version: 66.03
glider: 126
mission: 7
dive: 158
start: 3 20 108 19 32 30
data:
$ID,126
$MISSION,7
$DIVE,158
$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,413
$T_MISSION,496
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,500
$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,-622434.81
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,192508,1250.880,12039.163,42,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.27
$_SM_ANGLEo,-57.4
$GPS2,193139,1250.837,12039.170,14,1.6,14,-0.8
$SPEED_LIMITS,0.138,0.148
$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,258.1,43833,-22.0,-7.990
$D_GRID,1318
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,91,0.00,0.00,-65.78,0.000,6,0.000,0.000,414,2258,3101
$GC,94,-2.33,-67.0,0.6,-19.0,13,111,10.05,1.88,0.00,0.000,4,0.171,0.035,2195,3361,3103
$GC,353,-2.20,-67.0,65.0,-20.6,59,359,0.17,1.73,0.00,0.000,6,0.120,0.023,2227,2277,3104
$GC,697,-2.15,-67.0,120.0,-14.8,120,704,0.00,1.85,0.00,0.000,4,0.000,0.038,2227,3351,3105
$GC,830,-2.10,-67.0,138.3,-13.0,143,836,0.12,1.62,0.00,0.000,6,0.123,0.023,2250,2314,3105
$GC,1173,-2.10,-67.0,174.7,-9.6,204,1179,0.00,1.80,0.00,0.000,4,0.000,0.040,2250,3359,3106
$GC,1225,-2.10,-67.0,180.2,-10.9,213,1230,0.00,1.62,0.00,0.000,6,0.000,0.024,2250,2324,3106
$GC,1567,-2.10,-67.0,215.2,-10.1,274,1573,0.00,1.70,0.00,0.000,4,0.000,0.036,2250,1320,3106
$GC,1653,-2.10,-67.0,224.1,-10.7,289,1658,0.00,1.62,0.00,0.000,6,0.000,0.026,2250,2323,3106
$GC,1990,-2.10,-67.0,258.9,-10.8,342,1994,0.00,1.77,0.00,0.000,4,0.000,0.044,2250,3369,3106
$GC,2046,-2.10,-67.0,265.0,-10.3,347,2050,0.00,1.65,0.00,0.000,6,0.000,0.026,2250,2331,3106
$GC,2377,-2.12,-67.0,297.4,-10.1,378,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2325,3103
$GC,2695,-2.14,-67.0,327.9,-10.1,408,2699,0.00,1.75,0.00,0.000,4,0.000,0.041,2250,1314,3102
$GC,2796,-2.14,-67.0,338.4,-9.8,417,2800,0.00,1.67,0.00,0.000,6,0.000,0.028,2250,2326,3101
$GC,3127,-2.17,-67.0,369.7,-9.5,448,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2327,3099
$GC,3446,-2.20,-67.0,398.4,-9.0,478,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2327,3097
$GC,3764,-2.23,-67.0,427.2,-9.5,508,3768,0.12,1.80,0.00,0.000,4,0.067,0.049,2215,3369,3095
$GC,3877,-2.23,-67.0,438.3,-9.5,518,3880,0.00,1.67,0.00,0.000,6,0.000,0.031,2215,2365,3094
$GC,4207,-2.23,-67.0,470.6,-9.7,549,4211,0.00,1.80,0.00,0.000,4,0.000,0.053,2215,3370,3092
$GC,4290,-2.23,-67.0,479.0,-10.1,556,4297,0.00,1.75,0.00,0.000,6,0.000,0.033,2215,2352,3091
$GC,4615,-2.23,-67.0,510.0,-9.7,582,4619,0.00,1.95,0.00,0.000,4,0.000,0.068,2215,1271,3089
$GC,4692,-2.23,-67.0,518.0,-9.9,585,4697,0.00,1.83,0.00,0.000,6,0.000,0.040,2215,2316,3089
$GC,5014,-2.23,-67.0,548.9,-9.8,601,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2317,3086
$GC,5324,-2.23,-67.0,580.5,-10.4,616,5327,0.00,1.92,0.00,0.000,4,0.000,0.076,2215,3372,3085
$GC,5392,-2.23,-67.0,587.7,-10.2,619,5396,0.00,1.83,0.00,0.000,6,0.000,0.052,2215,2346,3084
$GC,5727,-2.23,-67.0,621.2,-10.3,635,5730,0.00,2.03,0.00,0.000,4,0.000,0.087,2215,1260,3082
$GC,5811,-2.23,-67.0,630.5,-11.3,638,5817,0.00,1.98,0.00,0.000,6,0.000,0.071,2215,2334,3081
$GC,6125,-2.23,-67.0,662.7,-9.6,654,6129,0.00,2.05,0.00,0.000,4,0.000,0.107,2215,3384,3079
$GC,6174,-2.23,-67.0,667.8,-10.2,656,6179,0.00,2.03,0.00,0.000,6,0.000,0.086,2215,2344,3079
$GC,6501,-2.23,-67.0,699.6,-9.5,672,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2343,3078
$GC,6810,-2.23,-67.0,729.9,-10.1,687,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2344,3077
$GC,7120,-2.23,-67.0,759.8,-9.7,702,7125,0.00,2.35,0.00,0.000,4,0.000,0.159,2215,1265,3076
$GC,7188,-2.23,-67.0,766.1,-9.7,705,7192,0.00,2.25,0.00,0.000,6,0.000,0.136,2215,2321,3075
$GC,7513,-2.23,-67.0,796.3,-8.9,721,7517,0.00,1.88,0.00,0.000,4,0.000,0.054,2215,3399,3074
$GC,7575,-2.23,-67.0,801.8,-8.8,723,7581,0.00,1.85,0.00,0.000,6,0.000,0.032,2215,2300,3074
$GC,7892,-2.23,-67.0,831.2,-9.1,739,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2299,3073
$GC,8200,-2.23,-67.0,859.6,-9.4,754,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2299,3072
$GC,8509,-2.23,-67.0,889.3,-9.8,769,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2298,3070
$GC,8818,-2.23,-67.0,918.6,-9.1,784,8821,0.00,1.80,0.00,0.000,4,0.000,0.059,2215,1279,3068
$GC,8874,-2.23,-67.0,923.9,-9.7,786,8878,0.00,1.85,0.00,0.000,6,0.000,0.038,2215,2356,3068
$GC,9197,-2.23,-67.0,951.2,-8.8,802,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2357,3068
$GC,9504,-2.23,-67.0,977.6,-8.7,817,9507,0.00,1.80,0.00,0.000,4,0.000,0.060,2215,3377,3066
$GC,9560,-2.23,-67.0,982.6,-8.1,819,9564,0.00,1.77,0.00,0.000,6,0.000,0.036,2215,2341,3067
$STATE,9653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9653,begin apogee
$GC,9658,-0.51,0.0,990.7,8.6,824,9715,1.83,0.00,53.00,1.440,6,0.101,0.000,2597,1959,2826
$STATE,9716,end apogee,CONTROL_FINISHED_OK
$STATE,9716,begin climb
$GC,9718,2.33,67.0,992.3,0.0,827,9783,2.83,0.00,60.25,1.407,6,0.061,0.000,3222,1959,2551
$GC,10084,2.34,93.7,974.5,5.5,845,10113,0.00,2.08,24.33,1.374,4,0.000,0.084,3222,915,2443
$GC,10182,2.29,95.3,967.8,7.8,849,10186,0.00,1.80,0.00,0.000,6,0.000,0.034,3222,1960,2441
$GC,10503,2.25,97.7,944.4,7.8,865,10510,0.12,0.00,4.82,0.997,6,0.115,0.000,3200,1960,2426
$GC,10812,2.23,98.5,920.1,7.9,880,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1960,2425
$GC,11121,2.22,102.2,896.7,7.6,895,11129,0.00,0.00,5.50,1.066,6,0.000,0.000,3200,1960,2408
$GC,11430,2.22,102.2,870.9,8.1,910,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1961,2408
$GC,11739,2.24,116.5,849.3,6.6,925,11759,0.00,0.00,14.27,1.304,6,0.000,0.000,3200,1961,2349
$GC,12068,2.24,116.5,823.9,8.3,941,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1961,2348
$GC,12377,2.24,116.5,799.0,8.3,956,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1961,2348
$GC,12687,2.24,116.5,773.7,8.3,971,12690,0.00,1.92,0.00,0.000,4,0.000,0.061,3200,907,2347
$GC,12748,2.22,116.5,768.8,8.3,973,12754,0.00,1.80,0.00,0.000,6,0.000,0.033,3199,1966,2347
$GC,13063,2.23,121.7,744.7,7.5,989,13071,0.00,0.00,5.88,1.039,6,0.000,0.000,3199,1967,2328
$GC,13372,2.23,121.7,719.2,8.1,1004,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1968,2328
$GC,13681,2.24,126.9,695.6,7.5,1019,13689,0.00,0.00,6.20,1.042,6,0.000,0.000,3199,1968,2307
$GC,13990,2.24,127.0,671.5,8.0,1034,13994,0.00,1.92,0.00,0.000,4,0.000,0.060,3199,908,2307
$GC,14045,2.24,127.0,666.8,8.7,1036,14049,0.00,1.83,0.00,0.000,6,0.000,0.033,3200,1962,2307
$GC,14367,2.24,129.4,641.2,7.8,1052,14376,0.00,1.98,4.20,0.834,4,0.000,0.060,3199,907,2297
$GC,14426,2.25,134.8,636.3,7.5,1054,14437,0.00,1.80,6.40,1.020,6,0.000,0.032,3200,1945,2275
$GC,14758,2.25,134.8,608.5,8.3,1071,14761,0.00,1.85,0.00,0.000,4,0.000,0.050,3200,3014,2274
$GC,14818,2.25,134.8,603.2,8.5,1073,14825,0.00,1.88,0.00,0.000,6,0.000,0.038,3199,1944,2274
$GC,15134,2.25,134.8,577.2,8.3,1089,15137,0.00,1.88,0.00,0.000,4,0.000,0.063,3200,903,2274
$GC,15256,2.25,136.0,566.7,7.9,1094,15260,0.00,1.77,0.00,0.000,6,0.000,0.031,3200,1934,2274
$GC,15579,2.28,152.1,544.7,6.5,1110,15601,0.00,1.90,16.25,1.127,4,0.000,0.048,3200,3010,2204
$GC,15758,2.28,152.1,529.4,8.5,1118,15761,0.00,1.85,0.00,0.000,6,0.000,0.038,3200,1939,2203
$GC,16089,2.28,152.1,500.5,8.9,1134,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1939,2203
$GC,16409,2.28,153.5,474.2,7.9,1163,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1939,2203
$GC,16727,2.28,153.5,448.2,8.2,1193,16731,0.00,1.88,0.00,0.000,4,0.000,0.046,3199,3014,2203
$GC,16908,2.28,153.5,433.4,8.2,1209,16912,0.00,1.80,0.00,0.000,6,0.000,0.036,3200,1960,2203
$GC,17237,2.28,153.5,406.3,8.3,1240,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1960,2203
$GC,17556,2.28,153.5,380.8,8.1,1270,17560,0.00,1.88,0.00,0.000,4,0.000,0.062,3200,911,2204
$GC,17702,2.29,159.6,369.4,7.4,1283,17716,0.00,1.83,7.93,0.914,6,0.000,0.031,3200,1998,2174
$GC,18042,2.31,160.7,342.8,7.9,1315,18044,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1999,2174
$GC,18362,2.34,165.5,319.2,7.5,1345,18371,0.00,0.00,6.75,0.844,6,0.000,0.000,3200,1998,2150
$GC,18690,2.37,168.8,293.1,7.7,1376,18700,0.12,0.00,4.82,0.728,6,0.074,0.000,3235,1998,2135
$GC,19017,2.37,168.8,266.2,8.1,1407,19021,0.00,1.95,0.00,0.000,4,0.000,0.055,3235,911,2136
$GC,19145,2.37,168.8,255.7,8.1,1418,19152,0.00,1.80,0.00,0.000,6,0.000,0.029,3235,1970,2136
$GC,19485,2.38,173.3,230.1,7.6,1472,19497,0.00,1.92,5.62,0.736,4,0.000,0.054,3235,903,2118
$GC,19633,2.38,175.4,218.2,7.8,1498,19639,0.00,1.80,0.00,0.000,6,0.000,0.030,3235,1960,2118
$GC,19978,2.39,178.8,191.7,7.7,1559,19990,0.00,1.88,6.43,0.743,4,0.000,0.052,3235,914,2096
$GC,20242,2.40,185.6,172.3,7.3,1606,20254,0.00,1.75,7.30,0.751,6,0.000,0.029,3235,1948,2068
$GC,20594,2.48,218.8,150.1,4.9,1668,20627,0.00,0.00,28.48,0.825,6,0.000,0.000,3235,1949,1933
$GC,20967,2.54,231.4,127.5,6.8,1734,20985,0.12,1.80,11.88,0.754,4,0.066,0.039,3272,3003,1880
$GC,21238,2.59,263.1,110.4,5.0,1782,21271,0.00,1.80,27.00,0.765,6,0.000,0.028,3272,1940,1752
$GC,21610,2.66,277.1,82.3,6.7,1848,21628,0.00,1.85,12.68,0.704,4,0.000,0.035,3272,3018,1695
$GC,21713,2.70,282.1,74.3,7.5,1866,21726,0.08,1.75,5.78,0.587,6,0.054,0.026,3306,1979,1674
$GC,22066,2.78,306.3,49.0,5.7,1928,22094,0.00,1.80,20.98,0.684,4,0.000,0.035,3306,3003,1575
$GC,22269,2.83,315.9,35.6,7.1,1964,22287,0.00,1.70,9.45,0.622,6,0.000,0.025,3306,1985,1536
$GC,22626,2.90,330.2,8.2,6.6,2027,22644,0.15,1.90,13.05,0.618,4,0.054,0.044,3358,921,1478
$STATE,22699,end climb,SURFACE_DEPTH_REACHED
$STATE,22699,begin surface coast
$FINISH,-0.1,1.021215
$STATE,22725,end surface coast,CONTROL_FINISHED_OK
$STATE,22725,begin surface
$SM_CCo,22748,105.30,0.627,0,0,785,500.17
$SM_GC,-6.20,0.00,0.00,105.30,0.000,0.000,0.627,418,2341,785,-10.54,0.45,500.17
$IRIDIUM_FIX,1245.46,12040.38,140697,131316
$TT8_MAMPS,0.024544
$HUMID,1778
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.80
$XPDR_PINGS,351
$24V_AH,23.1,23.427
$10V_AH,10.1,19.115
$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,28.550,119.225,369.225,105.300,0.000,25.461,33.443,197.788,100.250,0.000,0.000,14.077,3344.297,15103.562,599.884,3598.097,616.046,0.000,2272.527,0.000,3556.910,0.000,91.483
$DEVICE_MAMPS,171.041,158.769,1440.426,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1389.134,818.570,772.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110385,2044
$CAP_FILE_SIZE,201693,0
$CFSIZE,260165632,243916800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210308,015458,1250.729,12036.832,37,2.8,56,-0.8