version: 66.03
glider: 126
mission: 7
dive: 63
start: 2 29 108 12 42 59
data:
$ID,126
$MISSION,7
$DIVE,63
$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,500
$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,-620739.25
$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,44
$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
$GPS1,122525,1328.683,12015.134,25,1.5,43,-0.9
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.57
$_SM_ANGLEo,-51.1
$GPS2,124208,1328.861,12014.899,15,1.5,15,-0.9
$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,174.2,5297,-22.0,-7.990
$D_GRID,1322
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,101,0.00,0.00,-75.85,0.000,6,0.000,0.000,417,2324,3098
$GC,103,-2.33,-67.0,0.6,-13.2,15,121,10.12,1.77,0.00,0.000,4,0.175,0.032,2195,1275,3099
$GC,368,-2.24,-67.0,60.5,-15.2,62,375,0.10,1.77,0.00,0.000,6,0.114,0.027,2217,2338,3100
$GC,713,-2.19,-67.0,114.7,-14.4,123,719,0.00,1.75,0.00,0.000,4,0.000,0.044,2217,3369,3101
$GC,882,-2.13,-67.0,140.7,-14.9,153,889,0.15,1.70,0.00,0.000,6,0.116,0.025,2246,2298,3101
$GC,1227,-2.13,-67.0,181.6,-11.5,214,1234,0.00,1.88,0.00,0.000,4,0.000,0.044,2246,3369,3101
$GC,1368,-2.13,-67.0,199.0,-11.4,239,1374,0.00,1.60,0.00,0.000,6,0.000,0.026,2246,2361,3101
$GC,1711,-2.13,-67.0,238.0,-11.4,300,1717,0.00,1.77,0.00,0.000,4,0.000,0.045,2246,3371,3101
$GC,1970,-2.13,-67.0,266.8,-11.3,333,1974,0.00,1.50,0.00,0.000,6,0.000,0.028,2246,2448,3101
$GC,2301,-2.15,-67.0,302.1,-10.1,364,2304,0.00,1.60,0.00,0.000,4,0.000,0.048,2246,3369,3100
$GC,2558,-2.15,-67.0,330.1,-10.5,387,2562,0.00,1.55,0.00,0.000,6,0.000,0.030,2246,2429,3098
$GC,2889,-2.18,-67.0,363.0,-10.2,418,2893,0.00,1.65,0.00,0.000,4,0.000,0.050,2246,3374,3096
$GC,2967,-2.18,-67.0,371.0,-9.7,425,2971,0.00,1.52,0.00,0.000,6,0.000,0.031,2246,2452,3095
$GC,3298,-2.20,-67.0,402.3,-9.5,456,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2445,3093
$GC,3616,-2.23,-67.0,434.2,-10.0,486,3620,0.10,1.62,0.00,0.000,4,0.077,0.051,2220,3377,3090
$GC,3740,-2.23,-67.0,447.3,-10.7,497,3743,0.00,1.55,0.00,0.000,6,0.000,0.034,2220,2466,3090
$GC,4070,-2.23,-67.0,481.2,-10.1,528,4073,0.00,2.03,0.00,0.000,4,0.000,0.058,2220,1324,3088
$GC,4130,-2.23,-67.0,487.4,-9.9,533,4137,0.00,1.88,0.00,0.000,6,0.000,0.038,2220,2407,3087
$GC,4449,-2.23,-67.0,519.3,-10.1,555,4453,0.00,1.70,0.00,0.000,4,0.000,0.061,2219,3368,3085
$GC,4487,-2.23,-67.0,523.2,-10.3,556,4493,0.00,1.55,0.00,0.000,6,0.000,0.033,2220,2457,3085
$GC,4802,-2.23,-67.0,553.9,-9.8,572,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2455,3083
$GC,5111,-2.23,-67.0,583.8,-9.6,587,5115,0.00,2.05,0.00,0.000,4,0.000,0.069,2220,1326,3080
$GC,5171,-2.23,-67.0,589.4,-9.1,589,5178,0.00,1.95,0.00,0.000,6,0.000,0.056,2220,2402,3080
$GC,5487,-2.23,-67.0,619.4,-9.6,605,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2404,3078
$GC,5797,-2.26,-67.0,648.8,-9.7,620,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3077
$GC,6106,-2.28,-67.0,678.2,-9.2,635,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2403,3075
$GC,6415,-2.30,-67.0,706.4,-8.9,650,6419,0.00,2.20,0.00,0.000,4,0.000,0.123,2220,1334,3073
$GC,6476,-2.30,-67.0,711.9,-8.8,653,6480,0.00,2.15,0.00,0.000,6,0.000,0.107,2220,2413,3073
$GC,6809,-2.30,-67.0,741.4,-8.6,669,6813,0.00,2.00,0.00,0.000,4,0.000,0.145,2220,3357,3072
$GC,6886,-2.30,-67.0,748.5,-9.6,672,6890,0.00,1.77,0.00,0.000,6,0.000,0.124,2220,2523,3071
$GC,7208,-2.32,-67.0,776.1,-8.4,688,7211,0.00,2.10,0.00,0.000,4,0.000,0.049,2219,1314,3070
$GC,7319,-2.32,-67.0,785.4,-8.2,693,7323,0.00,1.92,0.00,0.000,6,0.000,0.037,2220,2441,3070
$GC,7652,-2.34,-67.0,813.4,-8.5,709,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2441,3069
$GC,7960,-2.36,-67.0,839.6,-8.4,724,7962,0.12,0.00,0.00,0.000,6,0.080,0.000,2190,2441,3067
$GC,8269,-2.36,-67.0,868.9,-9.7,739,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2442,3066
$GC,8578,-2.36,-67.0,896.7,-8.5,754,8582,0.00,1.98,0.00,0.000,4,0.000,0.051,2190,1323,3065
$GC,8650,-2.36,-67.0,903.2,-9.5,757,8654,0.00,1.92,0.00,0.000,6,0.000,0.039,2190,2425,3064
$GC,8977,-2.36,-67.0,933.3,-9.7,773,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2426,3063
$GC,9287,-2.36,-67.0,961.4,-8.9,788,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2426,3062
$GC,9595,-2.36,-67.0,988.3,-8.5,803,9599,0.00,1.70,0.00,0.000,4,0.000,0.062,2190,3368,3061
$STATE,9617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9617,begin apogee
$GC,9623,-0.51,0.0,990.5,10.1,804,9679,2.00,0.00,51.58,1.439,6,0.113,0.000,2598,2003,2825
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9680,begin climb
$GC,9682,2.33,67.0,992.0,0.0,807,9751,2.83,2.12,59.58,1.407,4,0.072,0.074,3221,916,2551
$GC,9898,2.28,74.9,980.9,7.2,817,9912,0.00,1.80,8.15,1.204,6,0.000,0.038,3221,1959,2519
$GC,10228,2.25,84.4,957.8,7.1,833,10242,0.00,1.90,9.70,1.254,4,0.000,0.054,3221,3012,2481
$GC,10393,2.20,86.5,945.1,7.8,840,10406,0.12,1.85,3.85,0.854,6,0.111,0.041,3194,1970,2472
$GC,10715,2.20,100.0,923.6,6.7,856,10734,0.00,0.00,13.50,1.315,6,0.000,0.000,3194,1970,2417
$GC,11043,2.20,100.0,897.3,8.2,872,11046,0.00,1.85,0.00,0.000,4,0.000,0.051,3194,3014,2415
$GC,11092,2.19,103.4,893.4,7.7,874,11102,0.00,1.88,4.47,0.950,6,0.000,0.041,3194,1954,2403
$GC,11418,2.19,104.8,867.8,7.9,890,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1954,2402
$GC,11727,2.19,108.1,843.8,7.7,905,11735,0.00,0.00,5.62,1.057,6,0.000,0.000,3194,1954,2383
$GC,12036,2.19,108.1,818.1,8.6,920,12040,0.00,1.88,0.00,0.000,4,0.000,0.051,3194,3013,2383
$GC,12148,2.19,108.1,808.5,9.6,925,12152,0.00,1.85,0.00,0.000,6,0.000,0.041,3194,1950,2383
$GC,12481,2.19,108.1,782.4,8.2,941,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1950,2383
$GC,12789,2.19,108.5,758.0,8.0,956,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1950,2383
$GC,13098,2.20,111.5,733.8,7.7,971,13104,0.00,0.00,4.50,0.907,6,0.000,0.000,3193,1950,2370
$GC,13407,2.20,111.5,709.8,8.0,986,13411,0.00,1.88,0.00,0.000,4,0.000,0.051,3194,3012,2370
$GC,13530,2.18,111.5,699.5,8.0,991,13534,0.00,1.88,0.00,0.000,6,0.000,0.041,3194,1945,2370
$GC,13852,2.19,116.1,674.3,7.6,1007,13860,0.00,0.00,5.97,1.019,6,0.000,0.000,3194,1945,2351
$GC,14160,2.19,117.3,650.2,7.9,1022,14163,0.00,1.88,0.00,0.000,4,0.000,0.050,3194,3013,2351
$GC,14287,2.19,118.4,639.4,7.9,1027,14295,0.00,1.85,3.65,0.753,6,0.000,0.040,3194,1957,2343
$GC,14603,2.19,118.4,614.2,8.0,1043,14606,0.00,1.90,0.00,0.000,4,0.000,0.066,3194,906,2342
$GC,14766,2.19,118.4,600.4,9.1,1050,14769,0.00,1.77,0.00,0.000,6,0.000,0.035,3194,1957,2343
$GC,15091,2.19,118.4,573.0,9.0,1066,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1957,2342
$GC,15402,2.19,118.4,546.9,8.1,1081,15406,0.00,1.83,0.00,0.000,4,0.000,0.051,3194,3016,2342
$GC,15474,2.20,121.8,541.1,7.7,1084,15483,0.00,1.88,4.97,0.870,6,0.000,0.040,3194,1944,2328
$GC,15800,2.20,125.2,516.5,7.7,1100,15809,0.00,1.90,4.72,0.844,4,0.000,0.064,3194,904,2314
$GC,15921,2.20,127.1,507.3,7.8,1105,15925,0.00,1.77,0.00,0.000,6,0.000,0.034,3194,1929,2314
$GC,16249,2.22,133.8,483.1,7.4,1131,16260,0.00,0.00,9.10,1.019,6,0.000,0.000,3193,1929,2279
$GC,16576,2.22,133.8,457.4,8.2,1162,16577,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1931,2279
$GC,16895,2.22,133.8,431.9,8.7,1192,16898,0.00,1.88,0.00,0.000,4,0.000,0.051,3194,3013,2279
$GC,17154,2.22,133.8,411.0,8.5,1215,17158,0.00,1.88,0.00,0.000,6,0.000,0.039,3194,1922,2279
$GC,17483,2.22,133.8,385.7,8.2,1246,17487,0.00,1.90,0.00,0.000,4,0.000,0.048,3193,3012,2279
$GC,17743,2.23,139.8,366.5,7.4,1269,17754,0.00,1.85,6.90,0.874,6,0.000,0.038,3193,1929,2255
$GC,18071,2.24,146.9,343.1,7.3,1300,18083,0.00,1.98,7.40,0.877,4,0.000,0.047,3194,3016,2226
$GC,18335,2.24,146.9,319.9,9.2,1323,18342,0.00,1.85,0.00,0.000,6,0.000,0.036,3194,1952,2226
$GC,18660,2.24,146.9,293.1,8.2,1354,18662,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1951,2226
$GC,18979,2.24,149.3,267.9,7.8,1384,18991,0.00,1.90,4.05,0.631,4,0.000,0.059,3193,909,2216
$GC,19047,2.25,157.0,262.8,7.3,1390,19061,0.00,1.80,8.12,0.835,6,0.000,0.031,3193,1985,2185
$GC,19391,2.25,157.0,235.8,8.2,1437,19396,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1985,2185
$GC,19733,2.29,165.4,210.0,7.2,1498,19751,0.00,2.00,8.95,0.806,4,0.000,0.054,3193,908,2150
$GC,19841,2.33,188.1,202.7,5.8,1517,19870,0.10,1.75,20.05,0.858,6,0.081,0.030,3220,1964,2057
$GC,20210,2.36,193.1,172.7,7.5,1582,20222,0.00,1.75,5.70,0.686,4,0.000,0.042,3220,2994,2037
$GC,20475,2.38,193.1,152.1,8.1,1629,20481,0.00,1.75,0.00,0.000,6,0.000,0.031,3220,1947,2036
$GC,20819,2.44,206.6,130.4,6.7,1690,20837,0.00,1.90,12.57,0.763,4,0.000,0.041,3220,3006,1982
$GC,21090,2.48,212.5,110.4,7.4,1738,21102,0.10,1.85,6.50,0.655,6,0.056,0.029,3254,1911,1958
$GC,21441,2.55,242.1,87.5,5.2,1800,21474,0.00,1.80,25.65,0.740,4,0.000,0.050,3254,919,1837
$GC,21687,2.56,252.0,70.9,7.1,1844,21705,0.00,1.73,9.30,0.663,6,0.000,0.027,3254,1960,1797
$GC,22045,2.65,273.1,43.8,6.0,1907,22068,0.15,1.92,18.42,0.680,4,0.063,0.045,3302,906,1711
$GC,22320,2.65,273.1,23.5,8.4,1956,22327,0.00,1.75,0.00,0.000,6,0.000,0.025,3302,1970,1710
$STATE,22606,end climb,SURFACE_DEPTH_REACHED
$STATE,22607,begin surface coast
$FINISH,-0.7,1.021836
$STATE,22636,end surface coast,CONTROL_FINISHED_OK
$STATE,22636,begin surface
$SM_CCo,22656,130.60,0.634,0,0,786,500.17
$SM_GC,-5.28,0.00,0.00,130.60,0.000,0.000,0.634,414,2321,786,-10.56,-0.11,500.17
$IRIDIUM_FIX,1323.10,12016.02,250597,121255
$TT8_MAMPS,0.026078
$HUMID,1693
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.40
$XPDR_PINGS,477
$24V_AH,23.1,9.374
$10V_AH,10.1,7.441
$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,28.475,121.975,323.000,130.600,0.000,116.163,79.771,506.003,131.750,0.000,0.000,15.908,3321.299,15170.525,592.684,3729.024,999.069,0.000,2319.229,0.000,3684.586,0.000,91.481
$DEVICE_MAMPS,174.876,144.963,1438.892,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.822,795.973,752.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110371,2012
$CAP_FILE_SIZE,212544,0
$CFSIZE,260165632,252108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290208,190402,1327.151,12015.146,42,1.1,42,-0.9