version: 66.03
glider: 126
mission: 7
dive: 100
start: 3 9 108 19 36 12
data:
$ID,126
$MISSION,7
$DIVE,100
$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,-621387.31
$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,45
$R_STBD_OVSHOOT,49
$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
$GPS1,192307,1243.642,12044.546,40,1.1,46,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.03
$_SM_ANGLEo,-56.8
$GPS2,193521,1243.649,12044.529,13,1.1,13,-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,347.0,13467,-22.0,-7.990
$D_GRID,936
$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,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-67.62,0.000,6,0.000,0.000,414,2325,3101
$GC,93,-2.33,-67.0,-0.0,-14.4,13,110,10.10,1.80,0.00,0.000,4,0.173,0.038,2196,3368,3102
$GC,363,-2.20,-67.0,66.7,-21.6,61,370,0.17,1.70,0.00,0.000,6,0.127,0.024,2228,2298,3103
$GC,707,-2.14,-67.0,122.8,-15.0,122,713,0.00,1.85,0.00,0.000,4,0.000,0.044,2228,3357,3105
$GC,899,-2.10,-67.0,149.9,-11.1,156,906,0.08,1.67,0.00,0.000,6,0.111,0.025,2247,2321,3106
$GC,1244,-2.10,-67.0,185.2,-10.5,217,1249,0.00,1.70,0.00,0.000,4,0.000,0.036,2247,1296,3106
$GC,1300,-2.10,-67.0,192.2,-12.8,227,1306,0.00,1.67,0.00,0.000,6,0.000,0.027,2247,2320,3106
$GC,1643,-2.10,-67.0,231.8,-11.2,288,1649,0.00,1.83,0.00,0.000,4,0.000,0.051,2247,3360,3106
$GC,1717,-2.10,-67.0,239.6,-10.3,301,1723,0.00,1.65,0.00,0.000,6,0.000,0.027,2247,2341,3106
$GC,2047,-2.10,-67.0,273.4,-10.2,341,2050,0.00,1.80,0.00,0.000,4,0.000,0.052,2247,3363,3105
$GC,2125,-2.10,-67.0,281.8,-10.3,348,2128,0.00,1.73,0.00,0.000,6,0.000,0.028,2247,2306,3104
$GC,2455,-2.10,-67.0,317.0,-11.1,379,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2305,3102
$GC,2774,-2.12,-67.0,350.0,-10.3,409,2777,0.00,1.73,0.00,0.000,4,0.000,0.044,2247,1293,3100
$GC,2948,-2.15,-67.0,368.3,-10.5,424,2953,0.00,1.70,0.00,0.000,6,0.000,0.031,2247,2310,3099
$GC,3273,-2.18,-67.0,401.9,-9.9,455,3276,0.00,1.90,0.00,0.000,4,0.000,0.061,2247,3369,3097
$GC,3412,-2.21,-67.0,415.8,-9.2,467,3418,0.00,1.77,0.00,0.000,6,0.000,0.035,2247,2334,3095
$GC,3738,-2.24,-67.0,445.2,-9.8,498,3742,0.12,1.88,0.00,0.000,4,0.070,0.058,2213,1274,3094
$GC,3861,-2.24,-67.0,457.5,-9.5,509,3865,0.00,1.77,0.00,0.000,6,0.000,0.038,2213,2311,3093
$GC,4193,-2.24,-67.0,487.7,-8.9,540,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2312,3090
$GC,4514,-2.24,-67.0,516.0,-8.2,562,4517,0.00,1.88,0.00,0.000,4,0.000,0.061,2213,1272,3087
$GC,4558,-2.24,-68.5,519.6,-7.9,564,4562,0.00,1.83,0.00,0.000,6,0.000,0.042,2214,2326,3087
$GC,4889,-2.24,-68.5,547.8,-9.2,580,4893,0.00,1.95,0.00,0.000,4,0.000,0.081,2214,3382,3085
$GC,4961,-2.24,-68.5,555.1,-9.9,583,4965,0.00,1.92,0.00,0.000,6,0.000,0.053,2214,2317,3084
$GC,5287,-2.24,-68.5,587.0,-10.3,599,5291,0.00,1.92,0.00,0.000,4,0.000,0.075,2213,1265,3082
$GC,5342,-2.24,-68.5,593.0,-10.2,601,5347,0.00,1.90,0.00,0.000,6,0.000,0.059,2214,2304,3082
$GC,5665,-2.24,-68.5,625.9,-10.3,617,5668,0.00,2.10,0.00,0.000,4,0.000,0.105,2214,3383,3080
$GC,5799,-2.24,-68.5,639.5,-9.9,623,5803,0.00,2.03,0.00,0.000,6,0.000,0.085,2213,2326,3079
$GC,6130,-2.24,-68.5,669.6,-8.9,639,6134,0.00,2.08,0.00,0.000,4,0.000,0.111,2213,1266,3077
$GC,6230,-2.24,-68.5,679.3,-9.7,643,6234,0.00,2.05,0.00,0.000,6,0.000,0.094,2213,2305,3076
$GC,6551,-2.24,-68.5,709.7,-9.7,659,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2305,3075
$GC,6861,-2.24,-68.5,741.7,-10.1,674,6865,0.00,2.38,0.00,0.000,4,0.000,0.161,2214,3383,3074
$GC,6994,-2.24,-68.5,754.5,-9.7,680,6998,0.00,2.38,0.00,0.000,6,0.000,0.143,2214,2305,3073
$GC,7323,-2.25,-70.8,781.3,-7.8,696,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2294,3071
$GC,7630,-2.26,-74.7,806.1,-7.6,711,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2294,3071
$GC,7942,-2.28,-76.0,830.7,-7.9,726,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2294,3070
$GC,8249,-2.30,-79.8,854.3,-7.6,741,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2294,3069
$GC,8558,-2.32,-87.9,876.1,-7.2,756,8561,0.00,2.00,0.00,0.000,4,0.000,0.071,2214,3392,3067
$GC,8652,-2.33,-95.7,883.4,-7.3,760,8656,0.00,2.00,0.00,0.000,6,0.000,0.041,2214,2255,3067
$GC,8979,-2.35,-95.7,908.5,-8.4,776,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2254,3066
$GC,9288,-2.38,-97.4,933.5,-7.8,791,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2254,3065
$STATE,9327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9327,begin apogee
$GC,9332,-0.51,0.0,936.8,7.9,793,9390,1.83,0.00,52.25,1.396,6,0.100,0.000,2596,1937,2825
$STATE,9391,end apogee,CONTROL_FINISHED_OK
$STATE,9391,begin climb
$GC,9392,2.39,97.4,938.2,0.0,796,9484,2.83,0.00,86.03,1.374,6,0.065,0.000,3232,1937,2428
$GC,9783,2.33,97.4,907.0,9.9,815,9786,0.00,1.88,0.00,0.000,4,0.000,0.067,3232,909,2423
$GC,9895,2.27,97.4,895.9,8.5,820,9899,0.15,1.88,0.00,0.000,6,0.116,0.035,3205,1990,2423
$GC,10228,2.24,98.3,867.9,7.9,836,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1990,2421
$GC,10536,2.22,100.8,843.5,7.8,851,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1990,2421
$GC,10845,2.20,103.8,819.7,7.7,866,10855,0.00,2.00,5.88,1.048,4,0.000,0.059,3204,906,2401
$GC,10968,2.15,103.8,809.0,8.7,871,10974,0.12,1.83,0.00,0.000,6,0.118,0.035,3182,1963,2400
$GC,11283,2.15,103.8,783.7,8.3,887,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1964,2400
$GC,11592,2.18,119.4,761.1,6.5,902,11613,0.00,1.98,14.85,1.248,4,0.000,0.061,3182,912,2338
$GC,11669,2.20,131.2,755.7,6.9,905,11685,0.00,1.85,11.85,1.196,6,0.000,0.034,3182,1968,2290
$GC,12005,2.20,131.2,727.8,8.6,922,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1969,2289
$GC,12315,2.20,131.2,699.2,9.0,937,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1969,2289
$GC,12625,2.20,131.2,670.8,9.3,952,12629,0.00,1.92,0.00,0.000,4,0.000,0.061,3182,913,2288
$GC,12726,2.20,131.2,661.2,9.0,956,12730,0.00,1.77,0.00,0.000,6,0.000,0.035,3182,1955,2288
$GC,13047,2.20,131.2,633.0,8.8,972,13050,0.00,1.90,0.00,0.000,4,0.000,0.061,3182,912,2288
$GC,13118,2.20,131.2,626.2,9.9,975,13123,0.00,1.77,0.00,0.000,6,0.000,0.034,3182,1936,2288
$GC,13445,2.20,131.2,597.1,8.8,991,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1936,2288
$GC,13756,2.20,131.2,569.5,8.9,1006,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1937,2287
$GC,14063,2.20,131.2,541.9,8.4,1021,14067,0.00,1.85,0.00,0.000,4,0.000,0.060,3182,914,2287
$GC,14108,2.21,135.7,538.5,7.6,1023,14117,0.00,1.73,5.20,0.883,6,0.000,0.033,3182,1930,2271
$GC,14433,2.21,135.7,513.9,8.0,1039,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1930,2271
$GC,14746,2.21,135.7,486.6,9.3,1061,14749,0.00,1.85,0.00,0.000,4,0.000,0.060,3182,908,2271
$GC,14915,2.21,135.7,469.2,10.2,1076,14919,0.00,1.73,0.00,0.000,6,0.000,0.032,3182,1926,2271
$GC,15245,2.21,135.7,437.0,8.5,1107,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1927,2271
$GC,15564,2.21,135.7,406.3,9.8,1137,15568,0.00,1.83,0.00,0.000,4,0.000,0.059,3182,912,2271
$GC,15799,2.21,135.7,385.4,8.5,1158,15803,0.00,1.67,0.00,0.000,6,0.000,0.031,3182,1910,2271
$GC,16132,2.23,151.4,361.6,6.5,1189,16150,0.00,0.00,14.77,0.997,6,0.000,0.000,3182,1910,2207
$GC,16469,2.27,157.4,337.0,7.4,1221,16481,0.00,1.83,6.40,0.848,4,0.000,0.057,3182,911,2183
$GC,16542,2.27,157.4,330.8,8.3,1227,16548,0.00,1.70,0.00,0.000,6,0.000,0.030,3182,1902,2183
$GC,16867,2.29,157.4,304.3,9.4,1258,16869,0.12,0.00,0.00,0.000,6,0.077,0.000,3215,1902,2183
$GC,17186,2.30,161.8,277.8,7.6,1288,17198,0.00,1.95,5.78,0.773,4,0.000,0.053,3215,3006,2164
$GC,17258,2.31,166.8,271.7,7.5,1294,17268,0.00,1.98,5.95,0.780,6,0.000,0.042,3215,1884,2144
$GC,17593,2.31,166.8,244.1,8.6,1331,17599,0.00,1.98,0.00,0.000,4,0.000,0.050,3215,3008,2144
$GC,17763,2.31,166.8,227.6,10.2,1361,17769,0.00,1.90,0.00,0.000,6,0.000,0.039,3215,1903,2143
$GC,18107,2.31,166.8,195.0,8.5,1422,18113,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1903,2144
$GC,18451,2.35,194.7,173.7,5.3,1483,18484,0.00,1.88,24.23,0.848,4,0.000,0.060,3215,905,2031
$GC,18736,2.37,203.7,154.1,7.1,1534,18754,0.00,1.73,9.00,0.754,6,0.000,0.028,3215,1924,1994
$GC,19094,2.47,238.1,134.0,4.7,1597,19132,0.15,1.90,29.12,0.791,4,0.061,0.050,3262,907,1854
$GC,19385,2.47,239.5,111.2,7.9,1649,19391,0.00,1.65,0.00,0.000,6,0.000,0.026,3262,1913,1852
$GC,19729,2.55,265.5,87.5,5.5,1710,19757,0.00,1.88,23.50,0.726,4,0.000,0.047,3262,896,1742
$GC,19849,2.59,279.7,79.3,6.7,1731,19867,0.00,1.60,12.60,0.680,6,0.000,0.026,3262,1881,1684
$GC,20206,2.65,279.7,49.0,9.5,1794,20212,0.10,1.90,0.00,0.000,4,0.072,0.046,3296,2991,1683
$GC,20269,2.65,279.7,42.4,10.2,1805,20275,0.00,1.88,0.00,0.000,6,0.000,0.031,3296,1865,1684
$GC,20613,2.70,297.8,14.6,6.3,1866,20635,0.00,1.98,16.42,0.634,4,0.000,0.041,3297,2994,1609
$STATE,20802,end climb,SURFACE_DEPTH_REACHED
$STATE,20802,begin surface coast
$FINISH,-0.5,1.021540
$STATE,20837,end surface coast,CONTROL_FINISHED_OK
$STATE,20837,begin surface
$SM_CCo,20859,120.15,0.627,0,0,785,500.17
$SM_GC,-5.50,0.00,0.00,120.15,0.000,0.000,0.627,415,2279,785,-10.56,-1.30,500.17
$IRIDIUM_FIX,1241.04,12044.18,030697,191958
$TT8_MAMPS,0.026078
$HUMID,1709
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.80
$XPDR_PINGS,374
$24V_AH,23.1,15.352
$10V_AH,10.2,12.386
$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,28.250,115.400,323.825,120.150,0.000,79.766,74.168,338.290,104.500,0.000,0.000,13.837,3112.475,13824.977,574.412,3425.314,795.774,0.000,2160.142,0.000,3387.939,0.000,80.607
$DEVICE_MAMPS,172.575,161.070,1395.940,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.819,779.820,734.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104190,1906
$CAP_FILE_SIZE,191286,0
$CFSIZE,260165632,248627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100308,012708,1244.887,12044.782,41,1.2,41,-0.8