version: 66.03
glider: 126
mission: 7
dive: 123
start: 3 13 108 19 49 43
data:
$ID,126
$MISSION,7
$DIVE,123
$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,-621839.38
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,194225,1247.297,12032.449,29,1.7,46,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.54
$_SM_ANGLEo,-57.4
$GPS2,194853,1247.245,12032.438,9,3.0,28,-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,265.2,30743,-22.0,-7.990
$D_GRID,826
$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,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.93,0.000,6,0.000,0.000,419,2336,3102
$GC,92,-2.33,-67.0,0.5,-16.7,13,109,10.05,1.75,0.00,0.000,4,0.171,0.038,2194,3363,3104
$GC,363,-2.21,-67.0,66.4,-20.8,61,369,0.17,1.70,0.00,0.000,6,0.121,0.024,2227,2302,3105
$GC,707,-2.16,-67.0,121.5,-13.3,122,713,0.00,1.88,0.00,0.000,4,0.000,0.045,2227,3367,3106
$GC,850,-2.10,-67.0,141.0,-12.7,147,857,0.12,1.70,0.00,0.000,6,0.120,0.024,2250,2304,3106
$GC,1194,-2.10,-67.0,182.5,-11.8,208,1200,0.00,1.85,0.00,0.000,4,0.000,0.047,2250,3358,3108
$GC,1413,-2.10,-67.0,207.0,-11.6,247,1419,0.00,1.62,0.00,0.000,6,0.000,0.026,2250,2344,3108
$GC,1756,-2.10,-67.0,244.1,-10.7,308,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2342,3108
$GC,2087,-2.10,-67.0,275.8,-9.3,344,2090,0.00,1.75,0.00,0.000,4,0.000,0.040,2250,1305,3107
$GC,2126,-2.10,-67.0,279.6,-9.4,347,2132,0.00,1.70,0.00,0.000,6,0.000,0.029,2250,2331,3107
$GC,2451,-2.12,-67.0,311.1,-9.8,378,2455,0.00,1.77,0.00,0.000,4,0.000,0.041,2249,1297,3105
$GC,2552,-2.15,-67.0,320.4,-9.2,387,2556,0.00,1.73,0.00,0.000,6,0.000,0.030,2250,2331,3104
$GC,2883,-2.17,-67.0,351.6,-9.0,418,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2331,3102
$GC,3202,-2.20,-67.0,380.1,-9.2,448,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2331,3100
$GC,3520,-2.23,-67.0,409.1,-9.3,478,3524,0.12,1.85,0.00,0.000,4,0.069,0.059,2217,3374,3098
$GC,3682,-2.23,-67.0,426.0,-10.7,492,3688,0.00,1.75,0.00,0.000,6,0.000,0.035,2217,2343,3097
$GC,4007,-2.23,-67.0,458.2,-9.3,523,4011,0.00,1.90,0.00,0.000,4,0.000,0.061,2216,1273,3094
$GC,4063,-2.23,-67.0,463.5,-9.2,528,4066,0.00,1.77,0.00,0.000,6,0.000,0.036,2216,2313,3094
$GC,4393,-2.23,-67.0,493.4,-9.2,559,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2314,3092
$GC,4714,-2.23,-67.0,524.6,-9.7,578,4718,0.00,1.92,0.00,0.000,4,0.000,0.073,2217,3370,3089
$GC,4771,-2.23,-67.0,530.5,-10.6,580,4775,0.00,1.80,0.00,0.000,6,0.000,0.044,2217,2333,3089
$GC,5092,-2.23,-67.0,562.9,-10.0,596,5095,0.00,1.92,0.00,0.000,4,0.000,0.072,2216,1272,3087
$GC,5146,-2.23,-67.0,568.6,-10.0,598,5151,0.00,1.88,0.00,0.000,6,0.000,0.051,2217,2316,3086
$GC,5468,-2.23,-67.0,601.2,-10.5,614,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2317,3085
$GC,5777,-2.23,-67.0,633.5,-10.1,629,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2317,3083
$GC,6086,-2.23,-67.0,663.5,-9.7,644,6089,0.00,2.12,0.00,0.000,4,0.000,0.120,2217,3374,3082
$GC,6135,-2.23,-67.0,668.4,-10.2,646,6139,0.00,2.08,0.00,0.000,6,0.000,0.094,2217,2330,3081
$GC,6462,-2.23,-67.0,699.1,-9.2,662,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2330,3079
$GC,6771,-2.23,-67.0,727.1,-9.1,677,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2331,3078
$GC,7080,-2.23,-67.0,756.8,-9.7,692,7084,0.00,2.35,0.00,0.000,4,0.000,0.163,2217,3372,3076
$GC,7146,-2.23,-67.0,763.5,-10.0,695,7151,0.00,2.30,0.00,0.000,6,0.000,0.143,2217,2330,3076
$GC,7473,-2.23,-67.0,794.7,-9.5,711,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2318,3075
$GC,7782,-2.26,-67.0,822.8,-8.6,726,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2318,3075
$STATE,7821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7826,-0.51,0.0,826.2,8.3,728,7885,1.83,0.00,53.22,1.317,6,0.100,0.000,2598,1931,2825
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7887,2.33,67.0,827.8,0.0,731,7951,2.83,0.00,58.72,1.288,6,0.064,0.000,3220,1931,2551
$GC,8254,2.33,91.2,809.6,5.7,749,8280,0.00,1.90,21.77,1.251,4,0.000,0.064,3220,911,2452
$GC,8399,2.28,94.7,799.1,7.7,755,8408,0.00,1.85,4.68,0.888,6,0.000,0.032,3220,1991,2438
$GC,8735,2.25,94.7,771.9,8.0,772,8739,0.00,1.98,0.00,0.000,4,0.000,0.058,3220,902,2436
$GC,8870,2.20,94.7,760.3,8.8,778,8874,0.15,1.80,0.00,0.000,6,0.112,0.032,3192,1957,2436
$GC,9202,2.21,100.9,733.9,7.4,794,9210,0.00,0.00,6.43,1.023,6,0.000,0.000,3192,1957,2413
$GC,9511,2.22,109.1,710.0,7.2,809,9521,0.00,0.00,8.65,1.108,6,0.000,0.000,3192,1957,2379
$GC,9820,2.22,109.1,685.2,8.1,824,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1957,2378
$GC,10129,2.22,109.1,659.4,8.4,839,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1958,2378
$GC,10439,2.22,109.1,633.5,8.1,854,10442,0.00,1.90,0.00,0.000,4,0.000,0.057,3191,905,2377
$GC,10499,2.23,111.7,628.5,7.7,856,10509,0.00,1.83,3.58,0.709,6,0.000,0.032,3192,1963,2369
$GC,10837,2.25,127.9,605.1,6.5,873,10857,0.00,0.00,15.73,1.152,6,0.000,0.000,3192,1963,2303
$GC,11166,2.26,129.9,581.1,7.8,889,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1964,2301
$GC,11475,2.26,129.9,555.5,8.4,904,11478,0.00,1.90,0.00,0.000,4,0.000,0.056,3191,908,2301
$GC,11692,2.26,129.9,536.2,8.3,913,11699,0.00,1.80,0.00,0.000,6,0.000,0.031,3192,1956,2300
$GC,12008,2.26,129.9,511.7,8.0,929,12009,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1956,2300
$GC,12322,2.26,129.9,484.2,8.4,952,12325,0.00,1.83,0.00,0.000,4,0.000,0.055,3191,3003,2300
$GC,12416,2.26,129.9,475.6,8.9,960,12422,0.00,1.83,0.00,0.000,6,0.000,0.042,3191,1963,2300
$GC,12743,2.27,139.8,450.1,7.0,991,12760,0.00,0.00,11.32,1.024,6,0.000,0.000,3191,1963,2254
$GC,13080,2.27,139.8,423.3,8.1,1023,13081,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1964,2253
$GC,13398,2.28,145.0,399.0,7.5,1053,13410,0.00,1.88,6.07,0.863,4,0.000,0.052,3191,3010,2233
$GC,13538,2.28,145.0,387.3,8.0,1065,13544,0.00,1.83,0.00,0.000,6,0.000,0.041,3192,1969,2232
$GC,13863,2.28,145.0,361.7,8.1,1096,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1969,2232
$GC,14181,2.28,145.0,335.3,8.3,1126,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1969,2232
$GC,14501,2.30,154.6,310.2,7.1,1156,14515,0.00,1.92,9.52,0.900,4,0.000,0.060,3192,908,2194
$GC,14714,2.32,165.3,294.8,7.0,1175,14730,0.10,1.77,10.32,0.898,6,0.082,0.031,3219,1965,2150
$GC,15049,2.32,166.7,269.2,7.9,1206,15052,0.00,1.90,0.00,0.000,4,0.000,0.054,3219,905,2150
$GC,15187,2.32,166.7,257.7,8.0,1218,15194,0.00,1.73,0.00,0.000,6,0.000,0.029,3219,1921,2150
$GC,15525,2.32,166.7,231.3,8.4,1270,15531,0.00,1.90,0.00,0.000,4,0.000,0.054,3219,3000,2150
$GC,15621,2.32,166.7,223.0,8.6,1287,15627,0.00,1.83,0.00,0.000,6,0.000,0.037,3219,1932,2150
$GC,15964,2.34,180.8,196.1,6.7,1348,15987,0.00,1.95,14.62,0.850,4,0.000,0.048,3219,2997,2086
$GC,16240,2.39,208.3,178.8,5.4,1397,16273,0.00,1.77,23.73,0.847,6,0.000,0.035,3219,1955,1974
$GC,16613,2.42,208.3,151.3,8.3,1463,16619,0.00,1.83,0.00,0.000,4,0.000,0.045,3219,3001,1973
$GC,16872,2.51,239.3,135.1,5.1,1509,16906,0.17,1.73,26.23,0.795,6,0.058,0.033,3267,1974,1849
$GC,17243,2.53,255.5,110.3,6.4,1575,17266,0.00,1.85,14.43,0.738,4,0.000,0.044,3267,3003,1782
$GC,17519,2.56,255.5,88.2,8.6,1624,17525,0.00,1.75,0.00,0.000,6,0.000,0.031,3268,1972,1781
$GC,17864,2.62,273.4,64.4,6.3,1685,17887,0.00,1.80,16.25,0.692,4,0.000,0.041,3267,3002,1709
$GC,17917,2.68,283.4,60.7,7.1,1694,17935,0.08,1.80,9.57,0.640,6,0.054,0.030,3300,1941,1668
$GC,18276,2.74,302.0,36.4,6.2,1757,18299,0.00,1.85,16.45,0.660,4,0.000,0.040,3299,3003,1593
$GC,18552,2.79,309.6,17.4,7.3,1806,18564,0.00,1.75,7.72,0.579,6,0.000,0.030,3300,1959,1561
$STATE,18764,end climb,SURFACE_DEPTH_REACHED
$STATE,18764,begin surface coast
$FINISH,-0.3,1.021373
$STATE,18794,end surface coast,CONTROL_FINISHED_OK
$STATE,18794,begin surface
$SM_CCo,18815,113.95,0.625,0,0,786,500.17
$SM_GC,-5.40,0.00,0.00,113.95,0.000,0.000,0.625,414,2335,786,-10.56,0.28,500.17
$IRIDIUM_FIX,1241.04,12034.32,070697,131345
$TT8_MAMPS,0.026078
$HUMID,1716
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.80
$XPDR_PINGS,396
$24V_AH,23.2,18.450
$10V_AH,10.2,14.894
$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,28.100,93.825,339.025,113.950,0.000,24.797,42.869,185.091,107.250,0.000,0.000,30.156,2972.509,11991.590,579.026,3245.782,543.828,0.000,2062.174,0.000,3205.092,0.000,60.689
$DEVICE_MAMPS,171.041,163.371,1316.939,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1253.431,809.510,770.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100865,1849
$CAP_FILE_SIZE,172030,0
$CFSIZE,260165632,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140308,010625,1246.956,12030.882,38,1.8,38,-0.8