version: 66.03
glider: 126
mission: 7
dive: 244
start: 4 8 108 12 26 1
data:
$ID,126
$MISSION,7
$DIVE,244
$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,-624006.69
$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,46
$R_STBD_OVSHOOT,52
$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
$GPS1,121808,1246.700,12015.105,27,1.2,27,-0.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,-6.12
$_SM_ANGLEo,-59.1
$GPS2,122509,1246.873,12015.035,13,1.5,13,-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,160.9,2468,-21.3,-9.016
$D_GRID,872
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.39,-101.9,0.0,0.0,0,96,0.00,0.00,-65.28,0.000,6,0.000,0.000,415,2353,3242
$GC,99,-2.39,-101.9,1.2,-21.8,13,116,10.10,1.73,0.00,0.000,4,0.170,0.036,2205,3371,3244
$GC,128,-1.59,-101.9,14.6,-43.1,18,135,0.80,1.73,0.00,0.000,6,0.101,0.023,2381,2300,3244
$GC,474,-1.67,-101.9,61.2,-13.1,79,480,0.00,1.80,0.00,0.000,4,0.000,0.038,2381,3360,3246
$GC,734,-1.76,-101.9,91.8,-11.2,125,740,0.10,1.55,0.00,0.000,6,0.032,0.023,2332,2369,3247
$GC,1079,-1.87,-108.6,123.3,-8.6,186,1085,0.00,1.75,0.00,0.000,4,0.000,0.032,2333,1324,3248
$GC,1192,-1.98,-108.6,134.2,-9.5,206,1199,0.12,1.75,0.00,0.000,6,0.041,0.024,2281,2387,3248
$GC,1536,-2.06,-127.5,162.8,-7.7,267,1542,0.00,1.62,0.00,0.000,4,0.000,0.041,2281,3361,3250
$GC,1600,-2.12,-136.9,168.2,-8.4,278,1605,0.00,1.50,0.00,0.000,6,0.000,0.024,2281,2402,3250
$GC,1943,-2.17,-136.9,198.7,-9.5,339,1948,0.12,0.00,0.00,0.000,6,0.057,0.000,2239,2401,3250
$GC,2285,-2.17,-136.9,232.8,-10.2,400,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2401,3249
$GC,2623,-2.17,-136.9,267.9,-10.4,446,2627,0.00,1.80,0.00,0.000,4,0.000,0.037,2239,1335,3248
$GC,2792,-2.17,-136.9,285.2,-10.2,461,2796,0.00,1.77,0.00,0.000,6,0.000,0.027,2239,2410,3247
$GC,3124,-2.17,-136.9,315.5,-9.2,492,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2411,3246
$GC,3440,-2.17,-136.9,347.0,-11.2,522,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2411,3244
$GC,3759,-2.17,-136.9,377.5,-9.8,552,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2411,3242
$GC,4077,-2.17,-136.9,410.6,-10.2,582,4080,0.00,1.85,0.00,0.000,4,0.000,0.041,2239,1339,3240
$GC,4160,-2.17,-136.9,418.9,-9.6,589,4166,0.00,1.77,0.00,0.000,6,0.000,0.030,2239,2386,3239
$GC,4487,-2.18,-143.0,447.4,-8.6,620,4490,0.00,1.67,0.00,0.000,4,0.000,0.049,2239,3361,3237
$GC,4536,-2.19,-145.0,452.2,-8.9,624,4542,0.00,1.52,0.00,0.000,6,0.000,0.029,2239,2448,3237
$GC,4863,-2.19,-145.0,481.4,-9.2,655,4866,0.00,1.95,0.00,0.000,4,0.000,0.056,2239,1341,3235
$GC,4901,-2.19,-145.0,485.2,-9.1,658,4907,0.00,1.80,0.00,0.000,6,0.000,0.036,2239,2381,3235
$GC,5234,-2.19,-146.0,515.1,-8.8,682,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2382,3232
$GC,5542,-2.19,-146.0,542.3,-8.5,697,5546,0.00,1.88,0.00,0.000,4,0.000,0.061,2239,1342,3230
$GC,5592,-2.19,-146.0,546.8,-8.9,699,5596,0.00,1.80,0.00,0.000,6,0.000,0.044,2239,2373,3230
$GC,5921,-2.19,-146.0,573.7,-8.0,715,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2373,3228
$GC,6230,-2.19,-146.0,600.6,-9.3,730,6234,0.00,1.88,0.00,0.000,4,0.000,0.082,2239,3385,3226
$GC,6298,-2.19,-146.0,607.3,-9.9,733,6302,0.00,1.65,0.00,0.000,6,0.000,0.058,2239,2473,3226
$GC,6631,-2.19,-146.0,638.8,-8.9,749,6634,0.00,2.12,0.00,0.000,4,0.000,0.094,2238,1347,3224
$GC,6709,-2.19,-146.0,645.8,-8.5,752,6712,0.00,1.95,0.00,0.000,6,0.000,0.081,2239,2382,3223
$GC,7030,-2.22,-146.0,675.3,-10.0,768,7033,0.00,1.98,0.00,0.000,4,0.000,0.114,2239,3382,3222
$GC,7102,-2.22,-146.0,682.5,-9.5,771,7106,0.00,1.75,0.00,0.000,6,0.000,0.093,2239,2484,3221
$GC,7431,-2.25,-146.0,712.5,-8.8,787,7435,0.00,2.33,0.00,0.000,4,0.000,0.130,2239,1354,3220
$GC,7486,-2.25,-146.0,717.9,-9.5,789,7493,0.00,2.10,0.00,0.000,6,0.000,0.112,2239,2388,3220
$GC,7803,-2.28,-146.0,744.4,-9.3,805,7806,0.00,2.10,0.00,0.000,4,0.000,0.149,2239,3371,3219
$GC,7866,-2.28,-146.0,750.1,-9.3,807,7872,0.00,1.90,0.00,0.000,6,0.000,0.129,2239,2476,3218
$STATE,8117,end dive,NO_VERTICAL_VELOCITY
$STATE,8117,begin apogee
$GC,8123,-0.52,0.0,755.1,0.0,820,8210,1.70,0.00,82.90,1.256,6,0.074,0.000,2613,2018,2825
$STATE,8211,end apogee,CONTROL_FINISHED_OK
$STATE,8211,begin climb
$GC,8214,2.47,146.0,754.8,0.0,824,8349,2.92,1.98,125.07,1.221,4,0.063,0.064,3266,985,2229
$GC,8607,2.39,177.1,727.4,6.9,842,8638,0.00,1.70,26.95,1.174,6,0.000,0.031,3267,1984,2103
$GC,8955,2.30,177.1,690.8,11.0,859,8959,0.15,1.83,0.00,0.000,4,0.113,0.055,3234,981,2099
$GC,9118,2.22,177.1,673.5,10.2,866,9122,0.00,1.65,0.00,0.000,6,0.000,0.030,3234,1958,2099
$GC,9447,2.16,177.1,642.2,9.6,882,9448,0.17,0.00,0.00,0.000,6,0.110,0.000,3201,1959,2097
$GC,9754,2.19,195.8,616.1,7.7,897,9776,0.00,1.88,16.65,1.132,4,0.000,0.056,3201,978,2026
$GC,9844,2.19,195.8,607.8,9.4,901,9847,0.00,1.67,0.00,0.000,6,0.000,0.030,3201,1964,2025
$GC,10176,2.21,205.8,578.5,8.3,917,10190,0.00,1.85,10.12,1.056,4,0.000,0.046,3201,3015,1985
$GC,10269,2.21,206.1,570.0,9.0,921,10273,0.00,1.70,0.00,0.000,6,0.000,0.035,3201,2025,1983
$GC,10597,2.21,206.1,538.3,9.9,937,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2025,1983
$GC,10905,2.21,206.1,507.5,10.3,952,10908,0.00,1.88,0.00,0.000,4,0.000,0.060,3201,974,1982
$GC,10977,2.21,206.1,499.8,10.3,955,10981,0.00,1.73,0.00,0.000,6,0.000,0.029,3201,1985,1982
$GC,11302,2.21,206.1,469.4,9.3,985,11306,0.00,1.75,0.00,0.000,4,0.000,0.046,3201,3007,1982
$GC,11341,2.21,206.1,465.5,9.8,988,11347,0.00,1.65,0.00,0.000,6,0.000,0.035,3201,2059,1981
$GC,11667,2.21,206.1,434.9,9.3,1019,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2059,1981
$GC,11986,2.25,231.0,409.0,7.3,1049,12016,0.00,2.03,22.20,1.031,4,0.000,0.064,3201,983,1883
$GC,12096,2.25,232.4,399.6,8.9,1059,12099,0.00,1.70,0.00,0.000,6,0.000,0.030,3201,1988,1882
$GC,12427,2.25,232.4,370.5,9.3,1090,12431,0.00,1.75,0.00,0.000,4,0.000,0.046,3201,3009,1881
$GC,12495,2.25,232.4,363.6,10.1,1096,12498,0.00,1.65,0.00,0.000,6,0.000,0.035,3201,2046,1880
$GC,12828,2.26,236.5,333.7,8.7,1127,12839,0.00,1.70,6.32,0.825,4,0.000,0.044,3201,3013,1860
$GC,12907,2.26,236.5,326.1,9.0,1134,12910,0.00,1.60,0.00,0.000,6,0.000,0.032,3201,2073,1859
$GC,13239,2.30,236.5,296.2,9.9,1165,13243,0.12,1.62,0.00,0.000,4,0.073,0.044,3236,3008,1859
$GC,13329,2.30,237.7,287.0,8.9,1173,13332,0.00,1.58,0.00,0.000,6,0.000,0.031,3236,2093,1859
$GC,13662,2.31,243.7,256.7,8.6,1204,13674,0.00,2.05,7.68,0.821,4,0.000,0.055,3235,979,1831
$GC,13724,2.31,243.7,250.6,9.4,1209,13730,0.00,1.83,0.00,0.000,6,0.000,0.029,3236,2047,1830
$GC,14066,2.32,248.1,220.6,8.7,1269,14078,0.00,1.65,5.38,0.713,4,0.000,0.044,3236,3001,1812
$GC,14123,2.32,248.1,215.5,9.1,1279,14129,0.00,1.52,0.00,0.000,6,0.000,0.031,3235,2111,1812
$GC,14466,2.32,249.5,185.1,8.9,1340,14472,0.00,2.00,0.00,0.000,4,0.000,0.053,3236,970,1812
$GC,14602,2.33,256.1,172.8,8.6,1364,14619,0.00,1.80,8.57,0.777,6,0.000,0.028,3236,2057,1779
$GC,14957,2.35,267.9,144.9,8.2,1427,14974,0.00,1.65,11.32,0.788,4,0.000,0.041,3236,3013,1732
$GC,15030,2.35,267.9,138.0,9.5,1440,15036,0.00,1.55,0.00,0.000,6,0.000,0.028,3236,2101,1731
$GC,15375,2.50,322.8,114.4,5.2,1501,15430,0.17,2.05,46.28,0.793,4,0.057,0.049,3288,977,1508
$GC,15683,2.53,340.5,91.7,7.8,1556,15705,0.00,1.92,15.27,0.739,6,0.000,0.026,3288,2125,1436
$GC,16045,2.65,372.8,65.6,6.8,1620,16079,0.00,2.05,27.58,0.718,4,0.000,0.041,3288,966,1305
$GC,16171,2.76,393.4,56.2,7.6,1642,16195,0.15,1.85,18.17,0.686,6,0.042,0.024,3340,2085,1221
$GC,16535,2.85,416.8,24.9,7.4,1706,16563,0.00,2.00,20.30,0.653,4,0.000,0.041,3340,971,1125
$GC,16655,2.89,419.9,13.6,8.8,1727,16667,0.00,1.73,4.35,0.469,6,0.000,0.023,3340,2045,1112
$STATE,16778,end climb,SURFACE_DEPTH_REACHED
$STATE,16778,begin surface coast
$FINISH,-0.4,1.021184
$STATE,16802,end surface coast,CONTROL_FINISHED_OK
$STATE,16802,begin surface
$SM_CCo,16824,38.12,0.634,0,0,888,475.15
$SM_GC,-5.76,0.00,0.00,38.12,0.000,0.000,0.634,416,2354,888,-10.64,0.82,475.15
$IRIDIUM_FIX,1238.83,12010.46,030797,070702
$TT8_MAMPS,0.026078
$HUMID,1885
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.60
$XPDR_PINGS,517
$24V_AH,23.2,37.784
$10V_AH,10.2,28.574
$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,29.350,112.750,455.125,38.125,0.000,30.867,32.698,228.364,135.750,0.000,0.000,13.613,2819.017,10183.326,571.058,3094.583,638.961,0.000,2070.373,0.000,3055.296,0.000,48.016
$DEVICE_MAMPS,170.274,148.798,1255.579,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.355,495.371,762.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94470,1753
$CAP_FILE_SIZE,170706,0
$CFSIZE,260165632,236523520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,170808,1246.217,12014.965,28,1.5,28,-0.8