version: 66.03
glider: 126
mission: 7
dive: 165
start: 3 22 108 13 49 49
data:
$ID,126
$MISSION,7
$DIVE,165
$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,-622551.19
$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,26
$R_STBD_OVSHOOT,50
$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
$GPS1,134255,1248.771,12022.721,38,1.2,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.00
$_SM_ANGLEo,-58.6
$GPS2,134857,1248.789,12022.700,14,1.2,14,-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,246.5,14269,-22.8,-9.016
$D_GRID,917
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-2.43,-76.7,0.0,0.0,0,88,0.00,0.00,-63.60,0.000,6,0.000,0.000,414,2331,3140
$GC,90,-2.43,-76.7,-0.6,-15.9,12,108,10.05,1.75,0.00,0.000,4,0.175,0.038,2175,3363,3142
$GC,311,-2.28,-76.7,60.0,-24.2,51,318,0.12,1.75,0.00,0.000,6,0.117,0.023,2210,2288,3142
$GC,655,-2.23,-76.7,121.0,-15.7,112,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2282,3144
$GC,998,-2.23,-76.7,165.5,-11.5,173,1003,0.00,1.83,0.00,0.000,4,0.000,0.038,2211,3364,3146
$GC,1054,-2.21,-76.7,172.9,-13.0,183,1060,0.00,1.70,0.00,0.000,6,0.000,0.023,2210,2285,3146
$GC,1397,-2.21,-76.7,211.7,-10.1,244,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2278,3147
$GC,1739,-2.21,-76.7,246.4,-10.1,305,1745,0.00,1.85,0.00,0.000,4,0.000,0.042,2210,3364,3146
$GC,1890,-2.21,-76.7,262.9,-10.9,321,1897,0.00,1.70,0.00,0.000,6,0.000,0.025,2210,2322,3147
$GC,2216,-2.21,-76.7,297.6,-10.5,352,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2317,3145
$GC,2533,-2.21,-76.7,332.4,-10.9,382,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2316,3143
$GC,2854,-2.21,-76.7,366.8,-10.0,412,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2316,3141
$GC,3170,-2.21,-76.7,399.5,-10.0,442,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2316,3139
$GC,3491,-2.21,-76.7,432.3,-10.6,472,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2315,3137
$GC,3807,-2.21,-76.7,465.9,-10.3,502,3811,0.00,1.83,0.00,0.000,4,0.000,0.051,2211,3364,3133
$GC,3925,-2.21,-76.7,478.4,-10.6,512,3931,0.00,1.70,0.00,0.000,6,0.000,0.031,2211,2356,3133
$GC,4248,-2.21,-76.7,511.9,-11.2,538,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2354,3132
$GC,4555,-2.21,-76.7,545.4,-10.5,553,4559,0.00,1.83,0.00,0.000,4,0.000,0.066,2211,3361,3129
$GC,4672,-2.21,-76.7,558.0,-10.1,558,4676,0.00,1.83,0.00,0.000,6,0.000,0.042,2211,2329,3128
$GC,4999,-2.21,-76.7,588.2,-9.1,574,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2329,3126
$GC,5308,-2.21,-76.7,617.5,-9.4,589,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2329,3124
$GC,5617,-2.21,-76.7,647.3,-9.8,604,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2329,3123
$GC,5927,-2.23,-76.7,677.8,-10.0,619,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2329,3121
$GC,6235,-2.23,-76.7,707.3,-9.3,634,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2329,3119
$GC,6545,-2.25,-76.7,736.7,-10.0,649,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2329,3118
$GC,6854,-2.27,-76.7,767.9,-10.1,664,6858,0.00,1.83,0.00,0.000,4,0.000,0.053,2211,3364,3116
$GC,6944,-2.27,-76.7,776.5,-9.3,668,6947,0.00,1.77,0.00,0.000,6,0.000,0.032,2210,2307,3116
$GC,7277,-2.31,-87.0,804.5,-8.1,684,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2308,3115
$GC,7585,-2.34,-87.0,833.0,-9.2,699,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2306,3114
$GC,7896,-2.37,-91.8,860.2,-8.6,714,7899,0.00,1.88,0.00,0.000,4,0.000,0.056,2211,3363,3113
$GC,8046,-2.37,-92.4,874.0,-9.0,720,8053,0.00,1.75,0.00,0.000,6,0.000,0.033,2211,2340,3113
$GC,8365,-2.41,-94.3,900.7,-8.9,736,8367,0.12,0.00,0.00,0.000,6,0.074,0.000,2180,2340,3112
$STATE,8524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8525,begin apogee
$GC,8530,-0.51,0.0,917.6,10.6,744,8596,2.00,0.00,61.65,1.384,6,0.104,0.000,2595,1964,2825
$STATE,8596,end apogee,CONTROL_FINISHED_OK
$STATE,8597,begin climb
$GC,8599,2.46,94.3,919.9,0.0,747,8688,2.95,0.00,83.25,1.352,6,0.064,0.000,3248,1964,2440
$GC,8997,2.43,104.4,895.1,8.1,767,9011,0.00,2.08,9.77,1.203,4,0.000,0.088,3248,911,2399
$GC,9197,2.38,104.4,876.4,10.2,776,9201,0.00,1.75,0.00,0.000,6,0.000,0.031,3248,1934,2398
$GC,9530,2.34,108.1,847.1,8.7,792,9537,0.15,0.00,4.57,0.929,6,0.115,0.000,3221,1934,2384
$GC,9839,2.34,108.2,820.0,9.0,807,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1934,2383
$GC,10148,2.36,118.7,794.7,8.1,822,10160,0.00,0.00,10.75,1.215,6,0.000,0.000,3221,1934,2341
$GC,10457,2.37,127.1,768.2,8.3,837,10471,0.00,1.95,9.05,1.167,4,0.000,0.050,3221,3010,2306
$GC,10545,2.37,127.1,760.2,9.2,841,10549,0.00,1.85,0.00,0.000,6,0.000,0.038,3221,1943,2305
$GC,10878,2.38,127.8,731.4,8.9,857,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1943,2305
$GC,11186,2.38,127.8,704.1,9.1,872,11189,0.00,1.88,0.00,0.000,4,0.000,0.048,3220,3010,2305
$GC,11246,2.38,127.8,698.2,9.7,874,11253,0.00,1.85,0.00,0.000,6,0.000,0.038,3221,1956,2304
$GC,11562,2.39,137.1,671.4,8.2,890,11577,0.00,1.90,10.25,1.147,4,0.000,0.047,3220,3015,2264
$GC,11644,2.39,137.1,663.7,9.4,893,11648,0.00,1.80,0.00,0.000,6,0.000,0.036,3221,1973,2264
$GC,11976,2.39,137.1,633.1,9.4,909,11980,0.00,1.90,0.00,0.000,4,0.000,0.062,3220,915,2264
$GC,12143,2.39,137.1,617.2,9.2,916,12147,0.00,1.80,0.00,0.000,6,0.000,0.030,3220,1962,2263
$GC,12465,2.40,144.3,589.3,8.4,932,12478,0.00,1.90,7.38,1.034,4,0.000,0.049,3221,3011,2236
$GC,12568,2.40,144.3,580.2,9.0,936,12575,0.00,1.85,0.00,0.000,6,0.000,0.037,3220,1959,2236
$GC,12886,2.41,150.8,553.1,8.4,952,12900,0.00,1.98,7.15,1.003,4,0.000,0.061,3221,907,2210
$GC,12963,2.42,153.9,546.2,8.7,955,12974,0.00,1.77,4.68,0.841,6,0.000,0.032,3220,1956,2197
$GC,13283,2.43,160.4,519.8,8.4,971,13297,0.00,1.90,7.30,0.989,4,0.000,0.048,3220,3004,2170
$GC,13433,2.43,162.7,505.7,8.8,977,13439,0.00,1.80,0.00,0.000,6,0.000,0.038,3220,1956,2169
$GC,13757,2.43,162.7,474.8,9.2,1005,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1956,2169
$GC,14073,2.43,162.7,444.9,9.0,1035,14077,0.00,1.88,0.00,0.000,4,0.000,0.062,3220,908,2169
$GC,14129,2.43,162.7,439.6,9.1,1040,14141,0.00,1.80,3.53,0.650,6,0.000,0.031,3220,1958,2161
$GC,14458,2.44,165.0,410.9,8.8,1071,14468,0.00,0.00,3.88,0.690,6,0.000,0.000,3221,1959,2152
$GC,14788,2.44,165.0,380.3,9.3,1102,14791,0.00,1.90,0.00,0.000,4,0.000,0.056,3220,901,2152
$GC,14913,2.44,165.0,368.2,9.8,1113,14916,0.00,1.77,0.00,0.000,6,0.000,0.030,3220,1956,2152
$GC,15243,2.45,173.5,341.3,8.2,1144,15257,0.12,1.92,9.20,0.924,4,0.073,0.054,3254,903,2116
$GC,15381,2.44,177.4,328.8,8.7,1156,15393,0.00,1.75,4.97,0.763,6,0.000,0.029,3254,1942,2101
$GC,15710,2.44,177.4,298.3,9.6,1187,15714,0.00,1.83,0.00,0.000,4,0.000,0.048,3253,3002,2101
$GC,15766,2.44,177.4,293.3,9.4,1192,15769,0.00,1.85,0.00,0.000,6,0.000,0.036,3254,1919,2100
$GC,16097,2.45,185.2,264.8,8.3,1223,16112,0.00,1.88,8.12,0.847,4,0.000,0.059,3254,911,2070
$GC,16190,2.45,185.2,255.9,9.5,1231,16196,0.00,1.73,0.00,0.000,6,0.000,0.029,3253,1921,2070
$GC,16529,2.45,185.2,224.1,9.6,1286,16535,0.00,1.88,0.00,0.000,4,0.000,0.044,3254,3015,2069
$GC,16591,2.45,185.2,218.1,9.5,1297,16597,0.00,1.83,0.00,0.000,6,0.000,0.034,3254,1938,2069
$GC,16934,2.47,194.9,189.6,8.1,1358,16950,0.00,1.90,9.82,0.817,4,0.000,0.043,3254,3011,2030
$GC,17058,2.48,203.7,178.3,8.2,1380,17074,0.00,1.80,9.10,0.793,6,0.000,0.032,3253,1949,1993
$GC,17412,2.51,220.5,148.6,7.5,1443,17435,0.00,1.90,15.07,0.811,4,0.000,0.064,3253,918,1926
$GC,17621,2.59,254.3,134.6,6.0,1480,17655,0.00,1.65,29.02,0.806,6,0.000,0.027,3254,1901,1788
$GC,17993,2.70,283.0,108.9,6.4,1546,18023,0.17,1.85,24.08,0.765,4,0.058,0.049,3307,908,1671
$GC,18237,2.73,288.5,87.7,8.5,1589,18249,0.00,1.62,6.32,0.634,6,0.000,0.025,3307,1902,1648
$GC,18589,2.82,311.9,65.2,6.9,1651,18616,0.00,1.80,20.30,0.708,4,0.000,0.046,3307,914,1553
$GC,18702,2.90,335.8,56.7,6.9,1671,18730,0.15,1.60,20.90,0.687,6,0.058,0.024,3352,1905,1455
$GC,19071,2.92,337.0,23.1,8.9,1736,19077,0.00,1.75,0.00,0.000,4,0.000,0.044,3352,912,1453
$GC,19236,2.92,337.0,6.1,10.3,1765,19242,0.00,1.58,0.00,0.000,6,0.000,0.024,3353,1886,1453
$STATE,19279,end climb,SURFACE_DEPTH_REACHED
$STATE,19280,begin surface coast
$FINISH,-0.6,1.021666
$STATE,19303,end surface coast,CONTROL_FINISHED_OK
$STATE,19304,begin surface
$SM_CCo,19325,86.82,0.635,0,0,887,475.15
$SM_GC,-6.06,0.00,0.00,86.82,0.000,0.000,0.635,413,2338,887,-10.57,0.40,475.15
$IRIDIUM_FIX,1245.46,12024.46,160697,080807
$TT8_MAMPS,0.026078
$HUMID,1799
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.10
$XPDR_PINGS,326
$24V_AH,23.1,24.557
$10V_AH,10.1,19.945
$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,28.625,95.750,380.125,86.825,0.000,30.074,33.328,178.990,92.000,0.000,0.000,14.216,2902.229,12652.014,589.149,3115.918,537.371,0.000,2068.437,0.000,3065.426,0.000,76.988
$DEVICE_MAMPS,174.876,88.205,1384.435,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1205.570,417.940,689.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94598,1777
$CAP_FILE_SIZE,175164,0
$CFSIZE,260165632,243302400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220308,191437,1248.277,12020.567,40,1.3,40,-0.8