version: 66.03
glider: 126
mission: 7
dive: 336
start: 4 29 108 6 20 13
data:
$ID,126
$MISSION,7
$DIVE,336
$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,-625778.62
$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,2368
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,55
$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
$GPS1,061232,1247.316,12016.169,37,2.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.94
$_SM_ANGLEo,-59.3
$GPS2,061921,1247.396,12016.145,14,1.4,14,-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,200.3,3489,-19.0,-9.016
$D_GRID,933
$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,-67.75,0.000,6,0.000,0.000,414,2390,3320
$GC,99,-2.18,-120.8,-0.6,-18.4,13,116,10.32,1.73,0.00,0.000,4,0.168,0.038,2248,3403,3322
$GC,230,-1.98,-120.8,26.6,-15.5,36,236,0.20,1.73,0.00,0.000,6,0.106,0.023,2292,2337,3322
$GC,575,-1.90,-120.8,74.2,-11.2,97,581,0.12,1.83,0.00,0.000,4,0.115,0.038,2316,3408,3325
$GC,645,-1.84,-120.8,81.8,-10.5,109,651,0.00,1.62,0.00,0.000,6,0.000,0.024,2316,2358,3325
$GC,989,-1.84,-120.8,116.5,-10.8,170,995,0.00,1.77,0.00,0.000,4,0.000,0.038,2316,3397,3327
$GC,1103,-1.85,-126.8,127.2,-8.6,190,1109,0.00,1.70,0.00,0.000,6,0.000,0.024,2316,2322,3327
$GC,1448,-1.92,-135.7,157.7,-8.5,251,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2322,3328
$GC,1792,-2.00,-146.0,185.5,-8.4,312,1798,0.00,1.58,0.00,0.000,4,0.000,0.034,2316,1371,3328
$GC,1817,-2.06,-146.0,187.4,-8.1,316,1823,0.12,1.52,0.00,0.000,6,0.042,0.025,2270,2301,3328
$GC,2161,-2.06,-146.0,217.9,-8.6,377,2167,0.00,1.58,0.00,0.000,4,0.000,0.036,2270,1366,3329
$GC,2258,-2.06,-146.0,226.1,-8.7,394,2264,0.00,1.45,0.00,0.000,6,0.000,0.025,2270,2247,3329
$GC,2598,-2.06,-146.0,254.8,-8.3,450,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2248,3328
$GC,2919,-2.10,-146.0,282.4,-9.0,480,2923,0.00,1.98,0.00,0.000,4,0.000,0.044,2270,3401,3326
$GC,2935,-2.10,-146.0,284.2,-9.2,481,2941,0.00,1.95,0.00,0.000,6,0.000,0.028,2270,2212,3326
$GC,3263,-2.13,-146.0,312.0,-8.6,512,3266,0.00,2.08,0.00,0.000,4,0.000,0.044,2270,3405,3324
$GC,3381,-2.13,-146.0,322.0,-8.0,522,3387,0.00,2.05,0.00,0.000,6,0.000,0.028,2270,2169,3323
$GC,3708,-2.17,-146.0,346.6,-7.5,553,3712,0.00,2.15,0.00,0.000,4,0.000,0.044,2270,3404,3321
$GC,3844,-2.17,-146.0,357.3,-7.9,565,3848,0.00,1.90,0.00,0.000,6,0.000,0.029,2270,2259,3320
$GC,4177,-2.21,-146.0,385.9,-8.7,596,4181,0.00,2.00,0.00,0.000,4,0.000,0.047,2270,3401,3318
$GC,4273,-2.21,-146.0,394.1,-8.2,604,4279,0.00,2.03,0.00,0.000,6,0.000,0.031,2270,2193,3318
$GC,4602,-2.25,-146.0,420.8,-8.4,635,4606,0.15,2.12,0.00,0.000,4,0.060,0.046,2222,3405,3316
$GC,4761,-2.18,-146.0,435.3,-9.4,648,4767,0.15,1.88,0.00,0.000,6,0.102,0.031,2251,2286,3314
$GC,5085,-2.18,-146.0,464.3,-9.1,679,5089,0.00,1.95,0.00,0.000,4,0.000,0.051,2252,3395,3313
$GC,5180,-2.18,-146.0,472.9,-9.0,687,5186,0.00,2.03,0.00,0.000,6,0.000,0.032,2252,2202,3312
$GC,5508,-2.18,-146.0,500.4,-8.2,718,5512,0.00,1.48,0.00,0.000,4,0.000,0.062,2252,1387,3310
$GC,5655,-2.18,-146.0,513.0,-8.9,724,5658,0.00,1.17,0.00,0.000,6,0.000,0.037,2252,2068,3309
$GC,5978,-2.18,-146.0,539.7,-8.4,740,5983,0.00,1.25,0.00,0.000,4,0.000,0.059,2252,1388,3307
$GC,6051,-2.18,-146.0,546.0,-8.5,743,6054,0.00,1.35,0.00,0.000,6,0.000,0.043,2252,2156,3307
$GC,6380,-2.22,-146.0,573.9,-8.9,759,6384,0.00,1.42,0.00,0.000,4,0.000,0.067,2252,1389,3305
$GC,6482,-2.22,-146.0,582.7,-8.7,763,6486,0.00,1.52,0.00,0.000,6,0.000,0.054,2252,2226,3304
$GC,6806,-2.25,-146.0,608.9,-8.0,779,6810,0.00,2.17,0.00,0.000,4,0.000,0.084,2252,3389,3303
$GC,6861,-2.25,-146.0,613.5,-8.1,781,6867,0.00,1.98,0.00,0.000,6,0.000,0.061,2252,2307,3303
$GC,7178,-2.25,-146.0,637.3,-7.4,797,7181,0.00,2.10,0.00,0.000,4,0.000,0.094,2252,3389,3302
$GC,7295,-2.25,-146.0,646.5,-8.1,802,7299,0.00,2.15,0.00,0.000,6,0.000,0.075,2252,2236,3301
$GC,7625,-2.28,-146.0,673.4,-8.6,818,7629,0.00,1.50,0.00,0.000,4,0.000,0.045,2252,1371,3299
$GC,7653,-2.28,-146.0,676.0,-9.2,819,7656,0.00,1.38,0.00,0.000,6,0.000,0.030,2252,2190,3299
$GC,7980,-2.28,-146.0,704.3,-8.8,835,7984,0.00,2.10,0.00,0.000,4,0.000,0.050,2252,3395,3298
$GC,8075,-2.28,-146.0,712.8,-8.6,839,8079,0.00,1.92,0.00,0.000,6,0.000,0.032,2252,2252,3297
$GC,8403,-2.28,-146.0,741.2,-8.5,855,8407,0.00,2.03,0.00,0.000,4,0.000,0.051,2252,3396,3296
$GC,8533,-2.28,-146.0,752.3,-8.5,860,8539,0.00,2.08,0.00,0.000,6,0.000,0.034,2252,2177,3296
$GC,8850,-2.28,-146.0,778.1,-8.4,876,8854,0.00,2.15,0.00,0.000,4,0.000,0.051,2252,3393,3295
$GC,8923,-2.28,-146.0,784.5,-8.9,879,8927,0.00,2.00,0.00,0.000,6,0.000,0.033,2252,2214,3294
$GC,9245,-2.32,-146.0,809.3,-7.6,895,9250,0.12,2.10,0.00,0.000,4,0.069,0.051,2218,3398,3294
$GC,9385,-2.25,-146.0,821.5,-9.0,901,9389,0.10,1.90,0.00,0.000,6,0.119,0.033,2237,2277,3293
$GC,9706,-2.25,-146.0,848.2,-8.6,917,9709,0.00,2.00,0.00,0.000,4,0.000,0.052,2237,3404,3292
$GC,9740,-2.21,-146.0,851.3,-9.3,918,9743,0.00,1.88,0.00,0.000,6,0.000,0.034,2236,2299,3292
$GC,10061,-2.21,-146.0,878.0,-8.3,934,10065,0.00,1.95,0.00,0.000,4,0.000,0.054,2237,3395,3291
$GC,10119,-2.18,-146.0,883.2,-8.6,936,10123,0.00,1.85,0.00,0.000,6,0.000,0.034,2236,2305,3291
$GC,10444,-2.55,-146.0,901.9,-0.0,952,10448,0.25,1.62,0.00,0.000,4,0.049,0.053,2166,1377,3289
$STATE,10537,end dive,NO_VERTICAL_VELOCITY
$STATE,10537,begin apogee
$GC,10545,-0.52,0.0,901.9,0.0,956,10650,2.00,0.00,100.72,1.368,6,0.067,0.000,2627,2066,2826
$STATE,10651,end apogee,CONTROL_FINISHED_OK
$STATE,10651,begin climb
$GC,10654,2.22,146.0,901.5,0.0,961,10792,2.58,1.95,129.12,1.329,4,0.051,0.050,3220,3119,2229
$GC,10991,2.09,147.3,879.0,8.9,975,10998,0.17,1.70,0.00,0.000,6,0.102,0.035,3186,2130,2223
$GC,11308,2.05,178.4,856.1,7.1,991,11342,0.00,1.95,28.95,1.289,4,0.000,0.058,3185,1091,2097
$GC,11417,1.96,178.4,846.7,9.1,996,11421,0.15,1.70,0.00,0.000,6,0.108,0.032,3157,2083,2095
$GC,11753,1.96,205.4,821.1,7.3,1012,11782,0.00,1.85,24.90,1.274,4,0.000,0.054,3157,1089,1988
$GC,11818,1.93,213.9,815.6,8.5,1015,11833,0.00,1.67,9.30,1.131,6,0.000,0.031,3157,2064,1953
$GC,12150,1.96,229.7,788.7,8.0,1031,12169,0.00,0.00,15.43,1.230,6,0.000,0.000,3157,2064,1888
$GC,12479,1.98,241.2,761.2,8.3,1047,12497,0.00,0.00,11.95,1.192,6,0.000,0.000,3157,2064,1841
$GC,12807,1.98,241.2,732.9,9.1,1063,12810,0.00,1.77,0.00,0.000,4,0.000,0.053,3157,1076,1839
$GC,12902,1.98,241.2,723.7,9.8,1067,12906,0.00,1.73,0.00,0.000,6,0.000,0.031,3157,2073,1839
$GC,13229,1.98,241.2,693.0,9.2,1083,13232,0.00,1.77,0.00,0.000,4,0.000,0.052,3157,1082,1838
$GC,13297,1.98,241.2,686.4,9.1,1086,13301,0.00,1.65,0.00,0.000,6,0.000,0.031,3157,2038,1838
$GC,13628,1.98,241.2,654.8,9.6,1102,13632,0.00,1.70,0.00,0.000,4,0.000,0.053,3157,1087,1837
$GC,13702,1.99,249.5,648.1,8.5,1105,13718,0.00,1.55,8.45,1.088,6,0.000,0.031,3157,1986,1807
$GC,14028,2.06,265.7,620.5,8.0,1121,14050,0.00,1.67,16.12,1.164,4,0.000,0.053,3157,1080,1741
$GC,14106,2.10,288.3,614.2,7.6,1124,14133,0.10,1.73,21.40,1.157,6,0.054,0.031,3191,2073,1649
$GC,14444,2.10,288.3,581.6,9.8,1140,14447,0.00,1.77,0.00,0.000,4,0.000,0.052,3191,1086,1646
$GC,14541,2.06,288.3,572.3,9.4,1144,14545,0.00,1.55,0.00,0.000,6,0.000,0.031,3191,1988,1646
$GC,14868,2.06,288.3,538.9,10.5,1160,14872,0.00,2.00,0.00,0.000,4,0.000,0.049,3191,3119,1645
$GC,14946,2.06,288.3,530.8,10.4,1163,14949,0.00,1.88,0.00,0.000,6,0.000,0.035,3191,2030,1645
$GC,15269,2.06,288.3,500.7,9.0,1179,15273,0.00,1.92,0.00,0.000,4,0.000,0.047,3191,3126,1645
$GC,15387,2.08,301.1,490.3,8.2,1188,15403,0.00,2.12,12.00,1.055,6,0.000,0.035,3191,1888,1597
$GC,15722,2.09,309.8,462.1,8.5,1220,15736,0.00,1.60,9.40,0.999,4,0.000,0.059,3191,1027,1561
$GC,15833,2.10,311.2,451.7,8.9,1230,15837,0.00,1.73,0.00,0.000,6,0.000,0.031,3191,2025,1561
$GC,16164,2.14,311.2,419.2,10.0,1261,16168,0.00,1.90,0.00,0.000,4,0.000,0.048,3191,3119,1560
$GC,16259,2.14,311.2,409.6,9.6,1269,16265,0.00,1.92,0.00,0.000,6,0.000,0.035,3191,1996,1559
$GC,16586,2.19,311.2,376.7,9.6,1300,16590,0.00,1.98,0.00,0.000,4,0.000,0.045,3191,3122,1560
$GC,16677,2.20,318.3,368.1,8.6,1308,16691,0.00,2.08,8.98,0.925,6,0.000,0.035,3191,1915,1527
$GC,17017,2.27,323.3,338.1,8.7,1340,17030,0.15,2.15,6.25,0.827,4,0.063,0.044,3238,3126,1506
$GC,17121,2.22,323.3,328.5,9.4,1349,17125,0.12,2.25,0.00,0.000,6,0.104,0.035,3214,1822,1504
$GC,17446,2.26,323.3,297.4,9.6,1379,17449,0.00,1.45,0.00,0.000,4,0.000,0.058,3214,1022,1505
$GC,17529,2.26,323.3,288.8,11.0,1386,17535,0.00,1.62,0.00,0.000,6,0.000,0.029,3214,1969,1505
$GC,17857,2.29,323.3,256.5,9.9,1417,17861,0.00,1.70,0.00,0.000,4,0.000,0.051,3214,1013,1505
$GC,17953,2.29,323.3,246.9,9.7,1428,17959,0.00,1.50,0.00,0.000,6,0.000,0.028,3214,1899,1505
$GC,18297,2.30,328.8,215.9,8.7,1489,18309,0.00,2.12,6.35,0.748,4,0.000,0.044,3214,3122,1484
$GC,18338,2.30,328.8,212.2,9.2,1496,18344,0.00,2.28,0.00,0.000,6,0.000,0.040,3214,1798,1484
$GC,18682,2.36,328.8,180.3,10.4,1557,18689,0.12,2.30,0.00,0.000,4,0.065,0.039,3252,3126,1483
$GC,18741,2.33,328.8,174.4,10.3,1567,18747,0.00,2.10,0.00,0.000,6,0.000,0.031,3252,1889,1483
$GC,19085,2.34,333.7,142.5,8.7,1628,19097,0.00,1.52,6.12,0.688,4,0.000,0.051,3252,1023,1463
$GC,19182,2.34,337.2,134.2,8.8,1645,19194,0.00,1.70,4.62,0.611,6,0.000,0.027,3252,2053,1449
$GC,19533,2.37,356.3,106.0,7.8,1707,19556,0.00,1.92,17.70,0.775,4,0.000,0.045,3252,1010,1372
$GC,19587,2.39,368.0,101.6,8.3,1716,19605,0.00,1.67,11.50,0.723,6,0.000,0.027,3253,2011,1324
$GC,19946,2.53,405.5,75.8,6.7,1779,19984,0.12,1.95,32.67,0.736,4,0.062,0.038,3293,3106,1171
$GC,20115,2.54,408.0,61.3,8.9,1809,20121,0.00,1.88,0.00,0.000,6,0.000,0.025,3293,1974,1168
$GC,20460,2.67,444.5,34.2,6.7,1870,20499,0.00,1.67,33.15,0.678,4,0.000,0.041,3293,1011,1011
$GC,20518,2.78,463.8,30.0,7.8,1880,20541,0.12,1.65,16.98,0.637,6,0.041,0.024,3345,2019,934
$STATE,20841,end climb,SURFACE_DEPTH_REACHED
$STATE,20842,begin surface coast
$FINISH,-0.1,1.021066
$STATE,20868,end surface coast,CONTROL_FINISHED_OK
$STATE,20868,begin surface
$SM_CCo,20891,10.12,0.594,0,0,887,475.15
$SM_GC,-4.56,0.00,0.00,10.12,0.000,0.000,0.594,414,2371,887,-10.65,0.11,475.15
$IRIDIUM_FIX,1243.25,12016.50,240797,000050
$TT8_MAMPS,0.026078
$HUMID,1945
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.00
$XPDR_PINGS,471
$24V_AH,22.9,55.036
$10V_AH,10.1,39.353
$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,29.950,167.700,532.075,10.125,0.000,30.824,28.192,197.383,128.000,0.000,0.000,14.262,3246.514,13032.853,634.943,3663.531,747.473,0.000,2435.027,0.000,3605.101,0.000,75.191
$DEVICE_MAMPS,167.973,93.574,1368.328,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1315.152,484.915,768.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104078,1942
$CAP_FILE_SIZE,215534,0
$CFSIZE,260165632,227938304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,120956,1247.769,12015.218,43,1.2,43,-0.8