version: 66.03
glider: 126
mission: 7
dive: 339
start: 4 30 108 0 18 37
data:
$ID,126
$MISSION,7
$DIVE,339
$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,-625824.94
$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,42
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,001056,1248.482,12013.948,41,1.4,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.79
$_SM_ANGLEo,-59.7
$GPS2,001745,1248.544,12013.928,16,1.4,16,-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,153.1,6114,-19.0,-9.016
$D_GRID,898
$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,-67.15,0.000,6,0.000,0.000,414,2359,3320
$GC,99,-2.18,-120.8,-0.2,-19.3,13,116,10.27,1.80,0.00,0.000,4,0.166,0.031,2248,1300,3322
$GC,218,-2.01,-120.8,25.2,-16.2,34,225,0.17,1.77,0.00,0.000,6,0.107,0.025,2286,2366,3323
$GC,563,-1.91,-120.8,72.8,-13.0,95,569,0.12,0.00,0.00,0.000,6,0.117,0.000,2309,2366,3325
$GC,907,-1.91,-120.8,111.1,-9.3,156,913,0.00,1.80,0.00,0.000,4,0.000,0.031,2309,1300,3327
$GC,1028,-1.94,-136.8,121.5,-8.0,177,1034,0.00,1.75,0.00,0.000,6,0.000,0.024,2310,2380,3327
$GC,1372,-2.02,-143.6,151.0,-8.6,238,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2381,3329
$GC,1715,-2.09,-146.0,178.2,-7.6,299,1721,0.15,1.75,0.00,0.000,4,0.055,0.041,2260,3413,3329
$GC,1847,-2.09,-146.0,189.0,-8.1,322,1852,0.00,1.73,0.00,0.000,6,0.000,0.025,2260,2314,3330
$GC,2190,-2.09,-146.0,216.9,-8.3,383,2196,0.00,1.88,0.00,0.000,4,0.000,0.043,2259,3411,3330
$GC,2288,-2.05,-146.0,225.1,-8.6,400,2294,0.12,1.75,0.00,0.000,6,0.100,0.026,2284,2310,3329
$GC,2631,-2.10,-146.0,252.8,-7.9,458,2635,0.00,1.92,0.00,0.000,4,0.000,0.044,2284,3437,3328
$GC,2737,-2.10,-146.0,261.7,-8.6,467,2743,0.00,1.80,0.00,0.000,6,0.000,0.028,2284,2308,3327
$GC,3065,-2.16,-146.0,288.8,-8.4,498,3069,0.12,1.90,0.00,0.000,4,0.062,0.044,2247,3413,3325
$GC,3182,-2.12,-146.0,299.7,-8.6,508,3189,0.10,1.75,0.00,0.000,6,0.109,0.028,2267,2327,3325
$GC,3507,-2.15,-146.0,326.7,-8.3,539,3511,0.00,1.90,0.00,0.000,4,0.000,0.047,2267,3414,3322
$GC,3614,-2.15,-146.0,335.8,-8.3,548,3620,0.00,1.70,0.00,0.000,6,0.000,0.029,2267,2356,3322
$GC,3942,-2.18,-146.0,363.1,-8.7,579,3945,0.00,1.73,0.00,0.000,4,0.000,0.042,2267,1349,3320
$GC,4037,-2.18,-146.0,371.4,-7.9,587,4043,0.00,1.67,0.00,0.000,6,0.000,0.029,2267,2362,3319
$GC,4364,-2.22,-146.0,398.1,-8.0,618,4368,0.00,1.75,0.00,0.000,4,0.000,0.041,2267,1349,3317
$GC,4477,-2.22,-146.0,407.0,-7.2,628,4481,0.00,1.70,0.00,0.000,6,0.000,0.030,2267,2367,3316
$GC,4811,-2.26,-146.0,432.4,-7.7,659,4815,0.15,1.75,0.00,0.000,4,0.060,0.042,2219,1360,3314
$GC,4937,-2.21,-146.0,442.9,-8.4,670,4941,0.15,1.70,0.00,0.000,6,0.104,0.031,2249,2375,3314
$GC,5267,-2.21,-146.0,470.6,-8.6,701,5271,0.00,1.77,0.00,0.000,4,0.000,0.045,2249,1357,3312
$GC,5396,-2.21,-146.0,481.6,-8.9,712,5402,0.00,1.70,0.00,0.000,6,0.000,0.032,2249,2371,3311
$GC,5731,-2.21,-146.0,509.4,-8.4,739,5735,0.00,1.77,0.00,0.000,4,0.000,0.048,2249,1361,3309
$GC,5843,-2.21,-146.0,518.9,-8.6,744,5847,0.00,1.73,0.00,0.000,6,0.000,0.037,2249,2372,3309
$GC,6176,-2.21,-146.0,548.3,-8.6,760,6180,0.00,1.77,0.00,0.000,4,0.000,0.045,2249,1356,3307
$GC,6316,-2.21,-146.0,560.7,-9.2,766,6320,0.00,1.75,0.00,0.000,6,0.000,0.035,2249,2373,3306
$GC,6644,-2.21,-146.0,589.9,-8.7,782,6649,0.00,1.83,0.00,0.000,4,0.000,0.051,2249,1361,3304
$GC,6779,-2.21,-146.0,601.1,-8.1,788,6783,0.00,1.73,0.00,0.000,6,0.000,0.039,2249,2362,3304
$GC,7112,-2.21,-146.0,627.0,-8.0,804,7115,0.00,1.77,0.00,0.000,4,0.000,0.054,2249,1364,3302
$GC,7247,-2.21,-146.0,638.2,-9.1,810,7251,0.00,1.75,0.00,0.000,6,0.000,0.039,2249,2380,3302
$GC,7581,-2.21,-146.0,666.5,-8.7,826,7584,0.00,1.85,0.00,0.000,4,0.000,0.058,2249,3428,3301
$GC,7704,-2.21,-146.0,677.3,-8.8,831,7708,0.00,1.73,0.00,0.000,6,0.000,0.033,2250,2401,3300
$GC,8026,-2.21,-146.0,704.1,-8.2,847,8030,0.00,1.83,0.00,0.000,4,0.000,0.055,2249,3428,3298
$GC,8118,-2.21,-146.0,711.7,-8.3,851,8122,0.00,1.80,0.00,0.000,6,0.000,0.034,2249,2366,3298
$GC,8451,-2.21,-146.0,738.5,-7.5,867,8454,0.00,1.90,0.00,0.000,4,0.000,0.054,2249,3435,3296
$GC,8546,-2.21,-146.0,745.5,-6.8,871,8550,0.00,1.83,0.00,0.000,6,0.000,0.034,2249,2357,3296
$GC,8876,-2.21,-146.0,767.1,-7.0,887,8879,0.00,1.90,0.00,0.000,4,0.000,0.052,2249,3432,3295
$GC,8989,-2.21,-146.0,775.3,-7.0,892,8993,0.00,1.83,0.00,0.000,6,0.000,0.035,2249,2354,3295
$GC,9323,-2.21,-146.0,800.7,-8.2,908,9326,0.00,1.92,0.00,0.000,4,0.000,0.054,2249,3435,3294
$GC,9436,-2.21,-146.0,810.8,-9.7,913,9440,0.00,1.83,0.00,0.000,6,0.000,0.035,2249,2361,3294
$GC,9771,-2.21,-146.0,840.4,-8.8,929,9775,0.00,1.83,0.00,0.000,4,0.000,0.053,2249,1319,3293
$GC,9895,-2.21,-146.0,851.5,-7.8,934,9899,0.00,1.80,0.00,0.000,6,0.000,0.035,2249,2378,3292
$GC,10216,-2.21,-146.0,878.1,-8.2,950,10220,0.00,1.85,0.00,0.000,4,0.000,0.047,2249,1328,3291
$GC,10398,-2.21,-146.0,892.0,-7.7,958,10401,0.00,1.77,0.00,0.000,6,0.000,0.035,2249,2369,3291
$STATE,10480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10480,begin apogee
$GC,10486,-0.52,0.0,898.6,7.8,962,10592,1.73,0.00,101.22,1.366,6,0.091,0.000,2615,2070,2825
$STATE,10593,end apogee,CONTROL_FINISHED_OK
$STATE,10593,begin climb
$GC,10595,2.22,146.0,902.8,0.0,967,10738,2.62,2.00,129.70,1.332,4,0.054,0.060,3218,1021,2229
$GC,10809,2.12,164.7,895.6,7.9,977,10831,0.12,1.83,17.60,1.241,6,0.108,0.034,3194,2079,2153
$GC,11142,2.03,164.7,865.5,9.5,993,11146,0.12,1.83,0.00,0.000,4,0.111,0.050,3171,3119,2148
$GC,11209,1.94,164.7,859.1,9.5,996,11213,0.00,1.83,0.00,0.000,6,0.000,0.037,3171,2068,2148
$GC,11543,1.90,172.9,829.6,8.5,1012,11557,0.15,1.95,7.72,1.114,4,0.108,0.049,3139,3119,2120
$GC,11672,1.90,199.8,819.6,7.3,1017,11702,0.00,1.83,25.70,1.276,6,0.000,0.035,3139,2060,2010
$GC,12026,1.93,217.8,791.8,7.9,1035,12048,0.00,2.00,17.17,1.243,4,0.000,0.048,3139,3127,1937
$GC,12081,1.96,231.9,786.7,8.1,1037,12100,0.00,1.85,14.45,1.198,6,0.000,0.035,3139,2061,1879
$GC,12423,1.96,235.5,756.9,8.8,1054,12432,0.00,1.90,4.53,0.887,4,0.000,0.048,3139,3118,1864
$GC,12524,1.96,235.5,747.5,9.1,1058,12527,0.00,1.83,0.00,0.000,6,0.000,0.035,3139,2060,1864
$GC,12847,2.01,236.1,717.7,9.0,1074,12851,0.12,1.88,0.00,0.000,4,0.069,0.058,3174,1011,1863
$GC,12960,1.98,246.4,707.3,8.4,1079,12976,0.00,1.83,11.25,1.163,6,0.000,0.032,3174,2085,1820
$GC,13286,2.00,255.9,679.2,8.4,1094,13300,0.00,1.98,9.98,1.132,4,0.000,0.053,3174,1013,1781
$GC,13341,1.96,259.7,674.5,8.8,1096,13352,0.00,1.83,5.22,0.928,6,0.000,0.032,3174,2081,1766
$GC,13661,1.98,272.7,647.2,8.2,1112,13682,0.00,2.00,13.12,1.152,4,0.000,0.054,3174,1022,1713
$GC,13739,2.01,286.1,640.3,8.2,1115,13758,0.00,1.83,13.55,1.134,6,0.000,0.038,3174,2072,1658
$GC,14083,2.05,286.1,608.5,9.9,1132,14086,0.00,1.90,0.00,0.000,4,0.000,0.054,3174,1019,1655
$GC,14110,2.05,286.1,605.7,9.6,1133,14114,0.00,1.83,0.00,0.000,6,0.000,0.032,3174,2092,1655
$GC,14438,2.08,286.1,574.3,9.5,1149,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2092,1655
$GC,14747,2.11,286.1,545.3,9.3,1164,14750,0.00,1.80,0.00,0.000,4,0.000,0.049,3174,3126,1655
$GC,14837,2.11,286.1,537.1,9.7,1168,14841,0.00,1.85,0.00,0.000,6,0.000,0.035,3174,2069,1654
$GC,15171,2.15,288.4,507.4,8.9,1184,15175,0.10,1.85,0.00,0.000,4,0.078,0.046,3203,3120,1654
$GC,15232,2.15,288.4,501.5,9.4,1186,15238,0.00,1.80,0.00,0.000,6,0.000,0.035,3204,2071,1654
$GC,15558,2.15,288.4,471.5,9.4,1216,15562,0.00,1.85,0.00,0.000,4,0.000,0.048,3203,3126,1654
$GC,15664,2.15,288.4,461.2,9.4,1225,15670,0.00,1.83,0.00,0.000,6,0.000,0.035,3204,2060,1654
$GC,15991,2.15,288.4,430.6,9.4,1256,15995,0.00,1.88,0.00,0.000,4,0.000,0.048,3204,3126,1654
$GC,16059,2.15,288.4,423.8,9.5,1262,16062,0.00,1.83,0.00,0.000,6,0.000,0.035,3203,2064,1654
$GC,16393,2.15,288.4,393.1,9.1,1293,16397,0.00,1.85,0.00,0.000,4,0.000,0.048,3204,3120,1654
$GC,16477,2.15,288.4,385.3,9.1,1300,16482,0.00,1.80,0.00,0.000,6,0.000,0.034,3204,2067,1654
$GC,16804,2.15,289.8,357.1,8.9,1331,16815,0.00,1.90,4.38,0.711,4,0.000,0.048,3204,3113,1643
$GC,16883,2.15,289.8,349.6,9.3,1338,16887,0.00,1.80,0.00,0.000,6,0.000,0.038,3203,2065,1643
$GC,17215,2.15,289.8,317.0,9.7,1369,17219,0.00,1.85,0.00,0.000,4,0.000,0.048,3204,3121,1643
$GC,17295,2.15,289.8,309.1,9.6,1376,17299,0.00,1.83,0.00,0.000,6,0.000,0.033,3204,2070,1643
$GC,17627,2.15,289.8,278.4,9.3,1407,17630,0.00,1.85,0.00,0.000,4,0.000,0.048,3203,3125,1643
$GC,17718,2.15,289.8,269.9,10.0,1415,17721,0.00,1.80,0.00,0.000,6,0.000,0.033,3204,2068,1643
$GC,18048,2.15,289.8,239.4,9.3,1455,18054,0.00,1.85,0.00,0.000,4,0.000,0.046,3204,3125,1643
$GC,18139,2.15,289.8,231.2,9.3,1471,18145,0.00,1.80,0.00,0.000,6,0.000,0.032,3204,2058,1643
$GC,18483,2.22,308.4,201.8,7.9,1532,18505,0.00,1.95,17.85,0.872,4,0.000,0.044,3203,3118,1567
$GC,18585,2.26,335.4,194.0,7.3,1550,18616,0.00,1.80,24.33,0.859,6,0.000,0.031,3204,2062,1456
$GC,18956,2.36,348.6,161.9,8.2,1616,18974,0.15,1.92,12.48,0.805,4,0.058,0.052,3252,1018,1403
$GC,19065,2.36,348.6,152.0,9.4,1635,19071,0.00,1.77,0.00,0.000,6,0.000,0.028,3252,2081,1402
$GC,19409,2.40,374.7,120.4,7.4,1696,19438,0.00,1.92,23.20,0.792,4,0.000,0.044,3253,1012,1297
$GC,19456,2.40,378.0,116.3,8.8,1704,19468,0.00,1.80,4.40,0.551,6,0.000,0.028,3252,2078,1283
$GC,19806,2.50,398.8,88.6,7.7,1766,19829,0.00,1.85,18.73,0.749,4,0.000,0.040,3253,3113,1199
$GC,19904,2.57,398.8,80.2,9.5,1783,19911,0.15,1.77,0.00,0.000,6,0.056,0.027,3298,2049,1198
$GC,20249,2.63,404.7,52.1,8.6,1844,20261,0.00,1.85,6.62,0.607,4,0.000,0.037,3299,3120,1174
$GC,20419,2.66,426.3,38.2,7.7,1874,20447,0.00,1.77,19.33,0.682,6,0.000,0.025,3299,2056,1086
$GC,20790,2.77,449.8,10.2,7.6,1939,20818,0.15,1.83,20.90,0.640,4,0.054,0.035,3356,3109,989
$STATE,20884,end climb,SURFACE_DEPTH_REACHED
$STATE,20884,begin surface coast
$FINISH,0.4,1.021043
$STATE,20902,end surface coast,CONTROL_FINISHED_OK
$STATE,20902,begin surface
$SM_CCo,20926,21.48,0.630,0,0,887,475.15
$SM_GC,-6.68,0.00,0.00,21.48,0.000,0.000,0.630,416,2327,887,-10.64,-1.16,475.15
$IRIDIUM_FIX,1243.25,12016.50,240797,181850
$TT8_MAMPS,0.026078
$HUMID,1935
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.70
$XPDR_PINGS,522
$24V_AH,22.9,55.651
$10V_AH,10.1,39.738
$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,29.625,167.625,523.425,21.475,0.000,27.404,29.934,195.537,140.500,0.000,0.000,16.615,3274.801,12978.436,631.710,3759.727,726.570,0.000,2468.256,0.000,3687.604,0.000,75.990
$DEVICE_MAMPS,165.672,59.826,1366.027,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1327.094,479.852,779.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104049,1959
$CAP_FILE_SIZE,214659,0
$CFSIZE,260165632,227631104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,060907,1248.755,12013.745,38,1.0,44,-0.8