version: 66.03
glider: 126
mission: 7
dive: 99
start: 3 9 108 13 51 53
data:
$ID,126
$MISSION,7
$DIVE,99
$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,-621372.88
$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,40
$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
$GPS1,133838,1242.640,12044.005,39,1.1,39,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.01
$_SM_ANGLEo,-58.6
$GPS2,135102,1242.610,12044.053,11,1.3,16,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,351.9,15185,-22.0,-7.990
$D_GRID,930
$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,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-64.07,0.000,6,0.000,0.000,414,2332,3100
$GC,92,-2.33,-67.0,1.2,-16.9,13,104,10.15,0.00,0.00,0.000,6,0.174,0.000,2198,2331,3101
$GC,443,-2.23,-67.0,84.1,-20.9,75,449,0.15,1.77,0.00,0.000,4,0.121,0.044,2230,3372,3102
$GC,693,-2.16,-67.0,125.1,-15.4,119,699,0.00,1.65,0.00,0.000,6,0.000,0.025,2230,2333,3104
$GC,1036,-2.16,-67.0,169.1,-12.0,180,1042,0.00,1.75,0.00,0.000,4,0.000,0.036,2230,1296,3105
$GC,1093,-2.16,-67.0,175.2,-10.9,190,1099,0.00,1.75,0.00,0.000,6,0.000,0.027,2230,2346,3105
$GC,1436,-2.16,-67.0,211.7,-10.6,251,1442,0.00,1.77,0.00,0.000,4,0.000,0.037,2230,1296,3105
$GC,1551,-2.16,-67.0,224.1,-11.2,271,1557,0.00,1.70,0.00,0.000,6,0.000,0.028,2230,2326,3105
$GC,1889,-2.16,-67.0,258.5,-9.8,324,1893,0.00,1.83,0.00,0.000,4,0.000,0.054,2230,3375,3105
$GC,2012,-2.16,-67.0,271.7,-11.1,335,2016,0.00,1.70,0.00,0.000,6,0.000,0.028,2230,2334,3104
$GC,2343,-2.16,-67.0,308.0,-11.0,366,2347,0.00,1.77,0.00,0.000,4,0.000,0.043,2230,1287,3102
$GC,2403,-2.16,-67.0,314.7,-10.2,371,2410,0.00,1.77,0.00,0.000,6,0.000,0.031,2230,2334,3101
$GC,2729,-2.16,-67.0,345.7,-9.3,402,2732,0.00,1.83,0.00,0.000,4,0.000,0.058,2230,3373,3099
$GC,2830,-2.16,-67.0,355.4,-9.5,411,2833,0.00,1.73,0.00,0.000,6,0.000,0.031,2230,2337,3099
$GC,3160,-2.16,-67.0,388.0,-10.5,442,3163,0.00,1.83,0.00,0.000,4,0.000,0.051,2230,1286,3096
$GC,3284,-2.16,-67.0,400.0,-9.6,453,3287,0.00,1.75,0.00,0.000,6,0.000,0.035,2230,2318,3095
$GC,3614,-2.18,-67.0,431.9,-9.5,484,3618,0.00,1.88,0.00,0.000,4,0.000,0.063,2230,3373,3093
$GC,3715,-2.18,-67.0,442.1,-9.7,493,3718,0.00,1.80,0.00,0.000,6,0.000,0.037,2230,2319,3092
$GC,4046,-2.20,-67.0,472.4,-8.9,524,4049,0.00,1.85,0.00,0.000,4,0.000,0.064,2230,1279,3090
$GC,4181,-2.22,-67.0,484.7,-8.9,536,4184,0.00,1.75,0.00,0.000,6,0.000,0.040,2230,2296,3089
$GC,4507,-2.25,-67.0,514.0,-9.6,560,4510,0.00,1.98,0.00,0.000,4,0.000,0.074,2230,3381,3086
$GC,4569,-2.25,-67.0,520.3,-10.1,562,4575,0.00,1.88,0.00,0.000,6,0.000,0.045,2230,2300,3086
$GC,4885,-2.27,-67.0,551.1,-9.3,578,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2298,3084
$GC,5194,-2.30,-67.0,576.9,-8.1,593,5198,0.00,1.90,0.00,0.000,4,0.000,0.075,2230,1275,3082
$GC,5239,-2.32,-67.0,580.8,-9.1,595,5243,0.12,1.80,0.00,0.000,6,0.072,0.057,2199,2279,3082
$GC,5570,-2.32,-67.0,613.4,-9.9,611,5574,0.00,2.12,0.00,0.000,4,0.000,0.101,2199,3377,3079
$GC,5732,-2.32,-67.0,629.8,-10.1,618,5740,0.00,2.05,0.00,0.000,6,0.000,0.081,2199,2311,3078
$GC,6061,-2.32,-67.0,664.2,-11.6,634,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2311,3076
$GC,6370,-2.32,-67.0,699.8,-11.2,649,6375,0.00,2.28,0.00,0.000,4,0.000,0.137,2199,3383,3074
$GC,6486,-2.32,-67.0,713.5,-11.8,654,6490,0.00,2.25,0.00,0.000,6,0.000,0.122,2199,2310,3074
$GC,6813,-2.32,-67.0,749.0,-10.5,670,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2310,3073
$GC,7122,-2.32,-67.0,778.4,-8.8,685,7126,0.00,2.50,0.00,0.000,4,0.000,0.181,2199,3374,3072
$GC,7182,-2.32,-67.0,783.8,-9.0,688,7187,0.00,2.40,0.00,0.000,6,0.000,0.164,2199,2322,3072
$GC,7509,-2.36,-90.8,806.3,-5.7,704,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2322,3071
$GC,7819,-2.42,-123.3,821.5,-4.9,719,7824,0.00,2.62,0.00,0.000,4,0.000,0.206,2199,3373,3070
$GC,7936,-2.45,-145.8,828.4,-5.9,724,7941,0.12,2.55,0.00,0.000,6,0.077,0.190,2169,2324,3069
$GC,8251,-2.45,-146.0,848.6,-5.7,739,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2324,3068
$GC,8562,-2.45,-146.0,870.7,-7.8,754,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2323,3067
$GC,8870,-2.45,-146.0,892.8,-6.9,769,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2312,3065
$GC,9179,-2.45,-146.0,914.9,-7.9,784,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2312,3064
$STATE,9345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9345,begin apogee
$GC,9350,-0.51,0.0,931.4,10.5,792,9406,2.08,0.00,52.10,1.394,6,0.106,0.000,2598,1928,2825
$STATE,9407,end apogee,CONTROL_FINISHED_OK
$STATE,9407,begin climb
$GC,9409,2.47,146.0,933.7,0.0,795,9544,2.92,0.00,126.90,1.374,6,0.065,0.000,3250,1928,2229
$GC,9860,2.42,146.0,880.1,14.8,817,9864,0.00,1.85,0.00,0.000,4,0.000,0.066,3250,914,2223
$GC,10078,2.35,146.0,848.1,13.8,826,10085,0.12,1.85,0.00,0.000,6,0.107,0.033,3223,1976,2221
$GC,10394,2.33,146.0,811.9,12.5,842,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1976,2219
$GC,10703,2.29,146.0,772.3,12.8,857,10706,0.00,1.95,0.00,0.000,4,0.000,0.060,3222,909,2219
$GC,10809,2.25,146.0,759.1,12.7,861,10815,0.12,1.83,0.00,0.000,6,0.121,0.034,3200,1973,2219
$GC,11123,2.25,146.0,727.5,8.9,877,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1973,2218
$GC,11434,2.25,146.0,698.6,9.2,892,11438,0.00,1.95,0.00,0.000,4,0.000,0.060,3199,904,2217
$GC,11490,2.23,146.0,693.3,8.9,894,11493,0.00,1.83,0.00,0.000,6,0.000,0.034,3200,1957,2217
$GC,11810,2.23,146.0,662.3,10.1,910,11814,0.00,1.88,0.00,0.000,4,0.000,0.059,3200,3015,2217
$GC,11878,2.23,146.0,655.3,10.5,913,11882,0.00,1.85,0.00,0.000,6,0.000,0.048,3200,1963,2217
$GC,12210,2.23,146.0,620.1,10.8,929,12213,0.00,1.90,0.00,0.000,4,0.000,0.065,3200,909,2216
$GC,12339,2.21,146.0,605.7,10.6,934,12345,0.00,1.77,0.00,0.000,6,0.000,0.032,3200,1958,2216
$GC,12654,2.21,146.0,572.1,10.6,950,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1958,2216
$GC,12963,2.21,146.0,539.9,10.5,965,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1959,2216
$GC,13272,2.21,146.0,507.5,10.7,980,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1959,2216
$GC,13589,2.21,146.0,477.3,9.4,1006,13590,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1960,2216
$GC,13907,2.21,146.0,449.5,8.4,1036,13910,0.00,1.90,0.00,0.000,4,0.000,0.059,3200,909,2216
$GC,14164,2.21,146.0,425.5,9.6,1059,14168,0.00,1.77,0.00,0.000,6,0.000,0.033,3200,1964,2216
$GC,14494,2.21,146.0,393.5,9.4,1090,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1965,2216
$GC,14814,2.21,146.9,364.9,7.9,1120,14815,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1966,2216
$GC,15131,2.21,146.9,337.9,8.2,1150,15134,0.00,1.83,0.00,0.000,4,0.000,0.054,3199,3008,2216
$GC,15259,2.21,146.9,327.7,8.0,1161,15265,0.00,1.90,0.00,0.000,6,0.000,0.042,3200,1925,2216
$GC,15584,2.21,146.9,303.0,8.5,1192,15588,0.00,1.80,0.00,0.000,4,0.000,0.061,3200,914,2216
$GC,15742,2.23,158.6,290.5,6.9,1206,15756,0.00,1.70,9.70,0.881,6,0.000,0.031,3200,1917,2178
$GC,16081,2.23,158.6,261.6,9.1,1238,16084,0.00,1.88,0.00,0.000,4,0.000,0.051,3200,3000,2178
$GC,16147,2.23,158.6,255.7,8.7,1244,16151,0.00,1.83,0.00,0.000,6,0.000,0.039,3200,1937,2178
$GC,16486,2.23,158.6,226.6,8.8,1298,16493,0.00,1.90,0.00,0.000,4,0.000,0.050,3200,3004,2178
$GC,16700,2.25,170.7,209.7,6.9,1336,16717,0.00,1.83,11.68,0.841,6,0.000,0.037,3200,1952,2129
$GC,17056,2.27,182.1,185.2,6.9,1399,17073,0.00,1.88,11.32,0.815,4,0.000,0.047,3200,3005,2082
$GC,17141,2.28,190.4,178.6,7.2,1414,17154,0.00,1.77,8.23,0.759,6,0.000,0.036,3200,1984,2048
$GC,17492,2.35,209.1,152.3,6.2,1476,17515,0.00,1.92,17.00,0.805,4,0.000,0.054,3200,913,1971
$GC,17769,2.44,238.4,135.3,5.2,1525,17803,0.17,1.75,25.08,0.795,6,0.061,0.028,3247,1972,1852
$GC,18140,2.49,250.6,109.8,6.8,1591,18157,0.00,1.90,11.10,0.725,4,0.000,0.047,3247,908,1802
$GC,18411,2.51,250.6,88.1,8.5,1639,18417,0.00,1.75,0.00,0.000,6,0.000,0.026,3247,1973,1802
$GC,18754,2.62,284.6,70.3,4.8,1700,18788,0.15,1.85,28.75,0.712,4,0.059,0.046,3293,3000,1664
$GC,18893,2.67,303.2,62.0,6.2,1724,18915,0.00,1.75,16.15,0.678,6,0.000,0.029,3293,1960,1589
$GC,19254,2.70,303.2,31.8,9.2,1788,19260,0.00,1.80,0.00,0.000,4,0.000,0.041,3293,2993,1588
$GC,19440,2.74,306.1,16.2,7.7,1821,19453,0.00,1.65,4.25,0.456,6,0.000,0.028,3293,1984,1576
$STATE,19625,end climb,SURFACE_DEPTH_REACHED
$STATE,19625,begin surface coast
$FINISH,-0.6,1.021576
$STATE,19657,end surface coast,CONTROL_FINISHED_OK
$STATE,19657,begin surface
$SM_CCo,19677,114.65,0.627,0,0,785,500.17
$SM_GC,-5.38,0.00,0.00,114.65,0.000,0.000,0.627,414,2324,785,-10.56,-0.03,500.17
$IRIDIUM_FIX,1241.04,12044.18,030697,131347
$TT8_MAMPS,0.026078
$HUMID,1696
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.70
$XPDR_PINGS,440
$24V_AH,23.1,15.192
$10V_AH,10.2,12.254
$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,28.600,114.425,322.250,114.650,0.000,72.998,51.151,368.013,121.000,0.000,0.000,16.060,3033.887,12784.922,533.581,3390.334,812.030,0.000,2115.011,0.000,3361.485,0.000,80.629
$DEVICE_MAMPS,174.109,205.556,1393.639,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1261.778,795.092,746.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100880,1859
$CAP_FILE_SIZE,186615,0
$CFSIZE,260165632,248733696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090308,192307,1243.642,12044.546,40,1.1,46,-0.8