version: 66.03
glider: 126
mission: 7
dive: 25
start: 2 21 108 11 36 24
data:
$ID,126
$MISSION,7
$DIVE,25
$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,413
$T_MISSION,496
$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,-620131.75
$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,27
$R_STBD_OVSHOOT,36
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,113008,1301.511,12031.185,29,1.6,29,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.14
$_SM_ANGLEo,-54.0
$GPS2,113533,1301.552,12031.121,13,1.7,13,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,TUBILE
$TGT_LATLONG,1312.400,12024.730
$TGT_RADIUS,2000.000
$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,331.1,23160,-22.0,-7.990
$D_GRID,1118
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-66.53,0.000,6,0.000,0.000,418,2302,3101
$GC,91,-2.33,-67.0,0.0,-13.7,13,108,10.10,1.85,0.00,0.000,4,0.173,0.039,2196,3376,3101
$GC,299,-2.21,-67.0,53.9,-21.5,50,306,0.12,1.77,0.00,0.000,6,0.111,0.025,2223,2295,3103
$GC,643,-2.18,-67.0,114.9,-14.0,111,649,0.00,1.85,0.00,0.000,4,0.000,0.041,2223,3373,3105
$GC,902,-2.15,-67.0,152.2,-12.0,157,908,0.00,1.67,0.00,0.000,6,0.000,0.026,2223,2336,3106
$GC,1245,-2.15,-67.0,193.1,-11.7,218,1252,0.00,1.83,0.00,0.000,4,0.000,0.044,2223,3375,3107
$GC,1313,-2.15,-67.0,201.6,-12.2,230,1319,0.00,1.75,0.00,0.000,6,0.000,0.027,2223,2315,3107
$GC,1656,-2.15,-67.0,241.1,-10.4,291,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2309,3107
$GC,1990,-2.15,-67.0,276.4,-10.8,330,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2308,3107
$GC,2308,-2.15,-67.0,311.7,-10.2,360,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2308,3106
$GC,2626,-2.15,-67.0,343.1,-9.8,390,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2308,3104
$GC,2945,-2.15,-67.0,374.7,-9.1,420,2949,0.00,1.85,0.00,0.000,4,0.000,0.050,2222,3370,3103
$GC,3129,-2.15,-67.0,392.8,-10.0,436,3136,0.00,1.77,0.00,0.000,6,0.000,0.031,2223,2325,3102
$GC,3455,-2.15,-67.0,422.9,-9.2,467,3458,0.00,1.83,0.00,0.000,4,0.000,0.053,2223,1292,3100
$GC,3635,-2.17,-67.0,440.1,-9.9,483,3639,0.00,1.67,0.00,0.000,6,0.000,0.035,2223,2273,3099
$GC,3965,-2.17,-67.0,472.3,-9.1,514,3968,0.00,1.92,0.00,0.000,4,0.000,0.054,2223,3371,3097
$GC,4070,-2.17,-67.0,482.3,-9.5,523,4077,0.00,1.90,0.00,0.000,6,0.000,0.035,2223,2272,3096
$GC,4394,-2.20,-67.0,511.7,-9.4,548,4397,0.00,1.75,0.00,0.000,4,0.000,0.062,2223,1287,3095
$GC,4573,-2.20,-67.0,529.3,-9.9,556,4576,0.00,1.67,0.00,0.000,6,0.000,0.041,2223,2265,3094
$GC,4905,-2.22,-67.0,562.0,-9.5,572,4909,0.00,2.00,0.00,0.000,4,0.000,0.071,2223,3365,3093
$GC,5017,-2.22,-67.0,572.5,-9.0,577,5020,0.00,1.90,0.00,0.000,6,0.000,0.046,2223,2288,3092
$GC,5352,-2.25,-67.0,601.3,-8.7,593,5355,0.00,2.05,0.00,0.000,4,0.000,0.082,2223,3370,3089
$GC,5446,-2.25,-67.0,610.4,-9.4,597,5450,0.00,2.00,0.00,0.000,6,0.000,0.061,2223,2275,3089
$GC,5773,-2.28,-67.0,638.4,-8.8,613,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2273,3087
$GC,6082,-2.31,-67.0,664.7,-8.7,628,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2273,3085
$GC,6392,-2.34,-68.0,689.7,-7.9,643,6394,0.12,0.00,0.00,0.000,6,0.079,0.000,2194,2273,3085
$GC,6700,-2.34,-68.0,715.0,-8.1,658,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2273,3083
$GC,7011,-2.34,-68.0,740.4,-8.2,673,7015,0.00,2.38,0.00,0.000,4,0.000,0.148,2194,3363,3082
$GC,7054,-2.34,-68.0,744.1,-8.1,675,7059,0.00,2.33,0.00,0.000,6,0.000,0.130,2194,2279,3081
$GC,7381,-2.34,-68.0,771.7,-8.3,691,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2278,3080
$GC,7690,-2.34,-68.0,797.4,-8.5,706,7694,0.00,2.55,0.00,0.000,4,0.000,0.181,2194,3358,3079
$GC,7777,-2.34,-68.0,805.7,-9.3,710,7782,0.00,2.15,0.00,0.000,6,0.000,0.095,2194,2249,3079
$GC,8104,-2.34,-68.0,834.4,-9.1,726,8108,0.00,2.00,0.00,0.000,4,0.000,0.057,2194,3369,3078
$GC,8165,-2.34,-68.0,840.2,-9.8,728,8171,0.00,1.92,0.00,0.000,6,0.000,0.037,2194,2266,3078
$GC,8480,-2.34,-68.0,869.5,-9.0,744,8483,0.00,1.80,0.00,0.000,4,0.000,0.064,2194,1252,3077
$GC,8646,-2.34,-68.0,884.2,-8.2,751,8651,0.00,1.80,0.00,0.000,6,0.000,0.038,2193,2289,3076
$GC,8968,-2.37,-85.9,906.7,-6.3,767,8972,0.00,1.95,0.00,0.000,4,0.000,0.061,2194,3384,3075
$GC,9058,-2.40,-104.1,912.3,-6.3,771,9061,0.00,1.92,0.00,0.000,6,0.000,0.039,2194,2271,3075
$GC,9390,-2.44,-124.1,931.7,-6.1,787,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2271,3074
$GC,9698,-2.44,-124.1,954.9,-8.3,802,9702,0.00,1.83,0.00,0.000,4,0.000,0.067,2194,1251,3073
$GC,9759,-2.44,-124.1,960.4,-9.8,804,9766,0.00,1.83,0.00,0.000,6,0.000,0.040,2194,2298,3073
$GC,10074,-2.44,-124.1,988.4,-8.1,820,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2298,3072
$STATE,10094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10095,begin apogee
$GC,10099,-0.51,0.0,990.0,8.1,821,10157,1.98,0.00,54.03,1.457,6,0.110,0.000,2598,1936,2825
$STATE,10158,end apogee,CONTROL_FINISHED_OK
$STATE,10158,begin climb
$GC,10159,2.43,124.1,991.3,0.0,824,10276,2.97,0.00,110.05,1.429,6,0.071,0.000,3240,1936,2319
$GC,10585,2.37,124.1,954.9,10.7,845,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1936,2312
$GC,10894,2.32,124.1,920.7,11.5,860,10898,0.12,1.90,0.00,0.000,4,0.127,0.074,3218,912,2311
$GC,11029,2.27,124.1,905.2,11.1,866,11032,0.00,1.83,0.00,0.000,6,0.000,0.036,3218,1973,2311
$GC,11360,2.23,124.1,870.7,10.2,882,11362,0.12,0.00,0.00,0.000,6,0.128,0.000,3196,1973,2310
$GC,11670,2.21,124.1,841.8,9.6,897,11673,0.00,1.98,0.00,0.000,4,0.000,0.066,3195,906,2310
$GC,11752,2.18,124.1,833.6,9.6,900,11760,0.00,1.83,0.00,0.000,6,0.000,0.035,3196,1954,2309
$GC,12067,2.18,124.1,804.2,9.5,916,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1954,2309
$GC,12377,2.18,124.1,773.1,9.7,931,12381,0.00,1.92,0.00,0.000,4,0.000,0.066,3195,909,2308
$GC,12422,2.15,124.1,768.8,9.1,933,12426,0.00,1.80,0.00,0.000,6,0.000,0.036,3196,1965,2308
$GC,12754,2.15,124.1,738.7,8.7,949,12757,0.00,1.85,0.00,0.000,4,0.000,0.054,3195,3018,2308
$GC,12904,2.13,124.1,725.4,8.2,955,12911,0.08,1.85,0.00,0.000,6,0.121,0.044,3178,1971,2308
$GC,13220,2.13,124.1,700.2,8.4,971,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1971,2307
$GC,13528,2.13,124.1,674.1,8.5,986,13529,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1972,2307
$GC,13838,2.13,124.1,646.2,9.2,1001,13839,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1972,2307
$GC,14147,2.13,124.1,617.8,9.1,1016,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1972,2307
$GC,14456,2.13,124.1,590.1,8.6,1031,14458,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1972,2307
$GC,14765,2.13,124.1,564.0,8.6,1046,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1971,2307
$GC,15075,2.13,124.1,537.6,8.3,1061,15079,0.00,1.83,0.00,0.000,4,0.000,0.050,3178,3010,2308
$GC,15281,2.14,130.0,520.7,7.4,1070,15292,0.00,1.83,4.72,0.835,6,0.000,0.041,3178,1969,2294
$GC,15610,2.14,130.5,494.9,7.9,1089,15613,0.00,1.90,0.00,0.000,4,0.000,0.066,3178,915,2295
$GC,15732,2.14,130.5,485.0,8.1,1100,15737,0.00,1.83,0.00,0.000,6,0.000,0.033,3178,1979,2295
$GC,16062,2.16,139.8,459.7,7.1,1131,16077,0.00,1.98,10.07,1.029,4,0.000,0.062,3177,914,2254
$GC,16189,2.16,139.8,449.3,8.4,1142,16194,0.00,1.83,0.00,0.000,6,0.000,0.033,3178,1973,2254
$GC,16520,2.16,143.7,424.0,7.6,1173,16532,0.00,1.83,4.93,0.815,4,0.000,0.051,3177,3015,2239
$GC,16588,2.16,143.7,418.5,8.9,1179,16591,0.00,1.77,0.00,0.000,6,0.000,0.041,3178,1993,2239
$GC,16918,2.16,143.7,390.8,8.9,1210,16922,0.00,1.95,0.00,0.000,4,0.000,0.065,3178,907,2239
$GC,17091,2.17,147.7,376.3,7.6,1225,17101,0.00,1.90,5.22,0.810,6,0.000,0.033,3178,2014,2222
$GC,17426,2.17,151.5,351.6,7.6,1257,17436,0.00,0.00,5.25,0.799,6,0.000,0.000,3177,2014,2206
$GC,17755,2.20,151.5,324.8,8.3,1288,17756,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2014,2206
$GC,18073,2.20,154.3,299.6,7.7,1318,18084,0.00,0.00,4.18,0.675,6,0.000,0.000,3178,2015,2196
$GC,18403,2.23,157.3,274.7,7.7,1349,18414,0.00,2.03,4.60,0.703,4,0.000,0.059,3178,903,2183
$GC,18486,2.23,157.3,267.4,9.3,1356,18493,0.00,1.85,0.00,0.000,6,0.000,0.031,3178,1982,2182
$GC,18818,2.26,162.9,241.2,7.5,1397,18829,0.10,0.00,6.57,0.786,6,0.086,0.000,3203,1983,2159
$GC,19169,2.27,167.3,211.0,7.6,1459,19180,0.00,0.00,5.65,0.727,6,0.000,0.000,3203,1983,2141
$GC,19517,2.29,176.0,183.4,7.2,1521,19529,0.00,0.00,8.57,0.788,6,0.000,0.000,3204,1984,2107
$GC,19867,2.32,181.3,155.8,7.5,1583,19879,0.00,1.77,6.25,0.706,4,0.000,0.045,3204,3011,2086
$GC,20058,2.34,193.2,140.8,6.9,1617,20076,0.00,1.75,11.32,0.780,6,0.000,0.032,3203,1968,2037
$GC,20415,2.41,213.0,116.1,6.1,1680,20439,0.15,1.92,17.62,0.776,4,0.068,0.052,3250,924,1956
$GC,20693,2.43,225.7,96.0,6.8,1729,20711,0.00,1.67,11.73,0.726,6,0.000,0.027,3250,1951,1904
$GC,21050,2.50,247.2,74.1,6.0,1792,21073,0.00,0.00,18.62,0.723,6,0.000,0.000,3249,1953,1817
$GC,21410,2.57,266.8,54.0,6.1,1856,21433,0.00,1.85,17.30,0.693,4,0.000,0.041,3250,2995,1736
$GC,21523,2.64,280.4,47.0,6.7,1876,21542,0.12,1.77,12.07,0.660,6,0.049,0.028,3292,1941,1681
$GC,21881,2.64,280.4,18.0,9.2,1939,21887,0.00,1.80,0.00,0.000,4,0.000,0.038,3292,3004,1680
$GC,21960,2.64,280.4,11.1,8.8,1953,21966,0.00,1.75,0.00,0.000,6,0.000,0.027,3292,1940,1681
$STATE,22071,end climb,SURFACE_DEPTH_REACHED
$STATE,22071,begin surface coast
$FINISH,-0.4,1.021946
$STATE,22096,end surface coast,CONTROL_FINISHED_OK
$STATE,22096,begin surface
$SM_CCo,22115,115.65,0.646,0,0,887,475.15
$SM_GC,-5.22,0.00,0.00,115.65,0.000,0.000,0.646,417,2329,887,-10.55,0.11,475.15
$IRIDIUM_FIX,1256.52,12033.54,170597,060645
$TT8_MAMPS,0.025311
$HUMID,1663
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.30
$XPDR_PINGS,442
$24V_AH,23.1,3.936
$10V_AH,10.1,3.063
$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,28.550,110.525,318.775,115.650,0.000,25.937,15.055,181.956,123.000,0.000,0.000,13.845,3236.958,14449.322,579.547,3826.468,485.923,0.000,2235.849,0.000,3787.743,0.000,91.488
$DEVICE_MAMPS,173.342,181.012,1457.300,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1345.557,1699.852,745.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113638,1977
$CAP_FILE_SIZE,195185,0
$CFSIZE,260165632,255188992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,174808,1303.586,12030.558,39,1.1,39,-0.9