version: 66.03
glider: 126
mission: 7
dive: 66
start: 3 1 108 7 49 48
data:
$ID,126
$MISSION,7
$DIVE,66
$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,-620779.69
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,074308,1327.194,12015.154,30,1.5,30,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.98
$_SM_ANGLEo,-51.8
$GPS2,074857,1327.263,12015.160,14,1.4,14,-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,177.3,2306,-24.2,-7.990
$D_GRID,1877
$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,-2.54,-56.0,0.0,0.0,0,90,0.00,0.00,-67.68,0.000,6,0.000,0.000,418,2345,3056
$GC,92,-2.54,-56.0,0.1,-14.0,13,109,9.88,1.83,0.00,0.000,4,0.175,0.035,2151,1274,3058
$GC,363,-2.46,-56.0,65.4,-17.6,61,369,0.12,1.70,0.00,0.000,6,0.142,0.025,2172,2326,3059
$GC,706,-2.40,-56.0,122.3,-17.1,122,712,0.00,1.80,0.00,0.000,4,0.000,0.041,2172,3371,3060
$GC,757,-2.34,-56.0,131.1,-17.6,131,764,0.15,1.67,0.00,0.000,6,0.135,0.025,2198,2319,3060
$GC,1102,-2.34,-56.0,177.2,-12.5,192,1109,0.00,1.83,0.00,0.000,4,0.000,0.042,2198,3366,3061
$GC,1147,-2.34,-56.0,183.9,-14.6,200,1154,0.00,1.65,0.00,0.000,6,0.000,0.025,2198,2348,3062
$GC,1491,-2.34,-56.0,228.3,-11.9,261,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2341,3061
$GC,1827,-2.34,-56.0,266.4,-12.0,309,1830,0.00,1.75,0.00,0.000,4,0.000,0.040,2198,1305,3062
$GC,1983,-2.34,-56.0,285.2,-11.6,323,1987,0.00,1.70,0.00,0.000,6,0.000,0.029,2198,2338,3061
$GC,2315,-2.34,-56.0,322.1,-10.9,354,2318,0.00,1.77,0.00,0.000,4,0.000,0.048,2198,3368,3060
$GC,2404,-2.34,-56.0,332.2,-11.2,362,2408,0.00,1.67,0.00,0.000,6,0.000,0.029,2198,2358,3060
$GC,2734,-2.36,-56.0,366.2,-10.7,393,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2351,3058
$GC,3054,-2.39,-56.0,399.4,-10.7,423,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2351,3056
$GC,3371,-2.42,-56.0,433.5,-11.0,453,3374,0.00,1.77,0.00,0.000,4,0.000,0.051,2198,3367,3054
$GC,3404,-2.42,-56.0,437.4,-11.7,456,3407,0.00,1.73,0.00,0.000,6,0.000,0.031,2198,2352,3054
$GC,3734,-2.46,-56.0,472.2,-10.7,487,3736,0.10,0.00,0.00,0.000,6,0.078,0.000,2173,2349,3052
$GC,4050,-2.46,-56.0,506.8,-10.8,514,4054,0.00,1.83,0.00,0.000,4,0.000,0.057,2173,3374,3050
$GC,4267,-2.46,-56.0,529.9,-10.2,523,4278,0.00,1.75,0.00,0.000,6,0.000,0.035,2173,2364,3049
$GC,4586,-2.46,-56.0,560.7,-9.2,539,4589,0.00,1.98,0.00,0.000,4,0.000,0.071,2172,1277,3047
$GC,4617,-2.46,-56.0,563.8,-9.1,540,4623,0.00,1.88,0.00,0.000,6,0.000,0.048,2173,2331,3046
$GC,4940,-2.46,-56.0,595.0,-10.0,556,4944,0.00,1.95,0.00,0.000,4,0.000,0.080,2173,3383,3045
$GC,5012,-2.46,-56.0,602.7,-10.3,559,5016,0.00,1.88,0.00,0.000,6,0.000,0.057,2173,2361,3044
$GC,5338,-2.46,-56.0,635.6,-10.0,575,5342,0.00,1.98,0.00,0.000,4,0.000,0.094,2173,3380,3042
$GC,5428,-2.46,-56.0,644.7,-10.4,579,5431,0.00,1.92,0.00,0.000,6,0.000,0.074,2173,2359,3042
$GC,5759,-2.46,-56.0,676.0,-9.6,595,5763,0.00,2.15,0.00,0.000,4,0.000,0.111,2172,1264,3040
$GC,5858,-2.46,-56.0,685.6,-10.4,599,5865,0.00,2.12,0.00,0.000,6,0.000,0.094,2173,2346,3039
$GC,6174,-2.48,-56.0,716.0,-9.4,615,6178,0.00,2.15,0.00,0.000,4,0.000,0.133,2173,3386,3037
$GC,6251,-2.48,-56.0,723.5,-9.7,618,6258,0.00,2.12,0.00,0.000,6,0.000,0.114,2173,2365,3036
$GC,6567,-2.50,-56.0,752.6,-8.7,634,6571,0.00,2.38,0.00,0.000,4,0.000,0.153,2172,1263,3035
$GC,6688,-2.50,-56.0,762.5,-8.4,639,6696,0.00,2.33,0.00,0.000,6,0.000,0.132,2173,2351,3035
$GC,7005,-2.52,-56.0,788.5,-8.7,655,7009,0.00,2.35,0.00,0.000,4,0.000,0.173,2173,3385,3034
$GC,7133,-2.52,-56.0,799.9,-9.0,661,7141,0.00,2.35,0.00,0.000,6,0.000,0.161,2173,2355,3033
$GC,7468,-2.54,-56.0,826.2,-8.2,677,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2355,3032
$GC,7779,-2.57,-56.0,851.0,-8.2,692,7782,0.00,1.92,0.00,0.000,4,0.000,0.053,2172,1248,3030
$GC,7846,-2.59,-56.0,856.6,-8.7,695,7850,0.12,1.95,0.00,0.000,6,0.082,0.037,2144,2391,3030
$GC,8177,-2.59,-56.0,885.8,-9.1,711,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2391,3029
$GC,8486,-2.59,-56.0,912.9,-8.8,726,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2390,3027
$GC,8796,-2.59,-56.0,940.9,-9.0,741,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2391,3027
$GC,9104,-2.59,-56.0,968.3,-8.4,756,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2391,3026
$STATE,9354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9354,begin apogee
$GC,9359,-0.51,0.0,990.0,8.9,768,9408,2.22,0.00,44.25,1.440,6,0.111,0.000,2599,1932,2825
$STATE,9409,end apogee,CONTROL_FINISHED_OK
$STATE,9409,begin climb
$GC,9410,2.54,56.0,991.3,0.0,770,9466,3.03,0.00,50.53,1.407,6,0.068,0.000,3266,1932,2595
$GC,9765,2.54,77.5,973.9,5.7,788,9787,0.00,0.00,19.73,1.361,6,0.000,0.000,3266,1932,2509
$GC,10095,2.52,85.2,950.5,7.2,804,10105,0.00,0.00,8.60,1.226,6,0.000,0.000,3266,1932,2476
$GC,10403,2.49,85.2,923.9,8.8,819,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1932,2475
$GC,10713,2.45,85.2,898.3,8.0,834,10717,0.12,1.98,0.00,0.000,4,0.129,0.050,3244,3043,2475
$GC,10852,2.43,85.2,887.3,8.1,840,10856,0.00,1.92,0.00,0.000,6,0.000,0.044,3244,1960,2474
$GC,11178,2.43,85.2,860.3,8.3,856,11182,0.00,1.92,0.00,0.000,4,0.000,0.071,3244,906,2473
$GC,11384,2.40,85.2,842.5,8.7,865,11389,0.00,1.88,0.00,0.000,6,0.000,0.035,3244,1988,2473
$GC,11711,2.40,88.3,816.8,7.7,881,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1988,2473
$GC,12020,2.41,91.2,793.5,7.7,896,12031,0.00,1.80,6.22,1.082,4,0.000,0.051,3244,3005,2453
$GC,12098,2.38,91.2,787.3,8.6,899,12104,0.00,1.90,0.00,0.000,6,0.000,0.042,3244,1939,2452
$GC,12413,2.39,91.9,760.9,7.9,915,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1939,2452
$GC,12722,2.39,92.3,736.3,7.9,930,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1939,2452
$GC,13031,2.39,93.6,712.2,7.8,945,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1939,2451
$GC,13341,2.41,106.0,689.0,6.7,960,13362,0.00,1.98,13.80,1.211,4,0.000,0.050,3244,3011,2393
$GC,13395,2.39,106.0,684.8,8.1,962,13399,0.00,1.90,0.00,0.000,6,0.000,0.040,3244,1940,2393
$GC,13716,2.39,106.2,659.9,8.0,978,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1941,2393
$GC,14025,2.39,106.2,634.1,8.3,993,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1940,2392
$GC,14334,2.40,109.5,609.4,7.6,1008,14341,0.00,0.00,4.90,0.904,6,0.000,0.000,3244,1941,2378
$GC,14643,2.40,109.5,584.3,8.3,1023,14647,0.00,1.88,0.00,0.000,4,0.000,0.066,3244,902,2378
$GC,14710,2.38,109.5,578.9,8.4,1026,14714,0.00,1.75,0.00,0.000,6,0.000,0.034,3244,1934,2378
$GC,15042,2.38,111.3,552.9,7.8,1042,15045,0.00,1.88,0.00,0.000,4,0.000,0.050,3244,3019,2378
$GC,15170,2.38,114.5,542.7,7.6,1047,15180,0.00,1.90,6.05,0.950,6,0.000,0.040,3244,1938,2358
$GC,15501,2.38,114.5,516.1,8.0,1064,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1938,2358
$GC,15813,2.38,114.5,490.8,8.5,1084,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1938,2358
$GC,16132,2.39,118.3,466.1,7.6,1114,16144,0.00,1.90,5.40,0.865,4,0.000,0.046,3244,3015,2342
$GC,16216,2.41,129.6,459.8,6.8,1121,16233,0.00,1.88,11.30,1.032,6,0.000,0.037,3244,1945,2296
$GC,16550,2.41,129.6,431.2,8.7,1153,16554,0.00,1.88,0.00,0.000,4,0.000,0.063,3244,902,2295
$GC,16745,2.41,129.6,412.8,8.8,1170,16752,0.00,1.77,0.00,0.000,6,0.000,0.031,3244,1941,2295
$GC,17072,2.41,129.6,385.2,8.9,1201,17076,0.00,1.85,0.00,0.000,4,0.000,0.048,3244,3019,2295
$GC,17273,2.41,129.6,367.8,8.6,1219,17277,0.00,1.88,0.00,0.000,6,0.000,0.038,3245,1926,2295
$GC,17605,2.41,129.6,341.2,8.6,1250,17606,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1927,2295
$GC,17922,2.43,141.3,316.6,6.7,1280,17935,0.00,0.00,11.45,0.927,6,0.000,0.000,3244,1927,2248
$GC,18249,2.43,141.3,290.1,8.1,1311,18250,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1927,2247
$GC,18567,2.43,141.3,263.6,8.3,1341,18571,0.00,1.80,0.00,0.000,4,0.000,0.059,3244,910,2247
$GC,18661,2.43,141.3,255.0,9.0,1349,18668,0.00,1.77,0.00,0.000,6,0.000,0.029,3244,1959,2247
$GC,19001,2.43,141.3,228.6,8.0,1404,19006,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1960,2248
$GC,19344,2.46,148.9,201.1,7.2,1465,19356,0.00,0.00,8.02,0.785,6,0.000,0.000,3244,1960,2217
$GC,19694,2.54,175.0,183.0,5.2,1527,19722,0.00,1.88,22.67,0.849,4,0.000,0.043,3244,3001,2111
$GC,19853,2.58,175.0,171.8,8.4,1555,19860,0.12,1.80,0.00,0.000,6,0.075,0.031,3278,1935,2110
$GC,20197,2.59,184.4,144.7,7.0,1616,20214,0.00,1.85,9.10,0.747,4,0.000,0.052,3278,915,2073
$GC,20467,2.62,201.3,129.2,6.2,1664,20489,0.00,1.65,15.30,0.773,6,0.000,0.027,3278,1915,2004
$GC,20828,2.67,204.8,100.7,7.6,1728,20840,0.00,1.80,4.53,0.558,4,0.000,0.048,3278,919,1990
$GC,21093,2.71,211.6,84.2,7.2,1775,21106,0.00,1.60,7.38,0.652,6,0.000,0.026,3278,1907,1962
$GC,21445,2.77,218.7,60.8,7.2,1837,21457,0.15,0.00,7.78,0.632,6,0.059,0.000,3325,1910,1933
$GC,21795,2.88,265.3,37.3,3.0,1899,21839,0.00,1.83,38.47,0.687,4,0.000,0.045,3325,910,1742
$GC,22092,2.93,273.1,20.8,7.1,1952,22104,0.00,1.60,7.60,0.586,6,0.000,0.025,3325,1894,1711
$STATE,22367,end climb,SURFACE_DEPTH_REACHED
$STATE,22367,begin surface coast
$FINISH,-0.3,1.021706
$STATE,22402,end surface coast,CONTROL_FINISHED_OK
$STATE,22402,begin surface
$SM_CCo,22422,135.20,0.630,0,0,785,500.17
$SM_GC,-5.18,0.00,0.00,135.20,0.000,0.000,0.630,414,2318,785,-10.56,-0.20,500.17
$IRIDIUM_FIX,1320.88,12014.11,260597,010126
$TT8_MAMPS,0.026078
$HUMID,1665
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.30
$XPDR_PINGS,401
$24V_AH,23.1,9.811
$10V_AH,10.1,7.844
$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,28.725,110.750,303.075,135.200,0.000,22.499,14.629,198.410,112.750,0.000,0.000,14.680,3284.128,14912.516,588.018,3627.887,512.049,0.000,2255.114,0.000,3588.527,0.000,91.514
$DEVICE_MAMPS,174.876,173.342,1440.426,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1364.118,815.087,751.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110370,2007
$CAP_FILE_SIZE,198233,0
$CFSIZE,260165632,251822080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010308,140701,1325.473,12015.271,35,1.1,40,-0.9