version: 66.03
glider: 126
mission: 7
dive: 326
start: 4 26 108 23 7 37
data:
$ID,126
$MISSION,7
$DIVE,326
$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,-625638.38
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,225938,1247.683,12023.683,35,1.3,35,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.51
$_SM_ANGLEo,-58.6
$GPS2,230645,1247.779,12023.722,13,1.7,13,-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,255.7,15380,-19.0,-9.016
$D_GRID,840
$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,-67.72,0.000,6,0.000,0.000,416,2305,3320
$GC,98,-2.18,-120.8,-0.1,-18.8,13,115,10.25,1.80,0.00,0.000,4,0.166,0.038,2248,3364,3322
$GC,201,-1.99,-120.8,22.9,-16.2,31,208,0.25,1.70,0.00,0.000,6,0.112,0.023,2297,2288,3323
$GC,546,-1.91,-120.8,69.1,-12.9,92,552,0.00,1.65,0.00,0.000,4,0.000,0.033,2297,1301,3324
$GC,592,-1.83,-120.8,75.0,-13.3,100,599,0.12,1.70,0.00,0.000,6,0.100,0.023,2326,2339,3325
$GC,938,-1.87,-120.8,113.9,-10.5,161,944,0.00,1.73,0.00,0.000,4,0.000,0.032,2326,1298,3326
$GC,1012,-1.87,-120.8,120.9,-9.0,174,1018,0.00,1.67,0.00,0.000,6,0.000,0.023,2326,2322,3326
$GC,1357,-1.98,-133.2,149.7,-8.2,235,1363,0.12,1.70,0.00,0.000,4,0.058,0.031,2285,1298,3327
$GC,1399,-1.99,-137.8,153.3,-8.7,242,1405,0.00,1.58,0.00,0.000,6,0.000,0.023,2285,2267,3327
$GC,1743,-2.03,-143.6,185.2,-8.7,303,1749,0.00,1.85,0.00,0.000,4,0.000,0.040,2285,3369,3329
$GC,1812,-2.04,-146.0,191.3,-8.7,315,1818,0.00,1.75,0.00,0.000,6,0.000,0.025,2285,2256,3329
$GC,2156,-2.08,-146.0,217.1,-7.4,376,2162,0.00,1.60,0.00,0.000,4,0.000,0.037,2285,1311,3329
$GC,2238,-2.08,-146.0,223.1,-7.6,390,2243,0.00,1.58,0.00,0.000,6,0.000,0.024,2285,2270,3329
$GC,2585,-2.13,-146.0,253.0,-9.3,449,2588,0.00,1.85,0.00,0.000,4,0.000,0.042,2285,3364,3328
$GC,2612,-2.13,-146.0,255.8,-9.5,451,2618,0.00,1.85,0.00,0.000,6,0.000,0.025,2285,2218,3327
$GC,2942,-2.19,-146.0,285.5,-9.2,482,2946,0.15,1.52,0.00,0.000,4,0.055,0.038,2240,1310,3326
$GC,3014,-2.19,-146.0,292.4,-8.9,488,3020,0.00,1.48,0.00,0.000,6,0.000,0.025,2240,2207,3326
$GC,3341,-2.19,-146.0,321.1,-9.1,519,3345,0.00,1.98,0.00,0.000,4,0.000,0.044,2241,3362,3323
$GC,3477,-2.14,-146.0,333.3,-8.6,531,3481,0.12,1.77,0.00,0.000,6,0.102,0.027,2266,2275,3323
$GC,3807,-2.14,-146.0,360.6,-8.2,562,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2272,3320
$GC,4127,-2.17,-146.0,387.8,-9.1,592,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2272,3318
$GC,4446,-2.21,-146.0,418.3,-9.7,622,4449,0.00,1.90,0.00,0.000,4,0.000,0.046,2266,3365,3316
$GC,4541,-2.21,-146.0,427.7,-9.0,630,4547,0.00,1.85,0.00,0.000,6,0.000,0.030,2266,2255,3316
$GC,4869,-2.25,-146.0,454.9,-7.9,661,4873,0.12,1.67,0.00,0.000,4,0.064,0.051,2230,1294,3314
$GC,4881,-2.25,-146.0,456.1,-7.9,662,4884,0.00,1.50,0.00,0.000,6,0.000,0.031,2230,2180,3313
$GC,5214,-2.25,-146.0,484.5,-8.6,693,5217,0.00,1.58,0.00,0.000,4,0.000,0.053,2230,1307,3312
$GC,5242,-2.21,-146.0,487.3,-8.9,695,5247,0.00,1.55,0.00,0.000,6,0.000,0.033,2230,2210,3312
$GC,5564,-2.18,-146.0,515.3,-8.7,718,5569,0.12,2.03,0.00,0.000,4,0.107,0.054,2255,3363,3309
$GC,5621,-2.15,-146.0,520.5,-8.9,720,5627,0.00,1.92,0.00,0.000,6,0.000,0.032,2254,2226,3308
$GC,5937,-2.15,-146.0,546.5,-7.8,736,5940,0.00,2.03,0.00,0.000,4,0.000,0.061,2255,3351,3307
$GC,5948,-2.15,-146.0,547.5,-7.7,736,5952,0.00,1.75,0.00,0.000,6,0.000,0.036,2255,2326,3307
$GC,6270,-2.15,-146.0,572.9,-7.9,752,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2326,3305
$GC,6580,-2.15,-146.0,597.9,-7.9,767,6583,0.00,1.95,0.00,0.000,4,0.000,0.079,2255,3367,3304
$GC,6703,-2.15,-146.0,608.2,-8.1,772,6706,0.00,2.05,0.00,0.000,6,0.000,0.060,2255,2239,3303
$GC,7024,-2.15,-146.0,635.7,-8.5,788,7028,0.00,1.83,0.00,0.000,4,0.000,0.097,2254,1282,3302
$GC,7115,-2.15,-146.0,643.7,-8.8,792,7119,0.00,1.62,0.00,0.000,6,0.000,0.077,2255,2147,3302
$GC,7449,-2.19,-146.0,673.1,-9.0,808,7453,0.00,1.77,0.00,0.000,4,0.000,0.114,2255,1285,3300
$GC,7511,-2.19,-146.0,678.8,-8.6,810,7517,0.00,1.85,0.00,0.000,6,0.000,0.094,2255,2241,3299
$GC,7827,-2.19,-146.0,705.3,-7.9,826,7831,0.00,2.25,0.00,0.000,4,0.000,0.125,2255,3348,3298
$GC,7916,-2.19,-146.0,712.6,-8.2,830,7920,0.00,1.85,0.00,0.000,6,0.000,0.031,2255,2248,3298
$GC,8244,-2.23,-146.0,738.1,-7.7,846,8247,0.00,1.70,0.00,0.000,4,0.000,0.051,2255,1269,3296
$GC,8339,-2.23,-146.0,745.1,-6.9,850,8342,0.00,1.58,0.00,0.000,6,0.000,0.030,2255,2218,3296
$GC,8667,-2.26,-146.0,768.5,-7.6,866,8670,0.00,1.65,0.00,0.000,4,0.000,0.048,2255,1274,3295
$GC,8739,-2.26,-146.0,774.4,-8.2,869,8743,0.00,1.45,0.00,0.000,6,0.000,0.030,2255,2133,3295
$GC,9070,-2.31,-146.0,801.4,-8.6,885,9075,0.12,2.12,0.00,0.000,4,0.069,0.049,2221,3355,3294
$GC,9227,-2.24,-146.0,816.0,-9.1,892,9232,0.10,1.98,0.00,0.000,6,0.117,0.033,2239,2192,3293
$STATE,9532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9532,begin apogee
$GC,9539,-0.52,0.0,840.4,8.3,907,9643,1.77,0.00,100.35,1.315,6,0.091,0.000,2616,1954,2825
$STATE,9644,end apogee,CONTROL_FINISHED_OK
$STATE,9644,begin climb
$GC,9647,2.22,146.0,844.5,0.0,912,9783,2.65,1.98,127.90,1.278,4,0.058,0.071,3217,917,2228
$GC,9904,2.13,167.2,833.4,7.7,923,9929,0.10,1.80,19.25,1.208,6,0.098,0.031,3194,1949,2143
$GC,10253,2.08,184.6,806.6,7.9,940,10275,0.00,1.90,16.23,1.203,4,0.000,0.048,3194,3016,2072
$GC,10418,2.02,203.9,792.3,7.8,947,10442,0.12,1.75,18.62,1.207,6,0.111,0.036,3171,2001,1993
$GC,10767,1.97,203.9,758.2,10.0,964,10771,0.00,1.77,0.00,0.000,4,0.000,0.045,3171,3013,1990
$GC,10873,1.91,203.9,747.3,9.7,968,10880,0.12,1.65,0.00,0.000,6,0.116,0.033,3148,2048,1989
$GC,11191,1.94,223.6,720.4,7.8,984,11216,0.00,1.80,18.20,1.206,4,0.000,0.045,3148,3016,1913
$GC,11256,1.94,223.6,714.5,9.1,987,11260,0.00,1.65,0.00,0.000,6,0.000,0.034,3148,2061,1912
$GC,11589,1.96,237.0,687.6,8.2,1003,11611,0.00,1.75,13.35,1.163,4,0.000,0.046,3148,3013,1857
$GC,11689,1.98,245.2,678.9,8.5,1007,11703,0.00,1.58,8.77,1.079,6,0.000,0.032,3148,2089,1825
$GC,12034,2.02,245.2,648.8,9.1,1024,12038,0.00,1.62,0.00,0.000,4,0.000,0.045,3148,3015,1823
$GC,12061,2.02,245.2,645.9,9.1,1025,12065,0.00,1.60,0.00,0.000,6,0.000,0.035,3148,2099,1822
$GC,12391,2.07,245.8,616.7,9.0,1041,12395,0.15,1.60,0.00,0.000,4,0.063,0.044,3194,3013,1822
$GC,12504,2.02,245.8,606.0,9.1,1046,12508,0.10,1.45,0.00,0.000,6,0.096,0.042,3170,2173,1822
$GC,12837,2.02,245.8,574.2,10.1,1062,12841,0.00,1.50,0.00,0.000,4,0.000,0.047,3170,3014,1822
$GC,12928,2.02,245.8,565.1,9.9,1066,12932,0.00,1.35,0.00,0.000,6,0.000,0.031,3170,2226,1821
$GC,13260,2.02,245.8,533.6,9.1,1082,13263,0.00,1.40,0.00,0.000,4,0.000,0.047,3171,3010,1821
$GC,13344,2.03,254.0,526.0,8.5,1085,13358,0.00,1.50,8.90,1.025,6,0.000,0.032,3170,2137,1788
$GC,13671,2.06,267.6,498.6,8.2,1102,13693,0.00,1.60,13.43,1.066,4,0.000,0.046,3170,3009,1733
$GC,13766,2.10,290.9,491.0,7.6,1110,13792,0.00,1.65,22.08,1.075,6,0.000,0.033,3170,2045,1638
$GC,14111,2.16,302.9,463.2,8.3,1143,14128,0.12,2.12,11.40,1.013,4,0.068,0.058,3206,914,1590
$GC,14221,2.11,302.9,453.2,9.1,1152,14224,0.00,1.95,0.00,0.000,6,0.000,0.031,3206,2040,1589
$GC,14553,2.11,302.9,420.0,10.5,1183,14557,0.00,2.03,0.00,0.000,4,0.000,0.054,3206,915,1588
$GC,14626,2.07,302.9,412.3,10.0,1189,14632,0.12,1.75,0.00,0.000,6,0.102,0.029,3182,1956,1588
$GC,14951,2.14,313.1,383.3,8.4,1220,14966,0.00,1.92,10.55,0.960,4,0.000,0.054,3181,908,1548
$GC,15028,2.16,325.2,376.8,8.3,1226,15044,0.00,1.92,12.02,0.959,6,0.000,0.030,3181,2046,1499
$GC,15363,2.22,325.2,347.3,9.1,1258,15367,0.15,2.05,0.00,0.000,4,0.063,0.051,3225,905,1497
$GC,15391,2.22,325.2,344.5,9.3,1260,15394,0.00,1.98,0.00,0.000,6,0.000,0.030,3225,2069,1497
$GC,15725,2.22,325.2,312.3,9.9,1291,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2071,1497
$GC,16049,2.22,325.2,279.0,10.8,1322,16053,0.00,1.60,0.00,0.000,4,0.000,0.046,3225,3002,1497
$GC,16100,2.22,325.2,273.5,11.0,1326,16106,0.00,1.75,0.00,0.000,6,0.000,0.032,3225,1967,1496
$GC,16430,2.22,325.2,237.3,11.5,1367,16436,0.00,1.80,0.00,0.000,4,0.000,0.043,3225,3006,1496
$GC,16521,2.22,325.2,227.7,11.1,1383,16527,0.00,1.92,0.00,0.000,6,0.000,0.032,3225,1874,1496
$GC,16865,2.23,333.4,195.2,8.5,1444,16882,0.00,1.75,8.32,0.795,4,0.000,0.055,3225,919,1465
$GC,16944,2.25,344.9,188.1,8.3,1458,16961,0.00,1.62,11.40,0.825,6,0.000,0.028,3225,1895,1418
$GC,17301,2.30,344.9,153.6,9.1,1521,17307,0.00,1.90,0.00,0.000,4,0.000,0.042,3225,3006,1417
$GC,17381,2.31,349.1,146.4,8.8,1535,17393,0.00,1.88,5.38,0.667,6,0.000,0.031,3225,1897,1400
$GC,17735,2.43,380.7,118.2,7.0,1597,17769,0.15,2.03,27.75,0.793,4,0.058,0.038,3275,3015,1273
$GC,17846,2.46,398.7,109.1,7.9,1616,17868,0.00,1.85,16.73,0.755,6,0.000,0.028,3275,1935,1199
$GC,18209,2.50,405.1,77.7,8.6,1680,18222,0.00,1.85,6.93,0.644,4,0.000,0.048,3275,914,1173
$GC,18285,2.54,427.2,71.6,7.6,1693,18312,0.00,1.67,19.70,0.716,6,0.000,0.025,3275,1944,1083
$GC,18652,2.65,445.0,43.0,7.9,1758,18675,0.15,1.77,16.48,0.676,4,0.052,0.034,3330,2991,1009
$GC,18769,2.66,450.4,33.4,8.7,1778,18781,0.08,1.80,5.82,0.555,6,0.087,0.025,3310,1911,988
$GC,19123,2.74,457.6,2.8,8.6,1840,19131,0.00,0.00,5.30,0.505,2,0.000,0.000,3310,1911,971
$STATE,19131,end climb,SURFACE_DEPTH_REACHED
$STATE,19131,begin surface coast
$FINISH,-0.3,1.021053
$STATE,19153,end surface coast,CONTROL_FINISHED_OK
$STATE,19154,begin surface
$SM_CCo,19177,17.65,0.630,0,0,888,475.15
$SM_GC,-6.51,0.00,0.00,17.65,0.000,0.000,0.630,418,2334,888,-10.64,0.25,475.15
$IRIDIUM_FIX,1243.25,12023.34,210797,171749
$TT8_MAMPS,0.026078
$HUMID,1953
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.50
$XPDR_PINGS,632
$24V_AH,23.0,53.050
$10V_AH,10.1,38.125
$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,29.850,149.075,524.850,17.650,0.000,30.362,30.475,218.630,166.750,0.000,0.000,13.786,3053.910,11820.165,631.026,3385.897,748.585,0.000,2301.826,0.000,3334.158,0.000,64.319
$DEVICE_MAMPS,165.672,125.021,1315.405,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1247.903,476.384,754.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97873,1845
$CAP_FILE_SIZE,201869,0
$CFSIZE,260165632,228937728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,042838,1246.868,12023.490,27,1.2,27,-0.8