version: 66.03
glider: 126
mission: 7
dive: 163
start: 3 22 108 2 19 55
data:
$ID,126
$MISSION,7
$DIVE,163
$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,366
$T_MISSION,439
$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,475
$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,-622522.25
$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,43
$R_STBD_OVSHOOT,54
$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
$GPS1,021256,1249.598,12027.279,41,1.0,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.08
$_SM_ANGLEo,-58.5
$GPS2,021903,1249.598,12027.233,12,1.0,12,-0.8
$SPEED_LIMITS,0.156,0.166
$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,251.6,22438,-22.8,-9.016
$D_GRID,1039
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-64.25,0.000,6,0.000,0.000,414,2326,3140
$GC,95,-2.43,-76.7,0.8,-20.4,13,113,10.02,1.75,0.00,0.000,4,0.173,0.038,2176,3358,3141
$GC,225,-2.29,-76.7,39.2,-22.8,36,232,0.15,1.73,0.00,0.000,6,0.123,0.024,2207,2298,3142
$GC,570,-2.22,-76.7,107.7,-16.5,97,576,0.00,1.80,0.00,0.000,4,0.000,0.038,2207,3362,3143
$GC,661,-2.16,-76.7,123.2,-16.9,113,667,0.17,1.62,0.00,0.000,6,0.122,0.023,2239,2328,3143
$GC,1006,-2.16,-76.7,167.0,-11.1,174,1011,0.00,1.75,0.00,0.000,4,0.000,0.040,2239,3360,3145
$GC,1235,-2.16,-76.7,191.1,-9.2,215,1241,0.00,1.58,0.00,0.000,6,0.000,0.025,2239,2367,3145
$GC,1579,-2.18,-76.7,223.6,-10.0,276,1585,0.00,1.75,0.00,0.000,4,0.000,0.036,2239,1318,3145
$GC,1687,-2.21,-76.7,234.7,-10.7,295,1693,0.00,1.75,0.00,0.000,6,0.000,0.026,2239,2386,3146
$GC,2025,-2.24,-76.7,270.2,-11.1,339,2029,0.00,1.83,0.00,0.000,4,0.000,0.037,2239,1328,3145
$GC,2085,-2.26,-76.7,276.7,-9.9,344,2092,0.00,1.73,0.00,0.000,6,0.000,0.027,2239,2358,3145
$GC,2413,-2.29,-76.7,307.5,-9.4,375,2419,0.12,0.00,0.00,0.000,6,0.064,0.000,2204,2359,3143
$GC,2739,-2.29,-76.7,341.9,-10.9,406,2742,0.00,1.77,0.00,0.000,4,0.000,0.041,2204,1326,3141
$GC,2811,-2.29,-76.7,349.5,-10.6,412,2817,0.00,1.73,0.00,0.000,6,0.000,0.029,2204,2348,3140
$GC,3138,-2.29,-76.7,383.1,-10.8,443,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2348,3139
$GC,3453,-2.29,-76.7,417.3,-10.8,473,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2348,3136
$GC,3771,-2.29,-76.7,451.0,-9.8,503,3775,0.00,1.80,0.00,0.000,4,0.000,0.050,2203,1326,3134
$GC,3821,-2.29,-76.7,456.1,-10.0,507,3827,0.00,1.73,0.00,0.000,6,0.000,0.033,2204,2330,3133
$GC,4147,-2.29,-76.7,487.7,-9.2,538,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2330,3132
$GC,4460,-2.29,-76.7,519.5,-10.8,559,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2330,3129
$GC,4771,-2.29,-76.7,551.9,-10.6,574,4774,0.00,1.88,0.00,0.000,4,0.000,0.067,2204,3373,3127
$GC,4862,-2.29,-76.7,562.1,-11.4,578,4865,0.00,1.75,0.00,0.000,6,0.000,0.044,2204,2369,3126
$GC,5194,-2.29,-76.7,595.7,-9.7,594,5198,0.00,2.03,0.00,0.000,4,0.000,0.077,2204,1268,3124
$GC,5345,-2.29,-76.7,610.9,-9.9,600,5351,0.00,1.83,0.00,0.000,6,0.000,0.063,2204,2277,3123
$GC,5660,-2.29,-76.7,642.3,-9.9,616,5664,0.00,2.12,0.00,0.000,4,0.000,0.097,2204,3386,3121
$GC,5795,-2.29,-76.7,656.7,-10.0,622,5799,0.00,2.03,0.00,0.000,6,0.000,0.082,2203,2324,3121
$GC,6127,-2.29,-76.7,689.8,-9.6,638,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2323,3119
$GC,6436,-2.30,-82.1,718.3,-8.5,653,6439,0.00,1.88,0.00,0.000,4,0.000,0.054,2203,1251,3117
$GC,6496,-2.31,-87.8,723.5,-8.5,655,6503,0.00,1.85,0.00,0.000,6,0.000,0.033,2204,2329,3117
$GC,6812,-2.31,-87.8,752.5,-9.5,671,6816,0.00,1.83,0.00,0.000,4,0.000,0.054,2204,3379,3116
$GC,6947,-2.31,-87.8,766.1,-9.8,677,6950,0.00,1.83,0.00,0.000,6,0.000,0.033,2203,2298,3115
$GC,7280,-2.33,-87.8,799.8,-9.8,693,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2297,3114
$GC,7588,-2.35,-87.8,828.1,-9.1,708,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2297,3113
$GC,7897,-2.38,-87.8,858.1,-9.6,723,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2296,3112
$GC,8207,-2.40,-87.8,890.4,-10.7,738,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2291,3111
$GC,8516,-2.43,-87.8,919.9,-9.0,753,8524,0.00,1.83,0.00,0.000,4,0.000,0.068,2203,1287,3110
$GC,8596,-2.43,-87.8,927.7,-9.0,756,8600,0.00,1.80,0.00,0.000,6,0.000,0.035,2203,2327,3110
$GC,8917,-2.45,-87.8,957.8,-9.6,772,8919,0.12,0.00,0.00,0.000,6,0.074,0.000,2172,2326,3109
$GC,9226,-2.45,-87.8,986.9,-9.1,787,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2327,3108
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9268,begin apogee
$GC,9273,-0.51,0.0,990.8,9.3,789,9339,2.05,0.00,61.75,1.439,6,0.107,0.000,2595,1960,2825
$STATE,9340,end apogee,CONTROL_FINISHED_OK
$STATE,9340,begin climb
$GC,9342,2.45,87.8,992.5,0.0,792,9429,2.95,0.00,78.65,1.404,6,0.070,0.000,3244,1960,2466
$GC,9738,2.42,101.1,965.9,7.8,812,9757,0.00,0.00,12.70,1.296,6,0.000,0.000,3244,1959,2412
$GC,10066,2.38,101.1,937.3,9.4,828,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1959,2410
$GC,10376,2.37,111.6,911.9,8.1,843,10391,0.00,2.00,10.52,1.265,4,0.000,0.081,3244,923,2369
$GC,10505,2.34,124.5,901.7,7.9,848,10527,0.10,1.83,12.82,1.285,6,0.107,0.032,3221,1968,2317
$GC,10836,2.35,133.9,876.2,8.2,864,10850,0.00,2.00,9.98,1.239,4,0.000,0.064,3221,914,2278
$GC,10947,2.33,133.9,865.4,10.1,869,10951,0.00,1.83,0.00,0.000,6,0.000,0.033,3221,1976,2278
$GC,11279,2.33,133.9,831.9,10.1,885,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1976,2277
$GC,11588,2.33,133.9,800.7,9.5,900,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1977,2275
$GC,11897,2.33,133.9,772.3,9.6,915,11901,0.00,1.95,0.00,0.000,4,0.000,0.062,3221,914,2274
$GC,12055,2.33,133.9,757.3,9.3,922,12058,0.00,1.80,0.00,0.000,6,0.000,0.032,3221,1968,2274
$GC,12386,2.33,133.9,725.4,9.5,938,12387,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1968,2274
$GC,12696,2.33,133.9,696.6,9.3,953,12699,0.00,1.92,0.00,0.000,4,0.000,0.059,3221,908,2274
$GC,12773,2.33,133.9,689.0,9.2,956,12777,0.00,1.80,0.00,0.000,6,0.000,0.032,3221,1948,2274
$GC,13094,2.33,133.9,660.0,9.1,972,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1948,2274
$GC,13406,2.33,135.8,631.9,8.8,987,13409,0.00,1.88,0.00,0.000,4,0.000,0.058,3221,912,2273
$GC,13488,2.33,135.8,624.1,9.7,990,13495,0.00,1.75,0.00,0.000,6,0.000,0.031,3221,1932,2274
$GC,13804,2.35,147.3,597.3,8.0,1006,13825,0.00,1.98,12.25,1.137,4,0.000,0.049,3221,3016,2224
$GC,13898,2.36,154.6,589.2,8.4,1010,13914,0.00,1.90,8.15,1.049,6,0.000,0.037,3221,1919,2194
$GC,14224,2.37,157.4,560.6,8.8,1026,14233,0.00,1.88,3.90,0.762,4,0.000,0.064,3221,913,2183
$GC,14268,2.38,163.9,556.7,8.4,1028,14282,0.00,1.75,7.72,1.020,6,0.000,0.031,3221,1941,2156
$GC,14598,2.38,163.9,526.8,9.1,1044,14601,0.00,1.85,0.00,0.000,4,0.000,0.048,3221,3011,2155
$GC,14693,2.38,163.9,517.9,9.5,1048,14697,0.00,1.88,0.00,0.000,6,0.000,0.038,3221,1920,2155
$GC,15013,2.38,163.9,485.7,9.8,1070,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1920,2155
$GC,15332,2.40,177.4,458.7,7.8,1100,15353,0.00,1.90,13.15,1.051,4,0.000,0.064,3221,914,2101
$GC,15399,2.42,184.6,452.7,8.4,1106,15411,0.00,1.75,7.68,0.945,6,0.000,0.031,3221,1922,2072
$GC,15728,2.42,184.6,420.5,10.8,1137,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1923,2071
$GC,16047,2.42,184.6,389.2,9.9,1167,16048,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1924,2071
$GC,16367,2.46,200.5,360.8,7.6,1197,16390,0.12,1.92,14.95,0.988,4,0.072,0.046,3254,3011,2007
$GC,16424,2.46,200.5,355.3,10.7,1202,16428,0.00,1.92,0.00,0.000,6,0.000,0.036,3254,1903,2006
$GC,16755,2.46,200.5,322.6,9.6,1233,16758,0.00,1.77,0.00,0.000,4,0.000,0.061,3255,913,2006
$GC,16849,2.46,200.5,312.9,10.0,1241,16855,0.00,1.67,0.00,0.000,6,0.000,0.029,3255,1896,2006
$GC,17175,2.46,200.5,280.9,10.4,1272,17176,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1896,2006
$GC,17493,2.46,200.5,249.1,9.4,1302,17498,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1896,2006
$GC,17835,2.46,200.5,213.5,10.8,1363,17841,0.00,1.75,0.00,0.000,4,0.000,0.054,3254,913,2006
$GC,17942,2.46,200.5,202.8,9.1,1382,17948,0.00,1.62,0.00,0.000,6,0.000,0.028,3255,1895,2006
$GC,18285,2.47,206.3,174.8,8.5,1443,18297,0.00,1.98,6.47,0.732,4,0.000,0.041,3255,3014,1984
$GC,18505,2.50,225.1,156.2,7.3,1482,18527,0.00,1.90,17.58,0.830,6,0.000,0.033,3255,1892,1907
$GC,18866,2.62,265.3,133.2,5.4,1546,18905,0.10,1.83,34.03,0.811,4,0.076,0.055,3285,913,1743
$GC,19007,2.65,271.2,122.1,8.5,1571,19019,0.00,1.70,6.20,0.660,6,0.000,0.027,3285,1939,1719
$GC,19359,2.74,300.4,95.7,6.4,1633,19392,0.00,1.90,24.85,0.752,4,0.000,0.047,3285,905,1601
$GC,19432,2.78,305.6,89.8,8.5,1646,19445,0.10,1.70,5.82,0.604,6,0.050,0.025,3323,1921,1579
$GC,19784,2.86,328.3,62.1,7.0,1708,19812,0.00,1.85,19.92,0.703,4,0.000,0.045,3323,904,1485
$GC,19909,2.89,328.3,51.7,9.1,1730,19916,0.00,1.62,0.00,0.000,6,0.000,0.024,3323,1898,1485
$GC,20255,2.94,328.3,21.9,10.3,1791,20262,0.12,1.73,0.00,0.000,4,0.059,0.042,3366,901,1485
$GC,20441,2.94,328.3,2.4,9.2,1824,20447,0.00,1.55,0.00,0.000,6,0.000,0.023,3366,1873,1486
$STATE,20451,end climb,SURFACE_DEPTH_REACHED
$STATE,20451,begin surface coast
$FINISH,-0.1,1.021511
$STATE,20476,end surface coast,CONTROL_FINISHED_OK
$STATE,20476,begin surface
$SM_CCo,20497,93.70,0.639,0,0,888,475.15
$SM_GC,-6.12,0.00,0.00,93.70,0.000,0.000,0.639,413,2329,888,-10.57,0.11,475.15
$IRIDIUM_FIX,1245.46,12031.29,150697,202047
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,349
$24V_AH,23.1,24.246
$10V_AH,10.1,19.721
$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,29.000,110.350,369.100,93.700,0.000,22.995,41.281,180.882,100.000,0.000,0.000,13.331,3001.313,13608.659,607.613,3191.626,568.990,0.000,2141.800,0.000,3143.693,0.000,94.366
$DEVICE_MAMPS,173.342,97.409,1438.892,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1242.224,414.572,686.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97828,1830
$CAP_FILE_SIZE,185093,0
$CFSIZE,260165632,243466240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220308,080425,1249.471,12024.728,24,1.2,42,-0.8