version: 66.03
glider: 126
mission: 7
dive: 228
start: 4 4 108 17 20 44
data:
$ID,126
$MISSION,7
$DIVE,228
$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,-623720.88
$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,10
$R_STBD_OVSHOOT,46
$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
$GPS1,171402,1250.799,12042.048,38,1.3,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.88
$_SM_ANGLEo,-59.5
$GPS2,171950,1250.864,12042.035,10,1.3,15,-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,259.3,48904,-19.0,-9.016
$D_GRID,1246
$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,23,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-66.90,0.000,6,0.000,0.000,412,2344,3320
$GC,96,-2.18,-120.8,1.4,-21.9,13,113,10.32,1.73,0.00,0.000,4,0.169,0.036,2252,3367,3322
$GC,326,-1.99,-120.8,56.6,-17.6,54,333,0.17,1.77,0.00,0.000,6,0.104,0.022,2291,2258,3322
$GC,671,-1.93,-120.8,107.3,-12.6,115,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2249,3325
$GC,1013,-1.93,-120.8,146.9,-9.8,176,1019,0.00,1.90,0.00,0.000,4,0.000,0.038,2291,3366,3326
$GC,1121,-1.93,-120.8,157.7,-9.6,195,1126,0.00,1.73,0.00,0.000,6,0.000,0.023,2291,2268,3326
$GC,1463,-1.93,-120.8,192.9,-9.9,256,1469,0.00,1.88,0.00,0.000,4,0.000,0.039,2290,3374,3327
$GC,1542,-1.93,-120.8,201.1,-10.7,270,1548,0.00,1.77,0.00,0.000,6,0.000,0.025,2291,2255,3328
$GC,1885,-1.93,-120.8,235.6,-9.2,331,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2248,3327
$GC,2222,-1.93,-120.8,268.7,-9.5,375,2226,0.00,1.90,0.00,0.000,4,0.000,0.042,2291,3364,3327
$GC,2305,-1.93,-120.8,276.9,-9.4,382,2312,0.00,1.75,0.00,0.000,6,0.000,0.025,2291,2283,3326
$GC,2632,-1.93,-120.8,307.5,-9.8,413,2636,0.00,1.88,0.00,0.000,4,0.000,0.044,2291,3374,3325
$GC,2688,-1.93,-120.8,313.3,-9.7,418,2692,0.00,1.65,0.00,0.000,6,0.000,0.027,2291,2337,3325
$GC,3020,-1.94,-126.4,345.6,-8.7,449,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2331,3323
$GC,3337,-1.95,-129.8,374.6,-8.8,479,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2331,3320
$GC,3656,-1.95,-134.3,402.0,-8.7,509,3659,0.00,1.77,0.00,0.000,4,0.000,0.048,2291,3363,3318
$GC,3739,-1.95,-134.3,410.1,-9.7,516,3745,0.00,1.65,0.00,0.000,6,0.000,0.028,2291,2375,3317
$GC,4065,-1.99,-134.3,440.5,-9.2,547,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2373,3315
$GC,4386,-2.02,-138.6,469.4,-8.7,577,4390,0.00,1.73,0.00,0.000,4,0.000,0.050,2291,3365,3314
$GC,4532,-2.02,-138.6,483.8,-9.3,590,4536,0.00,1.67,0.00,0.000,6,0.000,0.032,2291,2368,3312
$GC,4860,-2.07,-146.0,513.3,-8.5,614,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2368,3310
$GC,5170,-2.10,-146.0,540.0,-9.2,629,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2367,3308
$GC,5476,-2.14,-146.0,570.0,-10.0,644,5478,0.12,0.00,0.00,0.000,6,0.071,0.000,2258,2367,3306
$GC,5786,-2.14,-146.0,601.8,-9.9,659,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2367,3304
$GC,6096,-2.14,-146.0,631.1,-9.8,674,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2367,3303
$GC,6406,-2.14,-146.0,661.0,-9.8,689,6410,0.00,1.98,0.00,0.000,4,0.000,0.113,2258,3354,3301
$GC,6451,-2.14,-146.0,665.6,-10.2,691,6455,0.00,1.85,0.00,0.000,6,0.000,0.088,2258,2392,3301
$GC,6783,-2.14,-146.0,698.4,-9.5,707,6787,0.00,1.98,0.00,0.000,4,0.000,0.126,2258,3348,3299
$GC,6855,-2.14,-146.0,705.5,-9.8,710,6859,0.00,1.92,0.00,0.000,6,0.000,0.108,2258,2405,3299
$GC,7183,-2.14,-146.0,735.4,-9.0,726,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2394,3297
$GC,7491,-2.14,-146.0,765.1,-9.8,741,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2393,3296
$GC,7801,-2.14,-146.0,794.2,-9.3,756,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2393,3295
$GC,8110,-2.14,-146.0,822.6,-9.1,771,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2393,3294
$GC,8419,-2.14,-146.0,849.1,-8.8,786,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2393,3292
$GC,8729,-2.14,-146.0,877.5,-9.4,801,8732,0.00,1.70,0.00,0.000,4,0.000,0.055,2258,3366,3292
$GC,8778,-2.14,-146.0,882.6,-10.9,803,8782,0.00,1.67,0.00,0.000,6,0.000,0.032,2258,2381,3292
$GC,9106,-2.14,-146.0,913.7,-8.6,819,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2381,3291
$GC,9415,-2.68,-146.0,927.0,-0.2,834,9417,0.50,0.00,0.00,0.000,6,0.059,0.000,2143,2380,3289
$STATE,9455,end dive,NO_VERTICAL_VELOCITY
$STATE,9455,begin apogee
$GC,9461,-0.52,0.0,926.7,0.0,836,9564,2.12,0.00,99.38,1.391,6,0.067,0.000,2619,1963,2825
$STATE,9565,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9568,2.22,146.0,927.9,0.0,841,9705,2.80,1.92,127.97,1.351,4,0.084,0.047,3207,3003,2229
$GC,9773,2.10,146.0,916.5,9.3,851,9776,0.00,1.83,0.00,0.000,6,0.000,0.037,3208,1957,2224
$GC,10094,2.00,146.0,884.6,9.5,867,10098,0.17,1.92,0.00,0.000,4,0.106,0.072,3169,912,2222
$GC,10150,1.94,157.4,879.5,8.3,869,10164,0.00,1.77,9.95,1.187,6,0.000,0.030,3170,1949,2183
$GC,10493,1.90,161.6,849.6,8.8,886,10501,0.15,0.00,5.18,0.981,6,0.119,0.000,3142,1949,2166
$GC,10801,1.91,170.2,823.7,8.5,901,10812,0.00,0.00,9.52,1.185,6,0.000,0.000,3142,1949,2131
$GC,11110,1.91,170.2,795.1,9.5,916,11113,0.00,1.85,0.00,0.000,4,0.000,0.047,3142,3018,2130
$GC,11148,1.92,172.1,791.5,8.9,917,11154,0.00,1.88,0.00,0.000,6,0.000,0.036,3142,1934,2130
$GC,11464,1.96,197.6,766.0,7.4,933,11491,0.00,0.00,25.33,1.275,6,0.000,0.000,3142,1934,2019
$GC,11793,1.96,197.6,737.0,9.0,949,11796,0.00,1.90,0.00,0.000,4,0.000,0.047,3142,3014,2016
$GC,11895,1.96,198.0,727.6,9.0,953,11898,0.00,1.83,0.00,0.000,6,0.000,0.036,3142,1957,2015
$GC,12215,1.96,198.0,698.8,9.1,969,12219,0.00,1.85,0.00,0.000,4,0.000,0.047,3142,3011,2015
$GC,12288,1.96,200.3,692.1,8.9,972,12291,0.00,1.80,0.00,0.000,6,0.000,0.036,3142,1961,2015
$GC,12615,1.98,208.8,663.1,8.5,988,12630,0.00,1.90,10.85,1.148,4,0.000,0.046,3142,3015,1973
$GC,12736,2.00,224.3,652.1,8.1,992,12756,0.05,1.83,15.35,1.173,6,0.044,0.036,3171,1978,1910
$GC,13072,2.00,224.3,618.5,10.2,1009,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1978,1908
$GC,13381,2.00,224.3,588.1,9.5,1024,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1979,1907
$GC,13690,2.00,224.3,558.5,9.6,1039,13694,0.00,1.83,0.00,0.000,4,0.000,0.048,3170,3005,1906
$GC,13746,2.00,224.3,552.9,10.2,1041,13749,0.00,1.75,0.00,0.000,6,0.000,0.035,3170,1985,1907
$GC,14067,2.00,224.3,521.2,9.9,1057,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1985,1906
$GC,14379,2.01,226.5,492.2,8.9,1076,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1985,1907
$GC,14700,2.01,226.5,462.5,9.5,1106,14703,0.00,1.80,0.00,0.000,4,0.000,0.046,3171,3016,1906
$GC,14783,2.01,226.5,454.1,9.3,1113,14789,0.00,1.75,0.00,0.000,6,0.000,0.035,3171,2006,1906
$GC,15109,2.01,226.5,424.2,9.0,1144,15110,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2006,1906
$GC,15428,2.03,239.1,396.6,8.2,1174,15449,0.00,1.83,13.65,1.008,4,0.000,0.046,3171,3008,1850
$GC,15575,2.03,239.1,383.4,9.1,1187,15579,0.00,1.67,0.00,0.000,6,0.000,0.042,3171,2030,1849
$GC,15907,2.03,242.8,353.6,8.8,1218,15915,0.00,0.00,4.88,0.766,6,0.000,0.000,3171,2030,1835
$GC,16235,2.03,242.8,323.8,9.2,1249,16238,0.00,2.00,0.00,0.000,4,0.000,0.059,3171,907,1834
$GC,16268,2.03,242.8,320.6,9.9,1252,16272,0.00,1.92,0.00,0.000,6,0.000,0.031,3170,2046,1835
$GC,16600,2.03,242.8,290.9,9.0,1283,16601,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2046,1834
$GC,16918,2.05,253.5,263.5,8.4,1313,16934,0.00,2.08,10.62,0.886,4,0.000,0.052,3170,906,1791
$GC,17053,2.06,257.6,251.1,8.8,1324,17063,0.00,1.88,5.22,0.732,6,0.000,0.033,3170,2017,1774
$GC,17402,2.09,257.6,218.9,9.7,1385,17407,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2019,1773
$GC,17744,2.17,281.9,190.0,7.5,1446,17771,0.15,0.00,21.77,0.864,6,0.064,0.000,3217,2019,1674
$GC,18109,2.18,287.2,158.1,8.7,1511,18119,0.00,0.00,5.78,0.689,6,0.000,0.000,3217,2019,1654
$GC,18459,2.23,319.0,131.6,7.0,1573,18492,0.00,2.08,27.90,0.807,4,0.000,0.049,3218,905,1523
$GC,18667,2.30,339.6,115.7,7.7,1610,18690,0.00,1.90,18.12,0.767,6,0.000,0.027,3218,2031,1440
$GC,19032,2.46,385.2,90.3,6.2,1674,19076,0.17,1.75,38.45,0.746,4,0.056,0.039,3273,3015,1253
$GC,19122,2.46,385.5,82.8,9.0,1690,19129,0.00,1.70,0.00,0.000,6,0.000,0.025,3273,2005,1252
$GC,19466,2.51,385.5,52.1,9.0,1751,19471,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2005,1252
$GC,19811,2.64,420.8,27.3,6.8,1812,19850,0.15,1.92,30.08,0.662,4,0.056,0.043,3327,927,1109
$GC,19937,2.64,421.8,16.0,9.0,1834,19944,0.08,1.85,0.00,0.000,6,0.087,0.023,3305,2050,1107
$STATE,20099,end climb,SURFACE_DEPTH_REACHED
$STATE,20099,begin surface coast
$FINISH,-0.4,1.021114
$STATE,20123,end surface coast,CONTROL_FINISHED_OK
$STATE,20123,begin surface
$SM_CCo,20145,38.75,0.635,0,0,887,475.15
$SM_GC,-6.35,0.00,0.00,38.75,0.000,0.000,0.635,415,2353,887,-10.65,0.79,475.15
$IRIDIUM_FIX,1247.67,12042.28,290697,131344
$TT8_MAMPS,0.026078
$HUMID,1898
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,406
$24V_AH,23.1,34.739
$10V_AH,10.1,26.711
$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,29.500,89.025,480.000,38.750,0.000,23.417,38.552,162.845,112.500,0.000,0.000,15.259,3005.287,13202.788,602.380,3149.583,601.757,0.000,2111.667,0.000,3115.811,0.000,81.628
$DEVICE_MAMPS,168.740,125.788,1390.571,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1266.231,449.331,735.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97762,1867
$CAP_FILE_SIZE,176641,0
$CFSIZE,260165632,237973504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040408,225825,1251.041,12039.755,39,1.6,39,-0.8