version: 66.03
glider: 126
mission: 7
dive: 132
start: 3 15 108 7 1 4
data:
$ID,126
$MISSION,7
$DIVE,132
$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,-622010.5
$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,32
$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
$GPS1,064708,1245.612,12020.580,32,1.2,32,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.37
$_SM_ANGLEo,-56.2
$GPS2,070014,1245.612,12020.402,14,1.4,31,-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,270.9,8855,-22.0,-7.990
$D_GRID,813
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,91,0.00,0.00,-66.72,0.000,6,0.000,0.000,415,2326,3101
$GC,93,-2.33,-67.0,0.2,-15.2,13,110,10.02,1.77,0.00,0.000,4,0.171,0.038,2195,3373,3103
$GC,243,-2.20,-67.0,40.4,-21.1,39,249,0.17,1.73,0.00,0.000,6,0.117,0.024,2229,2290,3104
$GC,587,-2.13,-67.0,101.4,-16.5,100,593,0.00,1.88,0.00,0.000,4,0.000,0.041,2228,3369,3105
$GC,829,-2.07,-67.0,140.7,-16.1,143,836,0.15,1.65,0.00,0.000,6,0.113,0.025,2257,2328,3106
$GC,1173,-2.07,-67.0,178.4,-10.2,204,1179,0.00,1.80,0.00,0.000,4,0.000,0.044,2257,3360,3106
$GC,1308,-2.07,-67.0,192.6,-10.8,228,1314,0.00,1.65,0.00,0.000,6,0.000,0.025,2257,2340,3105
$GC,1653,-2.09,-67.0,227.3,-9.2,289,1658,0.00,1.73,0.00,0.000,4,0.000,0.037,2257,1304,3105
$GC,1699,-2.11,-67.0,231.7,-9.8,297,1705,0.00,1.73,0.00,0.000,6,0.000,0.028,2257,2351,3105
$GC,2040,-2.14,-67.0,264.2,-9.6,345,2044,0.00,1.77,0.00,0.000,4,0.000,0.038,2257,1305,3105
$GC,2132,-2.16,-67.0,273.4,-9.9,353,2135,0.00,1.73,0.00,0.000,6,0.000,0.028,2257,2348,3104
$GC,2463,-2.19,-67.0,306.3,-9.7,384,2467,0.12,1.80,0.00,0.000,4,0.066,0.038,2221,1297,3101
$GC,2500,-2.19,-67.0,310.5,-10.0,387,2507,0.00,1.73,0.00,0.000,6,0.000,0.028,2221,2319,3101
$GC,2826,-2.19,-67.0,342.7,-9.8,418,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2320,3099
$GC,3143,-2.19,-67.0,373.3,-9.5,448,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2320,3096
$GC,3462,-2.19,-67.0,404.6,-9.8,478,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2321,3094
$GC,3781,-2.19,-67.0,435.6,-9.6,508,3784,0.00,1.77,0.00,0.000,4,0.000,0.050,2221,1312,3091
$GC,3864,-2.19,-67.0,444.0,-10.0,515,3870,0.00,1.73,0.00,0.000,6,0.000,0.032,2222,2318,3091
$GC,4190,-2.19,-67.0,476.2,-9.5,546,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2317,3088
$GC,4506,-2.19,-67.0,506.4,-9.8,573,4509,0.00,1.88,0.00,0.000,4,0.000,0.064,2221,3368,3086
$GC,4577,-2.19,-67.0,513.5,-10.1,576,4582,0.00,1.75,0.00,0.000,6,0.000,0.038,2221,2360,3085
$GC,4904,-2.19,-67.0,543.8,-9.3,592,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2360,3083
$GC,5215,-2.19,-67.0,575.1,-10.4,607,5218,0.00,1.88,0.00,0.000,4,0.000,0.080,2221,3363,3081
$GC,5269,-2.19,-67.0,581.2,-10.2,609,5274,0.00,1.83,0.00,0.000,6,0.000,0.054,2221,2356,3080
$GC,5592,-2.19,-67.0,610.8,-9.0,625,5595,0.00,2.03,0.00,0.000,4,0.000,0.081,2221,1260,3078
$GC,5704,-2.19,-67.0,622.0,-9.4,630,5708,0.00,1.95,0.00,0.000,6,0.000,0.067,2221,2325,3077
$GC,6035,-2.19,-67.0,654.9,-9.0,646,6038,0.00,2.08,0.00,0.000,4,0.000,0.110,2222,3384,3076
$GC,6147,-2.19,-67.0,666.0,-9.5,651,6151,0.00,2.03,0.00,0.000,6,0.000,0.091,2221,2341,3075
$GC,6480,-2.21,-67.0,697.8,-9.2,667,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2341,3074
$GC,6788,-2.21,-67.0,725.6,-8.1,682,6792,0.00,2.25,0.00,0.000,4,0.000,0.138,2221,1260,3073
$GC,6837,-2.21,-67.0,730.0,-9.5,684,6845,0.00,2.17,0.00,0.000,6,0.000,0.114,2222,2320,3073
$GC,7161,-2.24,-67.0,758.0,-8.8,700,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2320,3071
$GC,7470,-2.26,-67.0,784.4,-8.8,715,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2320,3070
$GC,7779,-2.29,-67.0,812.4,-9.4,730,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2320,3069
$STATE,7798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7798,begin apogee
$GC,7803,-0.51,0.0,814.3,9.5,731,7861,1.80,0.00,52.38,1.305,6,0.103,0.000,2596,1960,2824
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7862,begin climb
$GC,7863,2.33,67.0,816.2,0.0,734,7928,2.88,0.00,58.80,1.275,6,0.070,0.000,3221,1954,2551
$GC,8230,2.33,94.2,799.6,5.4,752,8259,0.00,2.00,24.25,1.241,4,0.000,0.062,3221,894,2440
$GC,8386,2.28,94.2,788.2,8.3,759,8390,0.00,1.90,0.00,0.000,6,0.000,0.031,3221,2006,2439
$GC,8718,2.24,94.9,762.3,7.9,775,8722,0.12,2.03,0.00,0.000,4,0.117,0.055,3198,888,2437
$GC,8767,2.20,97.5,758.5,7.7,777,8779,0.00,1.83,4.18,0.823,6,0.000,0.031,3198,1968,2426
$GC,9088,2.20,105.7,735.5,7.2,793,9098,0.00,0.00,8.77,1.114,6,0.000,0.000,3198,1968,2393
$GC,9396,2.20,108.6,711.4,7.7,808,9402,0.00,0.00,3.90,0.786,6,0.000,0.000,3198,1968,2382
$GC,9706,2.20,108.6,686.4,8.2,823,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1968,2381
$GC,10015,2.21,111.8,661.4,7.7,838,10024,0.00,1.88,4.20,0.820,4,0.000,0.054,3198,3006,2369
$GC,10277,2.20,121.9,641.6,7.0,849,10291,0.00,1.88,10.38,1.119,6,0.000,0.041,3198,1936,2328
$GC,10613,2.20,121.9,615.7,8.2,866,10617,0.00,1.90,0.00,0.000,4,0.000,0.051,3197,3008,2327
$GC,10760,2.20,122.1,603.0,8.0,872,10763,0.00,1.80,0.00,0.000,6,0.000,0.041,3197,1962,2326
$GC,11080,2.21,126.4,578.1,7.6,888,11089,0.00,0.00,5.50,0.920,6,0.000,0.000,3198,1962,2309
$GC,11411,2.21,126.4,551.4,8.1,904,11415,0.00,1.85,0.00,0.000,4,0.000,0.050,3198,3010,2308
$GC,11528,2.21,126.4,541.6,8.1,909,11532,0.00,1.80,0.00,0.000,6,0.000,0.039,3198,1982,2308
$GC,11855,2.21,130.2,515.0,7.6,925,11864,0.00,1.95,4.88,0.840,4,0.000,0.061,3198,908,2294
$GC,12027,2.19,130.2,500.6,8.4,932,12033,0.00,1.80,0.00,0.000,6,0.000,0.031,3198,1962,2294
$GC,12352,2.20,133.9,473.8,7.6,962,12364,0.00,1.83,4.85,0.821,4,0.000,0.051,3198,3001,2279
$GC,12559,2.20,133.9,457.2,8.1,980,12566,0.00,1.77,0.00,0.000,6,0.000,0.039,3198,1983,2279
$GC,12885,2.20,133.9,431.1,8.2,1011,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1983,2279
$GC,13205,2.20,139.4,406.0,7.5,1041,13217,0.00,2.00,6.65,0.891,4,0.000,0.059,3198,905,2256
$GC,13289,2.20,139.4,398.6,8.2,1048,13295,0.00,1.88,0.00,0.000,6,0.000,0.029,3197,2001,2256
$GC,13614,2.20,139.4,372.0,8.1,1079,13616,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2001,2256
$GC,13934,2.21,144.3,347.2,7.5,1109,13945,0.00,1.98,5.90,0.823,4,0.000,0.054,3198,909,2235
$GC,14058,2.22,148.6,337.5,7.6,1120,14069,0.00,1.80,5.10,0.773,6,0.000,0.030,3197,1982,2219
$GC,14387,2.23,154.3,313.2,7.5,1151,14399,0.00,2.00,6.80,0.841,4,0.000,0.054,3197,908,2194
$GC,14572,2.23,154.3,297.5,8.8,1167,14578,0.00,1.77,0.00,0.000,6,0.000,0.029,3198,1957,2194
$GC,14897,2.23,154.3,271.7,8.1,1198,14901,0.00,1.88,0.00,0.000,4,0.000,0.053,3197,905,2194
$GC,14987,2.24,158.1,264.7,7.6,1206,14999,0.00,1.73,4.72,0.699,6,0.000,0.028,3198,1943,2180
$GC,15323,2.24,158.1,239.0,8.4,1248,15329,0.00,1.85,0.00,0.000,4,0.000,0.048,3198,3004,2180
$GC,15442,2.24,158.1,229.1,8.2,1269,15448,0.00,1.80,0.00,0.000,6,0.000,0.035,3198,1943,2180
$GC,15786,2.27,179.7,204.1,5.9,1330,15808,0.00,0.00,19.40,0.875,6,0.000,0.000,3198,1942,2092
$GC,16146,2.32,191.8,177.3,6.9,1394,16163,0.00,1.85,11.27,0.815,4,0.000,0.054,3198,913,2043
$GC,16198,2.35,197.0,173.3,7.5,1403,16210,0.10,1.77,5.95,0.693,6,0.076,0.028,3227,1978,2022
$GC,16549,2.41,217.0,149.7,6.1,1465,16572,0.00,1.83,17.90,0.810,4,0.000,0.043,3227,2994,1940
$GC,16826,2.47,234.9,132.5,6.3,1514,16848,0.00,1.75,16.05,0.780,6,0.000,0.031,3227,1965,1866
$GC,17188,2.55,257.4,110.2,5.9,1578,17210,0.17,0.00,19.55,0.755,6,0.056,0.000,3282,1964,1774
$GC,17549,2.56,261.3,81.1,7.6,1642,17560,0.00,1.85,4.68,0.546,4,0.000,0.046,3282,919,1759
$GC,17724,2.56,261.3,67.0,8.2,1673,17729,0.00,1.73,0.00,0.000,6,0.000,0.025,3282,1985,1759
$GC,18068,2.62,282.7,42.9,6.0,1734,18095,0.00,1.77,19.02,0.676,4,0.000,0.039,3282,2990,1672
$GC,18147,2.69,302.9,38.0,6.1,1748,18169,0.00,1.70,17.67,0.658,6,0.000,0.028,3282,1974,1590
$GC,18509,2.75,305.0,13.7,7.8,1812,18515,0.12,1.83,0.00,0.000,4,0.062,0.041,3323,919,1588
$STATE,18655,end climb,SURFACE_DEPTH_REACHED
$STATE,18655,begin surface coast
$FINISH,-0.6,1.021401
$STATE,18684,end surface coast,CONTROL_FINISHED_OK
$STATE,18684,begin surface
$SM_CCo,18706,118.65,0.630,0,0,786,500.17
$SM_GC,-5.58,0.00,0.00,118.65,0.000,0.000,0.630,415,2317,786,-10.56,-0.23,500.17
$IRIDIUM_FIX,1241.04,12018.41,090697,070722
$TT8_MAMPS,0.026078
$HUMID,1741
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.50
$XPDR_PINGS,459
$24V_AH,23.2,19.642
$10V_AH,10.2,15.879
$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,28.275,108.475,342.750,118.650,0.000,82.003,202.752,242.752,122.750,0.000,0.000,31.758,2996.597,11861.283,594.398,3346.676,831.870,0.000,2133.941,0.000,3303.229,0.000,58.883
$DEVICE_MAMPS,171.041,174.109,1305.434,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1249.671,816.661,770.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100832,1843
$CAP_FILE_SIZE,183076,0
$CFSIZE,260165632,246255616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150308,121607,1245.748,12018.524,37,1.1,43,-0.8