version: 66.03
glider: 126
mission: 7
dive: 329
start: 4 27 108 14 38 55
data:
$ID,126
$MISSION,7
$DIVE,329
$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,548.98138
$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,-625679.38
$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,38
$R_STBD_OVSHOOT,58
$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
$GPS1,142255,1246.971,12022.541,27,1.4,44,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.50
$_SM_ANGLEo,-59.2
$GPS2,143803,1247.226,12022.498,15,1.5,15,-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,257.6,12986,-19.0,-9.016
$D_GRID,821
$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,-66.68,0.000,6,0.000,0.000,412,2320,3320
$GC,98,-2.18,-120.8,0.2,-19.7,13,115,10.23,1.77,0.00,0.000,4,0.165,0.031,2250,1267,3322
$GC,265,-2.00,-120.8,32.3,-15.4,42,272,0.17,1.73,0.00,0.000,6,0.108,0.024,2288,2316,3322
$GC,610,-1.93,-120.8,76.0,-12.6,103,617,0.10,1.77,0.00,0.000,4,0.121,0.038,2306,3375,3323
$GC,747,-1.86,-120.8,92.1,-11.4,127,753,0.00,1.80,0.00,0.000,6,0.000,0.023,2306,2236,3323
$GC,1091,-1.86,-120.8,127.2,-9.3,188,1097,0.00,1.95,0.00,0.000,4,0.000,0.038,2306,3371,3324
$GC,1182,-1.88,-129.5,135.2,-8.5,204,1188,0.00,1.77,0.00,0.000,6,0.000,0.024,2307,2257,3324
$GC,1526,-1.93,-137.1,165.6,-8.5,265,1532,0.00,1.62,0.00,0.000,4,0.000,0.035,2306,1264,3325
$GC,1641,-1.99,-146.0,174.4,-7.7,285,1647,0.00,1.62,0.00,0.000,6,0.000,0.024,2306,2275,3325
$GC,1986,-2.04,-146.0,200.5,-7.9,346,1992,0.00,1.70,0.00,0.000,4,0.000,0.035,2306,1260,3326
$GC,2100,-2.08,-146.0,209.8,-7.9,366,2106,0.15,1.58,0.00,0.000,6,0.055,0.025,2261,2219,3326
$GC,2444,-2.08,-146.0,236.9,-7.1,427,2450,0.00,1.92,0.00,0.000,4,0.000,0.041,2261,3358,3325
$GC,2536,-2.04,-146.0,243.6,-7.1,443,2542,0.12,1.88,0.00,0.000,6,0.101,0.026,2286,2202,3325
$GC,2872,-2.08,-146.0,270.8,-8.8,482,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2201,3323
$GC,3193,-2.14,-146.0,298.8,-8.5,512,3196,0.00,2.00,0.00,0.000,4,0.000,0.043,2286,3364,3321
$GC,3288,-2.14,-146.0,307.3,-8.6,520,3294,0.00,1.85,0.00,0.000,6,0.000,0.028,2286,2228,3320
$GC,3616,-2.20,-146.0,333.1,-7.6,551,3620,0.15,1.95,0.00,0.000,4,0.058,0.043,2242,3357,3318
$GC,3666,-2.14,-146.0,337.7,-8.4,555,3672,0.10,1.77,0.00,0.000,6,0.110,0.028,2261,2264,3317
$GC,3991,-2.14,-146.0,365.7,-8.9,586,3994,0.00,1.67,0.00,0.000,4,0.000,0.043,2261,1276,3315
$GC,4036,-2.14,-146.0,369.8,-8.8,590,4039,0.00,1.62,0.00,0.000,6,0.000,0.028,2261,2265,3315
$GC,4369,-2.17,-146.0,399.5,-8.9,621,4372,0.00,1.88,0.00,0.000,4,0.000,0.047,2261,3355,3313
$GC,4394,-2.17,-146.0,401.7,-8.3,623,4398,0.00,1.77,0.00,0.000,6,0.000,0.029,2261,2284,3312
$GC,4728,-2.21,-146.0,427.8,-7.8,654,4732,0.00,1.88,0.00,0.000,4,0.000,0.048,2261,3361,3309
$GC,4869,-2.21,-146.0,439.6,-8.2,666,4875,0.00,1.70,0.00,0.000,6,0.000,0.031,2261,2340,3308
$GC,5196,-2.21,-146.0,467.4,-9.0,697,5200,0.00,1.88,0.00,0.000,4,0.000,0.054,2261,1285,3306
$GC,5348,-2.21,-146.0,480.4,-8.2,710,5354,0.00,1.67,0.00,0.000,6,0.000,0.033,2261,2285,3306
$GC,5673,-2.24,-146.0,507.1,-8.4,737,5676,0.00,1.77,0.00,0.000,4,0.000,0.051,2261,1280,3304
$GC,5764,-2.24,-146.0,514.5,-8.0,741,5767,0.00,1.67,0.00,0.000,6,0.000,0.037,2261,2268,3303
$GC,6098,-2.27,-146.0,542.4,-8.6,757,6100,0.12,0.00,0.00,0.000,6,0.064,0.000,2224,2268,3302
$GC,6407,-2.27,-146.0,570.0,-8.7,772,6410,0.00,2.00,0.00,0.000,4,0.000,0.070,2224,3372,3300
$GC,6446,-2.21,-146.0,573.5,-8.2,773,6452,0.12,1.95,0.00,0.000,6,0.108,0.045,2248,2260,3300
$GC,6762,-2.21,-146.0,598.8,-7.9,789,6765,0.00,2.08,0.00,0.000,4,0.000,0.077,2248,3371,3298
$GC,6886,-2.18,-146.0,608.2,-7.9,794,6889,0.00,1.90,0.00,0.000,6,0.000,0.058,2248,2318,3297
$GC,7208,-2.18,-146.0,632.1,-7.2,810,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2310,3295
$GC,7516,-2.18,-146.0,655.7,-7.8,825,7519,0.00,1.83,0.00,0.000,4,0.000,0.048,2247,1257,3294
$GC,7566,-2.18,-146.0,659.5,-7.7,827,7570,0.00,1.80,0.00,0.000,6,0.000,0.031,2247,2334,3294
$GC,7896,-2.18,-146.0,684.4,-8.3,843,7899,0.00,1.90,0.00,0.000,4,0.000,0.048,2248,1267,3292
$GC,8008,-2.18,-146.0,694.3,-8.7,848,8012,0.00,1.70,0.00,0.000,6,0.000,0.033,2248,2279,3292
$GC,8341,-2.18,-146.0,725.6,-9.7,864,8345,0.00,1.92,0.00,0.000,4,0.000,0.054,2248,3380,3291
$GC,8477,-2.18,-146.0,738.0,-8.7,870,8480,0.00,1.85,0.00,0.000,6,0.000,0.033,2248,2286,3291
$GC,8812,-2.18,-146.0,765.6,-8.4,886,8815,0.00,1.92,0.00,0.000,4,0.000,0.052,2248,3377,3289
$GC,8884,-2.18,-146.0,772.0,-9.1,889,8888,0.00,1.75,0.00,0.000,6,0.000,0.033,2248,2358,3288
$GC,9211,-2.18,-146.0,799.6,-8.2,905,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2359,3287
$STATE,9498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9498,begin apogee
$GC,9505,-0.52,0.0,822.1,8.1,919,9609,1.73,0.00,98.85,1.300,6,0.088,0.000,2617,1965,2824
$STATE,9609,end apogee,CONTROL_FINISHED_OK
$STATE,9609,begin climb
$GC,9612,2.22,146.0,826.6,0.0,924,9748,2.65,2.00,126.90,1.266,4,0.055,0.071,3221,919,2229
$GC,9857,2.13,177.3,818.1,7.1,935,9892,0.15,1.80,28.00,1.217,6,0.104,0.031,3193,1972,2102
$GC,10222,2.06,181.6,787.3,8.8,953,10231,0.00,1.85,4.88,0.887,4,0.000,0.048,3193,3016,2083
$GC,10305,1.97,189.1,779.6,8.6,956,10320,0.17,1.83,8.30,1.081,6,0.106,0.044,3160,1962,2053
$GC,10644,1.99,224.2,755.6,6.8,973,10685,0.00,1.95,32.22,1.229,4,0.000,0.046,3160,3011,1910
$GC,10748,1.97,233.7,747.1,8.4,977,10763,0.00,1.83,9.68,1.097,6,0.000,0.036,3160,1956,1872
$GC,11086,1.99,248.2,718.6,8.1,994,11107,0.00,1.92,14.15,1.165,4,0.000,0.046,3159,3003,1813
$GC,11203,1.99,248.2,707.9,9.4,999,11207,0.00,1.77,0.00,0.000,6,0.000,0.036,3160,1980,1811
$GC,11531,2.00,250.0,678.6,8.9,1015,11534,0.00,1.80,0.00,0.000,4,0.000,0.046,3160,3006,1810
$GC,11603,2.01,257.6,672.0,8.5,1018,11620,0.00,1.73,9.60,1.099,6,0.000,0.035,3160,2005,1774
$GC,11929,2.05,257.6,642.9,9.2,1034,11933,0.00,1.77,0.00,0.000,4,0.000,0.047,3160,3014,1772
$GC,12020,2.06,268.5,634.8,8.3,1038,12035,0.00,1.67,11.05,1.109,6,0.000,0.035,3160,2058,1730
$GC,12346,2.11,268.5,606.3,9.6,1053,12350,0.12,1.67,0.00,0.000,4,0.068,0.046,3195,3008,1729
$GC,12448,2.08,268.5,596.1,9.9,1057,12452,0.00,1.58,0.00,0.000,6,0.000,0.035,3195,2085,1729
$GC,12769,2.08,268.5,563.3,10.1,1073,12773,0.00,2.10,0.00,0.000,4,0.000,0.059,3194,912,1729
$GC,12820,2.03,268.5,558.3,9.5,1075,12824,0.12,2.03,0.00,0.000,6,0.104,0.033,3171,2103,1728
$GC,13141,2.07,268.5,528.8,9.3,1091,13144,0.00,1.58,0.00,0.000,4,0.000,0.050,3170,3014,1728
$GC,13174,2.07,271.0,525.7,8.9,1092,13178,0.00,1.62,0.00,0.000,6,0.000,0.035,3171,2064,1728
$GC,13497,2.13,285.6,498.8,8.1,1108,13518,0.10,0.00,16.15,1.081,6,0.080,0.000,3200,2064,1660
$GC,13836,2.13,285.6,468.6,9.4,1140,13840,0.00,2.08,0.00,0.000,4,0.000,0.059,3200,908,1659
$GC,13932,2.13,285.6,459.4,9.5,1148,13938,0.00,2.08,0.00,0.000,6,0.000,0.032,3200,2126,1659
$GC,14258,2.13,285.6,427.4,10.3,1179,14262,0.00,2.17,0.00,0.000,4,0.000,0.054,3200,914,1658
$GC,14354,2.09,285.6,417.5,10.6,1187,14358,0.00,1.95,0.00,0.000,6,0.000,0.031,3200,2063,1658
$GC,14687,2.09,285.6,386.5,9.3,1218,14690,0.00,1.62,0.00,0.000,4,0.000,0.048,3200,3007,1658
$GC,14736,2.09,285.6,381.6,9.7,1222,14742,0.00,1.70,0.00,0.000,6,0.000,0.035,3200,2030,1657
$GC,15064,2.09,285.6,351.0,9.7,1253,15067,0.00,1.73,0.00,0.000,4,0.000,0.045,3200,3017,1657
$GC,15176,2.09,285.6,339.8,9.1,1263,15180,0.00,1.77,0.00,0.000,6,0.000,0.035,3200,1979,1658
$GC,15509,2.09,285.6,307.6,9.8,1294,15513,0.00,1.80,0.00,0.000,4,0.000,0.044,3200,3013,1658
$GC,15615,2.09,285.6,297.2,10.0,1303,15621,0.00,1.83,0.00,0.000,6,0.000,0.034,3200,1938,1658
$GC,15942,2.09,285.8,267.8,9.0,1334,15946,0.00,1.88,0.00,0.000,4,0.000,0.044,3200,3015,1657
$GC,15992,2.11,297.1,263.1,8.3,1338,16009,0.00,1.75,11.35,0.882,6,0.000,0.033,3200,1981,1613
$GC,16338,2.17,306.0,232.5,8.5,1387,16354,0.00,1.85,9.25,0.834,4,0.000,0.044,3200,3003,1576
$GC,16464,2.20,306.0,221.2,9.5,1409,16470,0.00,1.83,0.00,0.000,6,0.000,0.033,3200,1934,1575
$GC,16808,2.25,312.6,189.7,8.6,1470,16820,0.00,1.90,7.25,0.760,4,0.000,0.055,3200,906,1550
$GC,16953,2.25,312.6,176.3,9.4,1495,16958,0.00,1.70,0.00,0.000,6,0.000,0.028,3200,1922,1550
$GC,17297,2.34,332.7,147.7,7.8,1556,17321,0.15,1.90,18.48,0.815,4,0.060,0.049,3249,907,1468
$GC,17361,2.34,332.7,141.9,9.1,1567,17367,0.00,1.60,0.00,0.000,6,0.000,0.028,3249,1879,1467
$GC,17706,2.42,363.8,115.7,7.1,1628,17739,0.00,1.75,27.10,0.783,4,0.000,0.048,3249,912,1342
$GC,17881,2.44,371.7,102.0,8.5,1659,17894,0.00,1.67,8.07,0.690,6,0.000,0.026,3249,1931,1309
$GC,18236,2.52,385.0,73.1,8.2,1721,18254,0.12,1.88,12.60,0.702,4,0.060,0.038,3290,2993,1255
$GC,18329,2.58,420.0,66.3,6.8,1737,18368,0.00,1.88,30.70,0.711,6,0.000,0.026,3290,1863,1111
$GC,18710,2.70,456.5,37.4,6.7,1804,18750,0.12,2.00,30.98,0.673,4,0.061,0.035,3332,2992,962
$GC,18837,2.70,456.5,26.6,9.0,1826,18843,0.00,1.83,0.00,0.000,6,0.000,0.025,3332,1905,960
$STATE,19111,end climb,SURFACE_DEPTH_REACHED
$STATE,19111,begin surface coast
$FINISH,-0.3,1.021041
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19136,begin surface
$SM_CCo,19159,57.67,0.628,0,0,586,548.98
$SM_GC,-6.54,0.00,0.00,57.67,0.000,0.000,0.628,413,2326,586,-10.65,0.03,548.98
$IRIDIUM_FIX,1243.25,12021.43,220797,141414
$TT8_MAMPS,0.026078
$HUMID,1934
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.40
$XPDR_PINGS,550
$24V_AH,23.0,53.625
$10V_AH,10.1,38.482
$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,29.400,146.800,515.550,57.675,0.000,135.906,375.801,0.000,145.750,0.000,0.000,15.929,3078.917,12026.108,652.028,3398.491,986.529,0.000,2324.017,0.000,3361.181,0.000,60.696
$DEVICE_MAMPS,164.905,77.467,1300.065,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1270.898,483.361,783.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100886,1879
$CAP_FILE_SIZE,195765,0
$CFSIZE,260165632,228622336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270408,200032,1247.113,12021.884,41,1.0,41,-0.8