version: 66.03
glider: 126
mission: 7
dive: 232
start: 4 5 108 17 47 20
data:
$ID,126
$MISSION,7
$DIVE,232
$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,-623812.06
$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,35
$R_STBD_OVSHOOT,56
$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
$GPS1,173931,1251.343,12032.765,41,1.3,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.63
$_SM_ANGLEo,-58.0
$GPS2,174629,1251.451,12032.791,12,2.3,31,-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,251.7,33046,-19.0,-9.016
$D_GRID,1382
$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,23,-2.18,-120.8,0.0,0.0,0,98,0.00,0.00,-70.00,0.000,6,0.000,0.000,417,2326,3321
$GC,100,-2.18,-120.8,1.4,-24.6,14,118,10.32,1.80,0.00,0.000,4,0.169,0.033,2252,1259,3322
$GC,283,-2.00,-120.8,45.0,-17.0,46,289,0.17,1.75,0.00,0.000,6,0.107,0.024,2290,2324,3323
$GC,628,-1.93,-120.8,96.3,-13.3,107,634,0.00,1.77,0.00,0.000,4,0.000,0.033,2291,1257,3325
$GC,668,-1.86,-120.8,101.5,-13.0,114,674,0.12,1.73,0.00,0.000,6,0.097,0.024,2320,2305,3325
$GC,1013,-1.86,-120.8,138.7,-10.6,175,1019,0.00,1.75,0.00,0.000,4,0.000,0.033,2320,1256,3326
$GC,1266,-1.89,-120.8,163.9,-9.6,220,1272,0.00,1.65,0.00,0.000,6,0.000,0.024,2320,2279,3327
$GC,1611,-1.95,-127.7,195.9,-8.6,281,1617,0.00,1.70,0.00,0.000,4,0.000,0.035,2320,1265,3327
$GC,1663,-1.99,-130.2,200.3,-8.9,290,1669,0.12,1.60,0.00,0.000,6,0.061,0.025,2283,2253,3327
$GC,2006,-1.99,-130.2,232.7,-9.3,351,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2254,3327
$GC,2340,-1.99,-130.2,264.5,-9.8,398,2343,0.00,1.90,0.00,0.000,4,0.000,0.044,2283,3370,3326
$GC,2400,-1.99,-130.2,270.8,-10.4,403,2407,0.00,1.92,0.00,0.000,6,0.000,0.025,2283,2205,3326
$GC,2727,-1.99,-130.2,300.4,-9.2,434,2731,0.00,2.00,0.00,0.000,4,0.000,0.043,2283,3368,3325
$GC,2806,-2.00,-132.3,307.7,-8.9,441,2809,0.00,1.88,0.00,0.000,6,0.000,0.027,2283,2220,3324
$GC,3138,-2.00,-132.3,338.8,-9.8,472,3141,0.00,1.98,0.00,0.000,4,0.000,0.044,2283,3363,3322
$GC,3187,-2.00,-132.3,344.2,-10.4,476,3193,0.00,1.88,0.00,0.000,6,0.000,0.028,2283,2239,3321
$GC,3513,-2.00,-132.3,376.3,-9.8,507,3517,0.00,1.95,0.00,0.000,4,0.000,0.045,2283,3363,3319
$GC,3570,-2.00,-132.3,382.1,-10.3,512,3573,0.00,1.83,0.00,0.000,6,0.000,0.029,2283,2264,3319
$GC,3901,-2.00,-132.3,413.5,-9.4,543,3904,0.00,1.92,0.00,0.000,4,0.000,0.047,2283,3368,3316
$GC,3973,-2.00,-132.3,420.9,-9.7,549,3979,0.00,1.85,0.00,0.000,6,0.000,0.032,2283,2288,3316
$GC,4299,-2.00,-132.3,453.1,-10.0,580,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2287,3314
$GC,4616,-2.00,-132.3,483.6,-9.5,610,4620,0.00,1.92,0.00,0.000,4,0.000,0.052,2283,3363,3311
$GC,4717,-2.00,-132.3,493.2,-9.7,619,4721,0.00,1.80,0.00,0.000,6,0.000,0.032,2283,2298,3310
$GC,5041,-2.00,-132.3,524.6,-9.6,638,5044,0.00,1.90,0.00,0.000,4,0.000,0.059,2283,3360,3308
$GC,5147,-2.00,-132.3,535.4,-10.2,642,5153,0.00,1.75,0.00,0.000,6,0.000,0.035,2283,2335,3308
$GC,5462,-2.00,-132.3,564.8,-9.0,658,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2335,3306
$GC,5772,-2.01,-140.9,591.9,-8.5,673,5775,0.00,1.90,0.00,0.000,4,0.000,0.080,2283,3349,3304
$GC,5827,-2.02,-146.0,596.7,-8.3,675,5831,0.00,1.83,0.00,0.000,6,0.000,0.055,2283,2351,3304
$GC,6148,-2.02,-146.0,624.2,-9.0,691,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2351,3302
$GC,6458,-2.05,-146.0,652.2,-9.2,706,6462,0.00,1.98,0.00,0.000,4,0.000,0.103,2283,3355,3301
$GC,6507,-2.05,-146.0,657.1,-10.3,708,6512,0.00,1.95,0.00,0.000,6,0.000,0.081,2283,2347,3301
$GC,6836,-2.05,-146.0,687.9,-9.5,724,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2346,3299
$GC,7144,-2.08,-146.0,716.3,-8.9,739,7148,0.00,1.80,0.00,0.000,4,0.000,0.052,2283,3354,3297
$GC,7194,-2.08,-146.0,720.9,-9.1,741,7198,0.00,1.75,0.00,0.000,6,0.000,0.032,2282,2327,3297
$GC,7523,-2.12,-146.0,749.9,-8.6,757,7528,0.00,1.83,0.00,0.000,4,0.000,0.053,2283,3360,3296
$GC,7617,-2.12,-146.0,758.5,-8.7,761,7621,0.00,1.70,0.00,0.000,6,0.000,0.032,2283,2366,3295
$GC,7946,-2.15,-146.0,786.9,-8.8,777,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2366,3294
$GC,8254,-2.19,-146.0,813.3,-8.4,792,8256,0.15,0.00,0.00,0.000,6,0.070,0.000,2245,2366,3294
$GC,8562,-2.19,-146.0,843.7,-9.8,807,8566,0.00,1.92,0.00,0.000,4,0.000,0.058,2245,1278,3292
$GC,8600,-2.19,-146.0,847.7,-10.0,808,8607,0.00,1.88,0.00,0.000,6,0.000,0.036,2245,2360,3292
$GC,8916,-2.19,-146.0,877.6,-9.6,824,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2360,3291
$GC,9226,-2.19,-146.0,906.6,-9.4,839,9230,0.00,1.80,0.00,0.000,4,0.000,0.056,2245,3374,3290
$GC,9303,-2.19,-146.0,914.5,-10.3,842,9307,0.00,1.73,0.00,0.000,6,0.000,0.034,2245,2373,3290
$GC,9625,-2.19,-146.0,945.2,-9.9,858,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2373,3288
$GC,9934,-2.19,-146.0,976.2,-10.0,873,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2372,3288
$STATE,10078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10078,begin apogee
$GC,10084,-0.52,0.0,990.0,9.5,880,10189,1.75,0.00,100.62,1.434,6,0.094,0.000,2614,1965,2825
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10190,begin climb
$GC,10193,2.22,146.0,993.3,0.0,885,10330,2.67,2.08,128.98,1.394,4,0.062,0.073,3218,911,2229
$GC,10427,2.09,146.0,980.3,11.1,895,10432,0.17,1.83,0.00,0.000,6,0.108,0.032,3185,1969,2225
$GC,10754,2.00,146.0,949.3,9.4,911,10758,0.00,1.95,0.00,0.000,4,0.000,0.060,3185,908,2222
$GC,10792,1.89,146.0,945.5,10.5,912,10799,0.22,1.83,0.00,0.000,6,0.108,0.032,3141,1971,2222
$GC,11109,1.88,164.4,919.4,7.9,928,11128,0.00,0.00,16.40,1.310,6,0.000,0.000,3141,1971,2154
$GC,11438,1.85,167.7,890.7,8.8,944,11444,0.00,0.00,4.35,0.916,6,0.000,0.000,3141,1970,2141
$GC,11747,1.82,168.6,863.0,9.0,959,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1971,2140
$GC,12056,1.82,168.9,835.4,9.0,974,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1971,2139
$GC,12365,1.83,174.4,808.3,8.7,989,12374,0.00,0.00,7.40,1.140,6,0.000,0.000,3141,1971,2114
$GC,12675,1.86,188.2,781.7,8.2,1004,12694,0.00,0.00,14.25,1.256,6,0.000,0.000,3141,1973,2056
$GC,13004,1.87,196.4,753.6,8.5,1020,13014,0.00,0.00,8.52,1.151,6,0.000,0.000,3141,1973,2024
$GC,13312,1.87,196.4,725.0,9.6,1035,13316,0.00,1.80,0.00,0.000,4,0.000,0.048,3141,3009,2023
$GC,13368,1.87,196.4,719.5,9.5,1037,13372,0.00,1.83,0.00,0.000,6,0.000,0.037,3141,1954,2022
$GC,13689,1.87,196.4,689.0,9.0,1053,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1954,2022
$GC,13998,1.89,208.2,662.6,8.3,1068,14014,0.00,1.98,11.75,1.165,4,0.000,0.048,3141,3017,1976
$GC,14110,1.89,209.6,652.5,8.9,1072,14113,0.00,1.83,0.00,0.000,6,0.000,0.037,3141,1961,1975
$GC,14436,1.89,209.6,622.6,9.1,1088,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1961,1974
$GC,14746,1.91,220.3,595.6,8.4,1103,14766,0.00,1.95,12.27,1.127,4,0.000,0.048,3141,3013,1925
$GC,14924,1.92,227.8,579.4,8.5,1111,14939,0.00,1.80,8.12,1.042,6,0.000,0.037,3141,1971,1896
$GC,15256,1.93,229.9,549.7,8.9,1127,15259,0.00,1.83,0.00,0.000,4,0.000,0.047,3141,3011,1895
$GC,15294,1.93,232.6,546.1,8.9,1128,15304,0.00,1.77,5.93,0.938,6,0.000,0.036,3141,1998,1876
$GC,15626,1.94,239.8,517.6,8.6,1145,15640,0.00,1.88,7.97,1.005,4,0.000,0.047,3141,3016,1847
$GC,15753,1.94,240.1,505.8,9.0,1150,15759,0.00,1.75,0.00,0.000,6,0.000,0.036,3141,2018,1846
$GC,16078,1.94,241.5,477.0,8.9,1178,16079,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2019,1846
$GC,16396,1.96,248.7,449.4,8.6,1208,16407,0.00,0.00,9.12,0.989,6,0.000,0.000,3141,2019,1811
$GC,16723,1.96,248.7,417.6,10.1,1239,16724,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2019,1811
$GC,17043,2.00,253.9,388.0,8.7,1269,17056,0.10,1.83,6.38,0.871,4,0.079,0.046,3169,3015,1790
$GC,17106,2.00,253.9,381.6,10.5,1274,17112,0.00,1.70,0.00,0.000,6,0.000,0.034,3168,2043,1789
$GC,17432,2.00,253.9,351.1,9.3,1305,17435,0.00,2.05,0.00,0.000,4,0.000,0.061,3169,906,1789
$GC,17499,2.00,253.9,344.6,9.2,1311,17502,0.00,1.95,0.00,0.000,6,0.000,0.031,3169,2053,1789
$GC,17832,2.00,257.2,315.2,8.8,1342,17839,0.00,0.00,4.55,0.715,6,0.000,0.000,3168,2053,1776
$GC,18159,2.00,257.2,287.0,9.2,1373,18163,0.00,2.05,0.00,0.000,4,0.000,0.054,3169,911,1776
$GC,18231,2.00,257.2,279.8,10.7,1379,18237,0.00,1.92,0.00,0.000,6,0.000,0.030,3169,2033,1776
$GC,18557,2.00,257.2,249.3,9.2,1410,18563,0.00,2.03,0.00,0.000,4,0.000,0.054,3169,903,1776
$GC,18620,2.01,258.4,243.5,8.9,1421,18626,0.00,1.92,0.00,0.000,6,0.000,0.030,3169,2046,1776
$GC,18964,2.04,280.9,215.4,7.6,1482,18990,0.00,2.15,21.65,0.890,4,0.000,0.053,3169,906,1679
$GC,19159,2.04,281.4,197.8,9.0,1517,19165,0.00,1.83,0.00,0.000,6,0.000,0.028,3169,1996,1678
$GC,19502,2.08,281.4,167.1,9.4,1578,19508,0.00,1.70,0.00,0.000,4,0.000,0.042,3169,3000,1677
$GC,19543,2.11,297.9,163.7,8.0,1585,19564,0.00,1.75,15.62,0.827,6,0.000,0.037,3168,1961,1610
$GC,19905,2.24,330.6,137.3,7.0,1649,19939,0.17,1.95,28.15,0.815,4,0.058,0.054,3223,917,1477
$GC,20007,2.24,330.6,127.4,9.4,1667,20013,0.00,1.83,0.00,0.000,6,0.000,0.027,3223,2017,1476
$GC,20351,2.33,358.9,97.6,7.3,1728,20380,0.00,1.75,24.65,0.764,4,0.000,0.038,3223,3002,1360
$GC,20554,2.46,401.3,81.7,6.4,1764,20594,0.15,1.60,35.55,0.742,6,0.044,0.026,3273,2049,1189
$GC,20936,2.57,434.4,51.3,7.0,1831,20969,0.00,2.05,28.00,0.700,4,0.000,0.044,3273,917,1054
$GC,21116,2.63,434.4,35.3,9.5,1863,21122,0.12,1.88,0.00,0.000,6,0.061,0.024,3315,2067,1054
$STATE,21436,end climb,SURFACE_DEPTH_REACHED
$STATE,21436,begin surface coast
$FINISH,0.0,1.021176
$STATE,21458,end surface coast,CONTROL_FINISHED_OK
$STATE,21459,begin surface
$SM_CCo,21481,31.92,0.647,0,0,889,475.15
$SM_GC,-6.79,0.00,0.00,31.92,0.000,0.000,0.647,413,2341,889,-10.66,0.45,475.15
$IRIDIUM_FIX,1247.67,12032.42,300697,111139
$TT8_MAMPS,0.026078
$HUMID,1911
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,403
$24V_AH,23.0,35.541
$10V_AH,10.1,27.198
$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,28.875,123.375,500.250,31.925,0.000,27.418,35.219,201.338,113.250,0.000,0.000,32.151,3119.716,14211.962,631.247,3351.039,634.904,0.000,2251.605,0.000,3274.037,0.000,91.829
$DEVICE_MAMPS,168.740,102.778,1433.523,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1305.521,433.273,722.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101033,1924
$CAP_FILE_SIZE,194203,0
$CFSIZE,260165632,237584384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050408,234707,1251.222,12031.234,36,1.0,36,-0.8