version: 66.03
glider: 126
mission: 7
dive: 231
start: 4 5 108 11 35 49
data:
$ID,126
$MISSION,7
$DIVE,231
$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,-623779.31
$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,36
$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
$GPS1,111525,1251.488,12034.867,40,1.2,40,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.45
$_SM_ANGLEo,-57.7
$GPS2,113458,1251.683,12034.683,10,2.2,29,-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,252.8,36423,-19.0,-9.016
$D_GRID,1597
$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,-120.8,0.0,0.0,0,93,0.00,0.00,-66.05,0.000,6,0.000,0.000,414,2352,3320
$GC,96,-2.18,-120.8,0.6,-21.4,13,113,10.38,1.70,0.00,0.000,4,0.171,0.037,2248,3360,3322
$GC,261,-1.97,-120.8,42.8,-19.5,42,268,0.20,1.73,0.00,0.000,6,0.101,0.023,2293,2283,3322
$GC,607,-1.90,-120.8,95.3,-14.1,103,613,0.12,1.83,0.00,0.000,4,0.117,0.037,2316,3363,3323
$GC,710,-1.87,-120.8,109.2,-12.6,121,716,0.00,1.67,0.00,0.000,6,0.000,0.023,2316,2294,3323
$GC,1054,-1.87,-120.8,145.7,-10.9,182,1060,0.00,1.83,0.00,0.000,4,0.000,0.038,2316,3356,3324
$GC,1128,-1.87,-120.8,153.2,-9.9,195,1134,0.00,1.62,0.00,0.000,6,0.000,0.024,2316,2312,3324
$GC,1474,-1.90,-120.8,185.8,-9.7,256,1480,0.00,1.65,0.00,0.000,4,0.000,0.035,2316,1313,3324
$GC,1554,-1.95,-132.2,193.3,-8.3,270,1560,0.00,1.65,0.00,0.000,6,0.000,0.025,2316,2332,3323
$GC,1898,-2.00,-138.2,224.2,-8.6,331,1904,0.10,0.00,0.00,0.000,6,0.069,0.000,2285,2332,3323
$GC,2237,-2.00,-138.2,255.9,-9.0,386,2240,0.00,1.75,0.00,0.000,4,0.000,0.044,2285,3363,3323
$GC,2293,-2.00,-138.2,261.5,-9.8,391,2296,0.00,1.62,0.00,0.000,6,0.000,0.026,2285,2340,3322
$GC,2625,-2.00,-138.2,293.2,-9.3,422,2628,0.00,1.77,0.00,0.000,4,0.000,0.044,2285,3370,3320
$GC,2681,-2.00,-138.2,298.9,-10.2,427,2684,0.00,1.62,0.00,0.000,6,0.000,0.027,2285,2350,3319
$GC,3012,-2.00,-138.2,329.4,-9.8,458,3015,0.00,1.75,0.00,0.000,4,0.000,0.041,2285,1318,3317
$GC,3068,-2.00,-138.2,334.9,-9.8,463,3072,0.00,1.73,0.00,0.000,6,0.000,0.028,2285,2359,3317
$GC,3400,-2.02,-146.0,365.5,-8.4,494,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2360,3314
$GC,3717,-2.02,-146.0,393.1,-9.5,524,3721,0.00,1.75,0.00,0.000,4,0.000,0.049,2285,3364,3311
$GC,3800,-2.02,-146.0,401.5,-10.1,531,3806,0.00,1.65,0.00,0.000,6,0.000,0.030,2285,2386,3310
$GC,4127,-2.02,-146.0,431.7,-9.0,562,4130,0.00,1.73,0.00,0.000,4,0.000,0.050,2285,3374,3308
$GC,4187,-2.02,-146.0,437.6,-9.5,567,4194,0.00,1.65,0.00,0.000,6,0.000,0.031,2285,2399,3307
$GC,4515,-2.02,-146.0,465.5,-8.4,598,4518,0.00,1.70,0.00,0.000,4,0.000,0.051,2285,3369,3305
$GC,4564,-2.02,-146.0,470.1,-9.0,602,4570,0.00,1.60,0.00,0.000,6,0.000,0.031,2285,2428,3304
$GC,4891,-2.02,-146.0,497.6,-8.4,633,4894,0.00,2.00,0.00,0.000,4,0.000,0.071,2285,1318,3303
$GC,4921,-2.02,-146.0,500.1,-8.5,635,4927,0.00,1.85,0.00,0.000,6,0.000,0.038,2285,2400,3302
$GC,5237,-2.02,-146.0,528.3,-9.1,651,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2401,3300
$GC,5545,-2.02,-146.0,557.5,-9.3,666,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2400,3298
$GC,5855,-2.02,-146.0,585.4,-8.8,681,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2401,3296
$GC,6165,-2.02,-146.0,611.6,-8.4,696,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2401,3294
$GC,6474,-2.02,-146.0,638.9,-8.9,711,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2401,3293
$GC,6782,-2.02,-146.0,666.0,-8.3,726,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2401,3291
$GC,7093,-2.02,-146.0,690.1,-7.7,741,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2400,3290
$GC,7401,-2.02,-146.0,716.1,-8.7,756,7405,0.00,1.92,0.00,0.000,4,0.000,0.048,2285,1324,3288
$GC,7472,-2.02,-146.0,722.9,-9.7,759,7476,0.00,1.83,0.00,0.000,6,0.000,0.033,2285,2382,3288
$GC,7802,-2.05,-146.0,752.0,-8.9,775,7805,0.00,1.73,0.00,0.000,4,0.000,0.054,2285,3375,3287
$GC,7857,-2.05,-146.0,757.5,-9.2,777,7861,0.00,1.62,0.00,0.000,6,0.000,0.033,2285,2424,3286
$GC,8179,-2.08,-146.0,786.1,-8.9,793,8183,0.00,1.98,0.00,0.000,4,0.000,0.054,2284,1291,3285
$GC,8226,-2.08,-146.0,790.3,-9.8,795,8229,0.00,1.88,0.00,0.000,6,0.000,0.036,2285,2389,3285
$GC,8559,-2.12,-146.0,820.9,-9.3,811,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2390,3284
$GC,8871,-2.15,-146.0,850.3,-9.4,826,8875,0.12,1.73,0.00,0.000,4,0.072,0.055,2253,3376,3282
$GC,8942,-2.15,-146.0,858.2,-10.4,829,8946,0.00,1.62,0.00,0.000,6,0.000,0.033,2253,2425,3282
$GC,9272,-2.15,-146.0,890.7,-9.8,845,9276,0.00,1.67,0.00,0.000,4,0.000,0.056,2253,3370,3281
$GC,9317,-2.15,-146.0,895.5,-10.3,847,9321,0.00,1.60,0.00,0.000,6,0.000,0.033,2253,2417,3281
$GC,9649,-2.15,-146.0,927.2,-9.2,863,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2417,3280
$GC,9959,-2.15,-146.0,954.7,-9.0,878,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2417,3279
$GC,10268,-2.15,-146.0,982.0,-8.8,893,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2417,3278
$STATE,10369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10370,begin apogee
$GC,10376,-0.52,0.0,991.1,8.8,898,10479,1.70,0.00,98.65,1.438,6,0.094,0.000,2613,1998,2825
$STATE,10479,end apogee,CONTROL_FINISHED_OK
$STATE,10479,begin climb
$GC,10482,2.22,146.0,993.9,0.0,903,10619,2.67,2.10,128.80,1.402,4,0.059,0.075,3216,907,2229
$GC,10689,2.08,146.0,983.1,9.5,912,10693,0.17,1.83,0.00,0.000,6,0.107,0.033,3183,1956,2225
$GC,11021,2.01,146.0,951.8,9.6,928,11024,0.00,1.95,0.00,0.000,4,0.000,0.061,3183,904,2221
$GC,11099,1.91,146.0,944.0,10.5,931,11103,0.20,1.83,0.00,0.000,6,0.107,0.032,3145,1968,2221
$GC,11420,1.91,167.2,917.9,7.7,947,11440,0.00,0.00,18.52,1.323,6,0.000,0.000,3145,1967,2143
$GC,11749,1.93,179.2,890.1,8.3,963,11763,0.00,0.00,12.23,1.269,6,0.000,0.000,3145,1967,2094
$GC,12058,1.93,180.0,863.0,9.0,978,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1968,2092
$GC,12367,1.96,196.9,837.3,8.0,993,12389,0.00,1.92,16.92,1.294,4,0.000,0.050,3145,3014,2022
$GC,12484,1.96,196.9,826.9,9.1,998,12487,0.00,1.85,0.00,0.000,6,0.000,0.038,3145,1953,2020
$GC,12810,1.96,196.9,798.1,9.3,1014,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1953,2020
$GC,13120,1.96,196.9,768.9,9.5,1029,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1953,2019
$GC,13429,1.96,196.9,739.9,9.7,1044,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1953,2019
$GC,13738,1.96,196.9,711.0,9.4,1059,13741,0.00,1.88,0.00,0.000,4,0.000,0.048,3145,3017,2019
$GC,13855,1.96,198.4,699.9,8.9,1064,13859,0.00,1.83,0.00,0.000,6,0.000,0.037,3145,1959,2018
$GC,14183,1.96,198.4,669.5,9.4,1080,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1959,2018
$GC,14491,1.98,205.7,642.1,8.6,1095,14505,0.00,1.92,8.75,1.104,4,0.000,0.048,3145,3012,1986
$GC,14580,2.00,220.3,634.5,8.1,1099,14601,0.00,1.83,14.62,1.170,6,0.000,0.038,3145,1960,1926
$GC,14910,2.00,220.3,604.6,9.4,1115,14913,0.00,1.85,0.00,0.000,4,0.000,0.048,3144,3013,1924
$GC,14959,2.00,221.5,599.7,8.9,1117,14963,0.00,1.85,0.00,0.000,6,0.000,0.038,3145,1961,1924
$GC,15286,2.00,221.5,570.3,9.1,1133,15290,0.00,1.88,0.00,0.000,4,0.000,0.048,3145,3013,1924
$GC,15331,2.02,231.2,566.0,8.4,1135,15347,0.10,1.80,10.82,1.091,6,0.084,0.038,3171,1971,1881
$GC,15656,2.02,231.2,532.3,10.0,1150,15660,0.00,1.83,0.00,0.000,4,0.000,0.048,3171,3012,1881
$GC,15729,2.02,231.2,525.1,9.5,1153,15732,0.00,1.77,0.00,0.000,6,0.000,0.037,3171,2002,1880
$GC,16046,2.02,231.2,495.7,9.5,1170,16049,0.00,1.77,0.00,0.000,4,0.000,0.047,3171,3015,1881
$GC,16102,2.02,231.2,490.3,9.3,1175,16106,0.00,1.73,0.00,0.000,6,0.000,0.036,3171,2011,1880
$GC,16433,2.03,235.5,460.1,8.7,1206,16445,0.00,1.77,5.57,0.876,4,0.000,0.046,3171,3015,1864
$GC,16490,2.04,245.3,454.7,8.4,1211,16504,0.00,1.70,10.07,1.012,6,0.000,0.035,3171,2029,1825
$GC,16829,2.04,245.3,423.0,9.9,1243,16833,0.00,1.73,0.00,0.000,4,0.000,0.047,3171,3015,1823
$GC,16867,2.04,245.3,419.1,9.0,1246,16874,0.00,1.70,0.00,0.000,6,0.000,0.036,3171,2041,1823
$GC,17194,2.04,245.3,388.9,9.4,1277,17198,0.00,1.70,0.00,0.000,4,0.000,0.046,3171,3016,1823
$GC,17255,2.04,245.3,383.0,9.3,1282,17261,0.00,1.67,0.00,0.000,6,0.000,0.041,3171,2056,1823
$GC,17581,2.04,245.3,353.6,9.3,1313,17582,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2056,1823
$GC,17900,2.04,245.3,323.2,9.3,1343,17901,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2057,1823
$GC,18219,2.06,254.5,294.6,8.4,1373,18233,0.00,2.10,9.50,0.897,4,0.000,0.059,3171,906,1787
$GC,18296,2.06,254.5,287.0,10.3,1380,18299,0.00,1.98,0.00,0.000,6,0.000,0.031,3171,2064,1787
$GC,18628,2.08,268.0,258.5,8.2,1411,18645,0.00,0.00,13.25,0.907,6,0.000,0.000,3171,2064,1731
$GC,18979,2.12,271.7,226.2,8.8,1466,18991,0.00,2.10,4.72,0.684,4,0.000,0.054,3171,906,1717
$GC,19036,2.12,271.7,221.0,9.3,1476,19042,0.00,1.92,0.00,0.000,6,0.000,0.029,3171,2044,1717
$GC,19380,2.17,280.9,191.6,8.4,1537,19397,0.15,2.08,9.45,0.811,4,0.065,0.053,3217,906,1679
$GC,19432,2.14,280.9,187.0,9.6,1546,19438,0.12,1.90,0.00,0.000,6,0.100,0.028,3192,2029,1678
$GC,19775,2.18,306.4,158.1,7.4,1607,19803,0.00,2.10,22.77,0.837,4,0.000,0.051,3192,910,1575
$GC,19866,2.20,318.8,150.8,8.2,1623,19883,0.00,1.80,11.80,0.781,6,0.000,0.028,3193,1984,1525
$GC,20224,2.29,340.3,121.6,7.7,1686,20248,0.15,1.83,19.10,0.785,4,0.062,0.050,3239,3002,1436
$GC,20301,2.29,340.3,114.0,10.0,1699,20307,0.00,1.73,0.00,0.000,6,0.000,0.028,3239,1979,1435
$GC,20645,2.35,348.1,88.2,8.5,1760,20657,0.00,1.95,7.60,0.671,4,0.000,0.050,3239,907,1406
$GC,20854,2.42,371.2,72.0,7.6,1797,20882,0.00,1.80,20.70,0.724,6,0.000,0.025,3239,2013,1311
$GC,21222,2.71,496.2,46.4,1.2,1862,21331,0.30,2.03,101.60,0.684,4,0.043,0.042,3327,907,801
$GC,21394,2.71,496.2,29.8,12.4,1893,21400,0.00,1.75,0.00,0.000,6,0.000,0.023,3327,1988,798
$STATE,21645,end climb,SURFACE_DEPTH_REACHED
$STATE,21646,begin surface coast
$FINISH,0.2,1.021209
$STATE,21664,end surface coast,CONTROL_FINISHED_OK
$STATE,21664,begin surface
$SM_CCo,21747,0.00,0.000,0,0,795,497.96
$SM_GC,-6.28,12.65,0.00,0.00,0.049,0.000,0.000,417,2320,795,-10.58,-0.14,497.96
$IRIDIUM_FIX,1249.88,12035.45,300697,111154
$TT8_MAMPS,0.026078
$HUMID,1882
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.00
$XPDR_PINGS,472
$24V_AH,23.0,35.346
$10V_AH,10.1,27.078
$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,29.150,127.375,545.475,0.000,0.000,134.399,228.293,393.596,130.500,0.000,0.000,30.823,3146.433,14658.862,611.096,3356.577,1162.180,0.000,2255.934,0.000,3285.246,0.000,91.485
$DEVICE_MAMPS,171.041,75.166,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1316.615,435.156,731.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104176,1941
$CAP_FILE_SIZE,205647,0
$CFSIZE,260165632,237658112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050408,173931,1251.343,12032.765,41,1.3,41,-0.8