version: 66.03
glider: 126
mission: 7
dive: 323
start: 4 26 108 6 30 58
data:
$ID,126
$MISSION,7
$DIVE,323
$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,-625579.5
$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,51
$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
$GPS1,062208,1248.682,12025.431,30,1.3,30,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.86
$_SM_ANGLEo,-56.9
$GPS2,063007,1248.683,12025.396,12,2.0,28,-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,253.2,18752,-19.0,-9.016
$D_GRID,852
$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,-120.8,0.0,0.0,0,96,0.00,0.00,-67.60,0.000,6,0.000,0.000,417,2336,3320
$GC,98,-2.18,-120.8,-0.4,-19.4,13,111,10.18,0.00,0.00,0.000,6,0.163,0.000,2249,2336,3321
$GC,450,-2.02,-120.8,58.7,-14.0,75,456,0.17,0.00,0.00,0.000,6,0.115,0.000,2286,2337,3324
$GC,794,-1.96,-120.8,100.4,-10.0,136,800,0.00,1.75,0.00,0.000,4,0.000,0.038,2286,3367,3326
$GC,925,-1.88,-120.8,114.4,-11.1,159,932,0.15,1.73,0.00,0.000,6,0.110,0.023,2315,2262,3326
$GC,1270,-1.97,-132.6,145.2,-8.3,220,1276,0.00,1.67,0.00,0.000,4,0.000,0.034,2315,1257,3327
$GC,1356,-2.01,-134.5,152.5,-8.9,235,1362,0.12,1.75,0.00,0.000,6,0.059,0.023,2276,2345,3328
$GC,1700,-2.03,-144.4,182.4,-8.4,296,1706,0.00,1.83,0.00,0.000,4,0.000,0.033,2276,1255,3327
$GC,1781,-2.03,-146.0,188.6,-7.9,310,1787,0.00,1.67,0.00,0.000,6,0.000,0.024,2276,2296,3329
$GC,2125,-2.07,-146.0,220.1,-9.1,371,2130,0.00,1.80,0.00,0.000,4,0.000,0.041,2276,3366,3329
$GC,2205,-2.07,-146.0,227.6,-9.6,385,2211,0.00,1.70,0.00,0.000,6,0.000,0.025,2276,2290,3328
$GC,2551,-2.10,-146.0,255.4,-8.3,441,2555,0.00,1.83,0.00,0.000,4,0.000,0.041,2276,3359,3327
$GC,2646,-2.10,-146.0,263.3,-8.5,449,2652,0.00,1.75,0.00,0.000,6,0.000,0.026,2276,2248,3327
$GC,2974,-2.14,-146.0,291.7,-9.3,480,2977,0.00,1.60,0.00,0.000,4,0.000,0.039,2276,1303,3325
$GC,3023,-2.14,-146.0,296.6,-9.2,484,3029,0.00,1.65,0.00,0.000,6,0.000,0.026,2276,2296,3325
$GC,3351,-2.18,-146.0,324.0,-8.6,515,3354,0.00,1.67,0.00,0.000,4,0.000,0.042,2276,1320,3323
$GC,3475,-2.18,-146.0,334.9,-9.0,526,3479,0.00,1.50,0.00,0.000,6,0.000,0.026,2276,2222,3322
$GC,3808,-2.23,-146.0,364.9,-9.0,557,3812,0.15,1.55,0.00,0.000,4,0.058,0.039,2226,1321,3320
$GC,3903,-2.17,-146.0,374.3,-9.1,565,3909,0.10,1.38,0.00,0.000,6,0.096,0.026,2251,2158,3319
$GC,4228,-2.17,-146.0,403.2,-9.1,596,4231,0.00,1.48,0.00,0.000,4,0.000,0.043,2251,1323,3317
$GC,4318,-2.17,-146.0,411.1,-9.1,604,4322,0.00,1.55,0.00,0.000,6,0.000,0.028,2251,2247,3317
$GC,4650,-2.17,-146.0,441.5,-9.7,635,4654,0.00,1.62,0.00,0.000,4,0.000,0.044,2251,1314,3315
$GC,4746,-2.17,-146.0,450.6,-8.8,643,4753,0.00,1.45,0.00,0.000,6,0.000,0.029,2251,2179,3314
$GC,5074,-2.17,-146.0,479.8,-8.9,674,5078,0.00,1.52,0.00,0.000,4,0.000,0.047,2251,1322,3312
$GC,5176,-2.17,-146.0,489.0,-9.0,683,5180,0.00,1.60,0.00,0.000,6,0.000,0.032,2251,2275,3311
$GC,5513,-2.17,-146.0,517.4,-8.6,705,5517,0.00,1.67,0.00,0.000,4,0.000,0.052,2251,1330,3309
$GC,5627,-2.17,-146.0,526.7,-7.6,710,5630,0.00,1.50,0.00,0.000,6,0.000,0.037,2251,2194,3308
$GC,5959,-2.17,-146.0,554.2,-8.4,726,5963,0.00,1.60,0.00,0.000,4,0.000,0.062,2251,1327,3307
$GC,6067,-2.17,-146.0,563.1,-8.0,730,6073,0.00,1.67,0.00,0.000,6,0.000,0.048,2251,2283,3306
$GC,6384,-2.17,-146.0,589.5,-8.6,746,6389,0.00,1.77,0.00,0.000,4,0.000,0.071,2251,1325,3304
$GC,6475,-2.17,-146.0,597.6,-8.9,750,6479,0.00,1.62,0.00,0.000,6,0.000,0.058,2251,2225,3303
$GC,6809,-2.17,-146.0,628.4,-9.5,766,6813,0.00,2.17,0.00,0.000,4,0.000,0.089,2251,3378,3302
$GC,6887,-2.14,-146.0,636.2,-10.0,769,6893,0.00,2.03,0.00,0.000,6,0.000,0.071,2251,2288,3302
$GC,7203,-2.14,-146.0,663.6,-8.1,785,7207,0.00,2.00,0.00,0.000,4,0.000,0.109,2251,1270,3300
$GC,7288,-2.14,-146.0,670.4,-7.8,788,7294,0.00,1.75,0.00,0.000,6,0.000,0.087,2251,2187,3300
$GC,7605,-2.14,-146.0,696.1,-8.4,804,7608,0.00,1.90,0.00,0.000,4,0.000,0.123,2251,1269,3298
$GC,7722,-2.14,-146.0,706.5,-8.0,809,7726,0.00,1.98,0.00,0.000,6,0.000,0.104,2251,2263,3297
$GC,8049,-2.14,-146.0,736.0,-9.0,825,8053,0.00,1.98,0.00,0.000,4,0.000,0.049,2251,3388,3296
$GC,8172,-2.14,-146.0,747.1,-8.7,830,8176,0.00,1.88,0.00,0.000,6,0.000,0.032,2252,2277,3295
$GC,8497,-2.18,-146.0,775.8,-8.8,846,8500,0.00,1.98,0.00,0.000,4,0.000,0.051,2251,3394,3294
$GC,8548,-2.18,-146.0,780.5,-8.6,848,8552,0.00,1.77,0.00,0.000,6,0.000,0.032,2251,2355,3294
$GC,8875,-2.18,-146.0,808.7,-8.6,864,8879,0.00,1.95,0.00,0.000,4,0.000,0.064,2251,1288,3293
$GC,8966,-2.18,-146.0,816.5,-8.8,868,8970,0.00,1.83,0.00,0.000,6,0.000,0.037,2251,2338,3293
$GC,9300,-2.18,-146.0,843.7,-8.4,884,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2339,3292
$STATE,9398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9398,begin apogee
$GC,9405,-0.52,0.0,852.4,8.5,889,9510,1.73,0.00,100.20,1.328,6,0.094,0.000,2615,1974,2825
$STATE,9510,end apogee,CONTROL_FINISHED_OK
$STATE,9510,begin climb
$GC,9513,2.22,146.0,856.7,0.0,894,9650,2.70,2.12,128.02,1.290,4,0.061,0.090,3213,923,2228
$GC,9696,2.13,173.4,851.1,7.3,903,9727,0.00,1.83,25.05,1.229,6,0.000,0.033,3213,1979,2117
$GC,10039,2.05,183.0,821.7,8.4,920,10051,0.20,0.00,9.38,1.127,6,0.099,0.000,3173,1979,2077
$GC,10347,2.05,219.1,798.8,6.8,935,10388,0.00,1.90,32.95,1.257,4,0.000,0.048,3173,3014,1931
$GC,10422,2.01,227.7,792.8,8.5,938,10437,0.00,1.85,9.38,1.100,6,0.000,0.036,3173,1950,1895
$GC,10767,1.97,230.7,763.6,8.8,955,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1950,1892
$GC,11075,1.93,230.7,734.9,9.6,970,11084,0.12,1.92,3.35,0.680,4,0.109,0.045,3150,3013,1884
$GC,11247,1.93,230.7,718.2,9.4,977,11253,0.00,1.80,0.00,0.000,6,0.000,0.035,3150,1985,1883
$GC,11563,1.94,238.9,690.3,8.5,993,11577,0.00,1.88,8.93,1.111,4,0.000,0.045,3150,3009,1851
$GC,11710,1.94,238.9,677.5,9.4,999,11713,0.00,1.65,0.00,0.000,6,0.000,0.034,3150,2046,1850
$GC,12031,1.97,253.2,650.8,8.1,1015,12050,0.00,0.00,14.48,1.167,6,0.000,0.000,3150,2046,1792
$GC,12360,1.98,261.6,623.4,8.5,1031,12374,0.00,1.77,8.60,1.074,4,0.000,0.046,3150,3014,1758
$GC,12531,1.98,261.6,606.9,10.2,1038,12537,0.00,1.62,0.00,0.000,6,0.000,0.034,3150,2082,1757
$GC,12848,2.04,261.6,575.7,10.0,1054,12851,0.10,1.62,0.00,0.000,4,0.077,0.044,3180,3008,1757
$GC,12954,2.04,261.6,565.4,9.3,1058,12960,0.00,1.73,0.00,0.000,6,0.000,0.035,3180,1998,1757
$GC,13270,2.05,269.2,537.7,8.5,1074,13284,0.00,1.85,8.45,1.025,4,0.000,0.045,3180,3014,1727
$GC,13397,2.05,269.2,526.7,9.4,1079,13402,0.00,1.60,0.00,0.000,6,0.000,0.033,3180,2097,1725
$GC,13713,2.05,269.2,498.5,9.2,1095,13716,0.00,1.60,0.00,0.000,4,0.000,0.045,3180,3012,1725
$GC,13814,2.05,269.2,488.4,9.4,1104,13817,0.00,1.73,0.00,0.000,6,0.000,0.035,3180,2005,1725
$GC,14147,2.08,269.2,456.6,9.7,1135,14150,0.00,1.77,0.00,0.000,4,0.000,0.045,3180,3020,1725
$GC,14260,2.09,273.1,445.9,8.8,1145,14271,0.00,1.88,4.78,0.800,6,0.000,0.035,3180,1946,1711
$GC,14590,2.13,281.0,416.9,8.5,1176,14604,0.00,1.92,8.60,0.956,4,0.000,0.061,3180,916,1679
$GC,14673,2.14,284.1,409.2,8.8,1183,14682,0.00,1.77,4.57,0.763,6,0.000,0.031,3180,1965,1666
$GC,15008,2.18,284.1,378.6,9.5,1215,15012,0.10,1.92,0.00,0.000,4,0.075,0.055,3211,904,1665
$GC,15069,2.13,284.1,372.5,9.6,1220,15074,0.00,1.95,0.00,0.000,6,0.000,0.030,3211,2061,1665
$GC,15396,2.13,284.1,341.7,9.3,1251,15399,0.00,2.05,0.00,0.000,4,0.000,0.054,3212,912,1665
$GC,15491,2.08,284.1,332.5,9.1,1259,15497,0.15,2.08,0.00,0.000,6,0.100,0.031,3182,2137,1665
$GC,15816,2.13,286.8,303.1,8.8,1290,15827,0.00,2.25,4.07,0.657,4,0.000,0.052,3181,908,1655
$GC,15953,2.14,292.5,290.8,8.7,1302,15965,0.00,1.90,6.75,0.821,6,0.000,0.030,3181,2034,1632
$GC,16284,2.20,294.9,260.8,8.9,1333,16295,0.12,2.05,3.83,0.609,4,0.067,0.052,3220,916,1622
$GC,16376,2.16,294.9,252.0,9.6,1341,16379,0.00,2.05,0.00,0.000,6,0.000,0.029,3220,2128,1622
$GC,16718,2.16,294.9,220.0,9.6,1400,16724,0.00,2.17,0.00,0.000,4,0.000,0.051,3220,902,1622
$GC,16849,2.12,294.9,207.0,9.8,1423,16855,0.15,1.88,0.00,0.000,6,0.099,0.028,3190,2025,1622
$GC,17194,2.19,303.8,177.4,8.5,1484,17210,0.00,2.05,9.35,0.798,4,0.000,0.050,3190,908,1586
$GC,17279,2.23,309.2,169.8,8.7,1499,17291,0.12,1.77,6.45,0.726,6,0.066,0.028,3228,1974,1563
$GC,17632,2.23,309.6,138.1,9.0,1561,17638,0.00,1.90,0.00,0.000,4,0.000,0.049,3228,901,1563
$GC,17703,2.24,319.6,131.9,8.4,1573,17719,0.00,1.95,10.55,0.769,6,0.000,0.027,3228,2072,1521
$GC,18060,2.28,323.1,105.5,8.8,1636,18067,0.00,0.00,4.47,0.578,6,0.000,0.000,3228,2073,1507
$GC,18406,2.43,368.4,83.4,6.2,1697,18450,0.12,2.15,38.45,0.750,4,0.062,0.044,3270,904,1322
$GC,18557,2.47,391.1,73.7,7.6,1724,18586,0.00,1.85,20.45,0.713,6,0.000,0.025,3270,2012,1229
$GC,18927,2.58,421.5,46.4,7.1,1789,18960,0.00,1.70,26.10,0.686,4,0.000,0.038,3269,2987,1105
$GC,18979,2.74,471.2,42.7,5.9,1798,19028,0.20,1.70,41.45,0.667,6,0.035,0.025,3339,1970,904
$GC,19367,2.77,487.6,9.4,8.0,1867,19389,0.00,1.80,14.60,0.617,4,0.000,0.034,3340,2999,837
$STATE,19449,end climb,SURFACE_DEPTH_REACHED
$STATE,19450,begin surface coast
$FINISH,0.4,1.021053
$STATE,19469,end surface coast,CONTROL_FINISHED_OK
$STATE,19471,begin surface
$SM_CCo,19556,0.00,0.000,0,0,834,488.39
$SM_GC,-6.33,12.75,0.00,0.00,0.050,0.000,0.000,414,2287,834,-10.60,-1.07,488.39
$IRIDIUM_FIX,1245.46,12024.46,210797,000038
$TT8_MAMPS,0.025311
$HUMID,1906
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.70
$XPDR_PINGS,555
$24V_AH,22.9,52.463
$10V_AH,10.1,37.762
$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,29.450,143.875,553.250,0.000,0.000,30.367,38.480,233.837,147.750,0.000,0.000,28.678,3097.139,12017.173,649.713,3508.967,771.078,0.000,2359.986,0.000,3442.159,0.000,66.137
$DEVICE_MAMPS,162.604,123.487,1327.677,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1274.401,497.140,770.532,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100794,1885
$CAP_FILE_SIZE,201645,0
$CFSIZE,260165632,229224448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,115808,1248.481,12024.547,38,1.3,38,-0.8