version: 66.03
glider: 126
mission: 7
dive: 241
start: 4 7 108 20 39 30
data:
$ID,126
$MISSION,7
$DIVE,241
$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,-623963.94
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,203226,1247.030,12018.655,40,1.3,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.46
$_SM_ANGLEo,-59.2
$GPS2,203838,1247.126,12018.614,13,1.2,13,-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,244.4,6278,-19.0,-9.016
$D_GRID,906
$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,-67.40,0.000,6,0.000,0.000,417,2329,3320
$GC,97,-2.18,-120.8,0.7,-21.1,13,114,10.35,1.80,0.00,0.000,4,0.170,0.031,2250,1263,3322
$GC,132,-1.53,-120.8,15.7,-38.0,19,139,0.70,1.73,0.00,0.000,6,0.104,0.024,2392,2326,3323
$GC,477,-1.53,-120.8,63.3,-12.0,80,483,0.00,1.77,0.00,0.000,4,0.000,0.040,2392,3367,3324
$GC,523,-1.53,-120.8,69.7,-13.3,88,529,0.00,1.77,0.00,0.000,6,0.000,0.023,2392,2263,3325
$GC,867,-1.62,-120.8,106.5,-9.3,149,873,0.00,1.65,0.00,0.000,4,0.000,0.034,2391,1259,3327
$GC,992,-1.72,-127.6,117.0,-8.6,171,998,0.17,1.60,0.00,0.000,6,0.052,0.023,2339,2260,3327
$GC,1336,-1.78,-127.6,149.9,-9.5,232,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2260,3328
$GC,1679,-1.87,-137.6,178.8,-8.4,293,1685,0.00,1.67,0.00,0.000,4,0.000,0.035,2339,1260,3328
$GC,1765,-1.95,-146.0,185.9,-8.0,308,1772,0.15,1.60,0.00,0.000,6,0.054,0.025,2293,2250,3328
$GC,2110,-1.95,-146.0,215.8,-8.8,369,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2250,3328
$GC,2453,-1.95,-146.0,245.9,-8.9,430,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2250,3328
$GC,2786,-1.95,-146.0,276.5,-8.8,465,2790,0.00,1.90,0.00,0.000,4,0.000,0.045,2293,3366,3326
$GC,2858,-1.95,-146.0,283.6,-9.2,471,2864,0.00,1.98,0.00,0.000,6,0.000,0.026,2294,2174,3326
$GC,3186,-1.95,-146.0,314.4,-9.7,502,3190,0.00,2.08,0.00,0.000,4,0.000,0.044,2293,3374,3325
$GC,3310,-1.95,-146.0,326.9,-9.7,513,3313,0.00,1.95,0.00,0.000,6,0.000,0.028,2294,2188,3324
$GC,3641,-1.95,-146.0,358.2,-9.5,544,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2187,3322
$GC,3960,-1.98,-146.0,385.3,-8.2,574,3964,0.00,2.03,0.00,0.000,4,0.000,0.045,2293,3361,3320
$GC,4077,-1.98,-146.0,395.7,-9.2,584,4083,0.00,1.90,0.00,0.000,6,0.000,0.029,2294,2217,3319
$GC,4403,-2.01,-146.0,424.6,-9.1,615,4407,0.00,2.00,0.00,0.000,4,0.000,0.047,2293,3366,3317
$GC,4459,-2.01,-146.0,429.8,-8.8,620,4463,0.00,1.88,0.00,0.000,6,0.000,0.030,2293,2246,3317
$GC,4792,-2.05,-146.0,456.6,-7.8,651,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2244,3314
$GC,5110,-2.08,-146.0,479.4,-7.1,681,5114,0.00,1.98,0.00,0.000,4,0.000,0.051,2294,3369,3313
$GC,5157,-2.08,-146.0,483.2,-8.6,685,5160,0.00,1.88,0.00,0.000,6,0.000,0.032,2293,2261,3313
$GC,5486,-2.12,-146.0,510.6,-8.6,710,5490,0.12,1.95,0.00,0.000,4,0.065,0.054,2259,3358,3310
$GC,5586,-2.12,-146.0,520.9,-10.6,714,5589,0.00,1.83,0.00,0.000,6,0.000,0.032,2259,2284,3310
$GC,5907,-2.12,-146.0,551.7,-9.2,730,5911,0.00,1.95,0.00,0.000,4,0.000,0.062,2259,3364,3308
$GC,5957,-2.12,-146.0,556.6,-9.1,732,5961,0.00,1.85,0.00,0.000,6,0.000,0.038,2259,2292,3307
$GC,6285,-2.12,-146.0,586.1,-8.9,748,6289,0.00,1.88,0.00,0.000,4,0.000,0.077,2259,1272,3306
$GC,6324,-2.12,-146.0,589.8,-8.9,749,6331,0.00,1.80,0.00,0.000,6,0.000,0.056,2258,2278,3306
$GC,6639,-2.12,-146.0,617.5,-9.1,765,6643,0.00,2.08,0.00,0.000,4,0.000,0.086,2258,3389,3305
$GC,6784,-2.12,-146.0,631.3,-10.0,771,6788,0.00,2.00,0.00,0.000,6,0.000,0.066,2258,2320,3304
$GC,7106,-2.12,-146.0,659.8,-8.6,787,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2320,3302
$GC,7415,-2.12,-146.0,688.0,-9.4,802,7418,0.00,2.15,0.00,0.000,4,0.000,0.114,2258,3383,3301
$GC,7538,-2.12,-146.0,699.0,-8.8,807,7544,0.00,2.12,0.00,0.000,6,0.000,0.099,2258,2304,3301
$GC,7853,-2.12,-146.0,726.6,-9.3,823,7857,0.00,1.83,0.00,0.000,4,0.000,0.056,2258,1251,3300
$GC,7920,-2.12,-146.0,733.2,-9.7,826,7924,0.00,1.80,0.00,0.000,6,0.000,0.031,2258,2321,3299
$GC,8253,-2.12,-146.0,764.0,-9.2,842,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2321,3298
$GC,8564,-2.12,-146.0,791.5,-9.1,857,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2322,3297
$GC,8874,-2.12,-146.0,820.6,-9.7,872,8877,0.00,1.83,0.00,0.000,4,0.000,0.054,2258,3371,3295
$GC,8957,-2.12,-146.0,828.8,-9.3,875,8963,0.00,1.90,0.00,0.000,6,0.000,0.034,2258,2274,3295
$GC,9273,-2.12,-146.0,856.4,-8.7,891,9277,0.00,1.95,0.00,0.000,4,0.000,0.053,2258,3376,3294
$GC,9335,-2.12,-146.0,862.0,-8.9,893,9341,0.00,1.85,0.00,0.000,6,0.000,0.033,2258,2285,3293
$GC,9651,-2.12,-146.0,889.2,-9.0,909,9654,0.00,1.80,0.00,0.000,4,0.000,0.057,2258,1278,3293
$GC,9701,-2.12,-146.0,893.5,-7.8,911,9704,0.00,1.75,0.00,0.000,6,0.000,0.034,2258,2311,3293
$STATE,9860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9860,begin apogee
$GC,9866,-0.52,0.0,907.7,9.0,919,9970,1.67,0.00,100.82,1.378,6,0.094,0.000,2612,1957,2825
$STATE,9971,end apogee,CONTROL_FINISHED_OK
$STATE,9971,begin climb
$GC,9973,2.22,146.0,911.3,0.0,924,10110,2.70,1.98,127.93,1.342,4,0.065,0.069,3216,918,2228
$GC,10248,2.08,146.0,896.0,10.6,936,10252,0.17,1.83,0.00,0.000,6,0.104,0.032,3182,1976,2223
$GC,10582,1.99,146.0,863.2,10.1,952,10586,0.00,1.95,0.00,0.000,4,0.000,0.059,3181,916,2220
$GC,10637,1.88,146.0,857.1,10.1,954,10642,0.22,1.80,0.00,0.000,6,0.110,0.031,3139,1968,2220
$GC,10959,1.88,167.7,830.3,7.7,970,10983,0.00,1.90,18.65,1.269,4,0.000,0.048,3139,3011,2141
$GC,11120,1.89,190.9,816.9,7.6,977,11146,0.00,1.80,21.88,1.267,6,0.000,0.037,3139,1966,2046
$GC,11463,1.89,192.2,787.8,8.9,994,11467,0.00,1.85,0.00,0.000,4,0.000,0.047,3139,3016,2043
$GC,11513,1.89,193.9,782.9,8.9,996,11522,0.00,1.83,3.88,0.802,6,0.000,0.036,3139,1978,2034
$GC,11839,1.90,198.8,753.9,8.7,1012,11850,0.00,1.85,6.05,1.027,4,0.000,0.046,3139,3015,2014
$GC,11913,1.90,198.8,746.9,9.3,1015,11916,0.00,1.77,0.00,0.000,6,0.000,0.036,3139,1985,2013
$GC,12233,1.90,198.8,716.6,9.7,1031,12237,0.00,1.92,0.00,0.000,4,0.000,0.069,3139,916,2013
$GC,12288,1.90,198.8,711.0,10.1,1033,12292,0.00,1.83,0.00,0.000,6,0.000,0.031,3139,1988,2012
$GC,12610,1.90,199.7,680.3,9.0,1049,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1988,2011
$GC,12919,1.91,207.1,653.5,8.6,1064,12929,0.00,0.00,8.65,1.095,6,0.000,0.000,3139,1988,1980
$GC,13228,1.95,226.6,628.2,7.8,1079,13253,0.00,1.85,18.85,1.183,4,0.000,0.049,3139,3006,1901
$GC,13366,1.96,235.5,616.1,8.5,1085,13383,0.00,1.83,9.38,1.081,6,0.000,0.037,3139,1964,1863
$GC,13692,1.97,238.0,587.2,8.9,1101,13696,0.00,1.85,0.00,0.000,4,0.000,0.047,3139,3015,1862
$GC,13775,1.97,238.0,579.1,9.5,1104,13781,0.00,1.80,0.00,0.000,6,0.000,0.038,3139,1988,1862
$GC,14091,1.97,238.0,546.5,10.3,1120,14094,0.00,1.95,0.00,0.000,4,0.000,0.061,3139,904,1861
$GC,14146,1.97,238.0,540.6,10.5,1122,14150,0.00,1.88,0.00,0.000,6,0.000,0.031,3139,2005,1861
$GC,14467,1.97,238.0,509.6,9.2,1138,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2005,1861
$GC,14782,1.97,238.0,480.5,9.3,1162,14785,0.00,1.75,0.00,0.000,4,0.000,0.049,3139,3018,1861
$GC,14827,1.97,238.0,476.1,9.6,1166,14830,0.00,1.77,0.00,0.000,6,0.000,0.036,3139,1984,1861
$GC,15158,1.98,244.0,445.5,8.6,1197,15173,0.00,1.85,8.57,0.976,4,0.000,0.045,3139,3002,1830
$GC,15203,1.98,248.4,441.5,8.7,1201,15215,0.10,1.75,5.45,0.847,6,0.077,0.035,3167,1988,1812
$GC,15532,1.98,248.4,411.2,9.4,1232,15536,0.00,1.92,0.00,0.000,4,0.000,0.060,3168,916,1811
$GC,15571,1.98,248.4,407.5,9.2,1235,15577,0.00,1.83,0.00,0.000,6,0.000,0.031,3168,1991,1811
$GC,15899,2.02,269.5,381.2,7.7,1266,15924,0.00,0.00,19.90,1.016,6,0.000,0.000,3168,1991,1726
$GC,16243,2.02,269.5,347.8,10.1,1299,16246,0.00,1.75,0.00,0.000,4,0.000,0.047,3167,3006,1724
$GC,16299,2.02,269.5,341.5,11.0,1304,16303,0.00,1.80,0.00,0.000,6,0.000,0.036,3168,1957,1724
$GC,16629,2.02,269.7,308.8,9.0,1335,16633,0.00,1.83,0.00,0.000,4,0.000,0.044,3168,3008,1724
$GC,16674,2.02,273.0,304.4,8.8,1339,16686,0.00,1.75,4.50,0.700,6,0.000,0.036,3167,1984,1711
$GC,17004,2.04,281.3,275.9,8.5,1370,17018,0.00,1.85,8.60,0.861,4,0.000,0.044,3167,3007,1678
$GC,17150,2.04,281.3,262.9,9.5,1383,17154,0.00,1.70,0.00,0.000,6,0.000,0.033,3168,2009,1677
$GC,17485,2.05,291.3,231.2,8.4,1431,17497,0.00,0.00,10.12,0.849,6,0.000,0.000,3167,2009,1637
$GC,17835,2.10,296.3,199.5,8.7,1493,17846,0.00,0.00,5.93,0.729,6,0.000,0.000,3167,2009,1617
$GC,18185,2.14,298.1,168.4,8.9,1555,18191,0.12,1.95,0.00,0.000,4,0.065,0.053,3205,905,1616
$GC,18287,2.14,298.1,159.0,9.5,1573,18293,0.00,1.88,0.00,0.000,6,0.000,0.035,3205,2027,1616
$GC,18630,2.19,327.6,130.2,7.2,1634,18664,0.00,2.00,27.70,0.816,4,0.000,0.048,3205,916,1488
$GC,18889,2.25,340.7,108.5,8.2,1680,18907,0.00,1.75,12.12,0.757,6,0.000,0.027,3205,1957,1435
$GC,19248,2.40,375.4,83.3,6.9,1743,19286,0.17,1.83,29.88,0.753,4,0.051,0.038,3262,2993,1293
$GC,19362,2.40,378.4,73.1,8.8,1763,19374,0.00,1.70,3.97,0.499,6,0.000,0.026,3262,1965,1281
$GC,19715,2.49,399.0,46.4,7.7,1825,19738,0.00,1.85,18.52,0.688,4,0.000,0.035,3262,3005,1198
$GC,19902,2.60,423.9,30.8,7.5,1858,19930,0.10,1.62,21.80,0.670,6,0.045,0.025,3305,2028,1096
$STATE,20248,end climb,SURFACE_DEPTH_REACHED
$STATE,20248,begin surface coast
$FINISH,-0.6,1.021161
$STATE,20278,end surface coast,CONTROL_FINISHED_OK
$STATE,20278,begin surface
$SM_CCo,20300,36.60,0.641,0,0,887,475.15
$SM_GC,-6.03,0.00,0.00,36.60,0.000,0.000,0.641,414,2346,887,-10.65,0.57,475.15
$IRIDIUM_FIX,1241.04,12018.41,020797,151519
$TT8_MAMPS,0.026078
$HUMID,1904
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.10
$XPDR_PINGS,566
$24V_AH,23.1,37.273
$10V_AH,10.1,28.244
$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,29.300,138.150,493.150,36.600,0.000,30.010,33.173,178.634,151.750,0.000,0.000,13.932,3158.907,12873.484,619.532,3467.104,611.275,0.000,2303.620,0.000,3403.941,0.000,75.178
$DEVICE_MAMPS,170.274,114.283,1377.532,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1304.965,488.323,768.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100942,1925
$CAP_FILE_SIZE,197530,0
$CFSIZE,260165632,236756992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,021937,1246.319,12016.806,33,1.8,33,-0.8