version: 66.03
glider: 126
mission: 7
dive: 217
start: 4 3 108 1 18 1
data:
$ID,126
$MISSION,7
$DIVE,217
$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,-623505.88
$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,68
$R_STBD_OVSHOOT,37
$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
$GPS1,011026,1249.729,12037.217,41,1.8,41,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.37
$_SM_ANGLEo,-58.3
$GPS2,011709,1249.823,12037.179,12,1.2,12,-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,81.5,10193,-19.0,-9.016
$D_GRID,1605
$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,23,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-67.03,0.000,6,0.000,0.000,412,2274,3321
$GC,96,-2.18,-120.8,0.7,-21.5,13,113,10.43,1.85,0.00,0.000,4,0.172,0.035,2250,3379,3322
$GC,366,-2.01,-120.8,64.3,-18.9,61,373,0.20,1.70,0.00,0.000,6,0.117,0.023,2288,2303,3324
$GC,711,-1.94,-120.8,112.9,-12.6,122,717,0.00,1.85,0.00,0.000,4,0.000,0.038,2289,3379,3326
$GC,869,-1.89,-120.8,133.1,-12.3,150,877,0.10,1.62,0.00,0.000,6,0.103,0.023,2313,2355,3326
$GC,1214,-1.89,-120.8,168.2,-10.3,211,1220,0.00,1.75,0.00,0.000,4,0.000,0.040,2313,3386,3327
$GC,1372,-1.89,-120.8,183.8,-10.0,239,1378,0.00,1.48,0.00,0.000,6,0.000,0.025,2313,2447,3327
$GC,1716,-1.93,-120.8,216.8,-9.2,300,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2447,3327
$GC,2058,-1.98,-126.6,248.7,-8.7,361,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2447,3327
$GC,2385,-2.03,-130.5,278.5,-8.8,393,2387,0.12,0.00,0.00,0.000,6,0.062,0.000,2275,2447,3326
$GC,2703,-2.03,-130.5,311.8,-11.0,423,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2446,3325
$GC,3020,-2.03,-130.5,344.5,-10.0,453,3024,0.00,1.92,0.00,0.000,4,0.000,0.041,2275,1326,3322
$GC,3081,-2.03,-130.5,350.8,-9.9,458,3087,0.00,1.92,0.00,0.000,6,0.000,0.029,2275,2477,3322
$GC,3407,-2.03,-130.5,381.7,-9.5,489,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2477,3320
$GC,3726,-2.03,-130.5,412.5,-9.7,519,3729,0.00,1.98,0.00,0.000,4,0.000,0.043,2275,1327,3318
$GC,3782,-2.03,-130.5,418.1,-9.7,524,3785,0.00,1.92,0.00,0.000,6,0.000,0.031,2275,2468,3318
$GC,4113,-2.03,-130.5,451.2,-10.4,555,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2468,3315
$GC,4430,-2.03,-130.5,483.3,-9.4,585,4433,0.00,2.00,0.00,0.000,4,0.000,0.049,2275,1325,3313
$GC,4490,-2.03,-130.5,489.3,-9.8,590,4497,0.00,1.95,0.00,0.000,6,0.000,0.035,2275,2453,3313
$GC,4811,-2.03,-130.5,520.6,-9.9,611,4814,0.00,1.98,0.00,0.000,4,0.000,0.051,2275,1329,3310
$GC,4865,-2.03,-130.5,526.1,-9.3,613,4869,0.00,1.95,0.00,0.000,6,0.000,0.038,2275,2447,3310
$GC,5187,-2.04,-133.5,554.9,-8.8,629,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2447,3308
$GC,5497,-2.05,-140.0,580.8,-8.6,644,5501,0.00,2.05,0.00,0.000,4,0.000,0.067,2275,1328,3306
$GC,5569,-2.05,-140.0,587.8,-9.3,647,5573,0.00,2.00,0.00,0.000,6,0.000,0.057,2275,2425,3306
$GC,5896,-2.05,-142.8,617.5,-8.8,663,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2425,3304
$GC,6205,-2.06,-144.6,644.8,-8.9,678,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2426,3303
$GC,6514,-2.06,-144.6,672.7,-9.3,693,6518,0.00,1.83,0.00,0.000,4,0.000,0.109,2275,3357,3301
$GC,6569,-2.06,-144.6,678.3,-10.2,695,6573,0.00,1.67,0.00,0.000,6,0.000,0.087,2275,2505,3301
$GC,6891,-2.06,-144.6,708.4,-9.3,711,6894,0.00,2.05,0.00,0.000,4,0.000,0.050,2275,1332,3299
$GC,6952,-2.06,-144.6,714.3,-9.3,713,6958,0.00,1.85,0.00,0.000,6,0.000,0.035,2275,2420,3299
$GC,7267,-2.06,-144.6,742.9,-9.1,729,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2421,3297
$GC,7579,-2.06,-146.0,770.5,-8.8,744,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2421,3296
$GC,7886,-2.06,-146.0,798.3,-9.1,759,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2421,3295
$GC,8194,-2.06,-146.0,825.9,-9.1,774,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2421,3294
$GC,8504,-2.06,-146.0,853.9,-9.1,789,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2421,3293
$GC,8813,-2.06,-146.0,883.4,-9.1,804,8817,0.00,1.95,0.00,0.000,4,0.000,0.055,2275,1335,3292
$GC,8858,-2.06,-146.0,887.6,-9.1,806,8861,0.00,1.85,0.00,0.000,6,0.000,0.038,2275,2410,3292
$GC,9192,-2.09,-146.0,915.6,-8.3,822,9195,0.00,1.67,0.00,0.000,4,0.000,0.055,2276,3373,3291
$GC,9237,-2.09,-146.0,919.5,-8.4,824,9241,0.00,1.55,0.00,0.000,6,0.000,0.033,2275,2460,3291
$GC,9571,-2.12,-146.0,948.9,-8.9,840,9574,0.00,2.00,0.00,0.000,4,0.000,0.054,2275,1328,3290
$GC,9609,-2.12,-146.0,952.9,-9.1,841,9615,0.00,1.90,0.00,0.000,6,0.000,0.037,2275,2414,3290
$GC,9925,-2.15,-146.0,981.9,-9.2,857,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2415,3288
$STATE,10026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10027,begin apogee
$GC,10032,-0.52,0.0,991.3,9.2,862,10137,1.60,0.00,100.60,1.436,6,0.090,0.000,2616,2005,2825
$STATE,10138,end apogee,CONTROL_FINISHED_OK
$STATE,10138,begin climb
$GC,10140,2.22,146.0,994.7,0.0,867,10278,2.65,2.12,128.77,1.401,4,0.059,0.084,3218,921,2228
$GC,10380,2.08,146.0,982.2,10.3,877,10385,0.17,1.83,0.00,0.000,6,0.107,0.033,3184,1959,2224
$GC,10701,1.99,146.0,951.8,9.9,893,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1958,2221
$GC,11011,1.91,146.0,921.0,9.8,908,11015,0.17,1.92,0.00,0.000,4,0.107,0.061,3146,915,2220
$GC,11088,1.87,155.3,913.9,8.4,911,11103,0.00,1.80,8.23,1.189,6,0.000,0.033,3147,1968,2191
$GC,11432,1.84,159.4,885.0,8.8,928,11439,0.00,0.00,5.15,1.015,6,0.000,0.000,3146,1968,2175
$GC,11740,1.82,166.5,858.5,8.6,943,11754,0.00,2.03,7.95,1.176,4,0.000,0.059,3147,913,2146
$GC,11807,1.77,166.5,852.4,9.2,946,11811,0.15,1.77,0.00,0.000,6,0.116,0.032,3119,1947,2145
$GC,12138,1.81,186.6,825.5,7.8,962,12163,0.00,1.92,19.42,1.302,4,0.000,0.049,3118,3002,2064
$GC,12208,1.82,196.1,819.4,8.4,965,12225,0.00,1.88,10.07,1.193,6,0.000,0.044,3119,1943,2025
$GC,12534,1.84,206.1,791.2,8.4,981,12546,0.00,0.00,10.23,1.200,6,0.000,0.000,3119,1943,1984
$GC,12843,1.84,206.1,762.7,9.3,996,12846,0.00,1.88,0.00,0.000,4,0.000,0.046,3119,3009,1983
$GC,12915,1.85,210.3,755.8,8.8,999,12924,0.00,1.85,5.32,0.993,6,0.000,0.036,3119,1952,1967
$GC,13241,1.85,210.3,725.2,9.7,1015,13245,0.00,1.85,0.00,0.000,4,0.000,0.047,3118,3007,1966
$GC,13290,1.85,210.3,720.2,10.3,1017,13295,0.00,1.83,0.00,0.000,6,0.000,0.036,3118,1966,1966
$GC,13619,1.85,210.3,689.2,9.5,1033,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1966,1966
$GC,13926,1.85,210.3,660.6,9.1,1048,13930,0.00,1.83,0.00,0.000,4,0.000,0.046,3119,3010,1965
$GC,13976,1.85,210.5,656.0,9.0,1050,13980,0.00,1.80,0.00,0.000,6,0.000,0.035,3119,1979,1965
$GC,14303,1.85,212.6,627.3,8.9,1066,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1979,1965
$GC,14612,1.87,221.5,600.8,8.5,1081,14627,0.00,1.83,11.18,1.121,4,0.000,0.045,3119,3009,1922
$GC,14677,1.87,225.5,594.7,8.8,1083,14687,0.00,1.80,5.47,0.933,6,0.000,0.035,3119,1987,1905
$GC,15004,1.91,225.5,563.9,9.2,1099,15005,0.12,0.00,0.00,0.000,6,0.073,0.000,3153,1988,1904
$GC,15312,1.91,225.5,532.5,10.1,1114,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1988,1904
$GC,15622,1.91,225.5,501.0,10.2,1129,15626,0.00,1.80,0.00,0.000,4,0.000,0.046,3153,3003,1903
$GC,15677,1.91,225.5,495.2,10.0,1133,15681,0.00,1.75,0.00,0.000,6,0.000,0.035,3153,1983,1904
$GC,16009,1.91,225.5,461.0,10.3,1164,16012,0.00,1.95,0.00,0.000,4,0.000,0.062,3153,917,1903
$GC,16055,1.91,225.5,456.2,9.8,1168,16059,0.00,1.83,0.00,0.000,6,0.000,0.041,3153,1988,1904
$GC,16385,1.91,225.5,424.1,9.2,1199,16389,0.00,1.77,0.00,0.000,4,0.000,0.049,3153,3003,1903
$GC,16431,1.91,225.5,420.0,9.4,1203,16435,0.00,1.70,0.00,0.000,6,0.000,0.036,3153,2009,1904
$GC,16763,1.93,237.5,390.2,8.3,1234,16779,0.00,2.08,11.70,0.995,4,0.000,0.059,3153,907,1856
$GC,16840,1.94,246.1,383.0,8.5,1240,16857,0.00,1.95,9.40,0.947,6,0.000,0.031,3153,2026,1820
$GC,17175,1.96,259.1,353.9,8.2,1272,17189,0.00,0.00,12.38,0.973,6,0.000,0.000,3153,2026,1768
$GC,17505,1.96,259.1,321.8,10.3,1303,17506,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2026,1766
$GC,17823,1.96,259.1,291.0,9.9,1333,17824,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2027,1766
$GC,18142,1.99,277.9,263.6,7.8,1363,18161,0.00,0.00,17.02,0.919,6,0.000,0.000,3153,2027,1692
$GC,18490,2.04,277.9,232.0,9.7,1412,18496,0.00,1.70,0.00,0.000,4,0.000,0.048,3153,3013,1690
$GC,18609,2.08,285.2,221.1,8.6,1433,18621,0.12,1.67,7.53,0.794,6,0.068,0.037,3189,2022,1662
$GC,18959,2.08,285.2,187.6,9.1,1495,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2023,1662
$GC,19301,2.09,288.8,156.4,8.8,1556,19312,0.00,1.70,5.05,0.649,4,0.000,0.040,3189,3015,1647
$GC,19465,2.13,310.8,143.0,7.7,1585,19493,0.00,1.70,19.88,0.814,6,0.000,0.029,3189,2003,1558
$GC,19831,2.25,342.5,115.6,7.0,1650,19864,0.12,0.00,27.45,0.784,6,0.064,0.000,3230,2003,1427
$GC,20203,2.32,359.7,86.3,7.9,1716,20225,0.00,1.80,15.27,0.729,4,0.000,0.038,3230,3014,1358
$GC,20335,2.38,362.4,75.5,8.8,1739,20347,0.00,1.60,3.95,0.496,6,0.000,0.026,3229,2049,1346
$GC,20688,2.50,386.3,47.4,7.5,1801,20716,0.15,2.00,21.08,0.686,4,0.053,0.046,3284,917,1250
$GC,20761,2.50,386.3,40.4,10.0,1814,20767,0.00,1.92,0.00,0.000,6,0.000,0.025,3283,2075,1250
$GC,21106,2.57,406.0,11.6,7.8,1875,21129,0.00,1.65,17.77,0.642,4,0.000,0.036,3284,3020,1169
$GC,21198,2.64,417.3,4.0,8.3,1891,21215,0.00,1.62,10.43,0.599,6,0.000,0.024,3284,2027,1122
$STATE,21219,end climb,SURFACE_DEPTH_REACHED
$STATE,21219,begin surface coast
$FINISH,0.0,1.021106
$STATE,21243,end surface coast,CONTROL_FINISHED_OK
$STATE,21244,begin surface
$SM_CCo,21265,41.00,0.634,0,0,888,475.15
$SM_GC,-6.15,0.00,0.00,41.00,0.000,0.000,0.634,412,2356,888,-10.66,0.88,475.15
$IRIDIUM_FIX,1241.04,12034.32,270697,191955
$TT8_MAMPS,0.026078
$HUMID,1866
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.80
$XPDR_PINGS,356
$24V_AH,23.0,33.100
$10V_AH,10.1,25.698
$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,28.600,111.625,491.300,41.000,0.000,24.209,31.737,214.664,101.500,0.000,0.000,12.799,3075.363,14172.082,610.117,3244.697,627.082,0.000,2190.424,0.000,3190.612,0.000,91.470
$DEVICE_MAMPS,171.808,108.914,1435.824,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.660,437.147,711.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100884,1899
$CAP_FILE_SIZE,188721,0
$CFSIZE,260165632,238739456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030408,071431,1250.868,12039.323,41,2.0,46,-0.8