version: 66.03
glider: 126
mission: 7
dive: 325
start: 4 26 108 17 47 41
data:
$ID,126
$MISSION,7
$DIVE,325
$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,-625623.94
$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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,173938,1248.118,12024.094,29,1.4,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.61
$_SM_ANGLEo,-58.6
$GPS2,174650,1248.178,12024.184,15,1.4,32,-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,254.0,16385,-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,-67.45,0.000,6,0.000,0.000,414,2321,3320
$GC,99,-2.18,-120.8,-0.2,-19.2,13,116,10.30,1.77,0.00,0.000,4,0.166,0.036,2252,3366,3322
$GC,197,-1.98,-120.8,22.2,-16.6,30,204,0.17,1.75,0.00,0.000,6,0.105,0.023,2291,2280,3323
$GC,542,-1.89,-120.8,69.9,-12.4,91,548,0.12,0.00,0.00,0.000,6,0.118,0.000,2314,2272,3324
$GC,885,-1.89,-120.8,109.3,-9.4,152,891,0.00,1.62,0.00,0.000,4,0.000,0.032,2314,1306,3325
$GC,965,-1.89,-120.8,117.5,-9.8,166,971,0.00,1.75,0.00,0.000,6,0.000,0.024,2314,2371,3326
$GC,1310,-1.96,-128.8,150.0,-8.5,227,1316,0.00,1.77,0.00,0.000,4,0.000,0.031,2314,1302,3327
$GC,1424,-2.02,-144.7,159.7,-8.0,247,1430,0.12,1.62,0.00,0.000,6,0.058,0.023,2274,2314,3327
$GC,1768,-2.02,-144.7,190.7,-9.2,308,1774,0.00,1.70,0.00,0.000,4,0.000,0.032,2274,1296,3328
$GC,1882,-2.03,-146.0,200.8,-8.7,328,1888,0.00,1.55,0.00,0.000,6,0.000,0.024,2274,2241,3328
$GC,2226,-2.03,-146.0,231.9,-9.4,389,2231,0.00,1.58,0.00,0.000,4,0.000,0.035,2274,1306,3328
$GC,2317,-2.03,-146.0,240.6,-10.0,405,2323,0.00,1.67,0.00,0.000,6,0.000,0.025,2274,2335,3328
$GC,2653,-2.03,-146.0,272.5,-8.8,445,2657,0.00,1.75,0.00,0.000,4,0.000,0.036,2273,1301,3327
$GC,2725,-2.03,-146.0,278.6,-8.2,451,2731,0.00,1.58,0.00,0.000,6,0.000,0.025,2274,2273,3327
$GC,3055,-2.06,-146.0,304.5,-7.7,482,3058,0.00,1.65,0.00,0.000,4,0.000,0.038,2274,1304,3325
$GC,3105,-2.06,-146.0,308.8,-7.5,486,3110,0.00,1.45,0.00,0.000,6,0.000,0.026,2274,2185,3325
$GC,3433,-2.11,-146.0,333.4,-7.7,517,3437,0.00,1.52,0.00,0.000,4,0.000,0.040,2274,1311,3322
$GC,3518,-2.11,-146.0,340.2,-8.1,524,3524,0.00,1.35,0.00,0.000,6,0.000,0.025,2273,2131,3322
$GC,3845,-2.14,-146.0,367.3,-8.8,555,3849,0.00,1.42,0.00,0.000,4,0.000,0.042,2274,1319,3320
$GC,3918,-2.14,-146.0,374.2,-9.0,561,3924,0.00,1.50,0.00,0.000,6,0.000,0.027,2274,2216,3319
$GC,4247,-2.19,-146.0,402.6,-8.6,592,4250,0.00,1.58,0.00,0.000,4,0.000,0.043,2273,1321,3318
$GC,4331,-2.19,-146.0,409.9,-8.0,599,4337,0.00,1.62,0.00,0.000,6,0.000,0.028,2274,2307,3317
$GC,4659,-2.23,-146.0,436.3,-8.4,630,4663,0.12,1.73,0.00,0.000,4,0.064,0.044,2238,1317,3315
$GC,4788,-2.20,-146.0,448.0,-9.5,641,4794,0.00,1.55,0.00,0.000,6,0.000,0.030,2238,2236,3314
$GC,5115,-2.20,-146.0,477.4,-8.7,672,5118,0.00,1.95,0.00,0.000,4,0.000,0.046,2238,3373,3311
$GC,5217,-2.14,-146.0,486.5,-8.9,681,5221,0.12,1.85,0.00,0.000,6,0.106,0.030,2262,2262,3311
$GC,5556,-2.17,-146.0,515.1,-8.8,705,5559,0.00,1.65,0.00,0.000,4,0.000,0.054,2262,1319,3309
$GC,5624,-2.17,-146.0,520.8,-8.1,708,5628,0.00,1.50,0.00,0.000,6,0.000,0.035,2262,2192,3309
$GC,5959,-2.20,-146.0,548.2,-8.4,724,5962,0.00,1.58,0.00,0.000,4,0.000,0.059,2262,1317,3307
$GC,6044,-2.20,-146.0,555.2,-8.0,727,6050,0.00,1.65,0.00,0.000,6,0.000,0.041,2262,2277,3306
$GC,6361,-2.24,-146.0,582.2,-8.4,743,6365,0.00,1.98,0.00,0.000,4,0.000,0.066,2262,3380,3304
$GC,6378,-2.24,-146.0,584.0,-8.7,743,6384,0.00,1.90,0.00,0.000,6,0.000,0.041,2262,2283,3304
$GC,6694,-2.28,-146.0,609.1,-8.4,759,6699,0.12,1.85,0.00,0.000,4,0.064,0.077,2227,1274,3303
$GC,6727,-2.24,-146.0,612.3,-9.7,760,6731,0.00,1.80,0.00,0.000,6,0.000,0.057,2227,2266,3303
$GC,7049,-2.24,-146.0,642.8,-9.6,776,7052,0.00,1.75,0.00,0.000,4,0.000,0.044,2227,1260,3302
$GC,7200,-2.24,-146.0,657.5,-9.9,782,7206,0.00,1.85,0.00,0.000,6,0.000,0.030,2227,2364,3301
$GC,7516,-2.24,-146.0,686.0,-8.7,798,7520,0.00,1.92,0.00,0.000,4,0.000,0.045,2226,1260,3300
$GC,7654,-2.19,-146.0,697.6,-7.8,804,7658,0.12,1.73,0.00,0.000,6,0.114,0.031,2250,2292,3299
$GC,7989,-2.19,-146.0,720.9,-6.9,820,7993,0.00,1.80,0.00,0.000,4,0.000,0.048,2250,1265,3296
$GC,8090,-2.19,-146.0,728.5,-6.6,824,8093,0.00,1.62,0.00,0.000,6,0.000,0.031,2250,2239,3296
$GC,8412,-2.19,-146.0,753.5,-8.5,840,8415,0.00,1.98,0.00,0.000,4,0.000,0.050,2250,3377,3295
$GC,8502,-2.19,-146.0,761.4,-9.0,844,8506,0.00,1.92,0.00,0.000,6,0.000,0.032,2250,2234,3295
$GC,8836,-2.19,-146.0,790.6,-8.9,860,8840,0.00,2.00,0.00,0.000,4,0.000,0.050,2250,3372,3293
$GC,8908,-2.19,-146.0,797.8,-10.4,863,8913,0.00,1.90,0.00,0.000,6,0.000,0.033,2250,2269,3293
$STATE,9088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9088,begin apogee
$GC,9095,-0.52,0.0,814.2,8.8,872,9199,1.70,0.00,100.12,1.290,6,0.088,0.000,2614,1946,2824
$STATE,9200,end apogee,CONTROL_FINISHED_OK
$STATE,9200,begin climb
$GC,9203,2.22,146.0,819.0,0.0,877,9340,2.67,2.00,127.38,1.258,4,0.054,0.071,3217,915,2229
$GC,9363,2.18,205.0,817.0,5.3,885,9419,0.00,1.83,51.83,1.222,6,0.000,0.031,3217,1975,1989
$GC,9744,2.12,220.3,785.9,8.1,904,9766,0.12,1.88,14.23,1.162,4,0.107,0.047,3193,3014,1926
$GC,9834,2.05,227.3,777.8,8.6,908,9848,0.00,1.80,7.70,1.043,6,0.000,0.035,3193,1973,1898
$GC,10166,1.98,227.3,747.1,9.3,924,10170,0.15,1.80,0.00,0.000,4,0.104,0.043,3160,3010,1895
$GC,10279,1.95,228.7,737.2,8.9,929,10283,0.00,1.75,0.00,0.000,6,0.000,0.034,3160,1988,1895
$GC,10611,1.98,249.3,711.4,7.7,945,10636,0.00,1.83,20.45,1.198,4,0.000,0.043,3159,3015,1808
$GC,10799,1.98,249.3,693.7,9.5,953,10802,0.00,1.65,0.00,0.000,6,0.000,0.032,3160,2064,1806
$GC,11120,1.98,249.3,662.5,9.3,969,11124,0.00,1.67,0.00,0.000,4,0.000,0.045,3159,3018,1805
$GC,11204,1.99,255.7,654.9,8.6,972,11215,0.00,1.60,6.78,1.005,6,0.000,0.032,3159,2074,1782
$GC,11537,2.01,265.3,626.7,8.4,989,11551,0.00,1.67,10.23,1.095,4,0.000,0.045,3159,3013,1743
$GC,11604,2.01,268.1,620.8,8.8,992,11613,0.00,1.58,4.18,0.790,6,0.000,0.032,3159,2106,1732
$GC,11935,2.05,268.1,590.9,9.4,1008,11939,0.00,1.60,0.00,0.000,4,0.000,0.045,3159,3019,1731
$GC,12076,2.05,268.1,577.0,9.8,1014,12080,0.00,1.40,0.00,0.000,6,0.000,0.031,3159,2199,1731
$GC,12403,2.11,268.1,546.3,9.1,1030,12407,0.12,1.42,0.00,0.000,4,0.069,0.044,3194,3015,1730
$GC,12459,2.07,268.1,541.0,9.5,1032,12462,0.00,1.58,0.00,0.000,6,0.000,0.032,3194,2083,1730
$GC,12780,2.07,268.1,511.2,9.1,1048,12783,0.00,1.62,0.00,0.000,4,0.000,0.044,3194,3018,1730
$GC,12841,2.04,268.1,505.6,9.1,1050,12847,0.00,1.50,0.00,0.000,6,0.000,0.031,3194,2142,1730
$GC,13166,2.05,271.2,477.3,8.8,1078,13178,0.00,1.58,4.25,0.758,4,0.000,0.046,3194,3013,1719
$GC,13284,2.05,271.2,466.4,9.5,1088,13290,0.00,1.60,0.00,0.000,6,0.000,0.032,3194,2070,1718
$GC,13611,2.05,271.2,436.6,9.2,1119,13615,0.00,1.65,0.00,0.000,4,0.000,0.044,3194,3016,1718
$GC,13713,2.05,271.5,426.9,9.0,1128,13717,0.00,1.48,0.00,0.000,6,0.000,0.031,3194,2158,1718
$GC,14046,2.06,278.5,397.9,8.6,1159,14058,0.00,1.58,7.85,0.923,4,0.000,0.045,3194,3017,1689
$GC,14142,2.08,289.1,389.6,8.4,1167,14158,0.00,1.60,10.85,0.966,6,0.000,0.032,3194,2073,1646
$GC,14477,2.08,289.5,359.6,9.0,1199,14480,0.00,1.62,0.00,0.000,4,0.000,0.044,3194,3007,1645
$GC,14591,2.08,289.5,349.3,9.7,1209,14595,0.00,1.45,0.00,0.000,6,0.000,0.031,3194,2164,1644
$GC,14924,2.11,289.5,316.5,10.0,1240,14928,0.00,1.50,0.00,0.000,4,0.000,0.045,3194,3008,1645
$GC,14980,2.11,289.5,310.6,10.2,1245,14984,0.00,1.60,0.00,0.000,6,0.000,0.032,3194,2063,1644
$GC,15315,2.15,296.2,280.9,8.6,1276,15327,0.00,1.73,7.82,0.839,4,0.000,0.044,3194,3008,1617
$GC,15418,2.16,299.4,271.7,8.8,1285,15429,0.00,1.75,4.57,0.690,6,0.000,0.037,3194,1979,1603
$GC,15753,2.21,299.4,240.4,9.7,1324,15759,0.00,1.80,0.00,0.000,4,0.000,0.042,3195,3018,1603
$GC,15872,2.21,299.4,228.9,9.4,1345,15878,0.00,1.60,0.00,0.000,6,0.000,0.030,3194,2066,1603
$GC,16216,2.26,309.4,198.5,8.4,1406,16233,0.12,1.67,10.30,0.819,4,0.064,0.041,3232,3019,1562
$GC,16285,2.27,312.3,192.3,8.8,1418,16297,0.00,1.75,4.28,0.616,6,0.000,0.031,3232,1986,1551
$GC,16635,2.29,324.5,160.3,8.3,1480,16652,0.00,1.85,11.90,0.802,4,0.000,0.041,3232,3007,1502
$GC,16779,2.29,324.5,148.1,9.7,1505,16785,0.00,1.60,0.00,0.000,6,0.000,0.028,3232,2054,1500
$GC,17125,2.39,358.5,118.9,6.9,1566,17164,0.00,2.08,29.62,0.793,4,0.000,0.049,3232,919,1364
$GC,17300,2.52,400.6,107.4,6.4,1597,17345,0.20,1.83,36.40,0.769,6,0.050,0.025,3290,2031,1190
$GC,17682,2.59,423.9,76.6,7.6,1665,17710,0.00,1.73,20.23,0.723,4,0.000,0.038,3290,3012,1095
$GC,17809,2.65,434.4,66.7,8.4,1687,17825,0.00,1.70,10.10,0.667,6,0.000,0.025,3290,1979,1053
$GC,18166,2.74,447.7,37.8,8.2,1750,18184,0.15,1.90,12.55,0.655,4,0.054,0.043,3348,920,999
$GC,18342,2.70,447.7,22.2,9.2,1781,18349,0.15,1.67,0.00,0.000,6,0.092,0.023,3317,1966,999
$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18572,begin surface coast
$FINISH,-0.0,1.021093
$STATE,18596,end surface coast,CONTROL_FINISHED_OK
$STATE,18596,begin surface
$SM_CCo,18619,23.00,0.637,0,0,888,475.15
$SM_GC,-7.08,0.00,0.00,23.00,0.000,0.000,0.637,416,2304,888,-10.64,-0.59,475.15
$IRIDIUM_FIX,1243.25,12029.39,210797,121211
$TT8_MAMPS,0.026078
$HUMID,1938
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.80
$XPDR_PINGS,447
$24V_AH,23.0,52.848
$10V_AH,10.1,38.004
$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,29.175,143.225,513.600,23.000,0.000,28.820,38.482,198.001,119.750,0.000,0.000,32.179,3023.009,11327.637,648.805,3373.461,717.378,0.000,2288.467,0.000,3310.130,0.000,58.884
$DEVICE_MAMPS,166.439,76.700,1290.094,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1234.490,474.627,763.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97739,1826
$CAP_FILE_SIZE,196356,0
$CFSIZE,260165632,229036032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,225938,1247.683,12023.683,35,1.3,35,-0.8