version: 66.03
glider: 126
mission: 7
dive: 327
start: 4 27 108 4 36 19
data:
$ID,126
$MISSION,7
$DIVE,327
$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,-625650.81
$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,37
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,042838,1246.868,12023.490,27,1.2,27,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.64
$_SM_ANGLEo,-59.2
$GPS2,043527,1246.938,12023.539,11,1.5,11,-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,261.3,14725,-19.0,-9.016
$D_GRID,695
$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,-67.65,0.000,6,0.000,0.000,418,2334,3319
$GC,99,-2.18,-120.8,-0.4,-18.6,13,116,10.23,1.75,0.00,0.000,4,0.164,0.037,2251,3365,3321
$GC,162,-1.98,-120.8,16.3,-17.1,24,169,0.17,1.75,0.00,0.000,6,0.104,0.022,2291,2279,3322
$GC,508,-1.89,-120.8,63.3,-13.6,85,514,0.12,1.60,0.00,0.000,4,0.117,0.031,2314,1305,3323
$GC,566,-1.83,-120.8,71.2,-13.5,95,572,0.00,1.67,0.00,0.000,6,0.000,0.023,2314,2341,3323
$GC,909,-1.83,-120.8,108.9,-10.1,156,915,0.00,1.75,0.00,0.000,4,0.000,0.038,2314,3372,3325
$GC,1012,-1.83,-120.8,119.2,-9.7,174,1018,0.00,1.77,0.00,0.000,6,0.000,0.023,2314,2249,3325
$GC,1358,-1.91,-126.1,149.7,-8.7,235,1364,0.00,1.58,0.00,0.000,4,0.000,0.033,2314,1294,3326
$GC,1468,-1.97,-140.0,158.6,-8.1,254,1473,0.00,1.52,0.00,0.000,6,0.000,0.023,2314,2233,3327
$GC,1812,-2.05,-146.0,187.0,-7.7,315,1818,0.15,1.90,0.00,0.000,4,0.053,0.038,2268,3370,3328
$GC,1926,-2.05,-146.0,197.1,-9.1,335,1932,0.00,1.80,0.00,0.000,6,0.000,0.025,2268,2235,3328
$GC,2269,-2.05,-146.0,227.7,-9.2,396,2275,0.00,1.92,0.00,0.000,4,0.000,0.041,2268,3364,3328
$GC,2388,-2.05,-146.0,238.4,-8.9,417,2394,0.00,1.90,0.00,0.000,6,0.000,0.025,2268,2186,3328
$GC,2721,-2.09,-146.0,266.0,-7.8,460,2725,0.00,2.03,0.00,0.000,4,0.000,0.041,2268,3368,3326
$GC,2862,-2.09,-146.0,277.1,-7.8,472,2868,0.00,1.98,0.00,0.000,6,0.000,0.027,2268,2160,3326
$GC,3189,-2.12,-146.0,304.6,-9.0,503,3193,0.00,2.10,0.00,0.000,4,0.000,0.043,2268,3373,3324
$GC,3228,-2.12,-146.0,308.5,-9.3,506,3234,0.00,2.00,0.00,0.000,6,0.000,0.028,2268,2158,3323
$GC,3555,-2.16,-146.0,339.3,-9.4,537,3559,0.00,1.45,0.00,0.000,4,0.000,0.041,2268,1320,3322
$GC,3685,-2.16,-146.0,351.1,-8.9,548,3690,0.00,1.30,0.00,0.000,6,0.000,0.026,2268,2112,3321
$GC,4012,-2.16,-146.0,376.3,-7.4,579,4015,0.00,1.40,0.00,0.000,4,0.000,0.043,2268,1315,3319
$GC,4051,-2.16,-146.0,379.3,-7.1,582,4057,0.00,1.45,0.00,0.000,6,0.000,0.027,2268,2190,3318
$GC,4378,-2.16,-146.0,402.9,-7.5,613,4382,0.00,1.52,0.00,0.000,4,0.000,0.043,2268,1320,3316
$GC,4435,-2.16,-146.0,407.7,-8.2,618,4439,0.00,1.55,0.00,0.000,6,0.000,0.028,2268,2243,3316
$GC,4768,-2.20,-146.0,437.4,-9.4,649,4772,0.00,1.60,0.00,0.000,4,0.000,0.043,2268,1316,3313
$GC,4825,-2.20,-146.0,442.8,-8.9,654,4829,0.00,1.50,0.00,0.000,6,0.000,0.028,2268,2206,3313
$GC,5158,-2.24,-146.0,473.3,-9.3,685,5162,0.12,1.55,0.00,0.000,4,0.061,0.044,2231,1317,3311
$GC,5253,-2.19,-146.0,482.4,-9.5,693,5259,0.10,1.60,0.00,0.000,6,0.115,0.031,2250,2275,3311
$GC,5590,-2.19,-146.0,510.8,-8.5,719,5593,0.00,1.70,0.00,0.000,4,0.000,0.051,2249,1315,3308
$GC,5744,-2.19,-146.0,523.9,-8.2,725,5750,0.00,1.58,0.00,0.000,6,0.000,0.035,2249,2222,3308
$GC,6063,-2.19,-146.0,551.3,-8.6,741,6067,0.00,1.62,0.00,0.000,4,0.000,0.060,2249,1322,3306
$GC,6158,-2.19,-146.0,559.8,-9.1,745,6163,0.00,1.50,0.00,0.000,6,0.000,0.044,2250,2172,3305
$GC,6486,-2.19,-146.0,586.2,-7.6,761,6490,0.00,2.17,0.00,0.000,4,0.000,0.071,2250,3366,3304
$GC,6532,-2.19,-146.0,590.0,-8.4,763,6536,0.00,2.03,0.00,0.000,6,0.000,0.048,2249,2229,3303
$GC,6859,-2.19,-146.0,616.0,-8.0,779,6863,0.00,1.67,0.00,0.000,4,0.000,0.081,2249,1322,3302
$GC,7013,-2.19,-146.0,627.7,-8.2,785,7019,0.00,1.40,0.00,0.000,6,0.000,0.028,2249,2158,3301
$GC,7329,-2.19,-146.0,653.3,-8.1,801,7332,0.00,2.12,0.00,0.000,4,0.000,0.048,2249,3383,3300
$GC,7436,-2.19,-146.0,662.1,-7.8,805,7441,0.00,2.00,0.00,0.000,6,0.000,0.032,2249,2197,3299
$GC,7752,-2.22,-146.0,687.8,-8.3,821,7755,0.00,2.08,0.00,0.000,4,0.000,0.049,2249,3375,3297
$GC,7825,-2.22,-146.0,694.1,-8.3,824,7829,0.00,1.95,0.00,0.000,6,0.000,0.032,2249,2218,3297
$STATE,7833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7833,begin apogee
$GC,7840,-0.52,0.0,695.1,8.0,824,7946,1.67,0.00,99.30,1.199,6,0.091,0.000,2614,1992,2824
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7950,2.22,146.0,700.3,0.0,830,8084,2.62,1.90,124.40,1.165,4,0.054,0.047,3217,3014,2228
$GC,8188,2.17,186.3,692.6,6.5,841,8228,0.00,1.83,35.08,1.130,6,0.000,0.035,3217,1956,2065
$GC,8558,2.09,193.1,662.0,8.6,859,8569,0.15,1.95,6.70,0.938,4,0.106,0.045,3185,3019,2037
$GC,8711,2.03,193.1,648.4,9.0,866,8715,0.00,1.77,0.00,0.000,6,0.000,0.034,3185,1987,2036
$GC,9044,2.02,219.1,621.9,7.4,882,9073,0.00,1.88,23.95,1.123,4,0.000,0.046,3185,3007,1931
$GC,9189,2.01,242.2,610.8,7.6,888,9215,0.00,1.73,21.45,1.103,6,0.000,0.034,3185,2022,1837
$GC,9525,2.05,265.5,585.0,7.6,904,9551,0.00,1.77,21.35,1.101,4,0.000,0.044,3185,3009,1742
$GC,9635,2.05,265.5,574.6,9.7,909,9638,0.00,1.70,0.00,0.000,6,0.000,0.042,3185,2040,1739
$GC,9964,2.08,265.5,542.3,10.2,925,9967,0.00,1.70,0.00,0.000,4,0.000,0.044,3185,3013,1738
$GC,10093,2.09,267.5,529.7,8.9,930,10099,0.00,1.58,0.00,0.000,6,0.000,0.032,3185,2082,1737
$GC,10410,2.16,292.0,504.9,7.5,946,10440,0.00,1.70,23.58,1.078,4,0.000,0.045,3185,3007,1633
$GC,10545,2.19,308.7,494.5,8.0,955,10566,0.00,1.67,16.00,1.035,6,0.000,0.034,3185,2051,1566
$GC,10885,2.25,308.7,464.7,9.2,987,10889,0.15,1.70,0.00,0.000,4,0.062,0.044,3232,3020,1562
$GC,10987,2.21,308.7,454.3,10.7,996,10991,0.12,1.75,0.00,0.000,6,0.103,0.035,3209,2001,1562
$GC,11317,2.21,308.7,418.9,10.7,1027,11321,0.00,1.77,0.00,0.000,4,0.000,0.044,3208,3018,1561
$GC,11441,2.21,308.7,406.4,10.3,1038,11445,0.00,1.65,0.00,0.000,6,0.000,0.033,3209,2051,1561
$GC,11774,2.21,310.9,376.7,8.9,1069,11778,0.00,1.70,0.00,0.000,4,0.000,0.044,3209,3009,1561
$GC,11841,2.21,311.2,370.4,9.0,1075,11845,0.00,1.73,0.00,0.000,6,0.000,0.034,3209,1998,1560
$GC,12172,2.25,315.3,340.3,8.8,1106,12184,0.00,1.85,6.53,0.831,4,0.000,0.044,3209,3014,1539
$GC,12263,2.25,315.3,331.9,9.0,1114,12267,0.00,1.65,0.00,0.000,6,0.000,0.032,3209,2047,1538
$GC,12596,2.28,315.3,299.5,9.9,1145,12599,0.00,1.67,0.00,0.000,4,0.000,0.044,3208,3012,1538
$GC,12664,2.28,315.3,292.5,9.9,1151,12668,0.00,1.77,0.00,0.000,6,0.000,0.033,3209,1985,1538
$GC,12996,2.28,315.3,261.3,9.4,1182,12999,0.00,1.80,0.00,0.000,4,0.000,0.044,3209,3020,1538
$GC,13076,2.29,318.0,254.1,8.8,1189,13087,0.00,1.88,4.20,0.641,6,0.000,0.033,3209,1915,1527
$GC,13422,2.33,318.0,222.5,9.2,1246,13428,0.12,1.90,0.00,0.000,4,0.067,0.041,3247,3009,1527
$GC,13566,2.28,318.0,208.2,10.1,1271,13572,0.00,1.92,0.00,0.000,6,0.000,0.032,3247,1876,1527
$GC,13909,2.28,318.0,174.9,9.4,1332,13915,0.00,1.70,0.00,0.000,4,0.000,0.055,3247,906,1527
$GC,14034,2.22,318.0,163.1,9.5,1354,14041,0.17,1.80,0.00,0.000,6,0.096,0.028,3211,1992,1527
$GC,14382,2.30,334.4,133.6,8.0,1415,14404,0.00,1.77,15.30,0.800,4,0.000,0.041,3211,2998,1461
$GC,14489,2.39,349.4,124.7,8.1,1434,14508,0.12,1.77,14.15,0.775,6,0.046,0.028,3256,1956,1400
$GC,14847,2.46,368.9,98.4,7.8,1497,14870,0.00,1.90,17.38,0.758,4,0.000,0.050,3256,917,1321
$GC,14933,2.50,390.2,91.6,7.7,1512,14962,0.00,1.77,19.40,0.736,6,0.000,0.025,3256,1982,1234
$GC,15304,2.60,411.7,64.5,7.7,1577,15332,0.15,1.75,19.12,0.706,4,0.054,0.036,3310,2985,1146
$GC,15396,2.62,420.6,56.5,8.5,1593,15413,0.00,1.70,8.93,0.640,6,0.000,0.025,3310,1949,1110
$GC,15752,2.69,436.3,28.8,8.0,1656,15774,0.00,1.83,14.70,0.648,4,0.000,0.035,3310,2989,1045
$GC,15844,2.74,448.6,21.4,8.2,1672,15861,0.00,1.67,11.48,0.619,6,0.000,0.025,3310,1982,996
$STATE,16068,end climb,SURFACE_DEPTH_REACHED
$STATE,16068,begin surface coast
$FINISH,-0.4,1.021060
$STATE,16090,end surface coast,CONTROL_FINISHED_OK
$STATE,16090,begin surface
$SM_CCo,16114,22.00,0.628,0,0,888,475.15
$SM_GC,-6.78,0.00,0.00,22.00,0.000,0.000,0.628,417,2334,888,-10.64,0.25,475.15
$IRIDIUM_FIX,1241.04,12024.46,210797,232345
$TT8_MAMPS,0.026078
$HUMID,1948
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.00
$XPDR_PINGS,579
$24V_AH,23.1,53.232
$10V_AH,10.2,38.237
$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,28.750,130.300,502.975,22.000,0.000,30.251,33.872,195.022,149.750,0.000,0.000,11.811,2804.783,9328.357,603.390,3145.200,680.541,0.000,2150.928,0.000,3110.162,0.000,37.167
$DEVICE_MAMPS,164.138,80.535,1198.821,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.906,491.940,767.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91466,1716
$CAP_FILE_SIZE,177594,0
$CFSIZE,260165632,228868096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,090631,1246.716,12023.138,38,2.0,38,-0.8