version: 66.03
glider: 126
mission: 7
dive: 67
start: 3 1 108 14 23 14
data:
$ID,126
$MISSION,7
$DIVE,67
$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,-620796.69
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,140701,1325.473,12015.271,35,1.1,40,-0.9
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.73
$_SM_ANGLEo,-54.1
$GPS2,142221,1325.653,12015.251,16,1.3,16,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,TUBILE_SB
$TGT_LATLONG,1312.400,12024.730
$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,146.0,29909,-22.0,-7.990
$D_GRID,2226
$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,-68.30,0.000,6,0.000,0.000,414,2323,3101
$GC,91,-2.33,-67.0,0.1,-13.1,13,108,10.15,1.77,0.00,0.000,4,0.175,0.035,2195,1271,3102
$GC,322,-2.24,-67.0,55.1,-17.6,54,329,0.10,1.75,0.00,0.000,6,0.123,0.025,2216,2333,3103
$GC,667,-2.18,-67.0,112.0,-15.1,115,672,0.00,1.75,0.00,0.000,4,0.000,0.041,2216,3369,3104
$GC,769,-2.11,-67.0,128.3,-16.1,133,775,0.17,1.73,0.00,0.000,6,0.123,0.025,2248,2283,3104
$GC,1112,-2.11,-67.0,171.7,-11.8,194,1118,0.00,1.88,0.00,0.000,4,0.000,0.042,2248,3362,3104
$GC,1258,-2.11,-67.0,190.0,-12.2,220,1265,0.00,1.67,0.00,0.000,6,0.000,0.025,2249,2325,3105
$GC,1602,-2.11,-67.0,227.4,-11.0,281,1608,0.00,1.70,0.00,0.000,4,0.000,0.038,2249,1306,3105
$GC,1765,-2.11,-67.0,245.3,-11.1,310,1771,0.00,1.75,0.00,0.000,6,0.000,0.029,2249,2353,3104
$GC,2097,-2.11,-67.0,281.6,-10.7,345,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2353,3103
$GC,2417,-2.13,-67.0,316.1,-11.0,375,2420,0.00,1.77,0.00,0.000,4,0.000,0.040,2248,1315,3102
$GC,2506,-2.15,-67.0,326.2,-10.9,383,2510,0.00,1.75,0.00,0.000,6,0.000,0.031,2248,2365,3101
$GC,2837,-2.18,-67.0,360.2,-9.9,414,2840,0.00,1.75,0.00,0.000,4,0.000,0.049,2249,3377,3098
$GC,2886,-2.18,-67.0,365.5,-10.3,418,2893,0.00,1.65,0.00,0.000,6,0.000,0.029,2249,2376,3098
$GC,3212,-2.21,-67.0,396.7,-9.6,449,3215,0.00,1.75,0.00,0.000,4,0.000,0.050,2248,3377,3096
$GC,3317,-2.21,-67.0,407.5,-10.5,458,3324,0.00,1.62,0.00,0.000,6,0.000,0.031,2248,2406,3095
$GC,3643,-2.24,-67.0,437.9,-9.6,489,3647,0.12,1.70,0.00,0.000,4,0.071,0.051,2215,3373,3093
$GC,3744,-2.24,-67.0,449.1,-11.4,498,3747,0.00,1.58,0.00,0.000,6,0.000,0.032,2215,2445,3092
$GC,4074,-2.24,-67.0,483.4,-10.6,529,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2443,3090
$GC,4387,-2.24,-67.0,515.8,-10.5,552,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2443,3088
$GC,4696,-2.24,-67.0,547.5,-10.3,567,4700,0.00,2.05,0.00,0.000,4,0.000,0.071,2215,1316,3086
$GC,4768,-2.24,-67.0,554.8,-10.0,570,4772,0.00,1.98,0.00,0.000,6,0.000,0.048,2215,2424,3085
$GC,5095,-2.24,-67.0,585.1,-9.0,586,5098,0.00,2.00,0.00,0.000,4,0.000,0.069,2215,1326,3083
$GC,5206,-2.24,-67.0,595.8,-9.0,591,5210,0.00,1.95,0.00,0.000,6,0.000,0.059,2215,2406,3082
$GC,5538,-2.24,-67.0,624.6,-8.5,607,5541,0.00,2.05,0.00,0.000,4,0.000,0.084,2215,1326,3080
$GC,5620,-2.24,-67.0,632.3,-9.1,610,5627,0.00,1.98,0.00,0.000,6,0.000,0.071,2215,2381,3080
$GC,5937,-2.24,-67.0,660.6,-8.5,626,5940,0.00,2.08,0.00,0.000,4,0.000,0.100,2215,1322,3079
$GC,6058,-2.24,-67.0,671.8,-8.9,631,6064,0.00,2.05,0.00,0.000,6,0.000,0.087,2215,2377,3078
$GC,6383,-2.26,-67.0,700.4,-9.4,647,6387,0.00,1.75,0.00,0.000,4,0.000,0.054,2215,3380,3076
$GC,6432,-2.26,-67.0,705.6,-9.7,649,6437,0.00,1.60,0.00,0.000,6,0.000,0.034,2215,2433,3075
$GC,6759,-2.26,-67.0,736.3,-9.2,665,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2432,3074
$GC,7068,-2.26,-67.0,765.0,-9.6,680,7072,0.00,1.95,0.00,0.000,4,0.000,0.054,2215,1324,3072
$GC,7280,-2.26,-67.0,786.1,-10.9,689,7284,0.00,1.88,0.00,0.000,6,0.000,0.037,2215,2404,3072
$GC,7601,-2.26,-67.0,818.3,-10.0,705,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2405,3071
$GC,7910,-2.26,-67.0,847.4,-9.2,720,7914,0.00,1.92,0.00,0.000,4,0.000,0.051,2215,1315,3070
$GC,7982,-2.26,-67.0,854.0,-9.5,723,7986,0.00,1.90,0.00,0.000,6,0.000,0.041,2215,2405,3069
$GC,8309,-2.28,-67.0,883.0,-9.0,739,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2407,3068
$GC,8618,-2.30,-67.0,909.0,-8.6,754,8622,0.00,1.92,0.00,0.000,4,0.000,0.051,2215,1318,3068
$GC,8723,-2.30,-67.0,918.4,-8.8,758,8730,0.00,1.90,0.00,0.000,6,0.000,0.038,2215,2405,3067
$GC,9039,-2.32,-67.0,945.1,-8.4,774,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2406,3065
$GC,9349,-2.34,-67.0,970.4,-8.1,789,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2406,3064
$STATE,9595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9595,begin apogee
$GC,9599,-0.51,0.0,990.0,7.8,801,9657,1.85,0.00,52.20,1.441,6,0.104,0.000,2600,1996,2825
$STATE,9658,end apogee,CONTROL_FINISHED_OK
$STATE,9658,begin climb
$GC,9660,2.33,67.0,991.2,0.0,804,9725,2.85,0.00,60.20,1.404,6,0.070,0.000,3218,1996,2551
$GC,10026,2.30,74.6,968.9,7.3,822,10035,0.00,0.00,7.68,1.187,6,0.000,0.000,3218,1996,2520
$GC,10335,2.27,84.4,946.5,7.1,837,10347,0.00,0.00,10.12,1.262,6,0.000,0.000,3218,1997,2481
$GC,10644,2.24,87.5,922.5,7.7,852,10650,0.00,0.00,4.57,0.963,6,0.000,0.000,3218,1996,2468
$GC,10953,2.21,96.5,898.9,7.1,867,10965,0.15,0.00,9.55,1.242,6,0.120,0.000,3191,1997,2431
$GC,11262,2.22,102.7,876.4,7.4,882,11271,0.00,0.00,7.15,1.157,6,0.000,0.000,3190,1996,2406
$GC,11571,2.22,102.7,850.8,8.9,897,11575,0.00,1.98,0.00,0.000,4,0.000,0.065,3191,910,2404
$GC,11694,2.20,102.7,839.4,8.7,902,11698,0.00,1.85,0.00,0.000,6,0.000,0.035,3191,1973,2404
$GC,12016,2.20,102.7,814.0,8.0,918,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1973,2404
$GC,12323,2.20,102.7,788.3,8.3,933,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1972,2403
$GC,12633,2.20,102.7,762.3,8.6,948,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1973,2403
$GC,12944,2.21,105.3,738.7,7.7,963,12947,0.00,1.92,0.00,0.000,4,0.000,0.061,3191,914,2403
$GC,13061,2.18,108.7,729.4,7.7,968,13071,0.00,1.80,6.30,1.052,6,0.000,0.035,3191,1957,2381
$GC,13381,2.18,110.6,704.3,7.8,983,13385,0.00,1.90,0.00,0.000,4,0.000,0.061,3191,913,2381
$GC,13453,2.16,112.7,698.8,7.8,986,13463,0.00,1.80,5.22,0.970,6,0.000,0.035,3191,1952,2365
$GC,13779,2.17,120.3,674.3,7.3,1002,13793,0.00,1.90,8.52,1.120,4,0.000,0.051,3191,3003,2334
$GC,13919,2.18,121.9,663.8,7.8,1008,13922,0.00,1.83,0.00,0.000,6,0.000,0.039,3191,1946,2333
$GC,14244,2.18,121.9,637.3,8.4,1024,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1946,2333
$GC,14553,2.18,121.9,611.9,8.0,1039,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1946,2333
$GC,14863,2.18,125.7,587.9,7.6,1054,14871,0.00,0.00,6.25,0.976,6,0.000,0.000,3191,1946,2312
$GC,15172,2.19,129.9,563.7,7.6,1069,15182,0.00,1.90,5.57,0.930,4,0.000,0.053,3191,3014,2295
$GC,15220,2.20,137.4,559.9,7.3,1071,15234,0.00,1.85,8.38,1.039,6,0.000,0.042,3191,1962,2264
$GC,15541,2.20,137.4,533.3,8.8,1087,15542,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1961,2263
$GC,15850,2.20,137.4,504.5,9.2,1102,15853,0.00,1.85,0.00,0.000,4,0.000,0.048,3191,3018,2263
$GC,15962,2.20,137.4,494.0,9.5,1109,15965,0.00,1.83,0.00,0.000,6,0.000,0.038,3191,1957,2263
$GC,16292,2.20,137.4,466.0,8.5,1140,16296,0.00,1.85,0.00,0.000,4,0.000,0.058,3191,3015,2263
$GC,16363,2.20,137.4,459.8,8.7,1146,16370,0.00,1.77,0.00,0.000,6,0.000,0.035,3191,1993,2264
$GC,16689,2.21,140.5,432.7,7.7,1177,16701,0.00,2.00,4.20,0.736,4,0.000,0.062,3191,908,2252
$GC,16840,2.21,140.5,419.8,8.5,1190,16847,0.00,1.88,0.00,0.000,6,0.000,0.032,3191,2001,2252
$GC,17166,2.22,145.9,394.7,7.5,1221,17177,0.00,1.75,6.35,0.874,4,0.000,0.048,3191,3004,2230
$GC,17324,2.22,145.9,381.5,10.2,1235,17328,0.00,1.73,0.00,0.000,6,0.000,0.037,3191,1999,2229
$GC,17654,2.22,145.9,352.6,8.6,1266,17658,0.00,1.95,0.00,0.000,4,0.000,0.061,3191,907,2229
$GC,17912,2.22,145.9,329.9,8.8,1289,17916,0.00,1.88,0.00,0.000,6,0.000,0.041,3191,2020,2230
$GC,18242,2.22,149.4,304.2,7.7,1320,18254,0.00,2.00,4.97,0.735,4,0.000,0.055,3190,913,2215
$GC,18292,2.23,155.0,300.1,7.5,1324,18303,0.00,1.88,6.50,0.815,6,0.000,0.031,3191,2015,2193
$GC,18622,2.25,155.1,273.5,8.0,1355,18623,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2017,2192
$GC,18944,2.29,163.5,248.7,7.2,1386,18962,0.00,2.05,8.82,0.835,4,0.000,0.054,3190,906,2158
$GC,19063,2.29,163.5,237.8,9.0,1407,19069,0.00,1.85,0.00,0.000,6,0.000,0.030,3191,2010,2158
$GC,19406,2.32,163.6,208.9,8.0,1468,19412,0.10,1.73,0.00,0.000,4,0.084,0.044,3218,3004,2158
$GC,19493,2.33,170.0,202.0,7.4,1483,19506,0.00,1.73,7.12,0.758,6,0.000,0.032,3218,1978,2132
$GC,19845,2.37,182.3,179.6,6.8,1545,19862,0.00,1.85,11.90,0.811,4,0.000,0.041,3218,3003,2081
$GC,20115,2.40,198.2,161.3,6.5,1593,20138,0.00,1.70,14.57,0.805,6,0.000,0.030,3218,1982,2015
$GC,20479,2.48,222.3,140.2,5.7,1657,20506,0.15,1.90,21.00,0.788,4,0.066,0.051,3264,921,1918
$GC,20759,2.48,222.3,116.7,9.0,1707,20765,0.00,1.83,0.00,0.000,6,0.000,0.028,3264,2029,1917
$GC,21102,2.49,229.5,89.7,7.3,1768,21114,0.00,2.03,7.20,0.645,4,0.000,0.046,3264,914,1889
$GC,21367,2.49,229.5,70.4,8.9,1815,21372,0.00,1.83,0.00,0.000,6,0.000,0.026,3264,2033,1889
$GC,21710,2.55,245.6,46.1,6.5,1876,21733,0.00,2.00,15.18,0.676,4,0.000,0.044,3264,920,1822
$GC,21987,2.64,282.4,31.2,4.5,1925,22025,0.00,1.77,30.17,0.674,6,0.000,0.025,3264,2016,1673
$GC,22365,2.72,295.6,4.6,6.7,1992,22384,0.15,1.92,12.10,0.614,4,0.061,0.042,3312,915,1619
$STATE,22394,end climb,SURFACE_DEPTH_REACHED
$STATE,22394,begin surface coast
$FINISH,-0.0,1.021808
$STATE,22417,end surface coast,CONTROL_FINISHED_OK
$STATE,22417,begin surface
$SM_CCo,22440,120.68,0.629,0,0,785,500.17
$SM_GC,-5.06,0.00,0.00,120.68,0.000,0.000,0.629,417,2336,785,-10.54,0.31,500.17
$IRIDIUM_FIX,1320.88,12014.11,260597,141457
$TT8_MAMPS,0.026078
$HUMID,1681
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.30
$XPDR_PINGS,484
$24V_AH,23.1,9.981
$10V_AH,10.2,7.984
$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,28.475,126.900,341.825,120.675,0.000,102.900,145.073,363.164,133.500,0.000,0.000,16.396,3282.989,15072.720,618.264,3595.057,931.485,0.000,2287.467,0.000,3572.245,0.000,92.310
$DEVICE_MAMPS,174.876,100.477,1441.193,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1359.587,804.760,754.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107298,2001
$CAP_FILE_SIZE,206533,0
$CFSIZE,260165632,251719680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010308,204031,1323.982,12016.647,37,1.4,42,-0.9