version: 66.03
glider: 126
mission: 7
dive: 159
start: 3 21 108 2 2 5
data:
$ID,126
$MISSION,7
$DIVE,159
$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,-622448.44
$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,45
$R_STBD_OVSHOOT,53
$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
$GPS1,015458,1250.729,12036.832,37,2.8,56,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.12
$_SM_ANGLEo,-58.6
$GPS2,020114,1250.685,12036.807,12,1.6,12,-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,257.1,39612,-22.0,-7.990
$D_GRID,1722
$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,-65.45,0.000,6,0.000,0.000,419,2342,3101
$GC,94,-2.33,-67.0,0.9,-19.6,13,111,10.02,1.80,0.00,0.000,4,0.170,0.033,2196,1278,3102
$GC,230,-2.19,-67.0,39.4,-22.1,37,236,0.17,1.70,0.00,0.000,6,0.120,0.034,2229,2329,3103
$GC,574,-2.13,-67.0,99.8,-14.5,98,581,0.00,1.77,0.00,0.000,4,0.000,0.038,2229,3371,3104
$GC,775,-2.08,-67.0,130.3,-14.2,133,782,0.12,1.70,0.00,0.000,6,0.115,0.023,2253,2292,3104
$GC,1119,-2.08,-67.0,170.0,-10.4,194,1126,0.00,1.85,0.00,0.000,4,0.000,0.039,2253,3364,3105
$GC,1316,-2.08,-67.0,190.0,-9.7,229,1322,0.00,1.65,0.00,0.000,6,0.000,0.024,2253,2315,3106
$GC,1659,-2.08,-67.0,221.6,-9.1,290,1665,0.00,1.70,0.00,0.000,4,0.000,0.037,2253,1315,3106
$GC,1757,-2.08,-67.0,231.3,-10.1,307,1763,0.00,1.65,0.00,0.000,6,0.000,0.025,2252,2329,3105
$GC,2092,-2.10,-67.0,264.9,-9.9,354,2095,0.00,1.73,0.00,0.000,4,0.000,0.037,2253,1312,3105
$GC,2193,-2.13,-67.0,275.0,-10.3,363,2197,0.00,1.65,0.00,0.000,6,0.000,0.026,2253,2323,3105
$GC,2524,-2.15,-67.0,307.2,-9.9,394,2528,0.00,1.77,0.00,0.000,4,0.000,0.044,2253,3366,3102
$GC,2569,-2.15,-67.0,311.7,-10.4,398,2573,0.00,1.67,0.00,0.000,6,0.000,0.026,2253,2320,3102
$GC,2900,-2.18,-67.0,344.4,-10.0,429,2904,0.00,1.83,0.00,0.000,4,0.000,0.046,2253,3358,3101
$GC,2950,-2.18,-67.0,349.6,-10.1,433,2956,0.00,1.70,0.00,0.000,6,0.000,0.027,2253,2327,3100
$GC,3276,-2.21,-67.0,380.0,-9.3,464,3278,0.10,0.00,0.00,0.000,6,0.074,0.000,2224,2323,3098
$GC,3594,-2.21,-67.0,410.3,-9.6,494,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2323,3096
$GC,3911,-2.21,-67.0,441.3,-9.9,524,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2323,3093
$GC,4230,-2.21,-67.0,472.2,-9.7,554,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2323,3091
$GC,4548,-2.21,-67.0,502.4,-9.2,583,4551,0.00,1.83,0.00,0.000,4,0.000,0.054,2224,3360,3088
$GC,4716,-2.21,-67.0,518.4,-9.3,590,4720,0.00,1.73,0.00,0.000,6,0.000,0.033,2224,2337,3087
$GC,5037,-2.21,-67.0,549.1,-9.8,606,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2337,3086
$GC,5345,-2.21,-67.0,579.3,-9.7,621,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2336,3084
$GC,5655,-2.21,-67.0,609.3,-9.5,636,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2336,3082
$GC,5964,-2.21,-67.0,638.6,-9.5,651,5968,0.00,2.03,0.00,0.000,4,0.000,0.094,2224,1274,3081
$GC,6020,-2.21,-67.0,644.2,-9.6,653,6024,0.00,1.90,0.00,0.000,6,0.000,0.076,2224,2295,3080
$GC,6341,-2.21,-67.0,674.7,-9.5,669,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2295,3078
$GC,6649,-2.21,-67.0,704.7,-9.6,684,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2295,3077
$GC,6959,-2.21,-67.0,733.1,-9.0,699,6963,0.00,2.15,0.00,0.000,4,0.000,0.138,2225,1283,3076
$GC,7020,-2.21,-67.0,738.6,-9.3,702,7024,0.00,2.12,0.00,0.000,6,0.000,0.121,2224,2313,3075
$GC,7345,-2.21,-67.0,767.4,-9.0,718,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2312,3074
$GC,7655,-2.23,-67.0,795.6,-9.1,733,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2312,3074
$GC,7964,-2.25,-67.0,824.5,-9.1,748,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2318,3073
$GC,8274,-2.27,-67.0,853.1,-9.4,763,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2318,3071
$GC,8583,-2.29,-67.0,881.9,-8.9,778,8586,0.00,1.85,0.00,0.000,4,0.000,0.055,2224,1276,3070
$GC,8616,-2.29,-67.0,884.7,-8.6,779,8620,0.00,1.80,0.00,0.000,6,0.000,0.037,2224,2335,3070
$GC,8941,-2.32,-67.0,911.4,-8.7,795,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2335,3069
$GC,9246,-2.34,-67.0,938.0,-8.7,810,9250,0.12,1.88,0.00,0.000,4,0.073,0.059,2192,1279,3068
$GC,9318,-2.34,-67.0,944.8,-9.1,813,9322,0.00,1.77,0.00,0.000,6,0.000,0.038,2192,2302,3068
$GC,9645,-2.34,-67.0,974.1,-8.7,829,9648,0.00,1.90,0.00,0.000,4,0.000,0.061,2193,3375,3067
$GC,9790,-2.34,-67.0,986.4,-8.9,835,9794,0.00,1.85,0.00,0.000,6,0.000,0.036,2193,2312,3067
$STATE,9843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9843,begin apogee
$GC,9848,-0.51,0.0,990.8,8.5,838,9906,1.95,0.00,53.03,1.444,6,0.103,0.000,2599,1960,2825
$STATE,9906,end apogee,CONTROL_FINISHED_OK
$STATE,9907,begin climb
$GC,9908,2.33,67.0,991.9,0.0,841,9974,2.83,0.00,60.40,1.409,6,0.064,0.000,3220,1960,2551
$GC,10273,2.32,83.6,970.9,6.4,859,10292,0.00,0.00,15.45,1.332,6,0.000,0.000,3220,1960,2484
$GC,10602,2.29,90.5,946.7,7.3,875,10616,0.00,1.98,7.75,1.196,4,0.000,0.051,3220,3018,2456
$GC,10737,2.25,90.5,935.5,8.8,881,10741,0.00,1.88,0.00,0.000,6,0.000,0.041,3220,1964,2455
$GC,11069,2.22,92.3,909.3,7.8,897,11073,0.15,1.95,0.00,0.000,4,0.113,0.074,3191,911,2455
$GC,11227,2.20,98.1,897.5,7.4,904,11242,0.00,1.83,8.00,1.200,6,0.000,0.032,3192,1977,2425
$GC,11558,2.20,99.9,871.8,7.8,920,11561,0.00,1.80,0.00,0.000,4,0.000,0.051,3192,3012,2424
$GC,11653,2.22,109.5,864.5,7.1,924,11669,0.00,1.80,11.73,1.276,6,0.000,0.038,3192,1969,2378
$GC,11977,2.22,109.5,837.4,8.7,940,11981,0.00,1.92,0.00,0.000,4,0.000,0.064,3191,907,2377
$GC,12079,2.20,109.5,828.6,8.9,944,12082,0.00,1.83,0.00,0.000,6,0.000,0.032,3192,1979,2377
$GC,12400,2.20,109.5,802.6,8.3,960,12403,0.00,1.80,0.00,0.000,4,0.000,0.051,3192,3017,2376
$GC,12460,2.20,109.5,797.4,8.7,962,12466,0.00,1.85,0.00,0.000,6,0.000,0.038,3192,1960,2375
$GC,12776,2.20,113.2,773.2,7.6,978,12785,0.00,1.88,4.62,0.942,4,0.000,0.050,3191,3005,2363
$GC,12887,2.20,113.2,764.6,8.1,983,12890,0.00,1.77,0.00,0.000,6,0.000,0.041,3191,1980,2363
$GC,13219,2.20,114.4,739.3,7.9,999,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1980,2363
$GC,13528,2.22,122.0,716.2,7.3,1014,13542,0.00,2.03,9.35,1.164,4,0.000,0.064,3191,907,2327
$GC,13627,2.22,122.0,708.1,8.2,1018,13631,0.00,1.85,0.00,0.000,6,0.000,0.032,3192,1972,2326
$GC,13950,2.22,122.5,683.9,7.9,1034,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1971,2326
$GC,14257,2.22,122.5,659.0,8.0,1049,14261,0.00,1.92,0.00,0.000,4,0.000,0.059,3191,910,2326
$GC,14443,2.23,130.8,644.5,7.2,1057,14459,0.00,1.77,9.32,1.120,6,0.000,0.032,3192,1957,2291
$GC,14768,2.24,134.3,618.9,7.7,1073,14777,0.00,1.85,4.62,0.880,4,0.000,0.049,3192,3006,2277
$GC,14816,2.24,137.7,614.9,7.7,1075,14826,0.00,1.85,5.20,0.926,6,0.000,0.037,3192,1955,2263
$GC,15142,2.24,137.7,588.7,8.0,1091,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1955,2262
$GC,15452,2.24,138.3,564.3,7.9,1106,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1955,2262
$GC,15761,2.24,138.3,540.0,8.3,1121,15764,0.00,1.85,0.00,0.000,4,0.000,0.048,3192,3010,2262
$GC,15867,2.25,144.4,531.2,7.4,1125,15878,0.00,1.83,7.07,0.991,6,0.000,0.037,3191,1948,2236
$GC,16198,2.25,144.4,503.2,8.5,1142,16200,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1948,2236
$GC,16518,2.27,151.6,478.4,7.3,1170,16532,0.00,1.95,7.97,0.988,4,0.000,0.047,3192,3013,2206
$GC,16689,2.27,152.2,464.5,7.9,1185,16695,0.00,1.83,0.00,0.000,6,0.000,0.036,3192,1967,2206
$GC,17015,2.27,154.2,440.5,7.8,1216,17027,0.00,1.88,3.97,0.719,4,0.000,0.046,3192,3010,2196
$GC,17156,2.28,159.8,428.5,7.5,1228,17167,0.00,1.75,6.55,0.907,6,0.000,0.043,3191,1984,2173
$GC,17485,2.30,159.8,399.6,8.9,1259,17489,0.00,1.92,0.00,0.000,4,0.000,0.061,3192,908,2173
$GC,17568,2.30,159.8,392.1,8.3,1266,17575,0.00,1.85,0.00,0.000,6,0.000,0.031,3192,1990,2173
$GC,17897,2.33,164.7,366.2,7.5,1297,17905,0.12,0.00,6.00,0.844,6,0.075,0.000,3225,1990,2153
$GC,18222,2.33,165.8,339.5,7.9,1328,18226,0.00,1.95,0.00,0.000,4,0.000,0.055,3225,906,2152
$GC,18294,2.33,166.4,333.4,7.9,1334,18300,0.00,1.88,0.00,0.000,6,0.000,0.030,3225,2002,2152
$GC,18620,2.34,171.6,308.7,7.5,1365,18632,0.00,2.05,7.70,0.867,4,0.000,0.054,3225,904,2125
$GC,18693,2.35,176.8,302.8,7.5,1371,18704,0.00,1.85,6.03,0.802,6,0.000,0.030,3225,1981,2104
$GC,19024,2.36,180.9,276.9,7.6,1402,19035,0.00,1.95,5.53,0.762,4,0.000,0.053,3225,905,2086
$GC,19096,2.36,180.9,270.6,9.2,1408,19102,0.00,1.80,0.00,0.000,6,0.000,0.028,3225,1962,2086
$GC,19424,2.36,180.9,244.5,8.6,1444,19430,0.00,1.90,0.00,0.000,4,0.000,0.053,3225,914,2086
$GC,19655,2.36,180.9,224.7,8.4,1485,19661,0.00,1.70,0.00,0.000,6,0.000,0.028,3225,1935,2086
$GC,19999,2.37,185.0,198.2,7.6,1546,20010,0.00,1.85,5.18,0.686,4,0.000,0.058,3225,905,2070
$GC,20229,2.39,198.1,179.1,6.8,1587,20247,0.00,1.65,12.45,0.823,6,0.000,0.028,3225,1902,2017
$GC,20587,2.46,221.1,154.1,5.8,1650,20615,0.00,1.95,20.30,0.820,4,0.000,0.041,3225,3003,1922
$GC,20650,2.51,233.0,149.9,6.9,1661,20668,0.15,1.88,11.12,0.762,6,0.062,0.031,3267,1903,1875
$GC,21007,2.55,240.8,123.1,7.2,1724,21020,0.00,1.98,8.05,0.711,4,0.000,0.038,3267,3011,1843
$GC,21273,2.61,262.2,106.1,6.0,1771,21296,0.00,1.80,18.85,0.759,6,0.000,0.028,3267,1930,1755
$GC,21637,2.67,273.4,82.2,6.9,1835,21654,0.10,0.00,10.75,0.693,6,0.070,0.000,3300,1928,1709
$GC,21993,2.75,295.8,57.1,5.9,1898,22017,0.00,1.92,19.50,0.696,4,0.000,0.034,3300,3017,1618
$GC,22271,2.82,316.5,41.4,6.0,1947,22294,0.10,1.75,18.23,0.669,6,0.070,0.025,3335,1949,1534
$GC,22633,2.84,316.5,11.0,9.1,2011,22639,0.00,1.77,0.00,0.000,4,0.000,0.033,3335,3012,1532
$GC,22707,2.87,316.5,4.0,9.8,2024,22713,0.00,1.80,0.00,0.000,6,0.000,0.025,3335,1928,1532
$STATE,22734,end climb,SURFACE_DEPTH_REACHED
$STATE,22734,begin surface coast
$FINISH,0.6,1.021141
$STATE,22763,end surface coast,CONTROL_FINISHED_OK
$STATE,22763,begin surface
$SM_CCo,22784,114.60,0.628,0,0,786,500.17
$SM_GC,-6.40,0.00,0.00,114.60,0.000,0.000,0.628,416,2353,786,-10.55,0.76,500.17
$IRIDIUM_FIX,1247.67,12040.38,140697,191951
$TT8_MAMPS,0.025311
$HUMID,1788
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.70
$XPDR_PINGS,493
$24V_AH,23.1,23.587
$10V_AH,10.1,19.254
$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,28.650,130.100,364.725,114.600,0.000,23.081,31.163,195.263,135.750,0.000,0.000,12.998,3383.856,14996.947,610.910,3688.659,610.888,0.000,2328.697,0.000,3641.729,0.000,91.475
$DEVICE_MAMPS,170.274,138.060,1444.261,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1382.271,808.263,766.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110494,2034
$CAP_FILE_SIZE,208663,0
$CFSIZE,260165632,243810304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210308,082502,1250.523,12034.294,42,1.4,42,-0.8