version: 66.03
glider: 126
mission: 7
dive: 310
start: 4 22 108 19 13 56
data:
$ID,126
$MISSION,7
$DIVE,310
$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,-625275.19
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,190637,1251.043,12041.987,28,1.2,28,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.65
$_SM_ANGLEo,-59.1
$GPS2,191302,1251.037,12041.954,11,1.3,11,-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,258.9,48825,-19.0,-9.016
$D_GRID,1169
$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,-66.47,0.000,6,0.000,0.000,416,2305,3320
$GC,97,-2.18,-120.8,1.5,-21.4,13,114,10.23,1.83,0.00,0.000,4,0.166,0.038,2252,3376,3321
$GC,300,-2.00,-120.8,40.5,-16.5,49,307,0.22,1.73,0.00,0.000,6,0.112,0.023,2295,2285,3322
$GC,645,-1.93,-120.8,87.6,-11.7,110,651,0.00,1.88,0.00,0.000,4,0.000,0.038,2295,3376,3324
$GC,727,-1.84,-120.8,97.1,-11.7,124,734,0.12,1.65,0.00,0.000,6,0.106,0.023,2324,2330,3325
$GC,1072,-1.88,-120.8,133.0,-10.2,185,1078,0.00,1.65,0.00,0.000,4,0.000,0.032,2324,1322,3326
$GC,1119,-1.92,-120.8,137.6,-10.0,193,1125,0.00,1.65,0.00,0.000,6,0.000,0.023,2324,2351,3326
$GC,1464,-2.01,-123.4,166.2,-8.9,254,1470,0.15,0.00,0.00,0.000,6,0.054,0.000,2274,2352,3327
$GC,1808,-2.01,-126.7,196.2,-8.8,315,1814,0.00,1.70,0.00,0.000,4,0.000,0.041,2274,3368,3327
$GC,1838,-2.02,-128.1,198.8,-8.9,320,1844,0.00,1.60,0.00,0.000,6,0.000,0.025,2274,2342,3327
$GC,2182,-2.03,-136.1,227.9,-8.5,381,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2335,3327
$GC,2525,-2.07,-136.9,259.1,-9.0,434,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2335,3327
$GC,2846,-2.13,-146.0,285.8,-8.3,464,2850,0.00,1.77,0.00,0.000,4,0.000,0.044,2274,3356,3326
$GC,3003,-2.13,-146.0,299.6,-8.7,478,3007,0.00,1.60,0.00,0.000,6,0.000,0.027,2274,2360,3325
$GC,3337,-2.16,-146.0,327.4,-8.3,509,3341,0.00,1.83,0.00,0.000,4,0.000,0.041,2274,1304,3322
$GC,3449,-2.16,-146.0,337.8,-8.5,519,3453,0.00,1.62,0.00,0.000,6,0.000,0.028,2274,2295,3322
$GC,3783,-2.21,-146.0,365.4,-8.8,550,3787,0.12,1.70,0.00,0.000,4,0.064,0.039,2236,1305,3320
$GC,3816,-2.17,-146.0,368.7,-9.2,553,3821,0.10,1.60,0.00,0.000,6,0.111,0.028,2256,2278,3320
$GC,4147,-2.17,-146.0,399.6,-8.7,584,4151,0.00,1.90,0.00,0.000,4,0.000,0.048,2256,3366,3318
$GC,4226,-2.13,-146.0,406.7,-8.3,591,4230,0.00,1.80,0.00,0.000,6,0.000,0.030,2256,2284,3317
$GC,4559,-2.13,-146.0,434.8,-8.6,622,4562,0.00,1.90,0.00,0.000,4,0.000,0.048,2256,3374,3315
$GC,4638,-2.10,-146.0,442.1,-9.0,629,4642,0.00,1.83,0.00,0.000,6,0.000,0.031,2256,2288,3315
$GC,4970,-2.10,-146.0,471.9,-9.1,660,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2286,3312
$GC,5288,-2.10,-146.0,502.2,-9.4,689,5291,0.00,1.92,0.00,0.000,4,0.000,0.057,2256,3370,3310
$GC,5372,-2.07,-146.0,510.5,-9.5,692,5379,0.12,1.77,0.00,0.000,6,0.108,0.035,2280,2327,3310
$GC,5690,-2.13,-146.0,538.5,-8.7,708,5693,0.00,1.92,0.00,0.000,4,0.000,0.072,2280,1269,3307
$GC,5808,-2.17,-146.0,548.9,-8.6,713,5811,0.00,1.70,0.00,0.000,6,0.000,0.047,2280,2244,3307
$GC,6137,-2.21,-146.0,575.0,-8.0,729,6141,0.15,2.05,0.00,0.000,4,0.061,0.073,2234,3367,3305
$GC,6256,-2.15,-146.0,585.4,-8.6,734,6260,0.12,1.92,0.00,0.000,6,0.110,0.054,2258,2289,3304
$GC,6584,-2.15,-146.0,613.5,-9.3,750,6587,0.00,2.03,0.00,0.000,4,0.000,0.086,2258,3355,3302
$GC,6654,-2.15,-146.0,620.0,-9.0,753,6658,0.00,1.95,0.00,0.000,6,0.000,0.067,2258,2298,3302
$GC,6987,-2.15,-146.0,647.1,-7.9,769,6990,0.00,2.08,0.00,0.000,4,0.000,0.099,2258,3360,3300
$GC,7088,-2.15,-146.0,656.0,-8.3,773,7091,0.00,1.95,0.00,0.000,6,0.000,0.083,2258,2337,3300
$GC,7409,-2.15,-146.0,682.3,-8.4,789,7413,0.00,2.15,0.00,0.000,4,0.000,0.120,2258,1265,3298
$GC,7437,-2.15,-146.0,685.0,-9.2,790,7441,0.00,2.05,0.00,0.000,6,0.000,0.097,2258,2311,3298
$GC,7766,-2.15,-146.0,713.2,-8.9,806,7770,0.00,2.22,0.00,0.000,4,0.000,0.135,2258,3385,3297
$GC,7883,-2.15,-146.0,725.4,-9.8,811,7887,0.00,2.15,0.00,0.000,6,0.000,0.119,2258,2360,3296
$GC,8204,-2.15,-146.0,752.8,-8.3,827,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2360,3295
$GC,8513,-2.15,-146.0,778.7,-8.7,842,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2351,3294
$GC,8822,-2.15,-146.0,802.8,-7.3,857,8826,0.00,1.88,0.00,0.000,4,0.000,0.054,2258,3403,3293
$GC,8906,-2.15,-146.0,809.1,-7.8,860,8912,0.00,1.80,0.00,0.000,6,0.000,0.033,2258,2335,3293
$GC,9221,-2.15,-146.0,832.7,-7.4,876,9225,0.00,1.92,0.00,0.000,4,0.000,0.055,2258,3399,3292
$GC,9278,-2.15,-146.0,837.3,-7.8,878,9282,0.00,1.73,0.00,0.000,6,0.000,0.032,2258,2373,3291
$GC,9601,-2.15,-146.0,861.6,-7.8,894,9604,0.00,1.83,0.00,0.000,4,0.000,0.053,2258,3407,3291
$GC,9669,-2.15,-146.0,866.8,-7.7,897,9672,0.00,1.73,0.00,0.000,6,0.000,0.034,2258,2388,3291
$GC,10002,-2.33,-146.0,883.4,-0.0,913,10006,0.15,1.95,0.00,0.000,4,0.062,0.057,2209,1276,3290
$STATE,10078,end dive,NO_VERTICAL_VELOCITY
$STATE,10078,begin apogee
$GC,10085,-0.52,0.0,883.4,0.0,916,10189,1.83,0.00,99.90,1.360,6,0.077,0.000,2613,2000,2825
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10190,begin climb
$GC,10193,2.22,146.0,883.0,0.0,921,10330,2.72,1.80,127.88,1.317,4,0.070,0.049,3212,3007,2228
$GC,10423,2.12,148.5,871.2,8.9,931,10427,0.00,1.83,0.00,0.000,6,0.000,0.039,3213,1965,2224
$GC,10756,2.03,152.1,841.3,8.8,947,10766,0.17,1.88,5.72,0.995,4,0.104,0.046,3174,3014,2204
$GC,10876,1.95,152.9,831.2,9.0,952,10879,0.00,1.80,0.00,0.000,6,0.000,0.037,3175,1972,2203
$GC,11197,1.92,171.2,806.0,7.9,968,11222,0.15,1.90,18.08,1.249,4,0.119,0.047,3147,3002,2127
$GC,11310,1.91,183.9,797.4,8.2,973,11331,0.00,1.73,12.73,1.200,6,0.000,0.037,3147,2008,2075
$GC,11640,1.93,198.7,771.5,8.1,989,11660,0.00,0.00,14.48,1.216,6,0.000,0.000,3147,2008,2014
$GC,11969,1.97,222.9,745.2,7.5,1005,11998,0.00,1.83,22.77,1.241,4,0.000,0.047,3147,2999,1916
$GC,12021,2.01,245.8,740.7,7.6,1007,12047,0.00,1.75,21.85,1.208,6,0.000,0.037,3147,1993,1823
$GC,12357,2.01,245.8,707.3,10.6,1023,12360,0.00,1.80,0.00,0.000,4,0.000,0.046,3147,3016,1818
$GC,12441,2.02,248.5,698.8,8.8,1026,12447,0.00,1.73,0.00,0.000,6,0.000,0.036,3147,2014,1818
$GC,12756,2.02,248.5,668.4,9.6,1042,12760,0.00,2.00,0.00,0.000,4,0.000,0.063,3147,908,1817
$GC,12824,2.02,248.5,661.6,10.4,1045,12827,0.00,1.90,0.00,0.000,6,0.000,0.031,3147,2023,1818
$GC,13156,2.02,248.5,630.4,9.3,1061,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2023,1816
$GC,13465,2.04,260.7,604.2,8.3,1076,13481,0.12,0.00,13.48,1.134,6,0.071,0.000,3182,2023,1762
$GC,13790,2.04,260.7,572.9,9.6,1091,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2024,1761
$GC,14100,2.04,260.7,542.5,10.2,1106,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2024,1760
$GC,14409,2.04,260.7,513.1,9.1,1121,14412,0.00,1.70,0.00,0.000,4,0.000,0.047,3182,3012,1759
$GC,14470,2.00,260.7,507.4,9.2,1123,14476,0.00,1.75,0.00,0.000,6,0.000,0.036,3182,1990,1760
$GC,14795,2.01,267.5,479.3,8.6,1150,14807,0.00,1.88,7.30,0.957,4,0.000,0.045,3182,3015,1734
$GC,14886,2.02,274.2,470.8,8.6,1158,14898,0.00,1.70,7.60,0.963,6,0.000,0.035,3182,2025,1707
$GC,15216,2.02,274.2,439.9,9.2,1189,15219,0.00,1.73,0.00,0.000,4,0.000,0.047,3182,3009,1707
$GC,15289,2.02,276.5,432.9,8.9,1195,15298,0.00,1.60,3.88,0.698,6,0.000,0.035,3182,2070,1697
$GC,15624,2.04,283.0,402.8,8.6,1227,15636,0.00,1.73,7.15,0.910,4,0.000,0.046,3182,3010,1671
$GC,15720,2.04,283.2,394.0,9.0,1235,15726,0.00,1.50,0.00,0.000,6,0.000,0.036,3182,2144,1670
$GC,16047,2.09,295.2,365.9,8.3,1266,16068,0.00,1.60,12.35,0.972,4,0.000,0.046,3182,3009,1621
$GC,16175,2.10,304.4,354.9,8.4,1277,16192,0.00,1.65,9.52,0.924,6,0.000,0.034,3182,2043,1583
$GC,16511,2.16,304.6,324.8,9.0,1309,16514,0.00,1.67,0.00,0.000,4,0.000,0.044,3182,3005,1582
$GC,16602,2.16,304.6,316.1,11.1,1317,16605,0.00,1.80,0.00,0.000,6,0.000,0.034,3182,1952,1582
$GC,16932,2.22,304.7,286.2,9.0,1348,16934,0.15,0.00,0.00,0.000,6,0.062,0.000,3226,1952,1582
$GC,17252,2.22,304.7,255.4,9.9,1378,17256,0.00,1.85,0.00,0.000,4,0.000,0.058,3226,911,1582
$GC,17326,2.18,304.7,247.7,10.0,1386,17332,0.12,1.92,0.00,0.000,6,0.104,0.030,3201,2055,1582
$GC,17670,2.22,304.7,217.5,9.3,1447,17676,0.00,1.62,0.00,0.000,4,0.000,0.046,3202,3006,1582
$GC,17693,2.22,304.7,215.3,9.2,1451,17699,0.00,1.67,0.00,0.000,6,0.000,0.041,3202,2014,1582
$GC,18037,2.28,313.7,185.0,8.5,1512,18054,0.12,2.00,9.43,0.805,4,0.066,0.056,3240,907,1546
$GC,18153,2.24,313.7,174.1,9.9,1532,18159,0.12,1.85,0.00,0.000,6,0.102,0.028,3215,2014,1546
$GC,18500,2.29,323.2,144.2,8.4,1593,18516,0.00,1.75,9.90,0.776,4,0.000,0.043,3215,3006,1506
$GC,18697,2.37,348.9,128.2,7.4,1628,18726,0.10,1.88,22.92,0.806,6,0.050,0.030,3253,1913,1402
$GC,19065,2.48,386.6,101.1,6.7,1693,19103,0.00,1.98,32.50,0.769,4,0.000,0.038,3253,3008,1248
$GC,19196,2.57,412.9,91.1,7.4,1716,19225,0.12,1.85,23.15,0.739,6,0.044,0.028,3300,1920,1141
$GC,19566,2.67,437.6,61.3,7.5,1781,19593,0.00,1.90,21.70,0.703,4,0.000,0.035,3300,3016,1039
$GC,19693,2.74,447.4,51.3,8.4,1803,19710,0.12,1.70,9.50,0.640,6,0.059,0.025,3345,1985,1000
$GC,20050,2.75,453.9,20.4,8.6,1866,20061,0.00,0.00,6.90,0.568,6,0.000,0.000,3345,1984,974
$STATE,20261,end climb,SURFACE_DEPTH_REACHED
$STATE,20261,begin surface coast
$FINISH,-0.2,1.021027
$STATE,20285,end surface coast,CONTROL_FINISHED_OK
$STATE,20285,begin surface
$SM_CCo,20308,18.17,0.630,0,0,888,475.15
$SM_GC,-5.88,0.00,0.00,18.17,0.000,0.000,0.630,416,2349,888,-10.64,0.68,475.15
$IRIDIUM_FIX,1247.67,12045.31,170797,151559
$TT8_MAMPS,0.026078
$HUMID,1946
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.00
$XPDR_PINGS,546
$ALTIM_BOTTOM_PING,841.3,39.7
$24V_AH,23.0,49.740
$10V_AH,10.1,36.065
$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,30.075,137.950,520.675,18.175,0.000,25.304,36.031,193.932,146.000,0.000,0.000,11.988,3136.400,12825.031,616.868,3460.125,701.257,0.000,2310.125,0.000,3405.687,0.000,72.851
$DEVICE_MAMPS,165.672,134.992,1359.891,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1292.324,470.016,760.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100855,1908
$CAP_FILE_SIZE,202626,0
$CFSIZE,260165632,230604800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,005401,1250.840,12040.909,40,1.0,40,-0.8