version: 66.03
glider: 126
mission: 7
dive: 229
start: 4 4 108 23 5 31
data:
$ID,126
$MISSION,7
$DIVE,229
$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,-623734.81
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,225825,1251.041,12039.755,39,1.6,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.63
$_SM_ANGLEo,-58.9
$GPS2,230439,1251.096,12039.743,13,1.9,13,-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,257.8,44949,-19.0,-9.016
$D_GRID,1181
$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,-66.53,0.000,6,0.000,0.000,415,2353,3321
$GC,97,-2.18,-120.8,1.1,-23.2,13,114,10.32,1.70,0.00,0.000,4,0.170,0.036,2249,3357,3322
$GC,368,-2.01,-120.8,64.5,-16.8,61,374,0.20,1.67,0.00,0.000,6,0.107,0.022,2288,2287,3324
$GC,712,-1.95,-120.8,113.3,-13.0,122,718,0.00,1.85,0.00,0.000,4,0.000,0.038,2288,3364,3325
$GC,912,-1.89,-120.8,138.6,-11.9,157,919,0.15,1.60,0.00,0.000,6,0.109,0.023,2317,2322,3327
$GC,1256,-1.92,-120.8,171.2,-9.3,218,1262,0.00,1.75,0.00,0.000,4,0.000,0.039,2317,3362,3327
$GC,1291,-1.92,-120.8,174.4,-9.5,224,1297,0.00,1.55,0.00,0.000,6,0.000,0.024,2317,2371,3327
$GC,1635,-1.98,-132.9,204.7,-8.3,285,1641,0.00,1.75,0.00,0.000,4,0.000,0.034,2317,1322,3327
$GC,1709,-2.02,-132.9,211.8,-9.3,298,1716,0.12,1.70,0.00,0.000,6,0.061,0.025,2279,2365,3327
$GC,2052,-2.02,-132.9,246.0,-10.9,359,2058,0.00,1.75,0.00,0.000,4,0.000,0.035,2279,1327,3327
$GC,2120,-2.02,-132.9,252.7,-9.8,369,2124,0.00,1.67,0.00,0.000,6,0.000,0.026,2278,2352,3327
$GC,2452,-2.02,-132.9,286.2,-9.8,400,2455,0.00,1.73,0.00,0.000,4,0.000,0.044,2279,3370,3326
$GC,2501,-2.02,-132.9,291.7,-10.4,404,2508,0.00,1.62,0.00,0.000,6,0.000,0.026,2279,2352,3325
$GC,2828,-2.02,-132.9,323.5,-9.2,435,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2352,3324
$GC,3144,-2.02,-132.9,353.8,-9.4,465,3148,0.00,1.75,0.00,0.000,4,0.000,0.046,2278,3374,3322
$GC,3183,-2.02,-132.9,357.6,-9.4,468,3189,0.00,1.62,0.00,0.000,6,0.000,0.027,2278,2376,3321
$GC,3509,-2.02,-132.9,387.5,-9.3,499,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2370,3319
$GC,3826,-2.02,-132.9,416.9,-9.4,529,3830,0.00,1.73,0.00,0.000,4,0.000,0.048,2278,3368,3317
$GC,3894,-2.02,-132.9,423.7,-10.3,535,3897,0.00,1.58,0.00,0.000,6,0.000,0.031,2279,2429,3317
$GC,4227,-2.02,-132.9,456.7,-9.7,566,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2429,3315
$GC,4542,-2.02,-132.9,487.8,-9.8,596,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2428,3312
$GC,4856,-2.02,-132.9,517.4,-9.0,617,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2429,3310
$GC,5164,-2.02,-132.9,545.4,-9.6,632,5168,0.00,2.00,0.00,0.000,4,0.000,0.069,2278,1330,3308
$GC,5216,-2.02,-132.9,550.3,-9.7,634,5219,0.00,1.83,0.00,0.000,6,0.000,0.047,2278,2375,3308
$GC,5543,-2.02,-132.9,581.3,-9.4,650,5546,0.00,1.83,0.00,0.000,4,0.000,0.076,2278,3377,3306
$GC,5604,-2.02,-132.9,587.6,-9.7,652,5610,0.00,1.65,0.00,0.000,6,0.000,0.050,2279,2461,3306
$GC,5919,-2.02,-132.9,618.5,-9.9,668,5922,0.00,2.10,0.00,0.000,4,0.000,0.084,2278,1336,3304
$GC,5969,-2.02,-132.9,623.5,-9.9,670,5973,0.00,1.98,0.00,0.000,6,0.000,0.071,2279,2387,3303
$GC,6295,-2.02,-135.7,653.3,-8.8,686,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2388,3302
$GC,6607,-2.02,-135.7,681.5,-9.3,701,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2389,3301
$GC,6914,-2.03,-139.2,709.0,-8.8,716,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2390,3299
$GC,7223,-2.03,-140.2,736.6,-9.0,731,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2389,3297
$GC,7532,-2.03,-140.2,766.4,-9.7,746,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2390,3296
$GC,7841,-2.03,-140.2,795.9,-9.5,761,7845,0.00,1.85,0.00,0.000,4,0.000,0.045,2278,1332,3295
$GC,7887,-2.03,-140.2,800.1,-9.4,763,7891,0.00,1.83,0.00,0.000,6,0.000,0.033,2278,2408,3294
$GC,8219,-2.03,-140.2,832.6,-10.0,779,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2408,3294
$GC,8532,-2.07,-145.4,861.1,-8.7,794,8535,0.00,1.70,0.00,0.000,4,0.000,0.055,2278,3384,3293
$GC,8592,-2.07,-145.4,866.7,-9.4,796,8598,0.00,1.62,0.00,0.000,6,0.000,0.034,2279,2435,3292
$GC,8910,-2.10,-146.0,892.5,-8.2,812,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2436,3291
$GC,9217,-2.10,-146.0,916.7,-7.7,827,9221,0.00,1.95,0.00,0.000,4,0.000,0.051,2278,1335,3291
$GC,9268,-2.10,-146.0,920.8,-8.6,829,9271,0.00,1.80,0.00,0.000,6,0.000,0.035,2278,2396,3291
$GC,9594,-2.14,-146.0,949.4,-9.1,845,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2397,3290
$GC,9904,-2.17,-146.0,977.3,-9.0,860,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2396,3288
$STATE,10046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10046,begin apogee
$GC,10052,-0.52,0.0,990.0,8.8,867,10157,1.58,0.00,100.62,1.435,6,0.091,0.000,2613,2010,2825
$STATE,10157,end apogee,CONTROL_FINISHED_OK
$STATE,10157,begin climb
$GC,10160,2.22,146.0,993.4,0.0,872,10295,2.70,0.00,129.48,1.396,6,0.061,0.000,3214,2010,2229
$GC,10598,2.12,146.0,963.3,9.6,894,10602,0.12,2.00,0.00,0.000,4,0.110,0.063,3191,914,2222
$GC,10670,2.00,146.0,956.0,9.9,897,10674,0.12,1.85,0.00,0.000,6,0.117,0.031,3169,1990,2221
$GC,10996,1.93,146.0,925.4,9.2,913,11000,0.00,1.98,0.00,0.000,4,0.000,0.058,3169,913,2220
$GC,11064,1.84,146.0,919.0,9.2,916,11068,0.20,1.80,0.00,0.000,6,0.104,0.031,3130,1966,2221
$GC,11396,1.86,153.8,891.3,8.5,932,11407,0.00,1.90,6.65,1.114,4,0.000,0.048,3130,3013,2197
$GC,11451,1.82,153.8,886.0,9.2,934,11457,0.00,1.85,0.00,0.000,6,0.000,0.038,3130,1950,2196
$GC,11767,1.84,164.6,859.4,8.3,950,11782,0.00,1.90,11.30,1.253,4,0.000,0.046,3130,3007,2153
$GC,11851,1.84,164.6,851.7,9.6,953,11854,0.00,1.83,0.00,0.000,6,0.000,0.037,3130,1956,2152
$GC,12184,1.85,166.6,822.6,8.9,969,12187,0.00,1.88,0.00,0.000,4,0.000,0.047,3130,3007,2150
$GC,12261,1.85,166.6,815.2,9.2,972,12265,0.00,1.80,0.00,0.000,6,0.000,0.036,3129,1961,2150
$GC,12584,1.87,178.6,787.8,8.3,988,12602,0.00,0.00,13.85,1.255,6,0.000,0.000,3129,1962,2096
$GC,12912,1.88,189.9,759.7,8.3,1004,12928,0.00,1.95,11.43,1.213,4,0.000,0.047,3130,3015,2049
$GC,13011,1.88,189.9,750.8,9.8,1007,13018,0.00,1.80,0.00,0.000,6,0.000,0.036,3130,1977,2049
$GC,13328,1.90,197.0,723.8,8.6,1023,13338,0.00,0.00,7.70,1.110,6,0.000,0.000,3130,1978,2021
$GC,13637,1.91,206.0,697.5,8.5,1038,13651,0.00,1.88,9.55,1.144,4,0.000,0.048,3130,3014,1985
$GC,13707,1.91,206.0,690.9,9.1,1041,13712,0.00,1.83,0.00,0.000,6,0.000,0.037,3130,1982,1984
$GC,14034,1.91,207.4,661.7,8.9,1057,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1982,1983
$GC,14343,1.93,215.1,634.9,8.5,1072,14357,0.00,1.85,9.62,1.111,4,0.000,0.048,3129,3008,1948
$GC,14432,1.94,220.7,626.8,8.7,1076,14444,0.10,1.77,6.55,1.008,6,0.080,0.037,3156,1986,1925
$GC,14760,1.94,220.7,596.6,9.2,1092,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1986,1924
$GC,15068,1.94,222.0,568.4,8.9,1107,15072,0.00,1.80,0.00,0.000,4,0.000,0.047,3156,3013,1924
$GC,15158,1.94,222.0,559.8,9.8,1111,15162,0.00,1.77,0.00,0.000,6,0.000,0.038,3156,1986,1924
$GC,15492,1.94,222.0,528.4,9.0,1127,15496,0.00,1.80,0.00,0.000,4,0.000,0.047,3156,3016,1924
$GC,15547,1.94,222.0,523.0,9.9,1129,15551,0.00,1.77,0.00,0.000,6,0.000,0.036,3156,2003,1924
$GC,15871,1.94,224.8,493.6,8.8,1148,15880,0.00,0.00,5.28,0.865,6,0.000,0.000,3156,2002,1908
$GC,16200,1.97,240.0,465.3,8.1,1179,16222,0.00,1.80,15.07,1.062,4,0.000,0.046,3156,3004,1845
$GC,16359,1.97,240.0,450.8,9.1,1193,16362,0.00,1.67,0.00,0.000,6,0.000,0.035,3156,2031,1845
$GC,16690,1.97,240.0,419.5,9.8,1224,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2031,1845
$GC,17007,1.97,240.0,389.4,9.3,1254,17011,0.00,1.73,0.00,0.000,4,0.000,0.047,3156,3002,1844
$GC,17158,1.98,245.6,375.8,8.7,1267,17169,0.00,1.62,6.38,0.861,6,0.000,0.034,3156,2051,1823
$GC,17488,1.98,245.6,346.2,9.1,1298,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2051,1823
$GC,17808,2.00,261.1,319.4,8.1,1328,17826,0.00,0.00,14.70,0.953,6,0.000,0.000,3156,2051,1760
$GC,18147,2.00,261.1,288.8,9.4,1360,18150,0.00,2.05,0.00,0.000,4,0.000,0.061,3156,909,1759
$GC,18203,2.00,261.1,283.3,9.8,1365,18206,0.00,1.95,0.00,0.000,6,0.000,0.030,3156,2062,1760
$GC,18535,2.06,271.0,254.8,8.4,1396,18550,0.00,2.10,9.85,0.862,4,0.000,0.054,3156,906,1720
$GC,18596,2.06,271.0,249.1,9.8,1402,18602,0.00,1.95,0.00,0.000,6,0.000,0.029,3156,2056,1720
$GC,18940,2.11,281.2,220.5,8.4,1463,18957,0.15,2.10,10.38,0.841,4,0.064,0.051,3202,902,1677
$GC,19020,2.08,281.2,212.3,10.2,1477,19026,0.00,1.92,0.00,0.000,6,0.000,0.029,3202,2041,1677
$GC,19363,2.08,281.2,179.0,9.2,1538,19369,0.00,2.03,0.00,0.000,4,0.000,0.051,3202,904,1676
$GC,19494,2.10,291.3,167.7,8.4,1561,19510,0.00,1.88,9.90,0.793,6,0.000,0.028,3202,2027,1637
$GC,19849,2.16,310.9,138.6,7.8,1624,19871,0.00,0.00,17.92,0.806,6,0.000,0.000,3202,2027,1557
$GC,20209,2.29,347.2,112.9,6.8,1688,20248,0.12,2.05,31.15,0.784,4,0.064,0.047,3241,909,1409
$GC,20306,2.31,359.1,105.3,8.3,1705,20323,0.00,1.88,11.25,0.719,6,0.000,0.026,3241,2034,1361
$GC,20664,2.36,360.1,76.4,9.0,1768,20671,0.00,2.00,0.00,0.000,4,0.000,0.045,3241,893,1358
$GC,20717,2.43,375.1,71.6,8.1,1777,20740,0.00,1.83,14.62,0.706,6,0.000,0.025,3241,2007,1295
$GC,21080,2.57,407.4,44.3,7.0,1841,21113,0.17,0.00,27.62,0.687,6,0.051,0.000,3300,2007,1163
$GC,21454,2.62,410.0,13.9,8.9,1907,21466,0.00,1.98,3.80,0.423,4,0.000,0.042,3299,897,1153
$STATE,21583,end climb,SURFACE_DEPTH_REACHED
$STATE,21583,begin surface coast
$FINISH,-0.3,1.021029
$STATE,21606,end surface coast,CONTROL_FINISHED_OK
$STATE,21606,begin surface
$SM_CCo,21631,45.35,0.637,0,0,888,475.15
$SM_GC,-6.25,0.00,0.00,45.35,0.000,0.000,0.637,417,2328,888,-10.64,0.08,475.15
$IRIDIUM_FIX,1245.46,12042.28,290697,171738
$TT8_MAMPS,0.025311
$HUMID,1863
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,375
$24V_AH,23.0,34.930
$10V_AH,10.1,26.831
$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,28.550,121.750,484.675,45.350,0.000,27.743,33.689,181.215,106.250,0.000,0.000,13.295,3154.676,14326.237,628.065,3334.800,626.346,0.000,2248.996,0.000,3283.579,0.000,91.477
$DEVICE_MAMPS,169.507,83.603,1435.057,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1312.466,440.415,727.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104087,1934
$CAP_FILE_SIZE,194597,0
$CFSIZE,260165632,237858816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050408,050807,1251.094,12037.323,36,1.4,42,-0.8