version: 66.03
glider: 126
mission: 7
dive: 138
start: 3 16 108 13 22 36
data:
$ID,126
$MISSION,7
$DIVE,138
$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,-622098.62
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,131538,1245.667,12018.398,37,1.0,37,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.55
$_SM_ANGLEo,-57.6
$GPS2,132145,1245.645,12018.336,14,1.1,14,-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,78.8,45071,-22.0,-7.990
$D_GRID,819
$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,-66.38,0.000,6,0.000,0.000,418,2331,3103
$GC,93,-2.33,-67.0,0.4,-16.1,13,110,10.07,1.80,0.00,0.000,4,0.173,0.032,2196,1268,3103
$GC,284,-2.22,-67.0,46.4,-18.3,47,291,0.15,1.75,0.00,0.000,6,0.127,0.027,2223,2333,3105
$GC,629,-2.15,-67.0,104.2,-15.7,108,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2334,3106
$GC,973,-2.12,-67.0,154.2,-12.7,169,978,0.12,0.00,0.00,0.000,6,0.125,0.000,2245,2334,3107
$GC,1316,-2.12,-67.0,191.4,-10.0,230,1322,0.00,1.83,0.00,0.000,4,0.000,0.036,2245,1266,3108
$GC,1401,-2.12,-67.0,201.1,-11.0,245,1407,0.00,1.73,0.00,0.000,6,0.000,0.027,2246,2319,3109
$GC,1744,-2.12,-67.0,234.8,-9.8,306,1750,0.00,1.83,0.00,0.000,4,0.000,0.049,2246,3364,3108
$GC,1807,-2.12,-67.0,241.2,-10.2,317,1813,0.00,1.75,0.00,0.000,6,0.000,0.026,2246,2278,3108
$GC,2142,-2.14,-67.0,274.4,-9.9,356,2145,0.00,1.90,0.00,0.000,4,0.000,0.047,2246,3370,3108
$GC,2304,-2.14,-67.0,290.4,-9.5,370,2310,0.00,1.67,0.00,0.000,6,0.000,0.027,2245,2346,3107
$GC,2630,-2.17,-67.0,320.7,-9.6,401,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2346,3104
$GC,2948,-2.19,-67.0,351.3,-9.3,431,2952,0.00,1.80,0.00,0.000,4,0.000,0.050,2246,3375,3102
$GC,3060,-2.19,-67.0,363.0,-10.1,441,3064,0.00,1.60,0.00,0.000,6,0.000,0.029,2246,2397,3102
$GC,3391,-2.22,-67.0,394.9,-10.0,472,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2397,3099
$GC,3710,-2.26,-67.0,425.5,-9.3,502,3712,0.12,0.00,0.00,0.000,6,0.070,0.000,2212,2396,3097
$GC,4027,-2.26,-67.0,457.7,-10.1,532,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2393,3094
$GC,4345,-2.26,-67.0,490.2,-10.3,562,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2393,3092
$GC,4660,-2.26,-67.0,520.9,-9.7,582,4663,0.00,1.95,0.00,0.000,4,0.000,0.068,2212,1317,3090
$GC,4727,-2.26,-67.0,527.8,-9.9,585,4731,0.00,1.88,0.00,0.000,6,0.000,0.041,2212,2404,3090
$GC,5061,-2.26,-67.0,560.0,-9.7,601,5064,0.00,1.75,0.00,0.000,4,0.000,0.072,2212,3369,3087
$GC,5155,-2.26,-67.0,569.8,-10.4,605,5161,0.00,1.62,0.00,0.000,6,0.000,0.046,2212,2452,3087
$GC,5482,-2.26,-67.0,602.3,-10.1,621,5485,0.00,2.08,0.00,0.000,4,0.000,0.075,2211,1318,3085
$GC,5587,-2.26,-67.0,613.0,-9.8,625,5593,0.00,1.90,0.00,0.000,6,0.000,0.062,2212,2353,3085
$GC,5903,-2.26,-67.0,643.9,-9.6,641,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3083
$GC,6212,-2.26,-67.0,673.0,-9.4,656,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3082
$GC,6524,-2.26,-67.0,701.8,-9.5,671,6527,0.00,2.12,0.00,0.000,4,0.000,0.121,2211,1317,3080
$GC,6617,-2.26,-67.0,710.8,-9.0,675,6622,0.00,2.15,0.00,0.000,6,0.000,0.106,2212,2379,3079
$GC,6944,-2.26,-67.0,739.7,-8.9,691,6949,0.00,2.28,0.00,0.000,4,0.000,0.140,2212,1316,3077
$GC,7034,-2.26,-67.0,748.1,-9.5,695,7038,0.00,2.17,0.00,0.000,6,0.000,0.124,2212,2364,3077
$GC,7359,-2.26,-67.0,777.4,-9.2,711,7363,0.00,2.28,0.00,0.000,4,0.000,0.170,2212,3385,3076
$GC,7430,-2.26,-67.0,784.5,-9.5,714,7434,0.00,1.75,0.00,0.000,6,0.000,0.051,2212,2392,3075
$GC,7751,-2.26,-67.0,812.2,-8.4,730,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2392,3075
$STATE,7832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7832,begin apogee
$GC,7837,-0.51,0.0,819.2,8.5,734,7895,1.85,0.00,53.50,1.305,6,0.104,0.000,2596,1996,2825
$STATE,7896,end apogee,CONTROL_FINISHED_OK
$STATE,7896,begin climb
$GC,7898,2.33,67.0,820.4,0.0,737,7962,2.85,0.00,58.83,1.268,6,0.066,0.000,3220,1996,2551
$GC,8264,2.32,86.1,801.0,6.2,755,8286,0.00,1.95,17.17,1.217,4,0.000,0.048,3219,3040,2474
$GC,8427,2.28,90.3,789.4,7.6,762,8437,0.00,1.85,5.57,0.967,6,0.000,0.037,3219,1972,2456
$GC,8747,2.27,105.9,767.6,6.5,777,8769,0.00,1.98,14.68,1.202,4,0.000,0.065,3219,914,2393
$GC,8882,2.22,105.9,756.7,9.4,783,8886,0.15,1.83,0.00,0.000,6,0.113,0.031,3191,1990,2391
$GC,9212,2.22,105.9,729.7,8.1,799,9216,0.00,1.75,0.00,0.000,4,0.000,0.049,3192,3003,2391
$GC,9273,2.20,108.9,725.0,7.7,801,9283,0.00,1.83,4.12,0.818,6,0.000,0.036,3192,1940,2379
$GC,9611,2.21,117.1,699.8,7.2,818,9621,0.00,0.00,8.75,1.107,6,0.000,0.000,3192,1939,2346
$GC,9919,2.21,117.1,675.7,8.0,833,9923,0.00,1.85,0.00,0.000,4,0.000,0.060,3191,903,2345
$GC,9987,2.19,119.0,670.5,7.8,836,9991,0.00,1.75,0.00,0.000,6,0.000,0.031,3191,1942,2345
$GC,10319,2.19,119.0,642.3,8.8,852,10322,0.00,1.85,0.00,0.000,4,0.000,0.048,3191,3010,2344
$GC,10453,2.19,119.0,630.3,8.8,858,10457,0.00,1.85,0.00,0.000,6,0.000,0.035,3191,1928,2344
$GC,10785,2.19,119.0,603.5,8.1,874,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1928,2344
$GC,11094,2.20,124.0,578.6,7.5,889,11107,0.00,1.90,6.93,0.996,4,0.000,0.058,3191,907,2318
$GC,11197,2.20,125.2,570.3,7.9,893,11203,0.00,1.77,0.00,0.000,6,0.000,0.031,3191,1944,2318
$GC,11514,2.22,134.4,547.5,7.1,909,11528,0.00,1.88,10.68,1.074,4,0.000,0.048,3191,3010,2275
$GC,11601,2.23,139.7,540.6,7.5,912,11611,0.00,1.88,6.05,0.930,6,0.000,0.035,3191,1935,2255
$GC,11921,2.23,139.7,514.0,8.4,927,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1935,2255
$GC,12234,2.23,139.7,488.1,8.3,948,12237,0.00,1.83,0.00,0.000,4,0.000,0.058,3191,905,2254
$GC,12335,2.23,139.7,479.3,8.4,957,12338,0.00,1.70,0.00,0.000,6,0.000,0.030,3191,1922,2254
$GC,12665,2.23,139.7,452.3,8.0,988,12669,0.00,1.88,0.00,0.000,4,0.000,0.045,3191,3011,2254
$GC,12748,2.23,139.7,445.1,9.0,995,12755,0.00,1.88,0.00,0.000,6,0.000,0.035,3191,1925,2253
$GC,13074,2.23,140.6,417.8,7.9,1026,13078,0.00,1.88,0.00,0.000,4,0.000,0.054,3191,3005,2254
$GC,13163,2.23,140.6,410.4,8.5,1034,13167,0.00,1.80,0.00,0.000,6,0.000,0.033,3191,1941,2254
$GC,13495,2.23,143.5,386.0,7.7,1065,13506,0.00,1.88,4.55,0.749,4,0.000,0.057,3191,913,2240
$GC,13679,2.23,143.5,370.2,8.3,1081,13686,0.00,1.73,0.00,0.000,6,0.000,0.029,3191,1928,2240
$GC,14005,2.24,148.1,344.8,7.6,1112,14017,0.00,1.88,5.85,0.821,4,0.000,0.046,3191,3010,2221
$GC,14179,2.24,149.3,330.9,7.9,1127,14185,0.00,1.83,0.00,0.000,6,0.000,0.031,3191,1947,2220
$GC,14505,2.26,156.4,306.8,7.3,1158,14519,0.00,1.88,8.55,0.886,4,0.000,0.054,3191,919,2187
$GC,14772,2.26,156.4,284.9,8.5,1182,14776,0.00,1.70,0.00,0.000,6,0.000,0.028,3191,1942,2187
$GC,15101,2.26,156.4,258.9,8.2,1213,15105,0.00,1.83,0.00,0.000,4,0.000,0.044,3191,2995,2187
$GC,15218,2.27,163.3,249.8,7.3,1223,15231,0.00,1.85,7.53,0.818,6,0.000,0.031,3191,1914,2159
$GC,15569,2.28,168.9,222.5,7.5,1285,15580,0.00,0.00,6.62,0.773,6,0.000,0.000,3191,1914,2136
$GC,15918,2.32,177.9,196.2,7.1,1347,15935,0.10,1.92,9.02,0.807,4,0.081,0.040,3220,2996,2099
$GC,16070,2.32,177.9,183.7,8.7,1374,16076,0.00,1.80,0.00,0.000,6,0.000,0.030,3220,1942,2098
$GC,16414,2.33,186.0,158.7,7.2,1435,16427,0.00,1.88,8.40,0.762,4,0.000,0.051,3220,912,2066
$GC,16679,2.39,223.7,141.3,4.4,1482,16718,0.00,1.73,32.17,0.815,6,0.000,0.026,3220,1951,1912
$GC,17060,2.49,253.1,118.4,5.2,1549,17093,0.15,1.83,24.67,0.773,4,0.061,0.039,3268,2986,1792
$GC,17205,2.49,253.1,105.7,8.8,1575,17211,0.00,1.73,0.00,0.000,6,0.000,0.027,3268,1942,1790
$GC,17549,2.53,269.9,81.0,6.4,1636,17566,0.00,0.00,14.98,0.712,6,0.000,0.000,3268,1943,1724
$GC,17904,2.57,270.0,52.8,8.0,1699,17910,0.00,1.75,0.00,0.000,4,0.000,0.044,3269,918,1724
$GC,18163,2.67,303.1,36.4,4.9,1745,18197,0.00,1.77,27.95,0.676,6,0.000,0.023,3269,2027,1588
$GC,18537,2.75,312.9,12.4,7.1,1811,18555,0.15,1.95,9.55,0.598,4,0.055,0.041,3321,925,1548
$STATE,18662,end climb,SURFACE_DEPTH_REACHED
$STATE,18662,begin surface coast
$FINISH,-0.9,1.021307
$STATE,18689,end surface coast,CONTROL_FINISHED_OK
$STATE,18689,begin surface
$SM_CCo,18712,111.90,0.627,0,0,785,500.17
$SM_GC,-5.68,0.00,0.00,111.90,0.000,0.000,0.627,415,2331,785,-10.56,0.17,500.17
$IRIDIUM_FIX,1241.04,12018.41,100697,080813
$TT8_MAMPS,0.026078
$HUMID,1734
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.70
$XPDR_PINGS,420
$24V_AH,23.2,20.501
$10V_AH,10.2,16.625
$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,28.325,112.350,346.125,111.900,0.000,29.599,35.513,182.258,113.000,0.000,0.000,15.221,2990.505,11709.086,579.472,3375.576,557.699,0.000,2144.033,0.000,3351.556,0.000,58.892
$DEVICE_MAMPS,172.575,169.507,1304.667,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1246.409,814.917,768.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101136,1838
$CAP_FILE_SIZE,178089,0
$CFSIZE,260165632,245727232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160308,183738,1246.577,12019.637,43,1.1,43,-0.8