version: 66.03
glider: 126
mission: 7
dive: 233
start: 4 5 108 23 54 19
data:
$ID,126
$MISSION,7
$DIVE,233
$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,-623826.44
$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,35
$R_STBD_OVSHOOT,58
$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
$GPS1,234707,1251.222,12031.234,36,1.0,36,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.61
$_SM_ANGLEo,-57.6
$GPS2,235327,1251.218,12031.301,12,1.1,12,-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,250.8,30366,-19.0,-9.016
$D_GRID,1380
$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,-67.05,0.000,6,0.000,0.000,414,2341,3321
$GC,97,-2.18,-120.8,0.8,-22.4,13,114,10.27,1.73,0.00,0.000,4,0.167,0.036,2248,3364,3322
$GC,294,-1.96,-120.8,49.1,-20.4,48,301,0.22,1.73,0.00,0.000,6,0.107,0.022,2304,2284,3324
$GC,640,-1.92,-120.8,100.3,-12.6,109,645,0.00,1.83,0.00,0.000,4,0.000,0.037,2305,3364,3325
$GC,731,-1.88,-120.8,111.7,-13.1,125,737,0.00,1.65,0.00,0.000,6,0.000,0.023,2305,2305,3326
$GC,1074,-1.89,-125.2,148.4,-8.7,186,1080,0.00,1.65,0.00,0.000,4,0.000,0.033,2305,1322,3327
$GC,1171,-1.89,-125.2,157.6,-9.6,203,1177,0.00,1.58,0.00,0.000,6,0.000,0.024,2305,2285,3328
$GC,1517,-1.89,-129.9,190.5,-8.7,264,1523,0.00,1.83,0.00,0.000,4,0.000,0.040,2304,3372,3327
$GC,1658,-1.90,-131.2,203.4,-8.9,289,1664,0.00,1.62,0.00,0.000,6,0.000,0.025,2305,2329,3328
$GC,2002,-1.93,-131.2,235.3,-9.4,350,2008,0.00,1.70,0.00,0.000,4,0.000,0.036,2305,1318,3328
$GC,2075,-1.93,-131.2,242.4,-9.8,363,2081,0.00,1.60,0.00,0.000,6,0.000,0.026,2305,2300,3328
$GC,2410,-1.97,-131.2,274.1,-9.4,401,2413,0.00,1.83,0.00,0.000,4,0.000,0.044,2305,3374,3327
$GC,2445,-1.97,-131.2,277.3,-9.9,404,2449,0.00,1.70,0.00,0.000,6,0.000,0.027,2305,2310,3327
$GC,2778,-2.03,-138.6,306.8,-8.6,435,2781,0.00,1.85,0.00,0.000,4,0.000,0.044,2305,3363,3326
$GC,2834,-2.03,-138.6,312.1,-9.3,440,2837,0.00,1.70,0.00,0.000,6,0.000,0.027,2305,2309,3324
$GC,3166,-2.08,-146.0,340.8,-8.5,471,3168,0.12,0.00,0.00,0.000,6,0.064,0.000,2269,2302,3323
$GC,3483,-2.08,-146.0,370.2,-9.2,501,3487,0.00,1.83,0.00,0.000,4,0.000,0.047,2269,3361,3321
$GC,3555,-2.08,-146.0,377.0,-9.1,507,3561,0.00,1.73,0.00,0.000,6,0.000,0.029,2268,2319,3320
$GC,3881,-2.08,-146.0,407.6,-9.5,538,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2318,3318
$GC,4199,-2.08,-146.0,438.1,-9.7,568,4203,0.00,1.85,0.00,0.000,4,0.000,0.049,2269,3361,3316
$GC,4255,-2.08,-146.0,443.7,-9.1,573,4259,0.00,1.77,0.00,0.000,6,0.000,0.031,2269,2303,3315
$GC,4588,-2.08,-146.0,475.0,-9.4,604,4591,0.00,1.85,0.00,0.000,4,0.000,0.051,2269,3359,3313
$GC,4678,-2.08,-146.0,483.6,-9.3,612,4682,0.00,1.73,0.00,0.000,6,0.000,0.031,2269,2336,3313
$GC,5016,-2.08,-146.0,512.9,-8.7,637,5019,0.00,1.83,0.00,0.000,4,0.000,0.058,2269,3358,3310
$GC,5111,-2.08,-146.0,521.3,-9.2,641,5114,0.00,1.73,0.00,0.000,6,0.000,0.033,2269,2342,3310
$GC,5438,-2.08,-146.0,551.2,-9.3,657,5442,0.00,1.85,0.00,0.000,4,0.000,0.066,2269,3360,3308
$GC,5493,-2.08,-146.0,556.9,-10.1,659,5497,0.00,1.77,0.00,0.000,6,0.000,0.041,2269,2357,3308
$GC,5815,-2.08,-146.0,588.3,-9.7,675,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2356,3306
$GC,6123,-2.08,-146.0,618.2,-9.7,690,6127,0.00,1.90,0.00,0.000,4,0.000,0.091,2269,3350,3304
$GC,6180,-2.08,-146.0,623.9,-10.3,692,6184,0.00,1.77,0.00,0.000,6,0.000,0.066,2269,2381,3304
$GC,6501,-2.08,-146.0,654.5,-9.4,708,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2381,3303
$GC,6810,-2.08,-146.0,684.0,-9.7,723,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2380,3301
$GC,7120,-2.08,-146.0,712.7,-8.9,738,7123,0.00,1.73,0.00,0.000,4,0.000,0.051,2268,3363,3300
$GC,7205,-2.08,-146.0,720.4,-9.2,741,7211,0.00,1.67,0.00,0.000,6,0.000,0.032,2268,2361,3299
$GC,7521,-2.08,-146.0,748.4,-8.7,757,7525,0.00,1.80,0.00,0.000,4,0.000,0.057,2269,3363,3298
$GC,7592,-2.08,-146.0,755.1,-9.5,760,7596,0.00,1.65,0.00,0.000,6,0.000,0.032,2269,2394,3297
$GC,7920,-2.08,-146.0,784.3,-9.3,776,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2393,3296
$GC,8228,-2.08,-146.0,814.3,-10.0,791,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2386,3295
$GC,8538,-2.08,-146.0,843.0,-8.8,806,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2386,3294
$GC,8850,-2.08,-146.0,870.3,-9.2,821,8853,0.00,1.73,0.00,0.000,4,0.000,0.054,2269,3368,3293
$GC,8933,-2.08,-146.0,878.5,-9.2,824,8939,0.00,1.67,0.00,0.000,6,0.000,0.034,2269,2390,3293
$GC,9249,-2.08,-146.0,907.9,-9.5,840,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2390,3292
$GC,9558,-2.08,-146.0,937.8,-9.7,855,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2390,3291
$GC,9867,-2.08,-146.0,967.1,-9.0,870,9871,0.00,1.73,0.00,0.000,4,0.000,0.055,2269,3363,3290
$GC,9917,-2.08,-146.0,971.8,-9.1,872,9920,0.00,1.67,0.00,0.000,6,0.000,0.034,2268,2392,3290
$STATE,10140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10141,begin apogee
$GC,10146,-0.52,0.0,991.9,9.1,883,10251,1.62,0.00,100.75,1.440,6,0.091,0.000,2614,1974,2825
$STATE,10252,end apogee,CONTROL_FINISHED_OK
$STATE,10252,begin climb
$GC,10254,2.22,146.0,995.7,0.0,888,10392,2.65,2.08,128.88,1.403,4,0.060,0.072,3216,916,2228
$GC,10507,2.09,146.0,982.1,10.0,899,10511,0.15,1.80,0.00,0.000,6,0.108,0.031,3188,1960,2224
$GC,10839,2.00,146.0,951.8,9.0,915,10841,0.12,0.00,0.00,0.000,6,0.114,0.000,3164,1960,2221
$GC,11148,1.95,146.0,923.8,9.1,930,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1961,2219
$GC,11459,1.90,147.7,895.9,8.9,945,11463,0.00,1.92,0.00,0.000,4,0.000,0.058,3164,905,2219
$GC,11543,1.82,147.8,887.8,9.0,948,11550,0.20,1.80,0.00,0.000,6,0.104,0.031,3125,1961,2219
$GC,11858,1.87,172.6,864.4,7.5,964,11887,0.00,1.92,22.90,1.331,4,0.000,0.049,3125,3007,2121
$GC,11968,1.88,178.9,855.7,8.6,969,11982,0.00,1.85,7.15,1.127,6,0.000,0.037,3125,1942,2095
$GC,12299,1.89,186.0,827.5,8.6,985,12312,0.00,1.98,7.65,1.151,4,0.000,0.047,3125,3011,2066
$GC,12398,1.90,190.5,818.4,8.7,989,12409,0.00,1.80,5.85,1.053,6,0.000,0.035,3125,1966,2048
$GC,12718,1.90,190.5,789.2,9.2,1005,12721,0.00,1.85,0.00,0.000,4,0.000,0.048,3125,3015,2047
$GC,12768,1.90,192.1,784.6,8.9,1007,12771,0.00,1.80,0.00,0.000,6,0.000,0.037,3125,1991,2046
$GC,13095,1.92,205.5,757.0,8.2,1023,13115,0.10,0.00,14.90,1.246,6,0.082,0.000,3152,1991,1987
$GC,13423,1.92,205.8,727.3,9.0,1039,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1991,1985
$GC,13733,1.92,205.8,698.1,9.5,1054,13737,0.00,1.80,0.00,0.000,4,0.000,0.049,3151,3011,1984
$GC,13818,1.92,205.8,689.7,10.2,1057,13823,0.00,1.75,0.00,0.000,6,0.000,0.036,3152,1994,1984
$GC,14133,1.92,205.8,659.8,9.3,1073,14136,0.00,1.80,0.00,0.000,4,0.000,0.049,3151,3015,1984
$GC,14178,1.92,205.8,655.4,9.6,1075,14181,0.00,1.73,0.00,0.000,6,0.000,0.037,3152,2014,1983
$GC,14510,1.93,213.4,626.8,8.5,1091,14520,0.00,0.00,8.38,1.085,6,0.000,0.000,3152,2014,1954
$GC,14819,1.93,213.4,598.6,9.2,1106,14822,0.00,1.75,0.00,0.000,4,0.000,0.048,3152,3010,1953
$GC,14864,1.93,213.4,594.3,9.3,1108,14868,0.00,1.73,0.00,0.000,6,0.000,0.036,3151,2007,1954
$GC,15196,1.93,213.4,562.8,9.4,1124,15199,0.00,1.75,0.00,0.000,4,0.000,0.048,3152,3007,1953
$GC,15241,1.94,218.4,558.4,8.7,1126,15251,0.00,1.67,5.82,0.943,6,0.000,0.035,3151,2029,1934
$GC,15567,1.95,222.3,529.1,8.8,1142,15574,0.00,0.00,5.35,0.903,6,0.000,0.000,3151,2029,1918
$GC,15876,1.96,229.7,502.4,8.6,1157,15890,0.00,1.80,8.18,1.011,4,0.000,0.048,3152,3004,1888
$GC,15953,1.99,245.7,495.7,8.0,1162,15975,0.00,1.67,15.57,1.081,6,0.000,0.036,3151,2035,1823
$GC,16293,2.00,255.5,466.3,8.4,1194,16307,0.00,1.75,9.85,1.013,4,0.000,0.047,3152,3004,1783
$GC,16348,2.02,264.0,461.5,8.5,1199,16362,0.00,1.67,9.43,0.986,6,0.000,0.045,3152,2037,1747
$GC,16687,2.02,264.0,428.6,9.9,1231,16688,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2037,1746
$GC,17009,2.05,264.0,397.8,9.0,1261,17011,0.12,0.00,0.00,0.000,6,0.072,0.000,3185,2037,1746
$GC,17326,2.05,264.0,366.3,10.2,1291,17329,0.00,1.70,0.00,0.000,4,0.000,0.054,3185,3008,1746
$GC,17371,2.05,264.0,361.7,9.6,1295,17374,0.00,1.67,0.00,0.000,6,0.000,0.035,3185,2030,1746
$GC,17702,2.05,264.0,329.5,9.7,1326,17706,0.00,1.73,0.00,0.000,4,0.000,0.047,3185,3017,1746
$GC,17740,2.05,264.0,325.6,10.0,1329,17747,0.00,1.67,0.00,0.000,6,0.000,0.033,3185,2048,1746
$GC,18067,2.05,264.0,295.3,9.0,1360,18068,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2048,1746
$GC,18384,2.05,264.0,264.6,9.6,1390,18388,0.00,1.67,0.00,0.000,4,0.000,0.046,3185,3008,1746
$GC,18513,2.07,275.3,252.4,8.3,1401,18529,0.00,1.65,10.88,0.883,6,0.000,0.032,3185,2049,1702
$GC,18866,2.07,276.4,220.3,8.9,1462,18872,0.00,2.03,0.00,0.000,4,0.000,0.055,3185,908,1701
$GC,18940,2.07,276.4,213.5,9.3,1475,18945,0.00,1.92,0.00,0.000,6,0.000,0.029,3185,2052,1701
$GC,19283,2.08,283.2,182.9,8.6,1536,19295,0.00,1.73,8.07,0.787,4,0.000,0.047,3185,3014,1670
$GC,19329,2.08,283.2,178.3,9.8,1544,19335,0.00,1.62,0.00,0.000,6,0.000,0.031,3185,2051,1669
$GC,19674,2.15,302.9,147.5,7.8,1605,19697,0.00,2.12,18.27,0.827,4,0.000,0.052,3185,904,1589
$GC,19844,2.26,333.3,135.9,7.1,1635,19877,0.15,1.95,26.35,0.809,6,0.061,0.028,3228,2072,1465
$GC,20219,2.35,364.2,106.4,7.1,1701,20251,0.00,1.62,26.60,0.773,4,0.000,0.040,3228,3014,1339
$GC,20465,2.46,394.2,84.6,7.1,1745,20499,0.15,1.60,26.10,0.743,6,0.057,0.026,3274,2043,1216
$GC,20839,2.55,405.2,54.9,8.3,1811,20856,0.00,1.70,10.15,0.662,4,0.000,0.037,3274,3010,1173
$GC,20910,2.63,416.4,49.3,8.3,1823,20927,0.08,1.52,10.48,0.652,6,0.050,0.025,3319,2092,1127
$GC,21267,2.64,424.5,18.3,8.5,1886,21279,0.00,1.62,8.52,0.597,4,0.000,0.035,3320,3015,1094
$GC,21313,2.64,424.5,13.8,9.1,1894,21319,0.00,1.50,0.00,0.000,6,0.000,0.023,3319,2100,1094
$STATE,21442,end climb,SURFACE_DEPTH_REACHED
$STATE,21442,begin surface coast
$FINISH,-0.5,1.021269
$STATE,21467,end surface coast,CONTROL_FINISHED_OK
$STATE,21468,begin surface
$SM_CCo,21490,36.85,0.639,0,0,887,475.15
$SM_GC,-6.55,0.00,0.00,36.85,0.000,0.000,0.639,416,2359,887,-10.64,0.96,475.15
$IRIDIUM_FIX,1247.67,11956.76,300697,171723
$TT8_MAMPS,0.025311
$HUMID,1893
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.30
$XPDR_PINGS,482
$24V_AH,23.0,35.738
$10V_AH,10.1,27.318
$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,28.575,131.075,496.075,36.850,0.000,23.163,31.706,191.438,133.000,0.000,0.000,13.747,3160.760,14148.168,620.579,3358.963,637.545,0.000,2266.201,0.000,3303.544,0.000,91.471
$DEVICE_MAMPS,167.206,90.506,1439.659,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1303.873,440.269,722.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100919,1921
$CAP_FILE_SIZE,198177,0
$CFSIZE,260165632,237481984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,055425,1250.820,12029.651,25,1.0,42,-0.8