version: 66.03
glider: 126
mission: 7
dive: 131
start: 3 15 108 1 48 7
data:
$ID,126
$MISSION,7
$DIVE,131
$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,-621978.12
$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
$GPS1,014131,1246.188,12022.279,37,1.1,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.22
$_SM_ANGLEo,-57.6
$GPS2,014715,1246.152,12022.208,10,1.7,10,-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,266.2,12156,-22.0,-7.990
$D_GRID,772
$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,-67.03,0.000,6,0.000,0.000,418,2344,3103
$GC,92,-2.33,-67.0,0.2,-15.1,13,110,10.02,1.75,0.00,0.000,4,0.170,0.039,2196,3374,3104
$GC,363,-2.20,-67.0,68.2,-22.0,61,369,0.17,1.70,0.00,0.000,6,0.126,0.025,2228,2305,3105
$GC,707,-2.14,-67.0,125.2,-15.2,122,713,0.00,1.85,0.00,0.000,4,0.000,0.041,2228,3370,3107
$GC,928,-2.10,-67.0,156.1,-12.3,161,934,0.12,1.70,0.00,0.000,6,0.126,0.025,2250,2304,3108
$GC,1272,-2.10,-67.0,192.4,-10.8,222,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2304,3108
$GC,1615,-2.10,-67.0,228.5,-9.0,283,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2303,3108
$GC,1951,-2.12,-67.0,261.3,-9.7,333,1954,0.00,1.85,0.00,0.000,4,0.000,0.049,2250,3367,3109
$GC,2018,-2.12,-67.0,267.9,-10.2,339,2021,0.00,1.70,0.00,0.000,6,0.000,0.028,2250,2319,3108
$GC,2349,-2.15,-67.0,299.7,-10.1,370,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2319,3106
$GC,2667,-2.18,-67.0,329.8,-8.6,400,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2319,3103
$GC,2986,-2.21,-67.0,358.2,-9.7,430,2989,0.00,1.85,0.00,0.000,4,0.000,0.052,2250,3370,3102
$GC,3057,-2.23,-67.0,365.4,-9.7,436,3064,0.08,1.75,0.00,0.000,6,0.058,0.030,2222,2330,3101
$GC,3382,-2.23,-67.0,398.6,-10.2,467,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2329,3098
$GC,3702,-2.23,-67.0,430.9,-10.1,497,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2330,3097
$GC,4019,-2.23,-67.0,461.9,-9.7,527,4022,0.00,1.83,0.00,0.000,4,0.000,0.055,2222,1287,3094
$GC,4158,-2.23,-67.0,475.6,-9.6,539,4164,0.00,1.75,0.00,0.000,6,0.000,0.035,2222,2303,3093
$GC,4481,-2.23,-67.0,509.3,-10.9,566,4485,0.00,1.92,0.00,0.000,4,0.000,0.065,2222,3378,3091
$GC,4519,-2.23,-67.0,513.7,-11.3,567,4526,0.00,1.80,0.00,0.000,6,0.000,0.037,2222,2340,3091
$GC,4835,-2.23,-67.0,546.3,-10.2,583,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2339,3089
$GC,5144,-2.23,-67.0,576.7,-9.9,598,5148,0.00,1.92,0.00,0.000,4,0.000,0.081,2222,3368,3087
$GC,5215,-2.23,-67.0,583.9,-9.9,601,5220,0.00,1.88,0.00,0.000,6,0.000,0.056,2222,2339,3086
$GC,5542,-2.23,-67.0,614.7,-9.5,617,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2340,3085
$GC,5851,-2.23,-67.0,643.9,-9.1,632,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2339,3084
$GC,6162,-2.23,-67.0,668.7,-8.0,647,6166,0.00,2.08,0.00,0.000,4,0.000,0.115,2222,3367,3082
$GC,6252,-2.23,-67.0,676.4,-8.5,651,6255,0.00,2.03,0.00,0.000,6,0.000,0.097,2222,2334,3082
$GC,6585,-2.25,-67.0,706.2,-9.1,667,6589,0.00,2.17,0.00,0.000,4,0.000,0.129,2222,1266,3080
$GC,6640,-2.25,-67.0,711.6,-9.6,669,6646,0.00,2.08,0.00,0.000,6,0.000,0.107,2222,2308,3079
$GC,6957,-2.27,-67.0,738.4,-8.2,685,6961,0.00,2.33,0.00,0.000,4,0.000,0.153,2222,3387,3077
$GC,7056,-2.27,-67.0,746.7,-8.4,689,7063,0.00,2.25,0.00,0.000,6,0.000,0.135,2222,2328,3077
$STATE,7350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7350,begin apogee
$GC,7355,-0.51,0.0,772.3,9.5,704,7413,1.80,0.00,53.45,1.271,6,0.100,0.000,2599,1964,2826
$STATE,7414,end apogee,CONTROL_FINISHED_OK
$STATE,7414,begin climb
$GC,7416,2.33,67.0,774.3,0.0,707,7480,2.83,0.00,58.42,1.235,6,0.063,0.000,3220,1964,2551
$GC,7781,2.34,97.8,759.1,5.1,725,7810,0.00,0.00,27.20,1.213,6,0.000,0.000,3220,1963,2426
$GC,8111,2.30,97.8,731.7,8.8,741,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1963,2423
$GC,8419,2.26,97.8,704.3,8.7,756,8423,0.00,2.17,0.00,0.000,4,0.000,0.114,3221,3034,2422
$GC,8519,2.22,97.8,695.6,8.6,760,8526,0.15,2.15,0.00,0.000,6,0.113,0.104,3192,1961,2422
$GC,8835,2.23,105.5,672.0,7.3,776,8849,0.00,2.22,7.32,1.032,4,0.000,0.113,3192,894,2394
$GC,8917,2.20,105.5,665.4,8.0,779,8923,0.00,2.05,0.00,0.000,6,0.000,0.074,3192,1984,2394
$GC,9232,2.20,105.5,641.4,8.1,795,9236,0.00,1.95,0.00,0.000,4,0.000,0.086,3192,3025,2393
$GC,9444,2.20,105.5,623.7,8.3,804,9449,0.00,1.98,0.00,0.000,6,0.000,0.070,3192,1975,2392
$GC,9767,2.20,105.5,596.0,8.9,820,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1975,2392
$GC,10075,2.21,112.2,571.8,7.4,835,10088,0.00,2.08,6.80,0.980,4,0.000,0.076,3192,895,2367
$GC,10224,2.19,112.2,559.7,8.0,841,10230,0.00,1.85,0.00,0.000,6,0.000,0.036,3192,1972,2367
$GC,10539,2.19,112.2,535.1,8.0,857,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1972,2366
$GC,10849,2.19,113.6,510.9,7.9,872,10853,0.00,1.83,0.00,0.000,4,0.000,0.054,3192,3021,2366
$GC,10916,2.19,113.6,505.3,8.3,875,10920,0.00,1.88,0.00,0.000,6,0.000,0.041,3192,1937,2366
$GC,11246,2.19,113.6,480.4,8.0,902,11249,0.00,1.90,0.00,0.000,4,0.000,0.051,3192,3019,2366
$GC,11482,2.22,127.3,462.8,6.7,923,11503,0.00,1.80,14.32,1.046,6,0.000,0.038,3192,1965,2305
$GC,11821,2.23,138.9,438.3,6.9,955,11837,0.00,1.98,11.48,1.004,4,0.000,0.060,3192,913,2257
$GC,11983,2.23,138.9,425.4,8.3,969,11987,0.00,1.83,0.00,0.000,6,0.000,0.030,3192,1977,2256
$GC,12312,2.24,141.7,399.5,7.7,1000,12323,0.00,0.00,3.70,0.650,6,0.000,0.000,3192,1978,2247
$GC,12642,2.24,145.2,373.8,7.7,1031,12653,0.00,1.80,4.70,0.755,4,0.000,0.050,3192,3005,2233
$GC,12747,2.24,145.2,365.1,8.8,1040,12754,0.00,1.80,0.00,0.000,6,0.000,0.036,3192,1965,2233
$GC,13073,2.25,147.7,339.5,7.8,1071,13085,0.00,1.90,4.00,0.667,4,0.000,0.057,3192,918,2222
$GC,13134,2.25,147.7,334.3,8.4,1076,13141,0.00,1.83,0.00,0.000,6,0.000,0.029,3192,1992,2222
$GC,13461,2.26,155.7,310.4,7.2,1107,13471,0.00,0.00,8.35,0.877,6,0.000,0.000,3192,1992,2190
$GC,13788,2.26,155.7,284.4,8.0,1138,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1992,2189
$GC,14107,2.27,158.9,259.4,7.7,1168,14118,0.00,1.98,4.35,0.662,4,0.000,0.052,3192,908,2176
$GC,14191,2.27,162.1,252.6,7.7,1175,14200,0.00,1.80,4.60,0.681,6,0.000,0.028,3192,1972,2164
$GC,14538,2.32,178.0,225.0,6.5,1234,14561,0.10,1.95,14.90,0.875,4,0.080,0.051,3221,919,2098
$GC,14651,2.32,178.0,216.1,8.3,1254,14657,0.00,1.77,0.00,0.000,6,0.000,0.028,3221,1963,2097
$GC,14996,2.32,178.0,187.3,8.3,1315,15002,0.00,1.88,0.00,0.000,4,0.000,0.051,3221,905,2097
$GC,15137,2.33,181.8,175.8,7.6,1340,15148,0.00,1.70,4.90,0.647,6,0.000,0.028,3221,1918,2082
$GC,15487,2.39,202.3,153.6,6.1,1402,15510,0.00,1.88,18.05,0.813,4,0.000,0.049,3221,908,2000
$GC,15734,2.45,229.6,137.2,5.4,1446,15763,0.00,1.70,23.45,0.797,6,0.000,0.026,3221,1921,1889
$GC,16103,2.53,247.5,115.0,6.3,1511,16126,0.15,1.80,16.02,0.751,4,0.059,0.046,3270,914,1815
$GC,16322,2.53,247.5,99.1,8.2,1550,16329,0.00,1.65,0.00,0.000,6,0.000,0.025,3270,1913,1815
$GC,16667,2.56,250.7,73.0,7.7,1611,16673,0.00,0.00,4.38,0.514,6,0.000,0.000,3270,1913,1803
$GC,17012,2.64,281.8,50.9,5.0,1672,17040,0.00,0.00,26.35,0.691,6,0.000,0.000,3270,1914,1676
$GC,17378,2.73,301.7,26.7,6.1,1737,17402,0.15,1.92,17.62,0.649,4,0.056,0.044,3321,2993,1594
$GC,17459,2.75,314.1,21.4,6.8,1751,17476,0.00,1.88,11.40,0.614,6,0.000,0.028,3320,1855,1543
$STATE,17710,end climb,SURFACE_DEPTH_REACHED
$STATE,17710,begin surface coast
$FINISH,-0.4,1.021423
$STATE,17740,end surface coast,CONTROL_FINISHED_OK
$STATE,17740,begin surface
$SM_CCo,17762,110.82,0.627,0,0,785,500.17
$SM_GC,-5.42,0.00,0.00,110.82,0.000,0.000,0.627,415,2326,785,-10.56,0.00,500.17
$IRIDIUM_FIX,1241.04,12021.43,080697,212151
$TT8_MAMPS,0.026078
$HUMID,1745
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.60
$XPDR_PINGS,378
$24V_AH,23.3,19.483
$10V_AH,10.2,15.749
$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,28.175,96.650,345.775,110.825,0.000,22.163,32.907,175.029,101.500,0.000,0.000,10.605,2903.943,11049.634,585.650,3182.864,520.232,0.000,2052.114,0.000,3165.414,0.000,51.637
$DEVICE_MAMPS,170.274,159.536,1270.919,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.266,811.446,771.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97864,1801
$CAP_FILE_SIZE,169112,0
$CFSIZE,260165632,246358016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150308,064708,1245.612,12020.580,32,1.2,32,-0.8