version: 66.03
glider: 126
mission: 7
dive: 230
start: 4 5 108 5 15 19
data:
$ID,126
$MISSION,7
$DIVE,230
$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,-623747.88
$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,2325
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,050807,1251.094,12037.323,36,1.4,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.63
$_SM_ANGLEo,-59.5
$GPS2,051427,1251.205,12037.315,11,1.4,11,-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,256.1,40740,-19.0,-9.016
$D_GRID,1557
$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,-2.18,-120.8,0.0,0.0,0,94,0.00,0.00,-66.28,0.000,6,0.000,0.000,417,2328,3320
$GC,97,-2.18,-120.8,1.0,-22.8,13,109,10.32,0.00,0.00,0.000,6,0.170,0.000,2249,2328,3322
$GC,449,-2.03,-120.8,76.9,-16.4,75,455,0.15,1.75,0.00,0.000,4,0.119,0.038,2282,3371,3324
$GC,496,-1.91,-120.8,84.7,-15.7,83,502,0.15,1.75,0.00,0.000,6,0.111,0.023,2311,2259,3324
$GC,840,-1.91,-120.8,128.5,-11.0,144,847,0.00,1.67,0.00,0.000,4,0.000,0.034,2311,1258,3326
$GC,858,-1.91,-120.8,130.5,-11.0,147,864,0.00,1.70,0.00,0.000,6,0.000,0.024,2311,2316,3326
$GC,1202,-1.91,-120.8,164.9,-9.3,208,1208,0.00,1.75,0.00,0.000,4,0.000,0.040,2311,3363,3327
$GC,1264,-1.91,-120.8,171.1,-10.1,219,1270,0.00,1.77,0.00,0.000,6,0.000,0.024,2311,2240,3327
$GC,1610,-1.95,-125.2,202.0,-8.7,280,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2233,3327
$GC,1953,-2.00,-133.9,233.5,-8.5,341,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2233,3327
$GC,2293,-2.04,-133.9,264.6,-9.5,389,2297,0.12,1.92,0.00,0.000,4,0.062,0.041,2275,3359,3326
$GC,2398,-2.04,-133.9,275.8,-11.1,398,2404,0.00,1.75,0.00,0.000,6,0.000,0.026,2275,2267,3326
$GC,2724,-2.04,-133.9,309.3,-10.1,429,2728,0.00,1.90,0.00,0.000,4,0.000,0.044,2275,3367,3324
$GC,2763,-2.04,-133.9,313.5,-10.7,432,2769,0.00,1.77,0.00,0.000,6,0.000,0.027,2275,2287,3324
$GC,3089,-2.04,-133.9,345.1,-9.3,463,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2282,3322
$GC,3406,-2.04,-133.9,375.5,-10.1,493,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2280,3319
$GC,3726,-2.04,-133.9,406.0,-9.1,523,3729,0.00,1.85,0.00,0.000,4,0.000,0.047,2275,3356,3317
$GC,3818,-2.04,-133.9,414.5,-9.5,531,3821,0.00,1.67,0.00,0.000,6,0.000,0.029,2275,2342,3317
$GC,4149,-2.04,-133.9,446.2,-9.7,562,4153,0.00,1.80,0.00,0.000,4,0.000,0.049,2275,3355,3314
$GC,4231,-2.04,-133.9,454.5,-9.6,569,4238,0.00,1.73,0.00,0.000,6,0.000,0.031,2275,2344,3314
$GC,4558,-2.06,-141.0,482.9,-8.6,600,4562,0.00,1.77,0.00,0.000,4,0.000,0.051,2275,3356,3312
$GC,4664,-2.06,-143.4,493.0,-8.9,609,4670,0.00,1.73,0.00,0.000,6,0.000,0.033,2275,2354,3311
$GC,4994,-2.06,-146.0,522.0,-8.8,629,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2353,3309
$GC,5301,-2.06,-146.0,549.3,-8.8,644,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2353,3307
$GC,5610,-2.06,-146.0,577.9,-9.2,659,5614,0.00,1.85,0.00,0.000,4,0.000,0.077,2275,3348,3305
$GC,5688,-2.06,-146.0,585.3,-9.1,662,5692,0.00,1.77,0.00,0.000,6,0.000,0.052,2275,2368,3305
$GC,6009,-2.06,-146.0,615.5,-10.1,678,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2367,3303
$GC,6318,-2.06,-146.0,646.1,-9.5,693,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2367,3301
$GC,6628,-2.06,-146.0,673.3,-8.4,708,6632,0.00,1.95,0.00,0.000,4,0.000,0.112,2275,3346,3300
$GC,6696,-2.06,-146.0,679.0,-8.7,711,6699,0.00,1.90,0.00,0.000,6,0.000,0.092,2275,2369,3299
$GC,7028,-2.06,-146.0,706.6,-8.4,727,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2369,3297
$GC,7337,-2.06,-146.0,734.6,-9.3,742,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2369,3296
$GC,7646,-2.06,-146.0,764.6,-9.8,757,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2369,3295
$GC,7955,-2.06,-146.0,795.1,-10.0,772,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2360,3293
$GC,8265,-2.06,-146.0,824.3,-9.3,787,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2360,3293
$GC,8574,-2.06,-146.0,853.9,-9.9,802,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2361,3292
$GC,8883,-2.06,-146.0,882.9,-9.2,817,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2361,3291
$GC,9195,-2.06,-146.0,910.8,-9.2,832,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2361,3290
$GC,9502,-2.06,-146.0,939.3,-9.0,847,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2361,3289
$GC,9811,-2.06,-146.0,967.6,-9.2,862,9815,0.00,1.77,0.00,0.000,4,0.000,0.060,2275,3361,3288
$GC,9872,-2.06,-146.0,973.6,-9.4,864,9878,0.00,1.77,0.00,0.000,6,0.000,0.035,2275,2339,3287
$STATE,10064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10064,begin apogee
$GC,10070,-0.52,0.0,990.7,8.9,874,10175,1.60,0.00,100.20,1.433,6,0.089,0.000,2616,1967,2825
$STATE,10175,end apogee,CONTROL_FINISHED_OK
$STATE,10175,begin climb
$GC,10178,2.22,146.0,994.0,0.0,879,10319,2.67,2.12,129.10,1.394,4,0.062,0.084,3218,911,2228
$GC,10417,2.09,146.0,980.4,10.4,890,10421,0.17,1.80,0.00,0.000,6,0.107,0.033,3185,1949,2224
$GC,10742,2.00,146.0,948.2,9.6,906,10746,0.00,1.92,0.00,0.000,4,0.000,0.063,3184,915,2221
$GC,10803,1.89,146.0,942.2,9.6,908,10810,0.22,1.83,0.00,0.000,6,0.105,0.032,3141,1973,2220
$GC,11120,1.90,175.9,917.4,7.2,924,11148,0.00,0.00,26.35,1.341,6,0.000,0.000,3141,1973,2107
$GC,11448,1.90,180.3,889.2,8.7,940,11458,0.00,2.00,5.53,1.039,4,0.000,0.061,3141,904,2088
$GC,11555,1.86,181.8,879.2,8.9,945,11558,0.00,1.83,0.00,0.000,6,0.000,0.032,3141,1963,2088
$GC,11887,1.87,186.4,850.0,8.7,961,11895,0.00,0.00,6.78,1.117,6,0.000,0.000,3141,1963,2064
$GC,12196,1.87,186.4,821.4,9.1,976,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1963,2063
$GC,12505,1.88,191.0,793.9,8.7,991,12513,0.00,0.00,5.43,1.012,6,0.000,0.000,3140,1964,2047
$GC,12815,1.88,194.4,766.4,8.8,1006,12824,0.00,1.98,4.85,0.956,4,0.000,0.061,3140,906,2032
$GC,12927,1.88,195.3,755.8,9.0,1011,12931,0.00,1.83,0.00,0.000,6,0.000,0.034,3140,1965,2032
$GC,13259,1.88,195.3,723.3,9.9,1027,13262,0.00,1.83,0.00,0.000,4,0.000,0.050,3141,3015,2031
$GC,13297,1.88,195.3,719.5,9.6,1028,13303,0.00,1.90,0.00,0.000,6,0.000,0.040,3140,1940,2031
$GC,13613,1.88,195.3,690.4,9.2,1044,13614,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1940,2032
$GC,13922,1.88,195.3,661.5,9.1,1059,13925,0.00,1.90,0.00,0.000,4,0.000,0.048,3140,3016,2031
$GC,13977,1.89,197.4,656.4,8.9,1061,13989,0.00,1.88,4.32,0.849,6,0.000,0.038,3140,1951,2019
$GC,14298,1.89,199.5,627.8,8.9,1077,14302,0.00,1.88,0.00,0.000,4,0.000,0.048,3140,3018,2019
$GC,14359,1.90,206.8,622.2,8.6,1079,14373,0.00,1.85,10.02,1.116,6,0.000,0.038,3141,1963,1981
$GC,14696,1.90,206.8,591.4,9.2,1096,14699,0.00,1.85,0.00,0.000,4,0.000,0.048,3140,3016,1980
$GC,14808,1.91,209.5,580.7,8.8,1101,14818,0.00,1.77,3.78,0.746,6,0.000,0.037,3140,1985,1971
$GC,15140,1.91,210.4,550.2,9.0,1117,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1986,1971
$GC,15449,1.92,217.7,523.1,8.6,1132,15463,0.00,1.85,9.27,1.039,4,0.000,0.047,3140,3002,1937
$GC,15502,1.92,218.7,518.2,9.0,1134,15506,0.00,1.77,0.00,0.000,6,0.000,0.036,3140,1996,1936
$GC,15829,1.92,219.2,489.2,9.0,1155,15832,0.00,1.77,0.00,0.000,4,0.000,0.047,3140,3010,1936
$GC,15908,1.94,226.0,482.2,8.6,1162,15922,0.00,1.73,8.98,1.009,6,0.000,0.036,3140,2006,1903
$GC,16248,1.95,232.1,452.6,8.6,1194,16259,0.00,1.85,6.80,0.928,4,0.000,0.047,3141,3015,1878
$GC,16372,1.96,238.6,441.2,8.6,1205,16384,0.00,1.70,7.47,0.941,6,0.000,0.035,3140,2028,1852
$GC,16702,1.96,238.6,411.7,9.2,1236,16705,0.00,1.73,0.00,0.000,4,0.000,0.047,3140,3013,1851
$GC,16762,1.96,243.0,406.1,8.7,1241,16772,0.00,1.65,5.47,0.832,6,0.000,0.035,3141,2065,1834
$GC,17098,2.03,261.0,377.9,7.9,1273,17121,0.15,1.73,17.20,0.999,4,0.067,0.047,3179,3008,1760
$GC,17161,2.03,261.0,371.9,9.9,1279,17164,0.00,1.62,0.00,0.000,6,0.000,0.035,3179,2068,1758
$GC,17492,2.03,261.0,339.1,10.0,1310,17496,0.00,2.08,0.00,0.000,4,0.000,0.061,3179,913,1758
$GC,17553,2.03,261.0,332.5,10.1,1315,17559,0.00,2.00,0.00,0.000,6,0.000,0.031,3180,2074,1758
$GC,17879,2.03,261.0,300.7,9.9,1346,17883,0.00,2.10,0.00,0.000,4,0.000,0.054,3180,907,1758
$GC,17947,2.03,261.0,293.7,9.9,1352,17950,0.00,1.98,0.00,0.000,6,0.000,0.031,3179,2072,1758
$GC,18278,2.04,267.5,262.7,8.6,1383,18287,0.00,0.00,6.72,0.803,6,0.000,0.000,3179,2072,1734
$GC,18616,2.04,269.0,231.6,8.9,1432,18622,0.00,2.08,0.00,0.000,4,0.000,0.052,3180,911,1734
$GC,18685,2.06,281.0,225.5,8.3,1444,18706,0.00,1.92,13.02,0.871,6,0.000,0.030,3180,2053,1679
$GC,19044,2.06,281.0,194.4,9.1,1508,19050,0.00,2.05,0.00,0.000,4,0.000,0.051,3180,907,1678
$GC,19140,2.06,281.0,185.3,9.7,1525,19146,0.00,1.88,0.00,0.000,6,0.000,0.028,3179,2027,1678
$GC,19484,2.11,285.8,155.8,8.7,1586,19494,0.00,0.00,5.78,0.687,6,0.000,0.000,3179,2027,1660
$GC,19832,2.24,327.0,131.0,6.5,1648,19876,0.17,1.75,35.45,0.808,4,0.058,0.041,3233,3011,1492
$GC,19958,2.26,336.8,120.5,8.4,1670,19976,0.00,1.73,9.43,0.722,6,0.000,0.029,3233,2003,1452
$GC,20317,2.38,390.8,95.0,5.7,1733,20365,0.00,0.00,45.88,0.756,6,0.000,0.000,3233,2003,1231
$GC,20707,2.48,400.5,63.1,8.4,1802,20719,0.15,0.00,9.05,0.653,6,0.057,0.000,3284,2003,1191
$GC,21059,2.55,415.6,34.0,8.1,1864,21077,0.00,1.98,13.98,0.656,4,0.000,0.045,3284,910,1130
$GC,21270,2.62,428.6,15.8,8.2,1901,21287,0.00,1.92,12.12,0.626,6,0.000,0.024,3284,2095,1077
$STATE,21442,end climb,SURFACE_DEPTH_REACHED
$STATE,21442,begin surface coast
$FINISH,-0.4,1.021088
$STATE,21472,end surface coast,CONTROL_FINISHED_OK
$STATE,21472,begin surface
$SM_CCo,21494,34.92,0.639,0,0,888,475.15
$SM_GC,-6.70,0.00,0.00,34.92,0.000,0.000,0.639,414,2351,888,-10.65,0.74,475.15
$IRIDIUM_FIX,1245.46,12042.28,290697,232315
$TT8_MAMPS,0.025311
$HUMID,1889
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.20
$XPDR_PINGS,377
$24V_AH,23.0,35.122
$10V_AH,10.1,26.951
$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,28.350,111.350,502.975,34.925,0.000,29.366,33.604,186.436,106.750,0.000,0.000,12.425,3161.186,14186.166,621.835,3350.762,607.828,0.000,2242.526,0.000,3290.447,0.000,91.478
$DEVICE_MAMPS,169.507,111.982,1432.756,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1314.057,447.097,729.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104099,1937
$CAP_FILE_SIZE,192507,0
$CFSIZE,260165632,237768704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050408,111525,1251.488,12034.867,40,1.2,40,-0.8