version: 66.03
glider: 126
mission: 7
dive: 61
start: 2 29 108 0 43 30
data:
$ID,126
$MISSION,7
$DIVE,61
$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,548.98138
$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,-620712.5
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,002407,1331.629,12015.263,37,1.1,37,-1.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.76
$_SM_ANGLEo,-51.4
$GPS2,004239,1331.793,12015.120,12,1.1,12,-1.0
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,CALAVITE_SB
$TGT_LATLONG,1326.020,12015.240
$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,179.8,10694,-22.0,-7.990
$D_GRID,1750
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-68.57,0.000,6,0.000,0.000,415,2322,3101
$GC,92,-2.33,-67.0,-0.2,-12.4,13,109,10.12,1.77,0.00,0.000,4,0.174,0.032,2197,1272,3102
$GC,363,-2.24,-67.0,62.7,-19.8,61,369,0.12,1.75,0.00,0.000,6,0.133,0.026,2219,2346,3103
$GC,706,-2.19,-67.0,117.4,-13.9,122,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2347,3104
$GC,1049,-2.15,-67.0,165.8,-12.6,183,1055,0.12,0.00,0.00,0.000,6,0.127,0.000,2241,2347,3104
$GC,1391,-2.15,-67.0,207.5,-11.8,244,1397,0.00,1.77,0.00,0.000,4,0.000,0.045,2241,3373,3105
$GC,1555,-2.15,-67.0,226.4,-11.2,273,1560,0.00,1.73,0.00,0.000,6,0.000,0.027,2242,2307,3105
$GC,1890,-2.15,-67.0,263.5,-11.2,323,1894,0.00,1.70,0.00,0.000,4,0.000,0.040,2242,1299,3104
$GC,2058,-2.15,-67.0,281.6,-10.6,338,2062,0.00,1.70,0.00,0.000,6,0.000,0.029,2241,2315,3103
$GC,2389,-2.15,-67.0,317.2,-10.8,369,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2314,3101
$GC,2706,-2.15,-67.0,351.3,-10.5,399,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2315,3099
$GC,3026,-2.17,-67.0,385.8,-10.9,429,3029,0.00,1.83,0.00,0.000,4,0.000,0.051,2242,3371,3097
$GC,3138,-2.17,-67.0,398.1,-11.3,439,3141,0.00,1.73,0.00,0.000,6,0.000,0.032,2242,2350,3096
$GC,3468,-2.20,-67.0,432.7,-10.3,470,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2347,3094
$GC,3786,-2.23,-67.0,464.9,-9.4,500,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2347,3092
$GC,4105,-2.26,-67.0,495.1,-8.7,530,4109,0.00,1.80,0.00,0.000,4,0.000,0.056,2242,3362,3089
$GC,4204,-2.26,-67.0,505.0,-9.9,537,4210,0.08,1.75,0.00,0.000,6,0.064,0.035,2216,2352,3089
$GC,4527,-2.26,-67.0,536.3,-10.0,553,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2352,3087
$GC,4835,-2.26,-67.0,565.6,-9.2,568,4838,0.00,1.85,0.00,0.000,4,0.000,0.071,2216,3360,3085
$GC,4872,-2.26,-67.0,569.4,-9.8,569,4879,0.00,1.80,0.00,0.000,6,0.000,0.044,2216,2349,3084
$GC,5188,-2.26,-67.0,598.8,-9.2,585,5191,0.00,1.90,0.00,0.000,4,0.000,0.079,2216,3363,3082
$GC,5302,-2.26,-67.0,610.3,-10.6,590,5305,0.00,1.83,0.00,0.000,6,0.000,0.060,2216,2361,3081
$GC,5634,-2.26,-67.0,641.4,-9.2,606,5638,0.00,2.08,0.00,0.000,4,0.000,0.096,2216,1269,3079
$GC,5705,-2.26,-67.0,648.5,-9.9,609,5710,0.00,1.98,0.00,0.000,6,0.000,0.077,2216,2308,3079
$GC,6035,-2.26,-67.0,680.0,-9.8,625,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2309,3078
$GC,6341,-2.26,-67.0,709.8,-9.6,640,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2309,3076
$GC,6651,-2.26,-67.0,736.8,-8.5,655,6655,0.00,2.28,0.00,0.000,4,0.000,0.143,2216,3385,3074
$GC,6750,-2.26,-67.0,745.7,-8.8,659,6757,0.00,2.17,0.00,0.000,6,0.000,0.112,2216,2296,3073
$GC,7066,-2.26,-67.0,775.2,-9.0,675,7069,0.00,1.98,0.00,0.000,4,0.000,0.055,2216,3405,3072
$GC,7127,-2.26,-67.0,781.0,-10.3,677,7133,0.00,1.83,0.00,0.000,6,0.000,0.037,2216,2336,3072
$GC,7441,-2.26,-67.0,809.2,-8.7,693,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2334,3071
$GC,7751,-2.28,-67.0,836.0,-8.5,708,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2335,3071
$GC,8060,-2.28,-67.0,862.2,-8.7,723,8064,0.00,1.88,0.00,0.000,4,0.000,0.063,2215,1280,3069
$GC,8151,-2.28,-67.0,869.9,-8.6,727,8156,0.00,1.85,0.00,0.000,6,0.000,0.040,2216,2358,3068
$GC,8484,-2.30,-69.2,895.1,-7.8,743,8487,0.00,1.83,0.00,0.000,4,0.000,0.061,2216,3385,3068
$GC,8668,-2.31,-72.9,910.2,-7.6,751,8672,0.00,1.80,0.00,0.000,6,0.000,0.038,2216,2353,3067
$GC,8995,-2.33,-72.9,936.1,-8.1,767,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2354,3066
$GC,9305,-2.35,-72.9,961.4,-8.0,782,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2343,3064
$GC,9613,-2.38,-72.9,987.3,-8.7,797,9615,0.12,0.00,0.00,0.000,6,0.082,0.000,2187,2343,3063
$STATE,9653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9653,begin apogee
$GC,9657,-0.51,0.0,991.1,9.1,799,9715,2.00,0.00,51.95,1.447,6,0.110,0.000,2597,1957,2825
$STATE,9716,end apogee,CONTROL_FINISHED_OK
$STATE,9716,begin climb
$GC,9718,2.34,72.9,992.9,0.0,802,9792,2.83,2.05,64.75,1.413,4,0.072,0.074,3220,910,2526
$GC,9861,2.31,90.5,987.6,6.3,808,9882,0.00,1.85,16.73,1.328,6,0.000,0.037,3220,1980,2456
$GC,10191,2.28,92.9,963.1,7.8,824,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1981,2453
$GC,10500,2.24,95.2,939.5,7.8,839,10508,0.12,0.00,5.32,1.040,6,0.123,0.000,3198,1981,2436
$GC,10809,2.23,95.9,915.2,7.9,854,10813,0.00,1.98,0.00,0.000,4,0.000,0.063,3198,904,2435
$GC,10870,2.19,97.4,910.3,7.8,856,10876,0.00,1.85,0.00,0.000,6,0.000,0.037,3198,1961,2435
$GC,11185,2.19,97.8,886.8,8.0,872,11189,0.00,1.85,0.00,0.000,4,0.000,0.054,3198,3018,2434
$GC,11442,2.16,97.8,864.8,8.1,883,11446,0.00,1.88,0.00,0.000,6,0.000,0.041,3198,1960,2433
$GC,11764,2.15,104.7,839.4,7.3,899,11778,0.00,1.98,9.20,1.218,4,0.000,0.068,3198,918,2398
$GC,11925,2.13,104.7,826.4,9.3,906,11929,0.12,1.80,0.00,0.000,6,0.123,0.037,3176,1964,2397
$GC,12252,2.14,112.6,802.9,7.2,922,12262,0.00,0.00,8.50,1.184,6,0.000,0.000,3176,1964,2366
$GC,12559,2.14,115.3,778.8,7.7,937,12566,0.00,0.00,4.28,0.897,6,0.000,0.000,3176,1965,2354
$GC,12868,2.14,115.3,754.9,8.2,952,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1965,2354
$GC,13178,2.15,118.5,730.3,7.7,967,13187,0.00,1.85,4.68,0.930,4,0.000,0.053,3176,3006,2341
$GC,13276,2.15,118.5,722.0,8.2,971,13281,0.00,1.88,0.00,0.000,6,0.000,0.041,3176,1951,2341
$GC,13599,2.15,121.3,696.3,7.7,987,13608,0.00,1.92,4.25,0.864,4,0.000,0.051,3176,3010,2331
$GC,13671,2.16,127.4,690.7,7.4,990,13682,0.00,1.80,7.00,1.073,6,0.000,0.040,3176,1971,2305
$GC,13990,2.16,127.4,664.6,8.2,1005,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1971,2305
$GC,14299,2.16,127.4,639.3,8.4,1020,14303,0.00,1.92,0.00,0.000,4,0.000,0.067,3176,909,2305
$GC,14556,2.16,127.4,617.7,8.2,1031,14561,0.00,1.88,0.00,0.000,6,0.000,0.035,3175,1990,2305
$GC,14877,2.16,127.4,591.4,8.5,1047,14878,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1990,2304
$GC,15187,2.17,133.6,567.4,7.4,1062,15198,0.00,1.85,6.90,0.999,4,0.000,0.051,3176,3007,2280
$GC,15275,2.17,133.6,560.0,8.3,1066,15280,0.00,1.83,0.00,0.000,6,0.000,0.041,3175,1972,2280
$GC,15604,2.20,133.6,533.9,8.1,1082,15608,0.00,1.83,0.00,0.000,4,0.000,0.050,3176,3011,2280
$GC,15716,2.20,133.6,524.3,8.7,1087,15720,0.00,1.77,0.00,0.000,6,0.000,0.040,3175,1980,2280
$GC,16037,2.22,133.6,498.1,8.5,1103,16041,0.00,1.92,0.00,0.000,4,0.000,0.067,3175,916,2280
$GC,16131,2.22,133.6,490.3,8.1,1111,16138,0.00,1.85,0.00,0.000,6,0.000,0.034,3175,1992,2280
$GC,16457,2.24,134.5,465.5,7.9,1142,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1992,2280
$GC,16776,2.27,140.5,440.3,7.4,1172,16786,0.12,0.00,7.88,0.956,6,0.078,0.000,3206,1993,2252
$GC,17103,2.27,140.5,412.6,8.4,1203,17106,0.00,1.77,0.00,0.000,4,0.000,0.051,3206,3018,2251
$GC,17287,2.27,140.5,396.3,9.1,1219,17293,0.00,1.77,0.00,0.000,6,0.000,0.038,3206,1998,2252
$GC,17613,2.28,146.9,370.2,7.4,1250,17622,0.00,0.00,6.90,0.882,6,0.000,0.000,3206,1998,2226
$GC,17941,2.28,147.6,343.7,7.9,1281,17944,0.00,1.77,0.00,0.000,4,0.000,0.048,3206,3015,2226
$GC,18098,2.28,147.6,331.3,8.5,1295,18101,0.00,1.73,0.00,0.000,6,0.000,0.035,3206,2001,2226
$GC,18427,2.28,147.6,305.6,8.1,1326,18428,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2001,2226
$GC,18747,2.28,148.4,280.2,7.9,1356,18750,0.00,1.75,0.00,0.000,4,0.000,0.046,3206,3014,2227
$GC,18851,2.28,148.4,271.4,8.2,1365,18858,0.00,1.73,0.00,0.000,6,0.000,0.034,3206,2009,2227
$GC,19179,2.29,149.3,245.6,7.9,1400,19191,0.00,1.77,4.25,0.640,4,0.000,0.048,3206,3008,2216
$GC,19275,2.29,154.0,237.8,7.5,1417,19287,0.00,1.70,5.75,0.740,6,0.000,0.034,3206,2002,2197
$GC,19626,2.30,156.9,213.0,7.7,1479,19637,0.00,1.98,4.47,0.644,4,0.000,0.059,3206,920,2185
$GC,19667,2.31,163.5,210.1,7.4,1486,19679,0.00,1.88,7.20,0.769,6,0.000,0.031,3206,2024,2158
$GC,20017,2.37,185.0,188.3,6.0,1548,20039,0.00,0.00,18.92,0.848,6,0.000,0.000,3206,2027,2071
$GC,20376,2.43,198.2,161.8,6.7,1612,20395,0.15,1.77,12.25,0.790,4,0.067,0.043,3251,3019,2017
$GC,20647,2.43,198.2,139.5,8.2,1660,20653,0.00,1.77,0.00,0.000,6,0.000,0.031,3251,1974,2016
$GC,20991,2.45,213.0,115.6,6.6,1721,21013,0.00,1.85,13.82,0.752,4,0.000,0.040,3250,3015,1956
$GC,21266,2.49,237.2,95.2,5.7,1770,21294,0.00,1.73,21.23,0.745,6,0.000,0.028,3250,1991,1856
$GC,21635,2.55,246.0,71.9,7.2,1835,21647,0.00,1.83,8.40,0.657,4,0.000,0.038,3251,3018,1822
$GC,21900,2.60,254.0,50.0,7.2,1882,21912,0.08,1.75,8.20,0.632,6,0.056,0.028,3282,1975,1789
$GC,22251,2.70,291.9,30.1,4.4,1944,22289,0.00,0.00,31.48,0.676,6,0.000,0.000,3282,1974,1635
$GC,22627,2.76,300.1,3.4,7.2,2011,22640,0.12,1.88,7.90,0.572,4,0.065,0.045,3321,924,1601
$STATE,22644,end climb,SURFACE_DEPTH_REACHED
$STATE,22644,begin surface coast
$FINISH,-0.3,1.022007
$STATE,22674,end surface coast,CONTROL_FINISHED_OK
$STATE,22674,begin surface
$SM_CCo,22696,142.62,0.626,0,0,586,548.98
$SM_GC,-5.20,0.00,0.00,142.62,0.000,0.000,0.626,415,2346,586,-10.55,0.59,548.98
$IRIDIUM_FIX,1327.53,12015.23,250597,000043
$TT8_MAMPS,0.026078
$HUMID,1667
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.40
$XPDR_PINGS,479
$24V_AH,23.1,9.050
$10V_AH,10.1,7.175
$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,28.850,115.575,342.200,142.625,0.000,138.301,245.033,362.408,132.250,0.000,0.000,12.306,3330.898,15266.772,603.938,3726.354,1041.225,0.000,2332.638,0.000,3681.698,0.000,91.486
$DEVICE_MAMPS,174.109,142.662,1447.329,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1371.951,807.943,756.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110456,2019
$CAP_FILE_SIZE,210924,0
$CFSIZE,260165632,252297216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290208,070526,1329.886,12015.706,42,1.6,42,-0.9