version: 66.03
glider: 126
mission: 7
dive: 218
start: 4 3 108 7 21 43
data:
$ID,126
$MISSION,7
$DIVE,218
$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,-623521.19
$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,34
$R_STBD_OVSHOOT,56
$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
$GPS1,071431,1250.868,12039.323,41,2.0,46,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.41
$_SM_ANGLEo,-59.6
$GPS2,072051,1250.978,12039.312,13,1.9,13,-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,95.4,6229,-19.0,-9.016
$D_GRID,1169
$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,-120.8,0.0,0.0,0,94,0.00,0.00,-67.03,0.000,6,0.000,0.000,412,2357,3321
$GC,97,-2.18,-120.8,0.9,-21.8,13,114,10.45,1.70,0.00,0.000,4,0.173,0.036,2249,3360,3322
$GC,367,-2.01,-120.8,63.0,-17.9,61,374,0.20,1.70,0.00,0.000,6,0.107,0.023,2289,2284,3324
$GC,712,-1.94,-120.8,113.5,-12.8,122,718,0.00,1.85,0.00,0.000,4,0.000,0.038,2289,3360,3326
$GC,937,-1.89,-120.8,141.2,-11.6,162,944,0.10,1.65,0.00,0.000,6,0.093,0.023,2313,2327,3327
$GC,1282,-1.89,-120.8,175.4,-9.6,223,1287,0.00,1.75,0.00,0.000,4,0.000,0.040,2313,3357,3328
$GC,1332,-1.89,-120.8,180.3,-9.9,232,1338,0.00,1.60,0.00,0.000,6,0.000,0.024,2313,2336,3328
$GC,1676,-1.95,-128.1,212.2,-8.6,293,1681,0.00,1.75,0.00,0.000,4,0.000,0.041,2313,3362,3328
$GC,1740,-1.95,-128.1,218.2,-10.0,304,1746,0.00,1.58,0.00,0.000,6,0.000,0.025,2313,2375,3328
$GC,2088,-1.99,-128.5,252.3,-9.0,364,2091,0.00,1.70,0.00,0.000,4,0.000,0.044,2313,3367,3327
$GC,2166,-1.99,-128.5,259.9,-9.8,371,2170,0.00,1.60,0.00,0.000,6,0.000,0.026,2313,2355,3327
$GC,2499,-2.05,-134.0,289.3,-8.7,402,2503,0.15,1.73,0.00,0.000,4,0.058,0.046,2266,3355,3326
$GC,2537,-2.01,-134.0,293.1,-9.5,405,2544,0.08,1.58,0.00,0.000,6,0.094,0.026,2286,2384,3325
$GC,2862,-2.01,-134.0,324.4,-9.6,436,2866,0.00,1.70,0.00,0.000,4,0.000,0.046,2286,3353,3324
$GC,2922,-2.01,-134.0,330.5,-9.8,441,2928,0.00,1.58,0.00,0.000,6,0.000,0.027,2286,2396,3323
$GC,3250,-2.01,-134.0,362.5,-9.9,472,3254,0.00,1.85,0.00,0.000,4,0.000,0.043,2285,1315,3321
$GC,3311,-2.01,-134.0,368.5,-9.6,477,3317,0.00,1.75,0.00,0.000,6,0.000,0.028,2286,2350,3321
$GC,3638,-2.01,-134.0,396.7,-9.4,508,3641,0.00,1.77,0.00,0.000,4,0.000,0.049,2286,3379,3319
$GC,3687,-2.01,-134.0,401.9,-9.5,512,3693,0.00,1.62,0.00,0.000,6,0.000,0.029,2286,2412,3318
$GC,4013,-2.01,-134.0,432.9,-9.7,543,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2409,3316
$GC,4331,-2.03,-142.0,462.4,-8.5,573,4334,0.00,1.92,0.00,0.000,4,0.000,0.055,2285,1319,3314
$GC,4387,-2.03,-145.2,467.3,-8.8,578,4391,0.00,1.83,0.00,0.000,6,0.000,0.035,2285,2392,3314
$GC,4719,-2.03,-146.0,494.9,-8.7,609,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2392,3311
$GC,5029,-2.06,-146.0,522.1,-8.9,627,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2392,3309
$GC,5338,-2.06,-146.0,549.9,-9.2,642,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2393,3307
$GC,5647,-2.06,-146.0,579.0,-9.4,657,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2392,3306
$GC,5956,-2.10,-146.0,608.2,-9.5,672,5960,0.00,1.83,0.00,0.000,4,0.000,0.086,2286,3356,3303
$GC,6024,-2.10,-146.0,614.8,-10.1,675,6027,0.00,1.62,0.00,0.000,6,0.000,0.060,2285,2459,3304
$GC,6358,-2.13,-146.0,644.7,-8.8,691,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2458,3302
$GC,6666,-2.16,-146.0,673.4,-9.4,706,6670,0.12,1.98,0.00,0.000,4,0.067,0.044,2250,1318,3300
$GC,6710,-2.16,-146.0,677.9,-9.9,708,6714,0.00,1.83,0.00,0.000,6,0.000,0.033,2250,2398,3300
$GC,7046,-2.16,-146.0,710.7,-9.5,724,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2398,3298
$GC,7351,-2.16,-146.0,739.3,-9.1,739,7354,0.00,1.70,0.00,0.000,4,0.000,0.054,2250,3377,3297
$GC,7400,-2.16,-146.0,744.4,-10.3,741,7405,0.00,1.62,0.00,0.000,6,0.000,0.032,2250,2420,3297
$GC,7728,-2.16,-146.0,775.6,-9.7,757,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2420,3296
$GC,8036,-2.16,-146.0,804.9,-9.6,772,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2420,3294
$GC,8346,-2.16,-146.0,836.4,-10.3,787,8349,0.00,1.67,0.00,0.000,4,0.000,0.054,2250,3370,3293
$GC,8419,-2.16,-146.0,843.8,-10.6,790,8423,0.00,1.60,0.00,0.000,6,0.000,0.032,2250,2412,3293
$GC,8746,-2.16,-146.0,875.1,-9.4,806,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2412,3292
$GC,9056,-2.16,-146.0,903.4,-8.9,821,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2411,3291
$GC,9364,-2.16,-146.0,929.4,-8.3,836,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2411,3290
$GC,9673,-2.16,-146.0,956.9,-9.3,851,9677,0.00,1.70,0.00,0.000,4,0.000,0.055,2251,3372,3289
$GC,9729,-2.16,-146.0,962.4,-10.0,853,9733,0.00,1.62,0.00,0.000,6,0.000,0.034,2250,2420,3288
$STATE,10050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10050,begin apogee
$GC,10056,-0.52,0.0,991.5,9.0,869,10161,1.70,0.00,100.68,1.438,6,0.089,0.000,2614,2003,2825
$STATE,10162,end apogee,CONTROL_FINISHED_OK
$STATE,10162,begin climb
$GC,10164,2.22,146.0,994.7,0.0,874,10302,2.65,2.17,128.85,1.400,4,0.054,0.078,3221,910,2229
$GC,10354,2.07,146.0,985.5,10.5,882,10358,0.20,1.85,0.00,0.000,6,0.104,0.032,3182,1978,2226
$GC,10680,1.99,146.0,953.5,10.0,898,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1979,2221
$GC,10989,1.90,146.0,923.9,9.3,913,10991,0.20,0.00,0.00,0.000,6,0.108,0.000,3145,1979,2221
$GC,11301,1.87,151.7,897.1,8.7,928,11307,0.00,0.00,4.97,0.989,6,0.000,0.000,3145,1979,2206
$GC,11608,1.86,162.2,870.6,8.4,943,11623,0.00,2.00,10.98,1.252,4,0.000,0.058,3144,911,2163
$GC,11662,1.81,162.2,865.3,9.6,944,11668,0.00,1.83,0.00,0.000,6,0.000,0.031,3144,1968,2163
$GC,11978,1.81,162.2,836.9,9.0,960,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1968,2161
$GC,12286,1.81,162.2,809.5,9.0,975,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1969,2160
$GC,12596,1.82,168.7,782.4,8.6,990,12605,0.00,0.00,7.10,1.117,6,0.000,0.000,3144,1969,2137
$GC,12906,1.83,170.5,755.3,8.9,1005,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1969,2136
$GC,13214,1.83,170.5,727.4,9.2,1020,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1969,2135
$GC,13524,1.85,186.4,702.4,8.0,1035,13544,0.00,0.00,16.85,1.232,6,0.000,0.000,3144,1969,2065
$GC,13853,1.85,186.4,674.4,9.1,1051,13856,0.00,1.92,0.00,0.000,4,0.000,0.058,3144,913,2063
$GC,13920,1.85,186.4,668.0,9.1,1054,13924,0.00,1.77,0.00,0.000,6,0.000,0.033,3144,1949,2063
$GC,14252,1.85,186.4,637.1,9.4,1070,14253,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1950,2063
$GC,14561,1.85,187.6,609.4,8.9,1085,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1950,2062
$GC,14871,1.88,202.1,583.5,8.1,1100,14892,0.00,1.88,15.15,1.147,4,0.000,0.048,3144,3006,2000
$GC,14987,1.88,205.1,573.7,8.8,1105,14996,0.00,1.83,4.12,0.797,6,0.000,0.036,3144,1947,1989
$GC,15313,1.88,205.1,544.2,9.3,1121,15316,0.00,1.88,0.00,0.000,4,0.000,0.046,3144,3016,1988
$GC,15358,1.88,205.1,539.8,9.1,1123,15361,0.00,1.83,0.00,0.000,6,0.000,0.035,3144,1956,1988
$GC,15692,1.89,208.0,509.9,8.8,1139,15701,0.00,1.90,4.22,0.785,4,0.000,0.046,3144,3009,1977
$GC,15786,1.91,218.7,501.4,8.4,1143,15803,0.00,1.80,11.20,1.056,6,0.000,0.035,3144,1981,1933
$GC,16120,1.91,221.0,471.3,8.9,1174,16124,0.00,1.92,0.00,0.000,4,0.000,0.067,3144,916,1932
$GC,16165,1.91,221.0,466.9,10.2,1178,16169,0.00,1.83,0.00,0.000,6,0.000,0.032,3144,1986,1932
$GC,16497,1.91,223.2,436.5,8.9,1209,16505,0.00,0.00,5.62,0.866,6,0.000,0.000,3144,1987,1914
$GC,16825,1.91,223.2,406.1,9.2,1240,16826,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1987,1914
$GC,17144,1.92,228.5,377.6,8.7,1270,17156,0.00,1.98,6.25,0.868,4,0.000,0.057,3144,908,1893
$GC,17251,1.93,234.1,367.6,8.7,1279,17262,0.00,1.80,6.60,0.874,6,0.000,0.031,3144,1942,1871
$GC,17580,1.95,244.3,338.5,8.4,1310,17595,0.00,1.90,10.45,0.937,4,0.000,0.049,3144,3015,1829
$GC,17623,1.95,244.3,334.4,9.2,1313,17629,0.00,1.90,0.00,0.000,6,0.000,0.035,3145,1931,1828
$GC,17950,1.97,256.7,306.4,8.2,1344,17967,0.00,0.00,12.07,0.927,6,0.000,0.000,3144,1931,1778
$GC,18288,2.05,277.4,277.6,7.7,1376,18313,0.15,2.00,18.75,0.932,4,0.064,0.045,3191,3021,1694
$GC,18432,2.05,277.4,263.9,9.3,1389,18435,0.00,1.85,0.00,0.000,6,0.000,0.034,3190,1943,1692
$GC,18767,2.05,280.1,233.3,8.8,1436,18773,0.00,0.00,3.83,0.595,6,0.000,0.000,3190,1943,1681
$GC,19111,2.05,281.1,200.6,9.0,1497,19117,0.00,1.88,0.00,0.000,4,0.000,0.050,3191,3021,1681
$GC,19241,2.05,281.1,188.4,9.8,1520,19247,0.00,1.83,0.00,0.000,6,0.000,0.031,3190,1943,1681
$GC,19584,2.06,287.0,156.3,8.7,1581,19595,0.00,1.92,7.43,0.742,4,0.000,0.041,3191,3016,1655
$GC,19658,2.08,296.2,149.6,8.4,1594,19675,0.00,1.77,9.62,0.774,6,0.000,0.030,3191,1977,1617
$GC,20017,2.21,338.7,121.0,6.4,1657,20061,0.00,1.95,36.00,0.796,4,0.000,0.053,3191,921,1444
$GC,20085,2.34,373.1,115.9,6.9,1669,20124,0.20,1.75,30.35,0.768,6,0.052,0.027,3247,1975,1302
$GC,20462,2.39,382.4,83.3,8.4,1736,20474,0.00,1.80,8.20,0.670,4,0.000,0.038,3247,3001,1266
$GC,20548,2.43,382.4,75.7,9.6,1751,20554,0.00,1.70,0.00,0.000,6,0.000,0.026,3247,1977,1265
$GC,20892,2.53,402.6,46.2,7.8,1812,20915,0.15,1.83,18.33,0.686,4,0.057,0.035,3298,3002,1183
$GC,21001,2.53,402.6,36.3,9.1,1831,21007,0.00,1.65,0.00,0.000,6,0.000,0.025,3298,1999,1182
$GC,21345,2.58,414.4,7.4,8.3,1892,21362,0.00,0.00,11.05,0.615,6,0.000,0.000,3298,1998,1134
$STATE,21405,end climb,SURFACE_DEPTH_REACHED
$STATE,21405,begin surface coast
$FINISH,0.0,1.021148
$STATE,21423,end surface coast,CONTROL_FINISHED_OK
$STATE,21423,begin surface
$SM_CCo,21445,43.10,0.642,0,0,887,475.15
$SM_GC,-6.12,0.00,0.00,43.10,0.000,0.000,0.642,416,2333,887,-10.64,0.23,475.15
$IRIDIUM_FIX,1245.46,12034.32,280697,010113
$TT8_MAMPS,0.026078
$HUMID,1861
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.20
$XPDR_PINGS,398
$24V_AH,23.0,33.291
$10V_AH,10.1,25.815
$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,28.875,108.525,488.675,43.100,0.000,29.168,37.372,183.405,112.000,0.000,0.000,14.676,3092.878,14323.984,616.822,3232.593,623.003,0.000,2192.556,0.000,3182.067,0.000,91.473
$DEVICE_MAMPS,173.342,85.904,1438.125,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.709,421.881,716.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100915,1906
$CAP_FILE_SIZE,189357,0
$CFSIZE,260165632,238641152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030408,132107,1250.779,12041.730,38,1.2,38,-0.8