version: 66.03
glider: 126
mission: 7
dive: 248
start: 4 9 108 6 56 26
data:
$ID,126
$MISSION,7
$DIVE,248
$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,-624090.38
$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,49
$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
$GPS1,064908,1246.906,12014.791,39,1.5,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.00
$_SM_ANGLEo,-58.6
$GPS2,065532,1247.032,12014.709,11,1.5,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST_S2
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,9999.000
$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,152.1,2980,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-66.70,0.000,6,0.000,0.000,415,2378,3244
$GC,97,-2.39,-101.9,0.3,-19.2,13,114,10.10,1.67,0.00,0.000,4,0.170,0.036,2205,3363,3245
$GC,167,-2.19,-101.9,22.1,-21.7,25,174,0.25,1.70,0.00,0.000,6,0.112,0.022,2253,2286,3246
$GC,511,-2.11,-101.9,80.6,-15.6,86,518,0.00,1.85,0.00,0.000,4,0.000,0.038,2253,3363,3248
$GC,591,-2.04,-101.9,93.1,-14.8,100,598,0.12,1.67,0.00,0.000,6,0.106,0.022,2282,2304,3248
$GC,937,-2.09,-101.9,131.3,-10.0,161,942,0.00,1.80,0.00,0.000,4,0.000,0.038,2282,3376,3249
$GC,1029,-2.11,-111.1,139.5,-8.4,177,1035,0.00,1.62,0.00,0.000,6,0.000,0.023,2282,2328,3249
$GC,1373,-2.18,-123.9,167.9,-8.1,238,1380,0.12,1.77,0.00,0.000,4,0.062,0.038,2244,3373,3250
$GC,1442,-2.18,-123.9,174.1,-9.2,250,1448,0.00,1.60,0.00,0.000,6,0.000,0.025,2244,2341,3250
$GC,1785,-2.18,-123.9,204.2,-9.3,311,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2340,3250
$GC,2127,-2.18,-123.9,234.8,-9.2,372,2133,0.00,1.70,0.00,0.000,4,0.000,0.036,2244,1326,3250
$GC,2167,-2.18,-123.9,238.5,-9.3,379,2173,0.00,1.70,0.00,0.000,6,0.000,0.026,2244,2364,3250
$GC,2504,-2.19,-129.7,269.2,-8.6,421,2508,0.00,1.70,0.00,0.000,4,0.000,0.044,2244,3366,3248
$GC,2588,-2.19,-129.7,276.8,-9.0,428,2594,0.00,1.60,0.00,0.000,6,0.000,0.026,2244,2373,3248
$GC,2914,-2.19,-129.7,306.5,-9.1,459,2917,0.00,1.73,0.00,0.000,4,0.000,0.044,2244,3373,3246
$GC,2975,-2.19,-129.7,312.8,-10.1,464,2981,0.00,1.58,0.00,0.000,6,0.000,0.026,2244,2399,3246
$GC,3301,-2.19,-129.7,344.9,-10.5,495,3305,0.00,1.85,0.00,0.000,4,0.000,0.041,2244,1313,3244
$GC,3407,-2.19,-129.7,356.6,-11.0,504,3413,0.00,1.80,0.00,0.000,6,0.000,0.028,2244,2381,3244
$GC,3733,-2.19,-129.7,390.4,-9.8,535,3737,0.00,1.70,0.00,0.000,4,0.000,0.048,2244,3373,3242
$GC,3772,-2.19,-129.7,394.6,-10.2,538,3778,0.00,1.60,0.00,0.000,6,0.000,0.029,2244,2412,3241
$GC,4100,-2.19,-129.7,426.1,-10.6,569,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2412,3239
$GC,4425,-2.21,-137.2,457.6,-8.5,600,4428,0.00,1.90,0.00,0.000,4,0.000,0.052,2244,1325,3238
$GC,4538,-2.22,-143.6,467.3,-8.6,610,4541,0.00,1.77,0.00,0.000,6,0.000,0.033,2244,2378,3237
$GC,4870,-2.22,-146.0,495.8,-8.8,641,4874,0.00,1.75,0.00,0.000,4,0.000,0.056,2244,3362,3235
$GC,4975,-2.22,-146.0,506.3,-10.2,647,4981,0.00,1.58,0.00,0.000,6,0.000,0.031,2244,2429,3234
$GC,5293,-2.25,-146.0,535.4,-9.0,663,5297,0.00,1.98,0.00,0.000,4,0.000,0.060,2244,1319,3232
$GC,5349,-2.25,-146.0,540.6,-9.0,665,5352,0.00,1.85,0.00,0.000,6,0.000,0.044,2244,2384,3232
$GC,5671,-2.25,-146.0,571.3,-9.9,681,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2385,3230
$GC,5980,-2.29,-146.0,600.9,-9.2,696,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2385,3229
$GC,6289,-2.32,-146.0,627.5,-8.0,711,6293,0.00,1.88,0.00,0.000,4,0.000,0.095,2244,3356,3227
$GC,6357,-2.32,-146.0,633.1,-8.5,714,6360,0.00,1.67,0.00,0.000,6,0.000,0.071,2244,2453,3226
$GC,6694,-2.36,-146.0,660.5,-8.6,730,6698,0.12,2.20,0.00,0.000,4,0.071,0.103,2210,1323,3225
$GC,6732,-2.36,-146.0,664.6,-10.2,732,6736,0.00,2.03,0.00,0.000,6,0.000,0.088,2210,2376,3224
$GC,7064,-2.36,-146.0,696.3,-9.2,748,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2376,3222
$GC,7374,-2.36,-146.0,724.3,-9.2,763,7377,0.00,2.05,0.00,0.000,4,0.000,0.140,2210,3357,3222
$GC,7480,-2.36,-146.0,733.7,-8.2,767,7485,0.00,1.83,0.00,0.000,6,0.000,0.120,2210,2478,3221
$GC,7795,-2.36,-146.0,763.9,-9.7,783,7799,0.00,2.03,0.00,0.000,4,0.000,0.050,2210,1316,3219
$GC,7910,-2.36,-146.0,776.2,-10.7,788,7913,0.00,1.80,0.00,0.000,6,0.000,0.033,2210,2380,3219
$STATE,8177,end dive,NO_VERTICAL_VELOCITY
$STATE,8177,begin apogee
$GC,8184,-0.52,0.0,782.9,0.0,801,8271,1.83,0.00,83.35,1.272,6,0.069,0.000,2618,1996,2825
$STATE,8272,end apogee,CONTROL_FINISHED_OK
$STATE,8272,begin climb
$GC,8274,2.47,146.0,782.4,0.0,805,8410,2.88,2.10,125.53,1.236,4,0.059,0.080,3266,929,2229
$GC,8545,2.38,166.3,765.3,7.6,817,8572,0.00,1.77,18.33,1.158,6,0.000,0.031,3266,1966,2146
$GC,8882,2.31,181.3,735.0,8.0,834,8901,0.17,0.00,13.88,1.137,6,0.107,0.000,3232,1966,2086
$GC,9210,2.26,181.3,703.6,10.3,850,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1966,2084
$GC,9519,2.21,181.3,670.1,11.0,865,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1967,2083
$GC,9828,2.17,181.3,637.8,10.0,880,9832,0.15,1.92,0.00,0.000,4,0.109,0.058,3200,912,2082
$GC,9901,2.13,181.3,631.0,9.5,883,9905,0.00,1.77,0.00,0.000,6,0.000,0.031,3200,1956,2082
$GC,10228,2.14,186.8,603.4,8.6,899,10235,0.00,0.00,5.55,0.910,6,0.000,0.000,3200,1956,2063
$GC,10537,2.15,193.8,576.7,8.5,914,10551,0.00,1.90,7.78,1.012,4,0.000,0.047,3199,3009,2035
$GC,10603,2.15,193.8,570.8,9.5,917,10607,0.00,1.85,0.00,0.000,6,0.000,0.036,3200,1956,2034
$GC,10935,2.16,198.4,541.4,8.7,933,10945,0.00,1.88,5.57,0.897,4,0.000,0.045,3200,3017,2016
$GC,11008,2.19,215.6,535.2,7.8,936,11029,0.00,1.80,16.62,1.090,6,0.000,0.035,3200,1968,1946
$GC,11346,2.20,221.1,506.8,8.6,953,11357,0.00,1.85,6.32,0.918,4,0.000,0.045,3200,3016,1923
$GC,11396,2.20,221.1,501.9,9.5,955,11399,0.00,1.80,0.00,0.000,6,0.000,0.035,3200,1989,1922
$GC,11727,2.20,221.1,471.5,9.3,985,11731,0.00,1.80,0.00,0.000,4,0.000,0.046,3200,3015,1922
$GC,11772,2.20,221.1,466.6,10.8,989,11776,0.00,1.73,0.00,0.000,6,0.000,0.035,3200,2008,1922
$GC,12104,2.21,226.8,434.6,8.6,1020,12112,0.00,0.00,6.38,0.887,6,0.000,0.000,3200,2008,1899
$GC,12432,2.21,226.8,406.3,9.6,1051,12435,0.00,1.75,0.00,0.000,4,0.000,0.046,3200,3011,1899
$GC,12511,2.21,226.8,397.5,11.5,1058,12515,0.00,1.70,0.00,0.000,6,0.000,0.035,3200,2017,1899
$GC,12842,2.21,226.8,360.4,10.5,1089,12846,0.00,1.98,0.00,0.000,4,0.000,0.060,3200,898,1899
$GC,12903,2.21,226.8,353.7,10.0,1094,12909,0.00,1.88,0.00,0.000,6,0.000,0.029,3200,2015,1899
$GC,13231,2.21,226.8,322.5,9.5,1125,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2015,1899
$GC,13548,2.23,241.6,297.1,8.0,1155,13568,0.00,0.00,14.25,0.933,6,0.000,0.000,3200,2016,1839
$GC,13887,2.28,241.6,266.6,9.3,1187,13891,0.12,1.73,0.00,0.000,4,0.073,0.044,3234,3018,1838
$GC,13936,2.29,251.1,262.1,8.4,1191,13953,0.00,1.77,9.32,0.861,6,0.000,0.034,3234,1977,1801
$GC,14282,2.29,251.1,231.0,9.5,1242,14288,0.00,1.80,0.00,0.000,4,0.000,0.043,3234,3016,1800
$GC,14334,2.29,251.1,226.0,9.2,1251,14340,0.00,1.73,0.00,0.000,6,0.000,0.032,3234,1999,1799
$GC,14679,2.30,253.2,193.2,8.9,1312,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1998,1799
$GC,15022,2.31,263.9,163.2,8.3,1373,15039,0.00,1.85,12.15,0.816,4,0.000,0.043,3234,3017,1749
$GC,15292,2.34,278.3,140.0,8.0,1421,15309,0.00,1.73,13.27,0.799,6,0.000,0.033,3234,1996,1690
$GC,15648,2.45,297.1,112.7,7.7,1484,15672,0.12,1.95,17.27,0.781,4,0.068,0.052,3271,911,1612
$GC,15926,2.58,353.6,94.5,5.1,1533,15980,0.00,1.85,46.95,0.765,6,0.000,0.026,3271,2034,1382
$GC,16321,2.74,397.2,67.2,6.0,1603,16365,0.20,1.67,36.62,0.719,4,0.052,0.037,3332,3013,1203
$GC,16556,2.76,409.2,46.9,8.2,1645,16574,0.00,1.73,11.00,0.650,6,0.000,0.025,3333,1962,1156
$GC,16915,2.85,420.9,14.9,8.2,1708,16933,0.00,1.80,11.10,0.617,4,0.000,0.043,3333,916,1108
$GC,16985,2.90,420.9,8.0,9.3,1720,16991,0.08,1.83,0.00,0.000,6,0.049,0.023,3370,2029,1108
$STATE,17046,end climb,SURFACE_DEPTH_REACHED
$STATE,17046,begin surface coast
$FINISH,-0.2,1.021245
$STATE,17064,end surface coast,CONTROL_FINISHED_OK
$STATE,17064,begin surface
$SM_CCo,17086,38.95,0.637,0,0,887,475.15
$SM_GC,-6.06,0.00,0.00,38.95,0.000,0.000,0.637,415,2341,887,-10.65,0.45,475.15
$IRIDIUM_FIX,1238.83,12015.39,040797,020226
$TT8_MAMPS,0.026078
$HUMID,1897
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.70
$XPDR_PINGS,447
$24V_AH,23.2,38.453
$10V_AH,10.2,29.000
$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,29.125,109.000,461.250,38.950,0.000,29.823,44.062,176.694,119.250,0.000,0.000,16.183,2788.727,10563.342,599.834,2998.134,587.305,0.000,2050.079,0.000,2950.521,0.000,56.281
$DEVICE_MAMPS,170.274,139.594,1271.686,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.417,457.350,734.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91618,1734
$CAP_FILE_SIZE,168028,0
$CFSIZE,260165632,236187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,114307,1247.008,12014.435,38,1.2,38,-0.8