version: 66.03
glider: 126
mission: 7
dive: 237
start: 4 6 108 23 44 37
data:
$ID,126
$MISSION,7
$DIVE,237
$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,-623907.06
$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,28
$R_STBD_OVSHOOT,45
$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
$GPS1,233531,1248.196,12024.872,41,1.7,41,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.33
$_SM_ANGLEo,-58.9
$GPS2,234345,1248.162,12024.802,14,1.8,14,-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,255.1,17449,-19.0,-9.016
$D_GRID,814
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.18,-120.8,0.0,0.0,0,95,0.00,0.00,-66.93,0.000,6,0.000,0.000,419,2344,3321
$GC,98,-2.18,-120.8,1.1,-21.9,13,115,10.35,1.85,0.00,0.000,4,0.171,0.033,2250,1258,3322
$GC,351,-2.01,-120.8,57.9,-18.0,58,358,0.17,1.77,0.00,0.000,6,0.106,0.025,2288,2331,3323
$GC,696,-1.94,-120.8,106.2,-12.7,119,702,0.00,1.75,0.00,0.000,4,0.000,0.041,2289,3373,3326
$GC,956,-1.89,-120.8,137.0,-11.3,165,963,0.15,1.73,0.00,0.000,6,0.107,0.023,2319,2280,3326
$GC,1300,-1.94,-120.8,167.5,-9.0,226,1306,0.00,1.88,0.00,0.000,4,0.000,0.040,2318,3383,3328
$GC,1492,-1.97,-120.8,186.0,-9.4,260,1498,0.00,1.65,0.00,0.000,6,0.000,0.025,2318,2336,3328
$GC,1836,-2.02,-120.8,217.7,-9.1,321,1842,0.12,0.00,0.00,0.000,6,0.061,0.000,2280,2329,3328
$GC,2184,-2.02,-120.8,251.2,-9.3,382,2187,0.00,1.77,0.00,0.000,4,0.000,0.044,2280,3368,3328
$GC,2301,-2.02,-120.8,262.1,-9.4,392,2307,0.00,1.62,0.00,0.000,6,0.000,0.026,2280,2372,3327
$GC,2627,-2.02,-121.8,291.2,-9.0,423,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2368,3325
$GC,2946,-2.03,-130.8,319.4,-8.5,453,2949,0.00,1.83,0.00,0.000,4,0.000,0.042,2280,1303,3324
$GC,2980,-2.04,-131.6,322.4,-9.0,456,2983,0.00,1.75,0.00,0.000,6,0.000,0.029,2280,2354,3324
$GC,3312,-2.06,-146.0,348.3,-7.4,487,3316,0.00,1.77,0.00,0.000,4,0.000,0.049,2280,3370,3321
$GC,3406,-2.06,-146.0,355.9,-7.7,495,3413,0.00,1.70,0.00,0.000,6,0.000,0.029,2280,2360,3321
$GC,3733,-2.06,-146.0,382.3,-8.0,526,3737,0.00,1.77,0.00,0.000,4,0.000,0.048,2280,3377,3319
$GC,3783,-2.06,-146.0,386.7,-8.3,530,3789,0.00,1.73,0.00,0.000,6,0.000,0.030,2280,2356,3319
$GC,4109,-2.06,-146.0,413.4,-8.6,561,4113,0.00,1.77,0.00,0.000,4,0.000,0.050,2280,3373,3317
$GC,4227,-2.06,-146.0,424.2,-8.6,571,4233,0.00,1.65,0.00,0.000,6,0.000,0.030,2280,2378,3316
$GC,4553,-2.06,-146.0,452.7,-8.7,602,4556,0.00,1.95,0.00,0.000,4,0.000,0.056,2280,1264,3314
$GC,4609,-2.06,-146.0,458.1,-9.6,607,4613,0.00,1.90,0.00,0.000,6,0.000,0.035,2280,2383,3313
$GC,4942,-2.06,-146.0,489.6,-9.2,638,4945,0.00,1.95,0.00,0.000,4,0.000,0.054,2280,1290,3311
$GC,4981,-2.06,-146.0,493.4,-8.3,641,4986,0.00,1.85,0.00,0.000,6,0.000,0.037,2280,2378,3311
$GC,5309,-2.06,-146.0,523.2,-9.2,661,5312,0.00,1.75,0.00,0.000,4,0.000,0.060,2280,3373,3309
$GC,5353,-2.06,-146.0,527.5,-9.7,663,5357,0.00,1.67,0.00,0.000,6,0.000,0.033,2280,2379,3309
$GC,5686,-2.06,-146.0,558.0,-9.2,679,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2378,3307
$GC,5995,-2.06,-146.0,584.2,-8.1,694,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2378,3305
$GC,6305,-2.06,-146.0,609.9,-8.5,709,6309,0.00,2.05,0.00,0.000,4,0.000,0.088,2280,1293,3304
$GC,6349,-2.06,-146.0,613.9,-9.0,711,6353,0.00,2.00,0.00,0.000,6,0.000,0.070,2280,2375,3304
$GC,6683,-2.06,-146.0,641.7,-8.1,727,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2375,3302
$GC,6990,-2.06,-146.0,668.1,-9.2,742,6994,0.00,1.98,0.00,0.000,4,0.000,0.112,2280,3378,3301
$GC,7062,-2.06,-146.0,675.0,-9.7,745,7066,0.00,1.92,0.00,0.000,6,0.000,0.089,2280,2400,3301
$GC,7390,-2.06,-146.0,703.7,-8.6,761,7394,0.00,2.28,0.00,0.000,4,0.000,0.132,2280,1297,3299
$GC,7417,-2.06,-146.0,706.4,-9.2,762,7421,0.00,2.17,0.00,0.000,6,0.000,0.108,2280,2362,3299
$GC,7738,-2.06,-146.0,734.5,-9.1,778,7742,0.00,2.17,0.00,0.000,4,0.000,0.144,2280,3390,3297
$GC,7815,-2.06,-146.0,741.9,-9.9,781,7822,0.00,2.08,0.00,0.000,6,0.000,0.123,2280,2395,3297
$GC,8132,-2.06,-146.0,771.4,-9.5,797,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2384,3295
$GC,8441,-2.06,-146.0,800.9,-9.6,812,8444,0.00,1.80,0.00,0.000,4,0.000,0.054,2280,3410,3295
$GC,8513,-2.06,-146.0,808.6,-10.3,815,8517,0.00,1.75,0.00,0.000,6,0.000,0.032,2280,2371,3295
$STATE,8569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8569,begin apogee
$GC,8575,-0.52,0.0,814.4,10.2,818,8679,1.58,0.00,99.78,1.304,6,0.088,0.000,2616,1964,2825
$STATE,8680,end apogee,CONTROL_FINISHED_OK
$STATE,8680,begin climb
$GC,8682,2.22,146.0,819.2,0.0,823,8817,2.65,2.10,125.93,1.270,4,0.059,0.085,3218,916,2229
$GC,8971,2.10,154.0,805.5,8.5,836,8983,0.15,1.85,7.60,1.047,6,0.108,0.032,3189,1991,2197
$GC,9292,2.01,154.0,776.9,9.6,852,9295,0.00,2.00,0.00,0.000,4,0.000,0.063,3189,909,2195
$GC,9364,1.90,154.0,769.3,10.5,855,9368,0.22,1.77,0.00,0.000,6,0.103,0.031,3145,1949,2194
$GC,9692,1.88,160.9,739.9,8.6,871,9705,0.00,1.92,7.30,1.049,4,0.000,0.048,3145,3010,2168
$GC,9745,1.84,160.9,734.9,10.0,873,9748,0.00,1.88,0.00,0.000,6,0.000,0.038,3145,1931,2166
$GC,10066,1.90,197.3,710.9,6.8,889,10107,0.00,2.03,32.85,1.223,4,0.000,0.048,3145,3018,2019
$GC,10153,1.93,215.7,704.5,7.9,893,10175,0.00,1.85,17.52,1.165,6,0.000,0.043,3146,1957,1945
$GC,10483,1.93,215.7,674.5,9.5,909,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1958,1942
$GC,10793,1.93,215.7,645.7,9.0,924,10796,0.00,1.85,0.00,0.000,4,0.000,0.047,3145,3008,1941
$GC,10877,1.93,215.7,637.8,9.4,927,10883,0.00,1.80,0.00,0.000,6,0.000,0.036,3145,1960,1940
$GC,11192,1.93,215.7,607.4,9.6,943,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1961,1940
$GC,11504,1.95,229.3,580.9,8.2,958,11525,0.00,2.00,12.25,1.103,4,0.000,0.064,3145,914,1890
$GC,11593,1.96,230.2,572.8,9.0,962,11597,0.00,1.80,0.00,0.000,6,0.000,0.031,3145,1966,1890
$GC,11925,1.96,230.2,543.6,9.0,978,11929,0.00,1.80,0.00,0.000,4,0.000,0.048,3145,3011,1888
$GC,11964,1.96,230.2,539.9,9.8,979,11970,0.00,1.83,0.00,0.000,6,0.000,0.038,3145,1955,1888
$GC,12279,1.96,230.2,508.8,9.8,995,12282,0.00,1.90,0.00,0.000,4,0.000,0.064,3145,902,1888
$GC,12334,1.96,230.2,503.0,10.4,997,12338,0.00,1.80,0.00,0.000,6,0.000,0.031,3145,1943,1888
$GC,12665,1.96,230.2,471.4,9.6,1027,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1944,1888
$GC,12984,1.96,233.9,442.7,8.8,1057,12992,0.00,0.00,5.55,0.853,6,0.000,0.000,3145,1944,1871
$GC,13313,2.00,255.2,415.2,7.7,1088,13337,0.00,1.90,19.83,1.038,4,0.000,0.048,3146,3014,1784
$GC,13390,2.00,256.6,408.3,8.9,1095,13394,0.00,1.90,0.00,0.000,6,0.000,0.037,3145,1918,1782
$GC,13720,2.00,256.6,377.9,9.1,1126,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1918,1782
$GC,14041,2.05,268.3,348.8,8.3,1156,14062,0.15,2.00,12.38,0.957,4,0.067,0.044,3185,3009,1731
$GC,14247,2.05,268.3,328.7,9.0,1174,14253,0.00,1.88,0.00,0.000,6,0.000,0.035,3185,1936,1730
$GC,14574,2.05,268.3,298.6,9.3,1205,14577,0.00,1.88,0.00,0.000,4,0.000,0.054,3185,3014,1730
$GC,14646,2.05,268.3,291.6,9.3,1211,14652,0.00,1.85,0.00,0.000,6,0.000,0.043,3185,1949,1730
$GC,14972,2.05,268.3,260.7,9.4,1242,14973,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1949,1730
$GC,15301,2.06,275.2,230.8,8.6,1291,15312,0.00,0.00,7.35,0.798,6,0.000,0.000,3185,1949,1703
$GC,15649,2.06,275.2,199.8,9.6,1353,15655,0.00,1.85,0.00,0.000,4,0.000,0.044,3185,3015,1703
$GC,15801,2.06,275.2,185.4,9.4,1380,15807,0.00,1.80,0.00,0.000,6,0.000,0.032,3185,1952,1703
$GC,16146,2.10,299.3,156.3,7.5,1441,16173,0.00,1.95,21.75,0.836,4,0.000,0.055,3185,907,1604
$GC,16224,2.10,299.3,149.3,9.4,1455,16230,0.00,1.75,0.00,0.000,6,0.000,0.028,3185,1954,1603
$GC,16569,2.20,321.7,123.1,7.6,1516,16592,0.10,0.00,19.88,0.794,6,0.072,0.000,3217,1955,1513
$GC,16931,2.36,385.5,98.2,5.0,1580,16991,0.12,1.90,53.38,0.765,4,0.063,0.047,3255,905,1253
$GC,17177,2.41,390.3,76.8,8.7,1624,17189,0.00,1.67,5.12,0.571,6,0.000,0.025,3255,1909,1233
$GC,17528,2.56,434.1,51.0,6.3,1686,17571,0.15,0.00,37.25,0.697,6,0.056,0.000,3303,1911,1054
$GC,17910,2.62,448.2,20.2,8.1,1754,17927,0.00,0.00,12.70,0.628,6,0.000,0.000,3303,1913,997
$STATE,18111,end climb,SURFACE_DEPTH_REACHED
$STATE,18111,begin surface coast
$FINISH,-0.4,1.021130
$STATE,18136,end surface coast,CONTROL_FINISHED_OK
$STATE,18136,begin surface
$SM_CCo,18158,22.17,0.631,0,0,889,475.15
$SM_GC,-6.92,0.00,0.00,22.17,0.000,0.000,0.631,414,2336,889,-10.65,0.31,475.15
$IRIDIUM_FIX,1245.46,12026.36,010797,181854
$TT8_MAMPS,0.026078
$HUMID,1879
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.80
$XPDR_PINGS,447
$24V_AH,23.1,36.500
$10V_AH,10.1,27.783
$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,28.425,113.150,498.400,22.175,0.000,57.744,66.170,177.799,119.750,0.000,0.000,14.753,2878.838,11436.311,589.274,3145.085,648.076,0.000,2125.362,0.000,3101.274,0.000,58.890
$DEVICE_MAMPS,171.041,144.196,1303.900,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.425,457.330,747.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94629,1794
$CAP_FILE_SIZE,175147,0
$CFSIZE,260165632,237146112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,044856,1247.428,12023.604,41,1.5,41,-0.8