version: 66.03
glider: 126
mission: 7
dive: 31
start: 2 23 108 2 6 36
data:
$ID,126
$MISSION,7
$DIVE,31
$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,-620238.12
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,015408,1313.668,12024.362,40,1.0,40,-0.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.81
$_SM_ANGLEo,-57.0
$GPS2,020545,1313.820,12024.174,15,1.1,15,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,CALAVITE
$TGT_LATLONG,1326.020,12016.740
$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,330.2,26264,-22.0,-7.990
$D_GRID,1279
$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,-65.28,0.000,6,0.000,0.000,419,2320,3100
$GC,91,-2.33,-67.0,0.8,-15.8,13,108,10.18,1.80,0.00,0.000,4,0.176,0.035,2196,1263,3101
$GC,272,-2.22,-67.0,48.8,-23.1,45,278,0.15,1.73,0.00,0.000,6,0.126,0.027,2224,2321,3102
$GC,615,-2.15,-67.0,113.1,-16.8,106,621,0.00,1.83,0.00,0.000,4,0.000,0.043,2224,3378,3102
$GC,678,-2.10,-67.0,123.3,-16.1,117,684,0.15,1.85,0.00,0.000,6,0.112,0.025,2252,2241,3103
$GC,1020,-2.10,-67.0,166.8,-13.1,178,1027,0.00,1.98,0.00,0.000,4,0.000,0.042,2253,3371,3104
$GC,1139,-2.10,-67.0,180.4,-10.9,199,1145,0.00,1.83,0.00,0.000,6,0.000,0.027,2253,2249,3104
$GC,1482,-2.12,-67.0,219.0,-10.2,260,1488,0.00,1.98,0.00,0.000,4,0.000,0.044,2253,3374,3104
$GC,1612,-2.12,-67.0,234.0,-11.8,283,1618,0.00,1.80,0.00,0.000,6,0.000,0.028,2252,2281,3104
$GC,1950,-2.15,-67.0,268.2,-9.6,328,1953,0.00,1.90,0.00,0.000,4,0.000,0.046,2252,3372,3104
$GC,2021,-2.17,-67.0,275.7,-10.9,334,2028,0.00,1.75,0.00,0.000,6,0.000,0.029,2253,2325,3104
$GC,2347,-2.21,-67.0,306.7,-9.5,365,2348,0.12,0.00,0.00,0.000,6,0.070,0.000,2219,2320,3102
$GC,2666,-2.21,-67.0,339.0,-9.4,395,2669,0.00,1.85,0.00,0.000,4,0.000,0.049,2219,3379,3100
$GC,2766,-2.21,-67.0,349.6,-10.1,404,2770,0.00,1.80,0.00,0.000,6,0.000,0.032,2219,2300,3100
$GC,3096,-2.21,-67.0,382.4,-10.0,435,3100,0.00,1.75,0.00,0.000,4,0.000,0.048,2219,1278,3098
$GC,3122,-2.21,-67.0,385.3,-11.0,437,3130,0.00,1.75,0.00,0.000,6,0.000,0.032,2219,2309,3097
$GC,3448,-2.21,-67.0,416.6,-9.7,468,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2309,3095
$GC,3766,-2.21,-67.0,447.0,-9.3,498,3769,0.00,1.88,0.00,0.000,4,0.000,0.054,2219,3381,3093
$GC,3972,-2.21,-67.0,467.8,-10.2,516,3979,0.00,1.83,0.00,0.000,6,0.000,0.035,2219,2326,3092
$GC,4297,-2.21,-67.0,498.0,-9.2,547,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2325,3090
$GC,4617,-2.21,-67.0,526.7,-9.1,564,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2324,3087
$GC,4926,-2.21,-67.0,554.9,-9.0,579,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2324,3086
$GC,5236,-2.21,-67.0,582.4,-8.9,594,5239,0.00,1.95,0.00,0.000,4,0.000,0.076,2219,3375,3084
$GC,5325,-2.21,-67.0,590.5,-9.2,598,5329,0.00,1.88,0.00,0.000,6,0.000,0.054,2219,2347,3083
$GC,5657,-2.23,-67.0,619.2,-8.4,614,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2348,3081
$GC,5967,-2.26,-67.0,646.3,-8.6,629,5971,0.00,2.00,0.00,0.000,4,0.000,0.099,2219,3368,3080
$GC,6012,-2.26,-67.0,650.3,-8.8,631,6016,0.00,1.95,0.00,0.000,6,0.000,0.078,2219,2338,3079
$GC,6344,-2.28,-67.9,677.4,-7.9,647,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2338,3078
$GC,6653,-2.31,-67.9,702.7,-8.3,662,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2338,3076
$GC,6964,-2.34,-67.9,728.1,-8.2,677,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2338,3075
$GC,7271,-2.37,-67.9,753.7,-8.2,692,7273,0.12,0.00,0.00,0.000,6,0.081,0.000,2189,2338,3075
$GC,7581,-2.37,-67.9,780.5,-8.8,707,7585,0.00,2.33,0.00,0.000,4,0.000,0.165,2188,3363,3073
$GC,7737,-2.37,-67.9,795.0,-9.5,714,7742,0.00,2.03,0.00,0.000,6,0.000,0.086,2189,2304,3071
$GC,8065,-2.37,-69.6,821.5,-7.8,730,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2304,3071
$GC,8373,-2.37,-69.6,846.8,-8.4,745,8376,0.00,1.83,0.00,0.000,4,0.000,0.063,2188,1278,3070
$GC,8484,-2.37,-69.6,856.2,-8.2,750,8488,0.00,1.83,0.00,0.000,6,0.000,0.040,2189,2346,3070
$GC,8816,-2.37,-69.6,883.3,-8.3,766,8820,0.00,1.85,0.00,0.000,4,0.000,0.061,2189,3372,3068
$GC,8932,-2.37,-69.6,893.1,-8.1,771,8937,0.00,1.83,0.00,0.000,6,0.000,0.040,2189,2335,3068
$GC,9259,-2.37,-71.7,918.2,-7.8,787,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2335,3067
$GC,9570,-2.37,-72.3,942.4,-7.9,802,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2335,3066
$GC,9877,-2.37,-72.3,969.5,-9.2,817,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2334,3065
$STATE,10126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10126,begin apogee
$GC,10130,-0.51,0.0,991.7,8.6,829,10186,2.00,0.00,52.17,1.451,6,0.115,0.000,2595,1959,2825
$STATE,10187,end apogee,CONTROL_FINISHED_OK
$STATE,10187,begin climb
$GC,10189,2.34,72.3,993.4,0.0,832,10263,2.85,2.03,64.32,1.420,4,0.074,0.056,3220,3023,2530
$GC,10374,2.29,79.5,984.6,7.3,840,10386,0.00,1.92,7.38,1.174,6,0.000,0.048,3220,1964,2501
$GC,10707,2.24,82.0,960.7,7.7,857,10716,0.12,2.03,3.92,0.868,4,0.127,0.078,3198,911,2491
$GC,10850,2.19,82.0,948.8,8.0,863,10855,0.00,1.88,0.00,0.000,6,0.000,0.038,3198,1976,2490
$GC,11172,2.15,82.0,923.4,8.1,879,11175,0.00,2.00,0.00,0.000,4,0.000,0.068,3198,897,2489
$GC,11356,2.10,82.0,907.9,8.9,887,11361,0.12,1.83,0.00,0.000,6,0.114,0.037,3171,1942,2488
$GC,11682,2.12,90.0,884.2,7.2,903,11692,0.00,0.00,8.60,1.218,6,0.000,0.000,3171,1942,2458
$GC,11991,2.12,93.0,860.8,7.7,918,12000,0.00,1.92,4.38,0.938,4,0.000,0.054,3171,3003,2445
$GC,12169,2.12,93.6,846.3,7.9,926,12173,0.00,1.90,0.00,0.000,6,0.000,0.050,3171,1929,2445
$GC,12501,2.13,97.2,820.2,7.7,942,12510,0.00,1.90,5.38,1.035,4,0.000,0.069,3171,900,2427
$GC,12696,2.11,99.7,803.6,7.7,951,12705,0.00,1.77,4.03,0.871,6,0.000,0.037,3171,1931,2418
$GC,13026,2.12,106.6,777.4,7.3,967,13036,0.00,0.00,7.65,1.149,6,0.000,0.000,3171,1932,2390
$GC,13336,2.14,114.0,754.5,7.3,982,13350,0.00,1.98,8.10,1.151,4,0.000,0.054,3171,3010,2360
$GC,13405,2.14,114.0,748.8,8.4,985,13411,0.00,1.95,0.00,0.000,6,0.000,0.046,3171,1929,2360
$GC,13732,2.14,119.2,724.4,7.5,1001,13740,0.00,0.00,6.28,1.055,6,0.000,0.000,3171,1930,2339
$GC,14041,2.14,119.2,699.5,8.2,1016,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1930,2338
$GC,14350,2.14,119.2,673.7,8.1,1031,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1930,2338
$GC,14659,2.14,119.2,648.4,8.2,1046,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1930,2339
$GC,14970,2.14,119.2,622.2,8.2,1061,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1929,2338
$GC,15278,2.14,119.2,596.9,8.2,1076,15282,0.00,1.92,0.00,0.000,4,0.000,0.051,3171,3022,2338
$GC,15383,2.15,120.2,588.2,7.9,1080,15390,0.00,1.95,0.00,0.000,6,0.000,0.044,3171,1920,2338
$GC,15700,2.15,120.2,563.2,8.1,1096,15701,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1920,2338
$GC,16008,2.16,130.3,540.2,7.0,1111,16021,0.00,0.00,11.15,1.088,6,0.000,0.000,3171,1920,2293
$GC,16317,2.16,130.3,515.3,8.6,1126,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1920,2292
$GC,16630,2.17,132.8,488.8,7.8,1147,16640,0.00,0.00,3.92,0.739,6,0.000,0.000,3171,1919,2283
$GC,16958,2.17,132.8,460.7,8.2,1178,16962,0.00,1.83,0.00,0.000,4,0.000,0.067,3171,908,2283
$GC,17048,2.17,132.8,453.0,9.3,1186,17051,0.00,1.73,0.00,0.000,6,0.000,0.035,3171,1926,2283
$GC,17377,2.17,132.8,426.8,8.2,1217,17378,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1926,2283
$GC,17696,2.17,137.6,402.0,7.5,1247,17706,0.00,0.00,6.18,0.874,6,0.000,0.000,3171,1927,2263
$GC,18024,2.19,145.7,376.7,7.2,1278,18039,0.00,1.92,8.38,0.933,4,0.000,0.063,3171,905,2230
$GC,18072,2.20,151.4,372.8,7.5,1282,18083,0.00,1.75,6.50,0.864,6,0.000,0.033,3171,1919,2208
$GC,18407,2.20,151.4,344.2,8.3,1314,18410,0.00,1.90,0.00,0.000,4,0.000,0.050,3171,3013,2207
$GC,18467,2.20,151.4,339.0,8.3,1319,18474,0.00,1.95,0.00,0.000,6,0.000,0.041,3171,1906,2207
$GC,18792,2.22,151.4,311.7,8.2,1350,18794,0.10,0.00,0.00,0.000,6,0.089,0.000,3196,1906,2207
$GC,19111,2.22,152.6,285.4,7.9,1380,19115,0.00,1.92,0.00,0.000,4,0.000,0.047,3196,3010,2207
$GC,19335,2.23,156.8,266.5,7.6,1400,19347,0.00,1.85,6.35,0.788,6,0.000,0.039,3196,1934,2185
$GC,19671,2.23,156.8,239.1,8.8,1442,19677,0.00,1.85,0.00,0.000,4,0.000,0.061,3196,913,2185
$GC,19929,2.25,166.0,218.5,7.1,1488,19947,0.00,1.77,9.43,0.828,6,0.000,0.030,3196,1967,2147
$GC,20287,2.28,175.0,192.2,7.1,1551,20298,0.00,0.00,9.15,0.798,6,0.000,0.000,3196,1967,2111
$GC,20637,2.31,175.0,167.5,8.2,1613,20643,0.00,1.88,0.00,0.000,4,0.000,0.054,3196,912,2111
$GC,20801,2.33,189.7,154.9,6.6,1642,20819,0.00,1.75,13.62,0.803,6,0.000,0.029,3196,1958,2051
$GC,21158,2.39,195.9,132.2,7.4,1705,21169,0.15,0.00,6.68,0.686,6,0.067,0.000,3241,1958,2026
$GC,21508,2.43,224.1,108.0,5.3,1767,21541,0.00,1.92,24.38,0.770,4,0.000,0.050,3241,912,1911
$GC,21794,2.50,249.9,92.4,5.6,1818,21822,0.00,1.70,21.88,0.738,6,0.000,0.027,3241,1937,1805
$GC,22162,2.55,260.8,64.5,7.0,1883,22179,0.10,1.80,10.45,0.669,4,0.074,0.039,3272,3003,1760
$GC,22360,2.59,267.7,51.0,7.3,1918,22372,0.00,2.00,7.10,0.608,6,0.000,0.030,3272,1819,1733
$GC,22710,2.63,274.1,27.0,7.4,1980,22723,0.00,2.08,6.95,0.581,4,0.000,0.038,3272,3002,1707
$GC,22891,2.66,274.1,12.9,8.1,2012,22897,0.00,1.92,0.00,0.000,6,0.000,0.028,3272,1855,1707
$STATE,23036,end climb,SURFACE_DEPTH_REACHED
$STATE,23036,begin surface coast
$FINISH,-0.8,1.021911
$STATE,23065,end surface coast,CONTROL_FINISHED_OK
$STATE,23065,begin surface
$SM_CCo,23085,120.20,0.640,0,0,888,475.15
$SM_GC,-5.20,0.00,0.00,120.20,0.000,0.000,0.640,415,2329,888,-10.55,0.11,475.15
$IRIDIUM_FIX,1309.80,12025.91,190597,020251
$TT8_MAMPS,0.026078
$HUMID,1649
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.60
$XPDR_PINGS,363
$24V_AH,23.1,4.864
$10V_AH,10.1,3.991
$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,28.625,110.675,324.300,120.200,0.000,78.476,54.318,317.924,103.250,0.000,0.000,15.609,3352.900,15590.911,581.714,3680.714,713.516,0.000,2276.201,0.000,3634.267,0.000,91.492
$DEVICE_MAMPS,176.410,164.905,1451.164,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1388.563,805.264,757.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110496,2043
$CAP_FILE_SIZE,206608,0
$CFSIZE,260165632,254578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,083438,1316.107,12023.088,42,0.9,42,-0.9