version: 66.03
glider: 126
mission: 7
dive: 332
start: 4 28 108 6 50 25
data:
$ID,126
$MISSION,7
$DIVE,332
$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,-625721.62
$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,32
$R_STBD_OVSHOOT,56
$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
$GPS1,064237,1246.274,12020.332,32,1.3,32,-0.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.64
$_SM_ANGLEo,-59.2
$GPS2,064933,1246.387,12020.262,13,1.8,13,-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,261.4,8717,-19.0,-9.016
$D_GRID,829
$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,-67.70,0.000,6,0.000,0.000,416,2351,3319
$GC,99,-2.18,-120.8,-0.5,-17.9,13,116,10.35,1.70,0.00,0.000,4,0.169,0.036,2251,3356,3322
$GC,191,-1.99,-120.8,20.8,-15.2,29,197,0.22,1.70,0.00,0.000,6,0.110,0.023,2295,2281,3322
$GC,536,-1.90,-120.8,67.2,-13.4,90,542,0.00,1.62,0.00,0.000,4,0.000,0.033,2295,1311,3324
$GC,560,-1.82,-120.8,70.2,-12.6,94,567,0.15,1.65,0.00,0.000,6,0.098,0.024,2330,2314,3324
$GC,907,-1.85,-120.8,108.6,-9.5,155,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2314,3325
$GC,1249,-1.95,-129.7,138.9,-8.5,216,1256,0.12,1.70,0.00,0.000,4,0.058,0.032,2288,1312,3327
$GC,1308,-1.97,-142.2,143.7,-8.2,226,1314,0.00,1.62,0.00,0.000,6,0.000,0.024,2288,2304,3327
$GC,1653,-2.02,-143.9,172.2,-8.9,287,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2303,3328
$GC,1997,-2.06,-146.0,201.2,-8.4,348,2002,0.00,1.67,0.00,0.000,4,0.000,0.037,2288,1310,3328
$GC,2020,-2.06,-146.0,203.2,-8.0,352,2026,0.00,1.60,0.00,0.000,6,0.000,0.025,2288,2298,3328
$GC,2365,-2.11,-146.0,232.1,-8.1,413,2370,0.00,1.67,0.00,0.000,4,0.000,0.038,2288,1310,3328
$GC,2468,-2.11,-146.0,240.4,-8.5,431,2473,0.00,1.52,0.00,0.000,6,0.000,0.025,2288,2233,3327
$GC,2805,-2.17,-146.0,267.9,-8.3,473,2809,0.15,1.92,0.00,0.000,4,0.056,0.042,2238,3363,3326
$GC,2833,-2.12,-146.0,270.5,-9.0,475,2840,0.15,1.83,0.00,0.000,6,0.096,0.027,2269,2239,3326
$GC,3158,-2.12,-146.0,299.9,-9.3,506,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2237,3324
$GC,3479,-2.16,-146.0,327.3,-8.0,536,3483,0.00,1.95,0.00,0.000,4,0.000,0.044,2269,3361,3322
$GC,3619,-2.16,-146.0,339.0,-7.8,548,3625,0.00,1.85,0.00,0.000,6,0.000,0.028,2269,2238,3321
$GC,3947,-2.20,-146.0,365.1,-8.2,579,3951,0.00,1.58,0.00,0.000,4,0.000,0.045,2269,1313,3319
$GC,4076,-2.20,-146.0,376.2,-8.6,590,4082,0.00,1.45,0.00,0.000,6,0.000,0.027,2268,2187,3318
$GC,4404,-2.24,-146.0,406.6,-9.6,621,4408,0.12,2.03,0.00,0.000,4,0.063,0.045,2231,3366,3316
$GC,4532,-2.19,-146.0,419.8,-9.9,632,4538,0.10,1.83,0.00,0.000,6,0.110,0.031,2250,2266,3315
$GC,4857,-2.19,-146.0,448.9,-8.3,663,4861,0.00,1.92,0.00,0.000,4,0.000,0.048,2250,3365,3313
$GC,4994,-2.16,-146.0,460.0,-8.1,675,4997,0.00,1.92,0.00,0.000,6,0.000,0.031,2250,2222,3312
$GC,5326,-2.16,-146.0,486.9,-8.3,706,5329,0.00,2.00,0.00,0.000,4,0.000,0.050,2250,3361,3310
$GC,5432,-2.16,-146.0,496.3,-8.8,715,5438,0.00,1.83,0.00,0.000,6,0.000,0.031,2250,2275,3309
$GC,5752,-2.16,-146.0,523.7,-8.7,733,5756,0.00,1.95,0.00,0.000,4,0.000,0.054,2250,3357,3308
$GC,5887,-2.16,-146.0,535.3,-8.7,739,5891,0.00,1.98,0.00,0.000,6,0.000,0.034,2250,2202,3307
$GC,6222,-2.16,-146.0,560.8,-7.3,755,6226,0.00,2.10,0.00,0.000,4,0.000,0.061,2250,3365,3305
$GC,6322,-2.16,-146.0,568.5,-7.4,759,6326,0.00,1.92,0.00,0.000,6,0.000,0.041,2250,2253,3304
$GC,6645,-2.16,-146.0,594.6,-8.9,775,6648,0.00,1.80,0.00,0.000,4,0.000,0.079,2250,1289,3303
$GC,6784,-2.16,-146.0,607.7,-9.1,781,6788,0.00,1.60,0.00,0.000,6,0.000,0.057,2250,2171,3302
$GC,7112,-2.16,-146.0,637.9,-9.4,797,7116,0.00,1.60,0.00,0.000,4,0.000,0.049,2250,1273,3301
$GC,7184,-2.16,-146.0,644.4,-8.3,800,7188,0.00,1.65,0.00,0.000,6,0.000,0.030,2250,2267,3301
$GC,7514,-2.19,-146.0,672.2,-8.3,816,7518,0.00,1.90,0.00,0.000,4,0.000,0.051,2250,3362,3299
$GC,7638,-2.19,-146.0,682.2,-7.9,821,7641,0.00,1.80,0.00,0.000,6,0.000,0.034,2250,2295,3298
$GC,7962,-2.22,-146.0,707.8,-8.3,837,7965,0.00,1.77,0.00,0.000,4,0.000,0.055,2250,1279,3297
$GC,8007,-2.22,-146.0,712.0,-8.3,839,8011,0.00,1.73,0.00,0.000,6,0.000,0.033,2250,2300,3296
$GC,8341,-2.22,-146.0,741.3,-9.1,855,8344,0.00,1.80,0.00,0.000,4,0.000,0.047,2250,1270,3295
$GC,8447,-2.22,-146.0,751.4,-9.3,859,8453,0.00,1.70,0.00,0.000,6,0.000,0.031,2250,2284,3295
$GC,8764,-2.22,-146.0,781.1,-9.3,875,8767,0.00,1.77,0.00,0.000,4,0.000,0.049,2250,1274,3294
$GC,8848,-2.22,-146.0,789.0,-9.3,878,8853,0.00,1.60,0.00,0.000,6,0.000,0.032,2250,2230,3294
$GC,9164,-2.22,-146.0,816.9,-9.0,894,9167,0.00,2.00,0.00,0.000,4,0.000,0.053,2250,3375,3292
$GC,9254,-2.22,-146.0,825.0,-10.3,898,9258,0.00,1.95,0.00,0.000,6,0.000,0.035,2250,2231,3292
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9317,begin apogee
$GC,9323,-0.52,0.0,830.7,8.9,901,9428,1.73,0.00,100.03,1.306,6,0.091,0.000,2617,1963,2825
$STATE,9428,end apogee,CONTROL_FINISHED_OK
$STATE,9429,begin climb
$GC,9431,2.22,146.0,835.7,0.0,906,9567,2.62,1.98,127.38,1.272,4,0.055,0.068,3221,920,2229
$GC,9644,2.14,181.2,830.3,6.8,916,9680,0.12,1.80,31.35,1.228,6,0.108,0.033,3198,1965,2086
$GC,9993,2.09,207.2,804.8,7.4,932,10022,0.00,1.90,23.60,1.222,4,0.000,0.048,3198,3006,1979
$GC,10086,2.00,207.3,796.4,9.0,936,10091,0.17,1.83,0.00,0.000,6,0.102,0.037,3164,1955,1978
$GC,10414,1.98,216.1,770.4,8.5,952,10428,0.00,1.92,8.93,1.109,4,0.000,0.047,3164,3003,1944
$GC,10469,1.94,216.1,765.3,9.2,954,10473,0.00,1.77,0.00,0.000,6,0.000,0.037,3164,1978,1943
$GC,10790,1.91,216.1,736.8,9.1,970,10793,0.00,1.83,0.00,0.000,4,0.000,0.046,3164,3016,1942
$GC,10869,1.86,216.1,729.6,9.8,973,10873,0.15,1.75,0.00,0.000,6,0.116,0.035,3136,1998,1942
$GC,11190,1.92,224.2,702.9,8.5,989,11204,0.00,1.85,8.57,1.099,4,0.000,0.047,3137,3009,1910
$GC,11317,1.94,235.4,692.0,8.3,994,11333,0.00,1.70,11.45,1.146,6,0.000,0.035,3136,2037,1865
$GC,11651,2.03,255.9,665.9,7.7,1011,11676,0.15,1.77,19.70,1.185,4,0.065,0.048,3182,3015,1781
$GC,11807,2.00,257.8,652.7,8.9,1018,11810,0.00,1.60,0.00,0.000,6,0.000,0.035,3182,2085,1778
$GC,12140,2.00,257.8,623.4,9.1,1034,12144,0.00,2.10,0.00,0.000,4,0.000,0.059,3182,914,1778
$GC,12191,1.95,257.8,618.4,9.3,1036,12195,0.15,2.03,0.00,0.000,6,0.102,0.032,3153,2106,1778
$GC,12512,1.99,257.8,589.1,9.1,1052,12516,0.00,2.17,0.00,0.000,4,0.000,0.056,3153,903,1777
$GC,12618,2.01,270.8,579.8,8.2,1056,12637,0.00,1.95,14.40,1.121,6,0.000,0.031,3153,2057,1719
$GC,12957,2.08,284.9,551.7,8.1,1073,12979,0.12,2.15,13.48,1.095,4,0.070,0.056,3188,917,1663
$GC,13108,2.08,284.9,537.7,9.8,1079,13114,0.00,1.98,0.00,0.000,6,0.000,0.031,3188,2074,1661
$GC,13424,2.08,284.9,506.5,10.0,1095,13428,0.00,1.62,0.00,0.000,4,0.000,0.048,3188,3017,1660
$GC,13548,2.08,284.9,493.9,10.3,1103,13551,0.00,1.60,0.00,0.000,6,0.000,0.035,3188,2086,1660
$GC,13881,2.08,284.9,462.5,9.4,1134,13884,0.00,1.65,0.00,0.000,4,0.000,0.045,3188,3013,1660
$GC,13953,2.08,284.9,455.5,9.4,1140,13959,0.00,1.70,0.00,0.000,6,0.000,0.035,3188,2034,1660
$GC,14281,2.13,295.7,428.0,8.3,1171,14296,0.00,2.05,10.75,0.997,4,0.000,0.058,3188,910,1619
$GC,14324,2.13,295.7,423.7,9.4,1174,14330,0.00,2.00,0.00,0.000,6,0.000,0.031,3188,2078,1618
$GC,14651,2.14,299.5,394.6,8.8,1205,14659,0.00,0.00,4.80,0.775,6,0.000,0.000,3188,2079,1604
$GC,14979,2.18,299.5,363.4,9.5,1236,14983,0.00,1.62,0.00,0.000,4,0.000,0.048,3188,3018,1603
$GC,15040,2.18,299.5,357.5,9.2,1241,15046,0.00,1.75,0.00,0.000,6,0.000,0.034,3188,1994,1603
$GC,15368,2.23,304.0,329.4,8.7,1272,15381,0.12,1.95,5.85,0.807,4,0.066,0.057,3226,911,1584
$GC,15454,2.18,304.0,321.4,9.1,1279,15461,0.12,1.85,0.00,0.000,6,0.104,0.030,3202,2010,1584
$GC,15779,2.18,304.0,290.7,9.5,1310,15783,0.00,1.98,0.00,0.000,4,0.000,0.053,3202,905,1584
$GC,15860,2.18,304.0,283.1,9.7,1317,15864,0.00,1.75,0.00,0.000,6,0.000,0.029,3201,1949,1584
$GC,16193,2.21,304.0,251.2,9.3,1348,16197,0.00,1.88,0.00,0.000,4,0.000,0.053,3202,917,1584
$GC,16318,2.22,309.3,239.7,8.7,1369,16329,0.00,1.77,6.20,0.762,6,0.000,0.029,3202,1978,1564
$GC,16668,2.27,309.3,208.7,9.1,1431,16674,0.00,1.90,0.00,0.000,4,0.000,0.051,3202,910,1563
$GC,16719,2.29,319.6,204.1,8.4,1440,16737,0.12,1.90,10.85,0.834,6,0.065,0.028,3240,2045,1521
$GC,17076,2.29,319.6,169.9,9.9,1503,17082,0.00,2.03,0.00,0.000,4,0.000,0.050,3240,907,1520
$GC,17151,2.25,319.6,162.8,9.3,1516,17157,0.00,1.83,0.00,0.000,6,0.000,0.028,3240,2001,1520
$GC,17497,2.28,339.3,133.3,7.8,1577,17520,0.00,1.80,17.70,0.805,4,0.000,0.042,3240,3002,1441
$GC,17623,2.32,360.9,122.7,7.7,1599,17651,0.00,1.73,19.70,0.788,6,0.000,0.029,3240,1977,1353
$GC,17992,2.44,394.1,94.5,6.9,1664,18025,0.10,1.95,28.83,0.764,4,0.069,0.049,3275,917,1218
$GC,18066,2.48,415.0,88.3,7.7,1677,18089,0.00,1.80,18.75,0.728,6,0.000,0.027,3275,2007,1133
$GC,18431,2.54,424.3,59.1,8.4,1741,18448,0.00,1.98,9.05,0.656,4,0.000,0.044,3275,915,1095
$GC,18479,2.62,439.2,54.9,8.1,1749,18502,0.12,1.73,14.18,0.679,6,0.058,0.025,3317,1978,1034
$GC,18844,2.69,447.7,24.1,8.5,1813,18857,0.00,1.75,8.50,0.608,4,0.000,0.035,3317,2985,999
$GC,18943,2.75,455.8,15.2,8.5,1830,18955,0.00,1.73,7.95,0.587,6,0.000,0.025,3317,1947,966
$STATE,19096,end climb,SURFACE_DEPTH_REACHED
$STATE,19096,begin surface coast
$FINISH,-0.1,1.021041
$STATE,19119,end surface coast,CONTROL_FINISHED_OK
$STATE,19119,begin surface
$SM_CCo,19142,16.85,0.630,0,0,887,475.15
$SM_GC,-6.03,0.00,0.00,16.85,0.000,0.000,0.630,417,2326,887,-10.64,0.03,475.15
$IRIDIUM_FIX,1243.25,12001.70,230797,010137
$TT8_MAMPS,0.025311
$HUMID,1951
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.50
$XPDR_PINGS,466
$24V_AH,23.0,54.216
$10V_AH,10.1,38.845
$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,29.775,153.600,521.975,16.850,0.000,27.853,29.936,210.539,125.000,0.000,0.000,13.661,3078.159,11675.864,624.242,3470.306,743.868,0.000,2333.527,0.000,3423.556,0.000,62.512
$DEVICE_MAMPS,168.740,79.001,1306.201,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.122,481.583,771.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100986,1861
$CAP_FILE_SIZE,203800,0
$CFSIZE,260165632,228360192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,121101,1246.897,12019.261,38,1.2,38,-0.8