version: 66.03
glider: 126
mission: 7
dive: 216
start: 4 2 108 19 10 48
data:
$ID,126
$MISSION,7
$DIVE,216
$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,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,-623492.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,190307,1248.640,12034.890,37,1.5,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.54
$_SM_ANGLEo,-57.1
$GPS2,190956,1248.737,12034.827,14,1.7,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,76.5,14765,-19.0,-9.016
$D_GRID,1574
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-67.10,0.000,6,0.000,0.000,418,2342,3320
$GC,97,-2.18,-120.8,0.9,-22.2,13,114,10.27,1.83,0.00,0.000,4,0.168,0.031,2248,1257,3322
$GC,148,-1.97,-120.8,19.7,-23.1,22,155,0.22,1.77,0.00,0.000,6,0.106,0.025,2303,2325,3322
$GC,493,-1.89,-120.8,76.2,-14.4,83,499,0.00,1.75,0.00,0.000,4,0.000,0.039,2303,3370,3324
$GC,597,-1.82,-120.8,91.2,-14.2,101,604,0.15,1.73,0.00,0.000,6,0.110,0.022,2331,2280,3325
$GC,941,-1.82,-120.8,130.4,-10.2,162,947,0.00,1.88,0.00,0.000,4,0.000,0.038,2332,3369,3326
$GC,1071,-1.82,-120.8,144.2,-10.3,185,1077,0.00,1.60,0.00,0.000,6,0.000,0.023,2332,2330,3326
$GC,1417,-1.87,-122.6,176.7,-8.9,246,1423,0.00,1.77,0.00,0.000,4,0.000,0.040,2332,3377,3327
$GC,1508,-1.91,-122.6,185.4,-9.1,262,1514,0.00,1.55,0.00,0.000,6,0.000,0.025,2332,2391,3327
$GC,1852,-1.97,-123.4,214.2,-9.0,323,1858,0.15,0.00,0.00,0.000,6,0.055,0.000,2281,2391,3327
$GC,2195,-1.97,-123.4,249.3,-10.3,384,2201,0.00,1.67,0.00,0.000,4,0.000,0.044,2281,3373,3327
$GC,2335,-1.97,-123.4,264.7,-10.6,397,2341,0.00,1.55,0.00,0.000,6,0.000,0.026,2281,2407,3326
$GC,2661,-1.97,-123.4,295.5,-9.4,428,2665,0.00,1.65,0.00,0.000,4,0.000,0.045,2281,3369,3325
$GC,2751,-1.97,-123.4,304.6,-10.2,436,2754,0.00,1.50,0.00,0.000,6,0.000,0.028,2281,2444,3324
$GC,3084,-1.97,-123.4,336.6,-9.9,467,3087,0.00,1.88,0.00,0.000,4,0.000,0.040,2281,1332,3322
$GC,3129,-1.97,-123.4,341.6,-10.9,471,3132,0.00,1.80,0.00,0.000,6,0.000,0.029,2281,2411,3322
$GC,3461,-1.97,-123.4,373.9,-9.5,502,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2411,3320
$GC,3777,-1.97,-123.4,405.1,-9.8,532,3780,0.00,1.65,0.00,0.000,4,0.000,0.050,2281,3368,3317
$GC,3822,-1.97,-123.4,409.7,-10.2,536,3825,0.00,1.58,0.00,0.000,6,0.000,0.030,2281,2432,3317
$GC,4153,-1.97,-123.4,440.6,-9.2,567,4156,0.00,1.90,0.00,0.000,4,0.000,0.049,2281,1342,3315
$GC,4236,-1.97,-123.4,448.7,-9.4,574,4242,0.00,1.77,0.00,0.000,6,0.000,0.034,2281,2376,3314
$GC,4562,-1.97,-123.4,480.3,-9.4,605,4565,0.00,1.75,0.00,0.000,4,0.000,0.053,2281,3364,3312
$GC,4612,-1.97,-123.4,485.5,-9.9,609,4617,0.00,1.58,0.00,0.000,6,0.000,0.031,2281,2439,3312
$GC,4931,-1.97,-123.4,516.5,-9.8,632,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2439,3309
$GC,5240,-1.98,-129.2,544.9,-8.7,647,5244,0.00,2.00,0.00,0.000,4,0.000,0.068,2281,1337,3308
$GC,5286,-1.99,-131.4,548.8,-8.9,649,5289,0.00,1.83,0.00,0.000,6,0.000,0.046,2281,2377,3307
$GC,5618,-2.00,-136.0,577.2,-8.7,665,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2378,3306
$GC,5928,-2.03,-137.5,605.0,-8.9,680,5931,0.00,1.83,0.00,0.000,4,0.000,0.084,2281,3360,3304
$GC,6022,-2.03,-137.5,613.6,-9.2,684,6026,0.00,1.62,0.00,0.000,6,0.000,0.061,2281,2477,3303
$GC,6349,-2.03,-137.5,642.8,-9.2,700,6353,0.00,2.17,0.00,0.000,4,0.000,0.095,2281,1340,3302
$GC,6410,-2.03,-137.7,648.7,-9.0,702,6416,0.00,1.95,0.00,0.000,6,0.000,0.081,2281,2354,3302
$GC,6725,-2.03,-137.7,677.2,-9.5,718,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2354,3300
$GC,7035,-2.03,-137.7,705.4,-9.2,733,7038,0.00,2.10,0.00,0.000,4,0.000,0.128,2281,3383,3298
$GC,7107,-2.03,-137.7,712.4,-9.5,736,7111,0.00,1.83,0.00,0.000,6,0.000,0.106,2281,2487,3298
$GC,7435,-2.06,-137.7,742.6,-9.3,752,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2475,3296
$GC,7746,-2.10,-137.7,770.5,-9.1,767,7749,0.00,2.00,0.00,0.000,4,0.000,0.047,2281,1333,3295
$GC,7818,-2.10,-139.6,777.2,-8.9,770,7822,0.00,1.90,0.00,0.000,6,0.000,0.034,2281,2428,3295
$GC,8147,-2.14,-143.0,806.5,-8.8,786,8151,0.00,1.70,0.00,0.000,4,0.000,0.054,2281,3391,3294
$GC,8186,-2.14,-143.0,810.3,-9.5,787,8192,0.00,1.58,0.00,0.000,6,0.000,0.032,2281,2443,3294
$GC,8502,-2.19,-146.0,835.8,-7.7,803,8506,0.12,1.92,0.00,0.000,4,0.068,0.051,2247,1335,3292
$GC,8540,-2.19,-146.0,839.3,-9.1,804,8546,0.00,1.90,0.00,0.000,6,0.000,0.035,2247,2427,3292
$GC,8855,-2.19,-146.0,868.5,-9.6,820,8859,0.00,1.92,0.00,0.000,4,0.000,0.047,2247,1335,3292
$GC,8894,-2.19,-146.0,872.4,-10.0,821,8900,0.00,1.88,0.00,0.000,6,0.000,0.035,2247,2416,3292
$GC,9209,-2.19,-146.0,902.4,-9.3,837,9212,0.00,1.90,0.00,0.000,4,0.000,0.048,2247,1337,3291
$GC,9264,-2.19,-146.0,907.9,-9.3,839,9268,0.00,1.85,0.00,0.000,6,0.000,0.035,2247,2407,3291
$GC,9585,-2.19,-146.0,939.6,-9.9,855,9590,0.00,1.75,0.00,0.000,4,0.000,0.056,2247,3392,3289
$GC,9634,-2.19,-146.0,944.7,-9.8,857,9638,0.00,1.62,0.00,0.000,6,0.000,0.032,2247,2442,3289
$GC,9961,-2.19,-146.0,978.1,-10.3,873,9965,0.00,1.92,0.00,0.000,4,0.000,0.052,2247,1343,3288
$GC,10024,-2.19,-146.0,984.3,-10.0,875,10029,0.00,1.83,0.00,0.000,6,0.000,0.037,2247,2411,3288
$STATE,10091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10092,begin apogee
$GC,10097,-0.52,0.0,990.7,9.6,879,10202,1.75,0.00,100.55,1.438,6,0.095,0.000,2615,2015,2826
$STATE,10202,end apogee,CONTROL_FINISHED_OK
$STATE,10203,begin climb
$GC,10205,2.22,146.0,993.7,0.0,884,10343,2.70,2.00,129.07,1.401,4,0.065,0.064,3216,977,2229
$GC,10462,2.09,146.0,976.6,11.0,895,10467,0.12,1.77,0.00,0.000,6,0.098,0.031,3187,1998,2224
$GC,10789,1.99,146.0,944.2,10.0,911,10793,0.12,1.88,0.00,0.000,4,0.114,0.056,3164,972,2221
$GC,10862,1.90,146.0,937.0,10.3,914,10866,0.00,1.67,0.00,0.000,6,0.000,0.031,3164,1958,2221
$GC,11189,1.83,146.0,906.8,9.0,930,11191,0.17,0.00,0.00,0.000,6,0.117,0.000,3131,1958,2220
$GC,11499,1.85,156.6,881.2,8.4,945,11510,0.00,0.00,9.05,1.214,6,0.000,0.000,3131,1958,2186
$GC,11807,1.87,170.2,855.9,8.2,960,11828,0.00,1.88,13.80,1.280,4,0.000,0.058,3131,975,2130
$GC,11919,1.83,172.7,845.8,8.9,965,11923,0.00,1.67,0.00,0.000,6,0.000,0.031,3131,1954,2129
$GC,12251,1.83,172.7,815.4,9.4,981,12254,0.00,1.83,0.00,0.000,4,0.000,0.049,3131,3006,2128
$GC,12306,1.84,173.9,810.1,8.9,983,12318,0.00,1.73,4.85,0.969,6,0.000,0.036,3131,2005,2115
$GC,12627,1.84,174.5,780.8,9.0,999,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2005,2113
$GC,12936,1.85,180.2,753.3,8.7,1014,12949,0.00,2.08,6.90,1.092,4,0.000,0.063,3131,909,2090
$GC,13002,1.81,180.2,747.4,9.8,1017,13006,0.00,1.83,0.00,0.000,6,0.000,0.032,3131,1958,2090
$GC,13334,1.85,203.0,720.5,7.6,1033,13360,0.00,1.92,21.58,1.251,4,0.000,0.048,3131,3006,1997
$GC,13428,1.87,214.9,712.3,8.3,1037,13444,0.00,1.77,11.95,1.170,6,0.000,0.036,3130,1978,1950
$GC,13765,1.87,214.9,680.0,9.5,1054,13768,0.00,1.83,0.00,0.000,4,0.000,0.047,3131,3016,1947
$GC,13832,1.87,214.9,673.4,9.8,1057,13835,0.00,1.75,0.00,0.000,6,0.000,0.036,3131,2003,1946
$GC,14164,1.87,214.9,641.5,9.6,1073,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2003,1946
$GC,14473,1.87,214.9,612.5,9.1,1088,14476,0.00,1.77,0.00,0.000,4,0.000,0.047,3131,3016,1946
$GC,14505,1.87,215.1,609.4,9.0,1089,14509,0.00,1.73,0.00,0.000,6,0.000,0.035,3131,2027,1945
$GC,14829,1.88,220.6,581.4,8.7,1105,14837,0.00,0.00,6.20,0.973,6,0.000,0.000,3131,2027,1925
$GC,15136,1.88,220.6,553.6,9.2,1120,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2028,1925
$GC,15445,1.89,227.6,525.7,8.6,1135,15455,0.00,0.00,7.72,1.009,6,0.000,0.000,3130,2027,1897
$GC,15755,1.90,233.3,498.6,8.7,1150,15765,0.00,0.00,6.85,0.959,6,0.000,0.000,3131,2027,1874
$GC,16084,1.91,236.1,468.8,8.8,1181,16095,0.00,2.05,4.35,0.776,4,0.000,0.063,3131,903,1862
$GC,16163,1.91,236.1,461.1,9.1,1188,16167,0.00,1.95,0.00,0.000,6,0.000,0.031,3131,2046,1862
$GC,16494,1.91,236.1,430.1,9.6,1219,16496,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2047,1861
$GC,16814,1.94,253.0,402.3,8.0,1249,16835,0.00,2.10,16.17,1.020,4,0.000,0.055,3131,908,1793
$GC,16930,1.94,253.0,391.9,9.7,1259,16936,0.00,1.95,0.00,0.000,6,0.000,0.031,3130,2035,1792
$GC,17258,1.97,253.0,362.7,9.0,1290,17262,0.12,2.03,0.00,0.000,4,0.067,0.054,3166,910,1791
$GC,17312,1.97,253.0,356.7,10.8,1294,17318,0.00,1.90,0.00,0.000,6,0.000,0.031,3166,2016,1791
$GC,17639,1.97,253.0,323.6,9.9,1325,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2016,1791
$GC,17958,1.98,258.3,294.5,8.7,1355,17966,0.00,0.00,5.85,0.788,6,0.000,0.000,3166,2016,1772
$GC,18285,1.98,258.3,263.0,9.1,1386,18289,0.00,1.98,0.00,0.000,4,0.000,0.054,3166,913,1771
$GC,18346,1.98,258.3,256.6,10.1,1391,18352,0.00,1.88,0.00,0.000,6,0.000,0.030,3165,2014,1772
$GC,18685,1.99,259.7,224.8,8.9,1445,18691,0.00,1.70,0.00,0.000,4,0.000,0.044,3166,3014,1771
$GC,18769,1.99,259.7,216.3,10.1,1460,18775,0.00,1.75,0.00,0.000,6,0.000,0.033,3166,1980,1772
$GC,19113,1.99,263.2,186.0,8.8,1521,19124,0.00,1.80,6.38,0.734,4,0.000,0.040,3166,3016,1750
$GC,19316,2.02,277.5,168.6,8.1,1557,19337,0.00,1.70,13.48,0.824,6,0.000,0.031,3166,2007,1692
$GC,19677,2.13,312.2,143.6,6.9,1621,19715,0.12,1.80,29.88,0.819,4,0.063,0.041,3206,3008,1552
$GC,19925,2.15,325.0,121.8,8.2,1665,19942,0.00,1.62,11.93,0.754,6,0.000,0.028,3206,2041,1500
$GC,20283,2.25,352.5,94.7,7.3,1728,20311,0.00,1.75,23.83,0.752,4,0.000,0.038,3206,3013,1388
$GC,20443,2.34,365.6,82.4,8.2,1756,20461,0.10,1.60,12.07,0.701,6,0.044,0.026,3248,2067,1334
$GC,20801,2.40,377.1,53.2,8.3,1819,20819,0.00,2.05,11.18,0.664,4,0.000,0.047,3248,904,1286
$GC,20993,2.48,404.6,37.2,7.3,1853,21027,0.10,1.95,24.02,0.676,6,0.065,0.024,3284,2098,1174
$GC,21367,2.55,421.1,6.3,8.0,1919,21389,0.00,1.58,14.52,0.625,4,0.000,0.036,3284,3011,1107
$STATE,21418,end climb,SURFACE_DEPTH_REACHED
$STATE,21418,begin surface coast
$FINISH,-0.6,1.021166
$STATE,21440,end surface coast,CONTROL_FINISHED_OK
$STATE,21440,begin surface
$SM_CCo,21462,38.35,0.637,0,0,888,475.15
$SM_GC,-6.13,0.00,0.00,38.35,0.000,0.000,0.637,412,2274,888,-10.66,-1.44,475.15
$IRIDIUM_FIX,1245.46,12034.32,270697,131353
$TT8_MAMPS,0.026078
$HUMID,1866
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.20
$XPDR_PINGS,470
$24V_AH,23.0,32.907
$10V_AH,10.2,25.580
$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,28.725,141.250,492.175,38.350,0.000,26.411,37.376,198.434,130.000,0.000,0.000,33.145,3152.104,14077.341,640.525,3431.576,628.020,0.000,2309.015,0.000,3349.194,0.000,91.483
$DEVICE_MAMPS,167.973,128.089,1438.125,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1309.643,448.925,728.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104199,1932
$CAP_FILE_SIZE,199087,0
$CFSIZE,260165632,238825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030408,011026,1249.729,12037.217,41,1.8,41,-0.8