version: 66.03
glider: 126
mission: 7
dive: 162
start: 3 21 108 20 24 30
data:
$ID,126
$MISSION,7
$DIVE,162
$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,0.0020000001
$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,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,-622508.31
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,201708,1249.954,12029.486,38,1.0,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.10
$_SM_ANGLEo,-58.9
$GPS2,202338,1249.954,12029.478,11,1.0,11,-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,253.2,26493,-22.8,-9.016
$D_GRID,1181
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.43,-76.7,0.0,0.0,0,94,0.00,0.00,-63.00,0.000,6,0.000,0.000,418,2339,3141
$GC,96,-2.43,-76.7,1.6,-23.6,13,113,10.10,1.80,0.00,0.000,4,0.177,0.032,2175,1276,3142
$GC,131,-2.00,-76.7,17.8,-43.1,19,138,0.50,1.70,0.00,0.000,6,0.120,0.025,2272,2319,3142
$GC,476,-2.00,-76.7,80.4,-14.9,80,482,0.00,1.80,0.00,0.000,4,0.000,0.040,2272,3371,3143
$GC,675,-2.00,-76.7,110.1,-14.7,115,681,0.00,1.60,0.00,0.000,6,0.000,0.023,2272,2348,3144
$GC,1018,-2.03,-76.7,151.1,-12.0,176,1024,0.00,1.75,0.00,0.000,4,0.000,0.039,2272,3379,3146
$GC,1142,-2.06,-76.7,165.1,-10.8,198,1148,0.00,1.50,0.00,0.000,6,0.000,0.024,2272,2421,3146
$GC,1486,-2.10,-76.7,197.6,-9.3,259,1492,0.00,1.85,0.00,0.000,4,0.000,0.035,2272,1310,3147
$GC,1599,-2.16,-76.7,208.5,-9.3,279,1606,0.15,1.80,0.00,0.000,6,0.058,0.025,2228,2410,3146
$GC,1943,-2.16,-76.7,241.4,-9.8,340,1949,0.00,1.85,0.00,0.000,4,0.000,0.035,2228,1317,3146
$GC,1977,-2.16,-76.7,245.0,-10.5,346,1982,0.00,1.77,0.00,0.000,6,0.000,0.026,2228,2397,3146
$GC,2303,-2.16,-76.7,278.3,-9.8,381,2307,0.00,1.85,0.00,0.000,4,0.000,0.037,2229,1325,3145
$GC,2375,-2.16,-76.7,285.3,-9.5,387,2382,0.00,1.77,0.00,0.000,6,0.000,0.026,2228,2387,3144
$GC,2702,-2.18,-76.7,317.8,-10.4,418,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2387,3143
$GC,3020,-2.20,-76.7,352.5,-11.2,448,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2387,3141
$GC,3339,-2.22,-76.7,385.5,-9.9,478,3343,0.00,1.70,0.00,0.000,4,0.000,0.049,2229,3361,3139
$GC,3440,-2.22,-76.7,396.5,-10.7,487,3443,0.00,1.55,0.00,0.000,6,0.000,0.029,2228,2424,3138
$GC,3771,-2.25,-76.7,429.9,-10.3,518,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2421,3136
$GC,4089,-2.27,-76.7,461.8,-9.5,548,4093,0.00,1.92,0.00,0.000,4,0.000,0.054,2229,1325,3134
$GC,4134,-2.30,-76.7,466.0,-9.6,552,4138,0.00,1.83,0.00,0.000,6,0.000,0.035,2229,2403,3134
$GC,4466,-2.33,-76.7,498.2,-9.7,583,4470,0.12,1.67,0.00,0.000,4,0.067,0.054,2195,3366,3132
$GC,4572,-2.33,-76.7,510.1,-10.8,588,4578,0.00,1.52,0.00,0.000,6,0.000,0.031,2194,2460,3131
$GC,4887,-2.33,-76.7,544.3,-11.0,604,4890,0.00,2.03,0.00,0.000,4,0.000,0.061,2194,1325,3128
$GC,4969,-2.33,-76.7,553.7,-11.0,607,4976,0.00,1.88,0.00,0.000,6,0.000,0.046,2194,2381,3128
$GC,5285,-2.33,-76.7,587.5,-10.2,623,5289,0.00,1.80,0.00,0.000,4,0.000,0.077,2194,3366,3126
$GC,5368,-2.33,-76.7,597.0,-11.6,626,5375,0.00,1.62,0.00,0.000,6,0.000,0.054,2194,2469,3126
$GC,5685,-2.33,-76.7,630.7,-10.8,642,5689,0.00,2.12,0.00,0.000,4,0.000,0.087,2194,1328,3124
$GC,5869,-2.33,-76.7,650.7,-11.2,650,5873,0.00,1.95,0.00,0.000,6,0.000,0.079,2194,2350,3123
$GC,6198,-2.33,-76.7,685.9,-11.0,666,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2350,3122
$GC,6505,-2.33,-76.7,716.5,-9.4,681,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2350,3120
$GC,6814,-2.33,-76.7,745.7,-10.0,696,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2352,3118
$GC,7124,-2.33,-76.7,777.1,-10.1,711,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2352,3117
$GC,7433,-2.33,-76.7,809.1,-10.0,726,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2352,3116
$GC,7742,-2.33,-76.7,838.1,-9.2,741,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2352,3115
$GC,8051,-2.33,-76.7,866.9,-9.2,756,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2352,3114
$GC,8360,-2.33,-76.7,896.6,-10.1,771,8364,0.00,1.85,0.00,0.000,4,0.000,0.061,2194,1330,3113
$GC,8423,-2.33,-76.7,902.8,-9.9,773,8428,0.00,1.83,0.00,0.000,6,0.000,0.037,2194,2398,3113
$GC,8739,-2.33,-76.7,933.7,-9.4,789,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2400,3112
$GC,9047,-2.33,-76.7,962.2,-9.3,804,9051,0.00,1.92,0.00,0.000,4,0.000,0.052,2194,1336,3110
$GC,9114,-2.33,-76.7,968.7,-10.0,807,9117,0.00,1.80,0.00,0.000,6,0.000,0.035,2194,2390,3111
$STATE,9341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9347,-0.51,0.0,990.7,9.5,818,9413,1.95,0.00,62.12,1.437,6,0.104,0.000,2599,2007,2825
$STATE,9414,end apogee,CONTROL_FINISHED_OK
$STATE,9414,begin climb
$GC,9416,2.43,76.7,992.3,0.0,821,9493,2.85,2.12,68.30,1.399,4,0.063,0.085,3241,924,2512
$GC,9651,2.39,87.2,978.0,8.1,831,9666,0.00,1.85,10.57,1.253,6,0.000,0.032,3241,2001,2469
$GC,9977,2.35,90.0,950.1,8.8,846,9986,0.00,1.80,4.03,0.874,4,0.000,0.051,3241,3001,2457
$GC,10050,2.31,97.8,943.7,8.3,849,10067,0.15,1.80,8.62,1.212,6,0.114,0.037,3214,1960,2426
$GC,10375,2.32,101.9,916.3,8.6,865,10382,0.00,0.00,5.28,1.033,6,0.000,0.000,3213,1960,2409
$GC,10684,2.35,120.4,892.4,7.3,880,10707,0.00,1.92,17.65,1.325,4,0.000,0.048,3214,3002,2334
$GC,10781,2.36,124.8,884.0,8.6,884,10793,0.00,1.77,5.60,1.045,6,0.000,0.037,3214,1975,2316
$GC,11101,2.36,124.8,855.2,9.3,900,11105,0.00,1.92,0.00,0.000,4,0.000,0.062,3214,911,2315
$GC,11201,2.36,124.8,845.4,9.7,904,11205,0.00,1.83,0.00,0.000,6,0.000,0.032,3213,1981,2315
$GC,11522,2.36,124.8,815.2,9.3,920,11526,0.00,1.77,0.00,0.000,4,0.000,0.048,3213,3006,2314
$GC,11599,2.36,126.5,808.0,8.9,923,11603,0.00,1.80,0.00,0.000,6,0.000,0.037,3213,1979,2314
$GC,11920,2.36,126.5,778.7,9.3,939,11924,0.00,1.92,0.00,0.000,4,0.000,0.061,3213,908,2313
$GC,12110,2.36,126.5,760.1,9.3,947,12114,0.00,1.83,0.00,0.000,6,0.000,0.032,3213,1965,2313
$GC,12431,2.38,137.2,732.3,8.1,963,12452,0.00,1.90,12.10,1.213,4,0.000,0.051,3213,3003,2264
$GC,12514,2.39,142.7,724.9,8.5,966,12525,0.00,1.80,6.28,1.043,6,0.000,0.039,3213,1962,2243
$GC,12845,2.39,142.7,693.9,9.4,983,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1961,2242
$GC,13155,2.39,142.7,663.5,9.9,998,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1962,2242
$GC,13465,2.39,142.7,633.3,9.4,1013,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1961,2242
$GC,13773,2.39,144.8,605.2,8.8,1028,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1961,2242
$GC,14083,2.39,144.8,577.7,9.3,1043,14086,0.00,1.88,0.00,0.000,4,0.000,0.061,3213,911,2242
$GC,14165,2.39,144.8,569.3,9.7,1046,14172,0.00,1.85,0.00,0.000,6,0.000,0.032,3213,1988,2242
$GC,14482,2.40,150.5,539.9,8.5,1062,14496,0.00,1.85,8.05,1.023,4,0.000,0.048,3213,3011,2211
$GC,14705,2.41,155.9,519.7,8.5,1072,14715,0.00,1.75,6.50,0.963,6,0.000,0.036,3213,1993,2189
$GC,15037,2.41,155.9,489.5,9.2,1093,15040,0.00,1.95,0.00,0.000,4,0.000,0.060,3213,905,2188
$GC,15206,2.41,157.0,473.4,8.9,1108,15210,0.00,1.83,0.00,0.000,6,0.000,0.032,3213,1983,2188
$GC,15537,2.44,173.5,446.2,7.5,1139,15559,0.12,1.88,16.65,1.056,4,0.074,0.047,3246,3014,2117
$GC,15638,2.44,173.5,436.9,9.6,1148,15642,0.00,1.80,0.00,0.000,6,0.000,0.035,3246,1968,2116
$GC,15970,2.44,174.0,405.5,9.0,1179,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1968,2116
$GC,16286,2.44,174.0,374.1,10.2,1209,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1967,2115
$GC,16605,2.44,174.0,343.8,9.7,1239,16609,0.00,1.88,0.00,0.000,4,0.000,0.058,3247,913,2116
$GC,16695,2.45,177.9,335.4,8.7,1247,16706,0.00,1.83,5.25,0.780,6,0.000,0.031,3247,2000,2099
$GC,17024,2.45,177.9,304.0,9.4,1278,17027,0.00,1.95,0.00,0.000,4,0.000,0.054,3247,912,2099
$GC,17140,2.45,177.9,291.6,10.0,1288,17147,0.00,1.83,0.00,0.000,6,0.000,0.029,3247,1980,2098
$GC,17467,2.45,181.6,263.5,8.7,1319,17478,0.00,1.92,5.18,0.739,4,0.000,0.053,3247,912,2083
$GC,17603,2.49,202.0,252.2,7.2,1331,17627,0.00,1.77,18.52,0.916,6,0.000,0.029,3247,1972,2001
$GC,17966,2.49,202.0,218.2,9.4,1393,17972,0.00,1.90,0.00,0.000,4,0.000,0.053,3246,908,1999
$GC,18023,2.49,202.0,212.4,9.3,1403,18029,0.00,1.77,0.00,0.000,6,0.000,0.030,3247,1969,1999
$GC,18367,2.51,217.3,183.2,7.6,1464,18388,0.00,1.98,14.15,0.842,4,0.000,0.052,3247,907,1939
$GC,18642,2.51,217.3,159.1,9.2,1513,18648,0.00,1.67,0.00,0.000,6,0.000,0.028,3246,1915,1937
$GC,18988,2.63,261.7,137.0,5.0,1574,19032,0.15,1.90,37.53,0.812,4,0.062,0.039,3293,3010,1757
$GC,19286,2.68,272.4,114.6,8.0,1627,19302,0.00,1.75,9.80,0.728,6,0.000,0.029,3293,1962,1714
$GC,19643,2.76,298.5,89.7,6.7,1690,19670,0.00,0.00,22.62,0.739,6,0.000,0.000,3293,1961,1607
$GC,20009,2.88,333.9,65.9,5.8,1755,20044,0.15,1.88,29.75,0.704,4,0.057,0.035,3344,3015,1462
$GC,20151,2.88,333.9,53.8,10.7,1780,20157,0.00,1.75,0.00,0.000,6,0.000,0.026,3344,1973,1461
$GC,20495,2.91,333.9,20.2,9.1,1841,20501,0.00,1.80,0.00,0.000,4,0.000,0.044,3345,921,1461
$GC,20687,2.95,345.9,2.7,7.9,1875,20700,0.00,1.67,8.52,0.579,2,0.000,0.023,3345,1968,1428
$STATE,20700,end climb,SURFACE_DEPTH_REACHED
$STATE,20701,begin surface coast
$FINISH,-0.4,1.021548
$STATE,20722,end surface coast,CONTROL_FINISHED_OK
$STATE,20723,begin surface
$SM_CCo,20744,83.88,0.634,0,0,887,475.15
$SM_GC,-5.93,0.00,0.00,83.88,0.000,0.000,0.634,414,2326,887,-10.56,0.03,475.15
$IRIDIUM_FIX,1243.25,12031.29,150697,141435
$TT8_MAMPS,0.026078
$HUMID,1788
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,417
$24V_AH,23.1,24.087
$10V_AH,10.1,19.606
$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,29.050,121.350,383.075,83.875,0.000,24.102,36.121,208.961,116.750,0.000,0.000,11.965,3085.836,13574.625,582.820,3388.812,607.312,0.000,2210.344,0.000,3337.568,0.000,91.475
$DEVICE_MAMPS,177.177,86.671,1436.591,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1276.249,450.756,719.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100936,1881
$CAP_FILE_SIZE,192249,0
$CFSIZE,260165632,243552256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220308,021256,1249.598,12027.279,41,1.0,41,-0.8