version: 66.03
glider: 126
mission: 7
dive: 235
start: 4 6 108 12 14 25
data:
$ID,126
$MISSION,7
$DIVE,235
$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,-623857.12
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,120708,1250.217,12027.963,33,1.0,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.58
$_SM_ANGLEo,-58.7
$GPS2,121333,1250.200,12027.897,13,1.1,13,-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,250.1,23946,-19.0,-9.016
$D_GRID,1180
$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,-66.72,0.000,6,0.000,0.000,416,2332,3321
$GC,97,-2.18,-120.8,0.9,-22.8,13,114,10.30,1.77,0.00,0.000,4,0.168,0.036,2249,3378,3323
$GC,167,-1.97,-120.8,23.5,-21.5,25,174,0.25,1.73,0.00,0.000,6,0.112,0.023,2298,2289,3323
$GC,512,-1.87,-120.8,83.1,-15.1,86,518,0.12,1.85,0.00,0.000,4,0.117,0.037,2321,3381,3325
$GC,772,-1.87,-120.8,115.0,-11.1,132,778,0.00,1.55,0.00,0.000,6,0.000,0.023,2321,2389,3326
$GC,1116,-1.91,-120.8,149.3,-9.0,193,1121,0.00,1.80,0.00,0.000,4,0.000,0.032,2321,1303,3328
$GC,1184,-1.91,-120.8,155.8,-9.7,205,1189,0.00,1.85,0.00,0.000,6,0.000,0.025,2321,2435,3328
$GC,1528,-1.96,-125.4,188.2,-8.7,266,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2435,3328
$GC,1872,-2.01,-129.0,218.4,-8.8,327,1877,0.15,0.00,0.00,0.000,6,0.056,0.000,2272,2435,3328
$GC,2214,-2.01,-129.0,251.2,-9.5,387,2218,0.00,1.92,0.00,0.000,4,0.000,0.036,2272,1300,3328
$GC,2286,-2.01,-129.0,258.3,-9.8,393,2292,0.00,1.88,0.00,0.000,6,0.000,0.027,2272,2431,3328
$GC,2612,-2.01,-129.0,290.7,-10.1,424,2616,0.00,1.92,0.00,0.000,4,0.000,0.037,2272,1301,3326
$GC,2646,-2.01,-129.0,294.4,-10.7,427,2649,0.00,1.88,0.00,0.000,6,0.000,0.028,2272,2430,3326
$GC,2978,-2.01,-129.0,325.5,-9.1,458,2981,0.00,1.62,0.00,0.000,4,0.000,0.047,2272,3385,3324
$GC,3011,-2.01,-129.0,328.9,-10.1,461,3015,0.00,1.58,0.00,0.000,6,0.000,0.027,2272,2412,3323
$GC,3343,-2.01,-129.0,360.5,-9.1,492,3347,0.00,1.90,0.00,0.000,4,0.000,0.043,2272,1317,3322
$GC,3393,-2.01,-129.0,365.1,-9.1,496,3399,0.00,1.88,0.00,0.000,6,0.000,0.030,2272,2437,3321
$GC,3719,-2.04,-144.9,393.1,-8.0,527,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2438,3319
$GC,4036,-2.04,-144.9,419.8,-9.2,557,4039,0.00,1.98,0.00,0.000,4,0.000,0.045,2272,1310,3317
$GC,4119,-2.04,-145.7,427.5,-9.0,564,4125,0.00,1.88,0.00,0.000,6,0.000,0.031,2272,2428,3316
$GC,4445,-2.04,-145.7,457.3,-9.2,595,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2429,3314
$GC,4763,-2.04,-146.0,486.0,-8.8,625,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2428,3312
$GC,5077,-2.04,-146.0,512.9,-8.6,648,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2428,3309
$GC,5387,-2.04,-146.0,540.2,-9.0,663,5390,0.00,2.00,0.00,0.000,4,0.000,0.061,2272,1322,3307
$GC,5432,-2.04,-146.0,544.4,-9.0,665,5436,0.00,1.88,0.00,0.000,6,0.000,0.043,2272,2399,3307
$GC,5764,-2.04,-146.0,573.2,-8.6,681,5768,0.00,2.00,0.00,0.000,4,0.000,0.065,2272,1320,3305
$GC,5797,-2.04,-146.0,576.3,-9.3,682,5801,0.00,1.92,0.00,0.000,6,0.000,0.052,2272,2386,3305
$GC,6119,-2.04,-146.0,605.0,-9.0,698,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2387,3304
$GC,6427,-2.04,-146.0,633.2,-9.2,713,6431,0.00,2.05,0.00,0.000,4,0.000,0.090,2272,1321,3302
$GC,6522,-2.04,-146.0,642.6,-9.6,717,6525,0.00,2.00,0.00,0.000,6,0.000,0.077,2272,2381,3302
$GC,6849,-2.04,-146.0,671.7,-8.5,733,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2382,3301
$GC,7158,-2.04,-146.0,698.0,-8.7,748,7162,0.00,2.17,0.00,0.000,4,0.000,0.121,2272,1325,3298
$GC,7202,-2.04,-146.0,701.9,-8.8,750,7206,0.00,2.08,0.00,0.000,6,0.000,0.104,2272,2366,3298
$GC,7529,-2.04,-146.0,731.4,-9.0,766,7533,0.00,2.15,0.00,0.000,4,0.000,0.140,2272,3391,3297
$GC,7562,-2.04,-146.0,734.7,-9.6,767,7568,0.00,1.95,0.00,0.000,6,0.000,0.120,2272,2446,3297
$GC,7878,-2.04,-146.0,763.1,-9.3,783,7882,0.00,2.45,0.00,0.000,4,0.000,0.157,2272,1326,3295
$GC,7989,-2.04,-146.0,774.1,-9.9,788,7993,0.00,1.85,0.00,0.000,6,0.000,0.031,2272,2402,3294
$GC,8316,-2.04,-146.0,803.7,-8.8,804,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2402,3294
$GC,8627,-2.04,-146.0,827.9,-7.9,819,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2402,3293
$GC,8934,-2.04,-146.0,855.3,-9.2,834,8938,0.00,1.95,0.00,0.000,4,0.000,0.049,2272,1315,3292
$GC,8979,-2.04,-146.0,859.6,-9.5,836,8983,0.00,1.85,0.00,0.000,6,0.000,0.038,2272,2400,3292
$GC,9313,-2.04,-146.0,889.7,-8.7,852,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2400,3291
$GC,9621,-2.04,-146.0,918.3,-9.1,867,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2400,3290
$GC,9930,-2.04,-146.0,944.8,-8.7,882,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2400,3289
$GC,10239,-2.04,-146.0,972.1,-9.1,897,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2400,3288
$STATE,10444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10444,begin apogee
$GC,10450,-0.52,0.0,991.2,9.2,907,10554,1.62,0.00,100.28,1.446,6,0.091,0.000,2617,1987,2825
$STATE,10555,end apogee,CONTROL_FINISHED_OK
$STATE,10555,begin climb
$GC,10557,2.22,146.0,994.0,0.0,912,10692,2.70,0.00,128.82,1.407,6,0.061,0.000,3214,1987,2229
$GC,10996,2.11,146.0,958.4,10.6,934,11000,0.12,2.00,0.00,0.000,4,0.110,0.071,3191,914,2223
$GC,11074,1.98,146.0,949.8,11.0,937,11078,0.15,1.85,0.00,0.000,6,0.114,0.032,3164,1994,2222
$GC,11395,1.91,146.6,920.0,9.0,953,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1994,2220
$GC,11704,1.88,166.4,894.3,7.8,968,11729,0.12,2.05,17.98,1.322,4,0.116,0.060,3140,924,2146
$GC,11848,1.84,166.4,881.3,10.3,974,11852,0.00,1.77,0.00,0.000,6,0.000,0.031,3140,1963,2144
$GC,12169,1.84,167.2,852.3,9.0,990,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1963,2143
$GC,12480,1.86,178.2,825.2,8.3,1005,12496,0.00,1.90,11.62,1.250,4,0.000,0.048,3140,3007,2098
$GC,12542,1.85,191.0,819.6,8.2,1007,12564,0.00,1.85,13.07,1.250,6,0.000,0.037,3140,1942,2046
$GC,12873,1.85,191.0,788.9,9.9,1023,12877,0.00,1.88,0.00,0.000,4,0.000,0.046,3141,3010,2043
$GC,12934,1.85,191.0,782.7,9.2,1025,12940,0.00,1.85,0.00,0.000,6,0.000,0.036,3140,1959,2043
$GC,13251,1.85,195.2,753.7,8.8,1041,13258,0.00,0.00,4.80,0.948,6,0.000,0.000,3140,1958,2029
$GC,13559,1.85,195.2,725.5,9.4,1056,13562,0.00,1.85,0.00,0.000,4,0.000,0.047,3140,3014,2029
$GC,13642,1.87,201.9,717.6,8.6,1059,13656,0.00,1.83,7.70,1.115,6,0.000,0.035,3140,1969,2001
$GC,13978,1.89,213.9,689.5,8.3,1076,13999,0.00,1.92,12.43,1.190,4,0.000,0.046,3140,3008,1952
$GC,14062,1.89,213.9,681.4,10.1,1079,14068,0.00,1.75,0.00,0.000,6,0.000,0.035,3141,1994,1951
$GC,14377,1.89,217.6,652.5,8.8,1095,14384,0.00,0.00,4.88,0.915,6,0.000,0.000,3140,1994,1937
$GC,14687,1.90,223.3,626.2,8.7,1110,14695,0.00,0.00,6.88,1.036,6,0.000,0.000,3140,1994,1914
$GC,14995,1.91,231.1,599.0,8.5,1125,15009,0.00,1.85,8.48,1.072,4,0.000,0.046,3140,3008,1882
$GC,15074,1.91,231.1,591.8,9.1,1128,15077,0.00,1.75,0.00,0.000,6,0.000,0.035,3140,1992,1881
$GC,15395,1.93,239.4,562.5,8.5,1144,15407,0.00,0.00,8.93,1.061,6,0.000,0.000,3140,1992,1849
$GC,15724,1.93,239.4,533.2,9.2,1160,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1992,1848
$GC,16034,1.93,239.4,504.2,9.2,1175,16038,0.00,1.77,0.00,0.000,4,0.000,0.045,3140,3010,1848
$GC,16113,1.94,243.6,497.0,8.8,1179,16124,0.00,1.70,5.55,0.897,6,0.000,0.035,3140,2018,1831
$GC,16443,1.95,252.4,469.3,8.5,1210,16454,0.00,0.00,9.05,1.007,6,0.000,0.000,3140,2018,1796
$GC,16771,1.95,252.4,439.7,9.5,1241,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2018,1795
$GC,17092,1.99,253.9,410.7,8.9,1271,17093,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2018,1795
$GC,17409,2.03,259.3,382.2,8.7,1301,17424,0.15,2.08,7.80,0.923,4,0.067,0.063,3184,915,1767
$GC,17477,1.99,259.3,375.5,9.5,1307,17481,0.00,1.88,0.00,0.000,6,0.000,0.031,3184,2018,1767
$GC,17809,1.99,259.3,345.3,9.1,1338,17813,0.00,1.73,0.00,0.000,4,0.000,0.047,3184,3007,1766
$GC,17933,1.99,259.3,333.0,9.5,1349,17936,0.00,1.67,0.00,0.000,6,0.000,0.034,3184,2024,1766
$GC,18264,1.99,259.3,300.0,9.1,1380,18265,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2024,1766
$GC,18582,1.99,259.3,271.5,9.5,1410,18583,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2024,1766
$GC,18906,2.00,265.5,239.0,8.6,1450,18918,0.00,1.80,7.05,0.806,4,0.000,0.044,3184,3016,1742
$GC,18998,2.02,276.4,230.8,8.3,1466,19014,0.00,1.67,10.80,0.869,6,0.000,0.031,3184,2027,1698
$GC,19352,2.02,279.6,198.1,8.8,1529,19363,0.00,2.03,4.38,0.645,4,0.000,0.058,3184,913,1684
$GC,19465,2.02,279.6,186.9,10.4,1549,19471,0.00,1.92,0.00,0.000,6,0.000,0.029,3184,2061,1685
$GC,19808,2.06,299.0,157.6,7.8,1610,19830,0.00,0.00,17.98,0.838,6,0.000,0.000,3184,2062,1605
$GC,20167,2.17,332.7,129.3,6.9,1674,20205,0.00,2.12,29.25,0.815,4,0.000,0.048,3184,915,1468
$GC,20275,2.28,357.2,121.0,7.5,1693,20303,0.17,1.90,21.52,0.785,6,0.056,0.027,3234,2051,1368
$GC,20645,2.38,389.2,90.4,7.0,1758,20678,0.00,1.65,27.38,0.756,4,0.000,0.038,3234,3011,1237
$GC,20865,2.46,399.7,72.4,8.4,1797,20882,0.15,1.60,10.07,0.684,6,0.057,0.025,3281,2040,1194
$GC,21224,2.54,417.7,43.3,7.9,1860,21241,0.00,0.00,15.95,0.681,6,0.000,0.000,3281,2039,1122
$GC,21581,2.62,432.2,14.2,8.1,1923,21604,0.00,2.00,13.80,0.635,4,0.000,0.044,3281,911,1061
$GC,21638,2.68,434.0,8.9,8.9,1933,21645,0.15,2.03,0.00,0.000,6,0.054,0.024,3329,2145,1061
$STATE,21710,end climb,SURFACE_DEPTH_REACHED
$STATE,21710,begin surface coast
$FINISH,-0.2,1.021168
$STATE,21729,end surface coast,CONTROL_FINISHED_OK
$STATE,21730,begin surface
$SM_CCo,21752,32.45,0.640,0,0,887,475.15
$SM_GC,-6.92,0.00,0.00,32.45,0.000,0.000,0.640,414,2357,887,-10.65,0.88,475.15
$IRIDIUM_FIX,1247.67,12027.48,010797,060619
$TT8_MAMPS,0.026078
$HUMID,1889
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,22.70
$XPDR_PINGS,394
$24V_AH,23.0,36.129
$10V_AH,10.1,27.559
$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,28.850,113.950,506.425,32.450,0.000,31.125,33.958,185.613,111.000,0.000,0.000,14.502,3147.183,14449.619,616.796,3334.000,640.546,0.000,2245.217,0.000,3290.709,0.000,91.479
$DEVICE_MAMPS,167.973,157.235,1445.795,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1323.037,445.372,735.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104010,1949
$CAP_FILE_SIZE,193976,0
$CFSIZE,260165632,237293568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,181858,1248.894,12026.106,31,2.6,50,-0.8