version: 66.03
glider: 126
mission: 7
dive: 337
start: 4 29 108 12 17 36
data:
$ID,126
$MISSION,7
$DIVE,337
$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,-625794.56
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,120956,1247.769,12015.218,43,1.2,43,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.78
$_SM_ANGLEo,-59.6
$GPS2,121644,1247.900,12015.179,10,1.2,15,-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,173.0,4263,-19.0,-9.016
$D_GRID,944
$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,-67.38,0.000,6,0.000,0.000,415,2372,3319
$GC,99,-2.18,-120.8,-0.5,-18.6,13,116,10.27,1.80,0.00,0.000,4,0.166,0.030,2250,1307,3320
$GC,157,-2.00,-120.8,14.3,-15.9,23,163,0.22,1.73,0.00,0.000,6,0.108,0.024,2294,2368,3321
$GC,503,-1.90,-120.8,60.3,-11.2,84,510,0.10,1.77,0.00,0.000,4,0.123,0.038,2312,3408,3322
$GC,528,-1.81,-120.8,63.6,-12.0,88,535,0.08,1.75,0.00,0.000,6,0.104,0.023,2331,2313,3323
$GC,873,-1.84,-120.8,100.4,-9.5,149,879,0.00,1.67,0.00,0.000,4,0.000,0.032,2331,1298,3325
$GC,1010,-1.91,-141.5,112.7,-7.7,173,1016,0.00,1.65,0.00,0.000,6,0.000,0.023,2331,2325,3325
$GC,1355,-2.00,-143.2,142.3,-8.9,234,1362,0.15,1.83,0.00,0.000,4,0.052,0.038,2279,3412,3327
$GC,1391,-2.00,-143.2,145.8,-9.4,240,1397,0.00,1.88,0.00,0.000,6,0.000,0.024,2278,2238,3326
$GC,1735,-2.00,-146.0,176.4,-7.7,301,1741,0.00,1.58,0.00,0.000,4,0.000,0.034,2278,1285,3327
$GC,1871,-2.00,-146.0,187.2,-7.5,325,1877,0.00,1.55,0.00,0.000,6,0.000,0.024,2278,2235,3328
$GC,2215,-2.04,-146.0,214.1,-8.1,386,2221,0.00,1.58,0.00,0.000,4,0.000,0.035,2278,1315,3327
$GC,2296,-2.04,-146.0,220.7,-8.0,400,2301,0.00,1.40,0.00,0.000,6,0.000,0.024,2278,2175,3327
$GC,2639,-2.04,-146.0,248.8,-7.5,461,2645,0.00,1.50,0.00,0.000,4,0.000,0.038,2278,1306,3326
$GC,2708,-2.04,-146.0,254.0,-7.7,469,2712,0.00,1.60,0.00,0.000,6,0.000,0.025,2278,2288,3326
$GC,3043,-2.08,-146.0,279.0,-7.6,500,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2290,3324
$GC,3368,-2.12,-146.0,306.9,-9.1,531,3372,0.00,1.90,0.00,0.000,4,0.000,0.044,2278,3398,3322
$GC,3474,-2.12,-146.0,317.1,-9.8,540,3480,0.00,1.95,0.00,0.000,6,0.000,0.027,2278,2206,3321
$GC,3802,-2.17,-146.0,345.5,-8.3,571,3806,0.00,2.08,0.00,0.000,4,0.000,0.044,2278,3403,3319
$GC,3915,-2.17,-146.0,354.8,-8.4,581,3919,0.00,2.12,0.00,0.000,6,0.000,0.028,2278,2127,3319
$GC,4243,-2.22,-146.0,379.3,-7.4,611,4250,0.15,0.00,0.00,0.000,6,0.057,0.000,2234,2127,3317
$GC,4570,-2.22,-146.0,408.1,-9.5,642,4573,0.00,1.40,0.00,0.000,4,0.000,0.046,2234,1322,3315
$GC,4654,-2.19,-146.0,416.4,-9.6,649,4659,0.00,1.48,0.00,0.000,6,0.000,0.028,2234,2206,3315
$GC,4980,-2.19,-146.0,446.7,-8.8,680,4985,0.10,2.08,0.00,0.000,4,0.110,0.045,2254,3404,3313
$GC,5092,-2.19,-146.0,456.5,-8.0,689,5098,0.00,1.98,0.00,0.000,6,0.000,0.030,2254,2225,3311
$GC,5419,-2.19,-146.0,481.9,-7.8,720,5423,0.00,2.08,0.00,0.000,4,0.000,0.048,2254,3406,3309
$GC,5555,-2.19,-146.0,492.9,-8.4,732,5559,0.00,2.12,0.00,0.000,6,0.000,0.031,2254,2154,3309
$GC,5878,-2.19,-146.0,520.0,-8.9,751,5882,0.00,2.20,0.00,0.000,4,0.000,0.051,2254,3401,3307
$GC,6008,-2.19,-146.0,532.9,-9.9,757,6012,0.00,2.22,0.00,0.000,6,0.000,0.034,2254,2103,3307
$GC,6336,-2.22,-146.0,565.4,-10.6,773,6340,0.00,2.33,0.00,0.000,4,0.000,0.060,2254,3401,3305
$GC,6347,-2.22,-146.0,566.7,-10.2,773,6350,0.00,2.10,0.00,0.000,6,0.000,0.037,2254,2186,3304
$GC,6669,-2.25,-146.0,598.2,-9.6,789,6672,0.00,1.58,0.00,0.000,4,0.000,0.075,2254,1323,3303
$GC,6770,-2.25,-146.0,607.4,-8.7,793,6773,0.00,1.50,0.00,0.000,6,0.000,0.051,2254,2154,3302
$GC,7094,-2.29,-146.0,634.3,-7.9,809,7098,0.00,1.48,0.00,0.000,4,0.000,0.046,2253,1323,3301
$GC,7184,-2.29,-146.0,641.4,-7.3,813,7187,0.00,1.60,0.00,0.000,6,0.000,0.030,2254,2283,3300
$GC,7517,-2.29,-146.0,665.8,-7.3,829,7521,0.00,1.67,0.00,0.000,4,0.000,0.045,2254,1322,3299
$GC,7646,-2.29,-146.0,675.2,-7.2,834,7652,0.00,1.42,0.00,0.000,6,0.000,0.031,2254,2168,3298
$GC,7962,-2.32,-146.0,702.1,-9.7,850,7966,0.15,1.50,0.00,0.000,4,0.062,0.046,2212,1312,3296
$GC,8101,-2.28,-146.0,716.1,-10.1,856,8105,0.05,1.55,0.00,0.000,6,0.084,0.031,2233,2220,3295
$GC,8436,-2.28,-146.0,752.3,-9.8,872,8439,0.00,1.58,0.00,0.000,4,0.000,0.047,2233,1319,3295
$GC,8633,-2.24,-146.0,768.2,-8.7,880,8638,0.00,1.40,0.00,0.000,6,0.000,0.031,2233,2142,3294
$GC,8949,-2.24,-146.0,792.2,-7.4,896,8953,0.00,2.20,0.00,0.000,4,0.000,0.051,2233,3403,3293
$GC,9044,-2.19,-146.0,799.5,-7.4,900,9048,0.00,2.12,0.00,0.000,6,0.000,0.033,2233,2159,3292
$GC,9360,-2.19,-146.0,822.5,-7.5,915,9364,0.00,2.20,0.00,0.000,4,0.000,0.050,2232,3404,3291
$GC,9411,-2.15,-146.0,826.9,-8.2,917,9415,0.15,2.08,0.00,0.000,6,0.107,0.034,2263,2184,3291
$GC,9729,-2.15,-146.0,851.7,-7.5,932,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2185,3290
$GC,10036,-2.15,-146.0,874.4,-6.9,947,10040,0.00,2.15,0.00,0.000,4,0.000,0.051,2263,3398,3289
$GC,10076,-2.15,-146.0,877.2,-6.9,949,10080,0.00,2.08,0.00,0.000,6,0.000,0.034,2263,2187,3289
$GC,10411,-2.15,-146.0,903.0,-8.4,965,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2186,3288
$GC,10718,-2.41,-146.0,921.1,-0.0,980,10723,0.22,2.15,0.00,0.000,4,0.051,0.051,2194,3395,3287
$STATE,10923,end dive,NO_VERTICAL_VELOCITY
$STATE,10923,begin apogee
$GC,10931,-0.52,0.0,921.1,0.0,989,11036,1.90,0.00,100.72,1.383,6,0.078,0.000,2612,2072,2825
$STATE,11037,end apogee,CONTROL_FINISHED_OK
$STATE,11038,begin climb
$GC,11040,2.22,146.0,920.7,0.0,994,11183,2.70,2.03,129.93,1.343,4,0.064,0.064,3215,1019,2229
$GC,11332,2.09,146.0,903.0,9.1,1007,11336,0.15,1.77,0.00,0.000,6,0.108,0.032,3186,2056,2224
$GC,11655,2.03,157.9,877.1,8.3,1023,11670,0.00,1.90,10.82,1.202,4,0.000,0.049,3187,3119,2180
$GC,11734,1.95,168.7,870.6,8.3,1025,11750,0.17,1.85,11.25,1.200,6,0.114,0.035,3154,2053,2137
$GC,12069,1.96,192.8,845.5,7.5,1042,12103,0.00,1.95,24.70,1.203,4,0.000,0.048,3154,3119,2039
$GC,12196,1.92,192.8,834.6,9.6,1047,12202,0.00,1.77,0.00,0.000,6,0.000,0.035,3154,2090,2037
$GC,12513,1.95,207.7,808.5,8.1,1063,12534,0.00,1.98,14.62,1.239,4,0.000,0.057,3154,1019,1978
$GC,12562,1.92,211.5,803.8,8.8,1065,12572,0.00,1.88,5.12,0.949,6,0.000,0.031,3154,2113,1963
$GC,12884,1.94,223.8,778.1,8.2,1080,12902,0.00,0.00,12.77,1.215,6,0.000,0.000,3154,2113,1912
$GC,13212,1.97,239.0,749.6,8.1,1096,13234,0.00,2.03,15.25,1.220,4,0.000,0.053,3154,1018,1849
$GC,13340,1.97,239.0,737.4,10.2,1101,13346,0.00,1.77,0.00,0.000,6,0.000,0.031,3154,2058,1849
$GC,13656,1.97,239.0,705.5,10.1,1117,13660,0.00,1.85,0.00,0.000,4,0.000,0.048,3154,3120,1847
$GC,13740,1.97,239.0,696.6,10.5,1120,13746,0.00,1.83,0.00,0.000,6,0.000,0.035,3154,2058,1846
$GC,14056,2.01,239.0,666.2,9.2,1136,14060,0.00,1.88,0.00,0.000,4,0.000,0.048,3154,3122,1846
$GC,14174,2.02,245.6,656.1,8.6,1141,14185,0.00,1.98,6.75,1.035,6,0.000,0.035,3154,1971,1823
$GC,14495,2.12,274.7,632.6,7.2,1156,14529,0.15,1.80,27.42,1.193,4,0.066,0.058,3200,1021,1706
$GC,14642,2.09,283.9,620.4,8.4,1162,14656,0.00,1.85,9.65,1.081,6,0.000,0.031,3200,2108,1666
$GC,14979,2.09,283.9,590.3,9.3,1179,14982,0.00,1.95,0.00,0.000,4,0.000,0.053,3200,1024,1665
$GC,15107,2.09,283.9,577.8,10.0,1184,15113,0.00,1.67,0.00,0.000,6,0.000,0.030,3200,1998,1664
$GC,15423,2.09,283.9,547.4,9.5,1200,15426,0.00,1.75,0.00,0.000,4,0.000,0.053,3200,1023,1664
$GC,15508,2.09,305.8,539.7,7.7,1203,15534,0.00,1.80,20.55,1.122,6,0.000,0.031,3200,2091,1578
$GC,15844,2.10,311.3,510.2,8.7,1220,15854,0.00,1.95,6.38,0.933,4,0.000,0.051,3200,1018,1556
$GC,15900,2.11,314.9,505.3,8.8,1222,15909,0.00,1.65,5.05,0.847,6,0.000,0.029,3200,1993,1541
$GC,16234,2.15,314.9,476.3,9.6,1251,16238,0.00,1.75,0.00,0.000,4,0.000,0.053,3200,1019,1540
$GC,16285,2.15,314.9,471.2,10.5,1255,16290,0.00,1.80,0.00,0.000,6,0.000,0.030,3200,2088,1540
$GC,16611,2.20,314.9,437.1,11.2,1286,16615,0.00,1.92,0.00,0.000,4,0.000,0.051,3200,1014,1540
$GC,16718,2.20,314.9,425.5,10.3,1295,16724,0.00,1.92,0.00,0.000,6,0.000,0.031,3200,2152,1540
$GC,17045,2.25,314.9,392.3,10.0,1326,17049,0.00,2.03,0.00,0.000,4,0.000,0.051,3200,1016,1540
$GC,17147,2.25,314.9,382.1,9.2,1335,17151,0.00,1.77,0.00,0.000,6,0.000,0.030,3200,2070,1540
$GC,17478,2.30,314.9,351.2,9.1,1366,17482,0.15,1.88,0.00,0.000,4,0.064,0.050,3247,1018,1540
$GC,17546,2.24,314.9,344.6,10.6,1372,17550,0.15,1.92,0.00,0.000,6,0.102,0.030,3218,2157,1540
$GC,17876,2.24,314.9,311.2,10.5,1403,17879,0.00,2.03,0.00,0.000,4,0.000,0.050,3218,1016,1540
$GC,17898,2.24,314.9,308.9,9.9,1405,17902,0.00,1.75,0.00,0.000,6,0.000,0.030,3218,2057,1540
$GC,18232,2.27,314.9,275.0,9.8,1436,18237,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2057,1540
$GC,18560,2.27,317.7,243.5,8.8,1473,18573,0.00,1.88,4.20,0.636,4,0.000,0.048,3218,3114,1530
$GC,18641,2.28,321.5,236.1,8.8,1487,18653,0.00,1.73,5.22,0.718,6,0.000,0.031,3218,2091,1514
$GC,18993,2.32,325.3,203.7,8.8,1549,19005,0.00,1.80,5.25,0.700,4,0.000,0.041,3218,3121,1497
$GC,19011,2.32,325.3,201.8,9.4,1552,19017,0.00,1.80,0.00,0.000,6,0.000,0.029,3218,2060,1497
$GC,19355,2.38,340.0,171.4,8.1,1613,19377,0.12,1.92,13.60,0.826,4,0.067,0.041,3255,3126,1439
$GC,19467,2.34,340.0,161.3,9.2,1632,19473,0.00,1.88,0.00,0.000,6,0.000,0.030,3255,2020,1438
$GC,19812,2.38,360.9,130.1,7.7,1693,19839,0.00,1.98,19.38,0.802,4,0.000,0.040,3255,3117,1352
$GC,19981,2.39,370.5,115.4,8.4,1723,19998,0.00,2.00,9.62,0.732,6,0.000,0.029,3256,1932,1313
$GC,20338,2.49,392.1,85.0,7.7,1786,20366,0.00,2.12,19.58,0.746,4,0.000,0.038,3255,3120,1225
$GC,20448,2.62,433.5,77.4,6.4,1805,20492,0.20,1.98,35.95,0.736,6,0.051,0.027,3314,1941,1056
$GC,20834,2.70,444.4,46.3,8.3,1873,20850,0.00,2.05,10.00,0.650,4,0.000,0.037,3314,3119,1012
$GC,20908,2.74,449.9,39.6,8.7,1886,20920,0.00,1.88,6.10,0.571,6,0.000,0.025,3314,2002,990
$GC,21258,2.84,464.1,10.4,8.1,1948,21276,0.15,0.00,13.15,0.624,6,0.051,0.000,3372,2001,933
$STATE,21347,end climb,SURFACE_DEPTH_REACHED
$STATE,21347,begin surface coast
$FINISH,0.3,1.021068
$STATE,21369,end surface coast,CONTROL_FINISHED_OK
$STATE,21369,begin surface
$SM_CCo,21392,10.18,0.599,0,0,888,475.15
$SM_GC,-4.40,0.00,0.00,10.18,0.000,0.000,0.599,413,2386,888,-10.66,0.51,475.15
$IRIDIUM_FIX,1243.25,12016.50,240797,060644
$TT8_MAMPS,0.026078
$HUMID,1948
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.50
$XPDR_PINGS,490
$24V_AH,22.8,55.241
$10V_AH,10.1,39.482
$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,30.400,167.150,543.050,10.175,0.000,23.538,28.319,201.072,133.250,0.000,0.000,15.338,3277.802,13399.047,671.013,3712.537,764.954,0.000,2500.357,0.000,3657.077,0.000,78.810
$DEVICE_MAMPS,165.672,75.166,1382.901,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1331.417,483.367,769.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104168,1967
$CAP_FILE_SIZE,220000,0
$CFSIZE,260165632,227831808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290408,181537,1248.199,12014.399,40,1.3,40,-0.8