0,880.9,8.4,891,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1992,2434
$GC,11541,2.17,101.9,856.6,7.3,906,11554,0.00,2.08,7.10,1.151,4,0.000,0.059,3197,901,2409
$GC,11662,2.14,106.2,847.1,7.6,911,11674,0.00,1.85,5.47,1.046,6,0.000,0.034,3197,1984,2392
$GC,11982,2.14,107.1,822.8,7.9,927,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1984,2391
$GC,12291,2.15,110.9,798.6,7.6,942,12298,0.00,0.00,5.65,1.048,6,0.000,0.000,3197,1985,2373
$GC,12600,2.16,115.8,774.8,7.5,957,12608,0.00,0.00,6.12,1.066,6,0.000,0.000,3197,1985,2353
$GC,12909,2.17,120.3,751.5,7.6,972,12917,0.00,0.00,5.88,1.039,6,0.000,0.000,3197,1985,2334
$GC,13218,2.17,120.3,726.2,8.8,987,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1985,2334
$GC,13528,2.17,120.3,697.8,9.0,1002,13532,0.00,1.95,0.00,0.000,4,0.000,0.059,3196,911,2333
$GC,13656,2.14,120.3,685.9,9.1,1007,13663,0.00,1.83,0.00,0.000,6,0.000,0.032,3197,1965,2334
$GC,13971,2.14,120.3,658.6,8.6,1023,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1965,2333
$GC,14281,2.14,120.3,631.6,8.6,1038,14284,0.00,1.92,0.00,0.000,4,0.000,0.059,3197,905,2333
$GC,14352,2.12,120.3,625.4,8.5,1041,14357,0.10,1.80,0.00,0.000,6,0.103,0.032,3174,1950,2333
$GC,14679,2.12,124.3,600.7,7.6,1057,14686,0.00,0.00,5.00,0.900,6,0.000,0.000,3174,1951,2318
$GC,14988,2.12,125.2,576.6,7.9,1072,14991,0.00,1.85,0.00,0.000,4,0.000,0.066,3174,3002,2318
$GC,15037,2.13,126.6,572.6,7.9,1074,15047,0.00,1.88,4.28,0.815,6,0.000,0.045,3174,1948,2308
$GC,15363,2.13,126.6,545.7,8.2,1090,15366,0.00,1.88,0.00,0.000,4,0.000,0.065,3174,908,2308
$GC,15479,2.14,132.3,536.0,7.4,1095,15490,0.00,1.80,6.55,0.970,6,0.000,0.032,3174,1957,2285
$GC,15800,2.14,132.7,510.6,8.0,1110,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1958,2285
$GC,16114,2.14,132.7,484.4,8.0,1133,16117,0.00,1.85,0.00,0.000,4,0.000,0.055,3174,3014,2285
$GC,16203,2.14,132.7,476.7,9.5,1141,16207,0.00,1.85,0.00,0.000,6,0.000,0.045,3174,1955,2285
$GC,16534,2.14,132.7,448.9,8.3,1172,16537,0.00,1.88,0.00,0.000,4,0.000,0.053,3174,3015,2284
$GC,16662,2.15,138.2,438.0,7.5,1183,16673,0.00,1.83,6.80,0.923,6,0.000,0.042,3174,1972,2261
$GC,16991,2.15,138.2,412.5,8.2,1214,16995,0.00,1.90,0.00,0.000,4,0.000,0.064,3174,914,2261
$GC,17052,2.15,141.7,407.4,7.7,1219,17062,0.00,1.83,4.72,0.787,6,0.000,0.031,3174,1977,2247
$GC,17386,2.16,148.1,381.8,7.4,1251,17398,0.00,1.88,7.07,0.900,4,0.000,0.053,3174,3006,2221
$GC,17455,2.16,149.3,376.2,7.9,1257,17458,0.00,1.80,0.00,0.000,6,0.000,0.042,3174,1973,2221
$GC,17786,2.19,150.4,350.3,7.9,1288,17797,0.00,1.95,3.88,0.666,4,0.000,0.063,3174,916,2211
$GC,17835,2.19,150.4,346.0,8.2,1292,17842,0.00,1.80,0.00,0.000,6,0.000,0.031,3174,1963,2211
$GC,18162,2.22,150.4,320.4,8.4,1323,18163,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1964,2211
$GC,18480,2.28,168.0,297.8,6.3,1353,18500,0.15,0.00,16.50,0.947,6,0.068,0.000,3212,1964,2139
$GC,18817,2.28,168.0,268.9,9.4,1385,18821,0.00,1.90,0.00,0.000,4,0.000,0.055,3213,906,2138
$GC,18952,2.28,168.0,255.9,9.9,1397,18955,0.00,1.77,0.00,0.000,6,0.000,0.030,3213,1965,2138
$GC,19292,2.28,168.0,224.7,9.2,1452,19298,0.00,1.90,0.00,0.000,4,0.000,0.053,3212,914,2138
$GC,19422,2.28,168.0,213.2,8.6,1475,19428,0.00,1.73,0.00,0.000,6,0.000,0.029,3213,1949,2139
$GC,19765,2.29,173.9,185.9,7.4,1536,19777,0.00,0.00,6.53,0.738,6,0.000,0.000,3213,1950,2115
$GC,20117,2.35,194.8,164.1,6.0,1598,20140,0.00,1.90,18.50,0.831,4,0.000,0.047,3212,2999,2030
$GC,20393,2.42,217.2,146.0,5.9,1647,20422,0.10,1.80,19.92,0.805,6,0.074,0.034,3243,1932,1938
$GC,20762,2.51,258.3,121.9,4.1,1712,20802,0.00,1.95,34.28,0.782,4,0.000,0.043,3243,3002,1771
$GC,21055,2.57,267.8,100.3,7.1,1764,21074,0.08,1.80,8.90,0.687,6,0.054,0.031,3276,1941,1733
$GC,21413,2.60,275.0,71.6,7.3,1827,21425,0.00,1.90,7.62,0.637,4,0.000,0.041,3276,3005,1703
$GC,21679,2.64,279.3,49.7,7.6,1874,21691,0.00,1.77,5.15,0.542,6,0.000,0.029,3276,1943,1686
$GC,22032,2.73,304.5,29.2,5.6,1936,22060,0.12,1.85,22.08,0.664,4,0.061,0.039,3316,3009,1582
$GC,22314,2.77,312.9,7.8,7.2,1986,22326,0.00,1.75,8.27,0.581,6,0.000,0.028,3316,1957,1548
$STATE,22387,end climb,SURFACE_DEPTH_REACHED
$STATE,22387,begin surface coast
$FINISH,-0.2,1.021447
$STATE,22417,end surface coast,CONTROL_FINISHED_OK
$STATE,22417,begin surface
$SM_CCo,22438,112.85,0.628,0,0,785,500.17
$SM_GC,-5.68,0.00,0.00,112.85,0.000,0.000,0.628,418,2336,785,-10.54,0.31,500.17
$IRIDIUM_FIX,1245.46,12034.32,070697,060600
$TT8_MAMPS,0.025311
$HUMID,1709
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,439
$24V_AH,23.1,18.306
$10V_AH,10.2,14.769
$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,28.600,114.000,357.075,112.850,0.000,22.931,33.442,193.426,122.250,0.000,0.000,15.185,3293.207,14930.214,580.013,3560.126,579.101,0.000,2237.494,0.000,3516.077,0.000,91.463
$DEVICE_MAMPS,170.274,170.274,1444.261,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1362.139,799.288,752.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107240,2004
$CAP_FILE_SIZE,200530,0
$CFSIZE,260165632,246992896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130308,194225,1247.297,12032.449,29,1.7,46,-0.8