version: 66.03
glider: 126
mission: 7
dive: 26
start: 2 21 108 17 56 54
data:
$ID,126
$MISSION,7
$DIVE,26
$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,-620142.5
$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,43
$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,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
$GPS1,174808,1303.586,12030.558,39,1.1,39,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.09
$_SM_ANGLEo,-53.0
$GPS2,175603,1303.709,12030.412,10,1.6,10,-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,328.4,19079,-22.0,-7.990
$D_GRID,1199
$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,-65.97,0.000,6,0.000,0.000,417,2334,3101
$GC,91,-2.33,-67.0,0.5,-15.3,13,108,10.15,1.77,0.00,0.000,4,0.174,0.040,2198,3366,3102
$GC,361,-2.20,-67.0,70.1,-23.7,61,367,0.17,1.70,0.00,0.000,6,0.123,0.025,2230,2301,3103
$GC,704,-2.17,-67.0,126.8,-14.4,122,711,0.00,1.85,0.00,0.000,4,0.000,0.042,2230,3364,3105
$GC,963,-2.17,-67.0,160.6,-12.1,168,969,0.00,1.70,0.00,0.000,6,0.000,0.026,2230,2318,3106
$GC,1308,-2.17,-67.0,202.1,-12.0,229,1313,0.00,1.80,0.00,0.000,4,0.000,0.044,2231,3362,3106
$GC,1544,-2.17,-67.0,229.5,-10.6,271,1549,0.00,1.67,0.00,0.000,6,0.000,0.028,2230,2329,3106
$GC,1884,-2.17,-67.0,266.7,-11.1,319,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2322,3106
$GC,2202,-2.17,-67.0,302.4,-10.8,349,2205,0.00,1.75,0.00,0.000,4,0.000,0.041,2230,1291,3104
$GC,2314,-2.17,-67.0,314.1,-10.9,359,2317,0.00,1.73,0.00,0.000,6,0.000,0.031,2231,2330,3104
$GC,2644,-2.19,-67.0,347.9,-10.2,390,2648,0.00,1.83,0.00,0.000,4,0.000,0.050,2231,3369,3101
$GC,2759,-2.19,-67.0,360.0,-10.3,400,2767,0.00,1.70,0.00,0.000,6,0.000,0.031,2230,2356,3101
$GC,3086,-2.21,-67.0,390.5,-9.8,431,3090,0.00,1.83,0.00,0.000,4,0.000,0.047,2231,1291,3099
$GC,3135,-2.24,-67.0,395.6,-10.2,435,3142,0.00,1.80,0.00,0.000,6,0.000,0.032,2231,2348,3099
$GC,3461,-2.26,-67.0,426.9,-9.8,466,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2349,3096
$GC,3779,-2.29,-67.0,458.6,-10.1,496,3782,0.00,1.88,0.00,0.000,4,0.000,0.054,2231,1289,3095
$GC,3862,-2.32,-67.0,467.1,-10.2,503,3869,0.08,1.83,0.00,0.000,6,0.066,0.035,2205,2350,3095
$GC,4186,-2.32,-67.0,498.7,-9.3,534,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2350,3093
$GC,4496,-2.32,-67.0,527.9,-9.5,550,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2350,3091
$GC,4807,-2.32,-67.0,560.5,-10.5,565,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2351,3088
$GC,5115,-2.32,-67.0,590.9,-9.5,580,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2351,3086
$GC,5424,-2.32,-67.0,619.1,-9.2,595,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2350,3085
$GC,5733,-2.32,-67.0,647.5,-8.9,610,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2351,3084
$GC,6043,-2.32,-67.0,675.3,-8.9,625,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2350,3082
$GC,6351,-2.32,-67.0,702.5,-8.6,640,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2351,3081
$GC,6663,-2.32,-67.0,729.1,-9.0,655,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2351,3079
$GC,6970,-2.32,-67.0,757.1,-9.1,670,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2350,3078
$GC,7280,-2.32,-67.0,784.5,-8.6,685,7284,0.00,2.42,0.00,0.000,4,0.000,0.178,2204,1308,3077
$GC,7341,-2.32,-67.0,789.8,-8.7,688,7346,0.00,2.25,0.00,0.000,6,0.000,0.154,2205,2323,3077
$GC,7673,-2.35,-72.5,816.3,-7.5,704,7677,0.00,2.55,0.00,0.000,4,0.000,0.197,2205,3385,3075
$GC,7788,-2.35,-73.7,825.1,-7.9,709,7793,0.00,2.08,0.00,0.000,6,0.000,0.117,2205,2357,3074
$GC,8110,-2.36,-78.2,848.8,-7.6,725,8114,0.00,1.90,0.00,0.000,4,0.000,0.057,2204,1278,3073
$GC,8177,-2.36,-78.2,854.4,-8.7,728,8180,0.00,1.85,0.00,0.000,6,0.000,0.036,2205,2364,3073
$GC,8509,-2.38,-78.2,881.8,-8.0,744,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2364,3072
$GC,8818,-2.40,-81.0,905.8,-7.7,759,8822,0.00,1.80,0.00,0.000,4,0.000,0.061,2205,3379,3071
$GC,8889,-2.40,-81.0,911.9,-8.7,762,8894,0.00,1.80,0.00,0.000,6,0.000,0.038,2204,2355,3071
$GC,9217,-2.43,-81.9,938.3,-7.9,778,9221,0.10,1.95,0.00,0.000,4,0.094,0.064,2182,1263,3070
$GC,9364,-2.43,-81.9,950.5,-8.9,784,9367,0.00,1.85,0.00,0.000,6,0.000,0.041,2182,2343,3070
$GC,9683,-2.43,-81.9,978.0,-8.3,800,9687,0.00,1.90,0.00,0.000,4,0.000,0.054,2182,1271,3069
$STATE,9835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9835,begin apogee
$GC,9840,-0.51,0.0,990.3,8.0,806,9898,2.00,0.00,53.20,1.454,6,0.108,0.000,2597,1974,2825
$STATE,9898,end apogee,CONTROL_FINISHED_OK
$STATE,9898,begin climb
$GC,9900,2.36,81.9,991.1,0.0,809,9978,2.88,0.00,72.95,1.420,6,0.072,0.000,3226,1974,2491
$GC,10275,2.31,87.8,966.1,7.4,828,10286,0.00,2.08,6.50,1.130,4,0.000,0.071,3226,911,2466
$GC,10539,2.25,87.8,944.3,8.5,840,10543,0.15,1.83,0.00,0.000,6,0.126,0.037,3200,1974,2466
$GC,10870,2.21,87.8,916.6,8.8,856,10873,0.00,1.98,0.00,0.000,4,0.000,0.065,3200,901,2465
$GC,11127,2.16,87.8,893.3,8.9,867,11131,0.00,1.85,0.00,0.000,6,0.000,0.037,3200,1963,2464
$GC,11449,2.14,94.6,868.6,7.3,883,11458,0.12,0.00,7.18,1.159,6,0.129,0.000,3178,1963,2439
$GC,11757,2.15,97.5,845.9,7.7,898,11766,0.00,1.90,4.28,0.922,4,0.000,0.054,3177,3011,2427
$GC,11883,2.15,97.5,835.4,8.5,903,11890,0.00,1.88,0.00,0.000,6,0.000,0.044,3178,1963,2426
$GC,12199,2.15,98.5,810.9,7.9,919,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1963,2426
$GC,12508,2.16,104.0,787.4,7.5,934,12522,0.00,1.95,7.38,1.146,4,0.000,0.053,3178,3014,2400
$GC,12702,2.14,109.7,772.4,7.5,942,12713,0.00,1.85,6.60,1.103,6,0.000,0.043,3178,1974,2377
$GC,13040,2.16,120.3,748.9,7.0,959,13055,0.00,2.00,10.98,1.211,4,0.000,0.067,3177,902,2334
$GC,13116,2.17,125.6,743.1,7.5,961,13127,0.00,1.85,6.28,1.055,6,0.000,0.036,3178,1964,2312
$GC,13447,2.17,125.6,717.7,8.2,978,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1964,2311
$GC,13756,2.17,125.6,691.4,8.5,993,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1964,2311
$GC,14065,2.17,125.6,663.3,8.9,1008,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1965,2311
$GC,14375,2.17,125.6,636.2,8.4,1023,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1965,2311
$GC,14684,2.19,135.0,612.7,7.1,1038,14695,0.00,0.00,9.62,1.108,6,0.000,0.000,3178,1966,2274
$GC,14994,2.19,139.6,589.2,7.6,1053,15004,0.00,1.85,5.95,0.969,4,0.000,0.051,3178,3015,2255
$GC,15056,2.19,139.7,584.3,8.0,1056,15059,0.00,1.85,0.00,0.000,6,0.000,0.043,3178,1958,2254
$GC,15387,2.19,139.7,556.8,8.4,1072,15388,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1958,2254
$GC,15697,2.20,142.2,532.6,7.8,1087,15702,0.00,0.00,3.88,0.745,6,0.000,0.000,3178,1958,2245
$GC,16006,2.20,142.2,506.2,8.9,1102,16009,0.00,1.90,0.00,0.000,4,0.000,0.068,3178,912,2245
$GC,16073,2.20,142.2,499.9,9.0,1105,16076,0.00,1.80,0.00,0.000,6,0.000,0.034,3177,1979,2245
$GC,16402,2.20,142.2,468.8,9.4,1136,16406,0.00,1.80,0.00,0.000,4,0.000,0.060,3177,3018,2245
$GC,16525,2.20,142.2,457.3,9.3,1147,16529,0.00,1.85,0.00,0.000,6,0.000,0.042,3178,1953,2245
$GC,16855,2.20,142.2,428.3,8.4,1178,16859,0.00,1.88,0.00,0.000,4,0.000,0.067,3178,913,2245
$GC,17114,2.20,142.4,406.3,8.0,1201,17117,0.00,1.73,0.00,0.000,6,0.000,0.033,3178,1939,2245
$GC,17443,2.21,147.4,381.6,7.5,1232,17455,0.00,1.85,6.22,0.857,4,0.000,0.048,3178,3007,2223
$GC,17560,2.21,147.4,372.2,8.3,1242,17567,0.00,1.85,0.00,0.000,6,0.000,0.047,3178,1956,2223
$GC,17888,2.21,150.3,346.6,7.7,1273,17896,0.00,0.00,4.25,0.713,6,0.000,0.000,3178,1954,2212
$GC,18216,2.21,150.3,319.2,8.5,1304,18217,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1954,2212
$GC,18533,2.22,157.4,293.3,7.3,1334,18545,0.00,1.95,7.95,0.867,4,0.000,0.063,3178,912,2183
$GC,18662,2.23,159.0,283.2,7.8,1345,18669,0.00,1.83,0.00,0.000,6,0.000,0.031,3178,1980,2183
$GC,18987,2.27,168.4,259.2,7.1,1376,19003,0.12,1.83,10.82,0.884,4,0.078,0.056,3209,3016,2138
$GC,19098,2.27,169.8,249.9,7.9,1385,19104,0.00,1.80,0.00,0.000,6,0.000,0.036,3210,1981,2137
$GC,19442,2.28,171.0,222.1,7.9,1446,19454,0.00,1.85,4.03,0.612,4,0.000,0.046,3210,3008,2127
$GC,19638,2.28,171.0,205.3,8.1,1481,19644,0.00,1.65,0.00,0.000,6,0.000,0.034,3210,2034,2127
$GC,19981,2.28,174.4,176.5,7.7,1542,19987,0.00,0.00,4.88,0.650,6,0.000,0.000,3210,2034,2113
$GC,20326,2.30,187.7,150.1,6.7,1603,20344,0.00,2.08,12.55,0.797,4,0.000,0.055,3210,908,2059
$GC,20400,2.31,188.8,144.3,7.9,1616,20406,0.00,1.95,0.00,0.000,6,0.000,0.028,3210,2059,2059
$GC,20744,2.37,208.1,120.2,6.2,1677,20767,0.00,2.12,17.80,0.779,4,0.000,0.051,3210,911,1976
$GC,21020,2.43,226.4,100.3,6.3,1726,21043,0.08,1.83,16.30,0.748,6,0.063,0.027,3239,2005,1902
$GC,21381,2.54,274.4,78.2,3.4,1790,21425,0.10,0.00,39.53,0.738,6,0.075,0.000,3269,2004,1706
$GC,21763,2.59,282.0,54.8,7.3,1858,21776,0.00,1.75,7.15,0.607,4,0.000,0.041,3269,2997,1674
$GC,21895,2.62,282.0,44.2,8.3,1881,21901,0.00,1.65,0.00,0.000,6,0.000,0.028,3269,2000,1674
$GC,22239,2.66,282.0,15.5,8.1,1942,22245,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2000,1675
$STATE,22406,end climb,SURFACE_DEPTH_REACHED
$STATE,22406,begin surface coast
$FINISH,-0.6,1.021984
$STATE,22435,end surface coast,CONTROL_FINISHED_OK
$STATE,22436,begin surface
$SM_CCo,22455,114.30,0.644,0,0,888,475.15
$SM_GC,-5.24,0.00,0.00,114.30,0.000,0.000,0.644,418,2325,888,-10.54,0.00,475.15
$IRIDIUM_FIX,1256.52,12031.64,170597,171729
$TT8_MAMPS,0.026078
$HUMID,1661
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,414
$24V_AH,23.1,4.088
$10V_AH,10.1,3.227
$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,28.400,108.700,326.250,114.300,0.000,54.649,49.259,204.487,116.000,0.000,0.000,10.111,3256.527,14803.017,570.722,3850.032,582.092,0.000,2238.415,0.000,3822.509,0.000,92.507
$DEVICE_MAMPS,174.109,197.119,1454.232,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1346.197,1699.384,732.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113628,1977
$CAP_FILE_SIZE,198925,0
$CFSIZE,260165632,255086592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,001407,1305.935,12029.406,29,1.2,29,-0.9