version: 66.03
glider: 126
mission: 7
dive: 140
start: 3 17 108 0 15 36
data:
$ID,126
$MISSION,7
$DIVE,140
$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,-622144.88
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,000837,1247.057,12021.323,39,0.8,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.54
$_SM_ANGLEo,-58.2
$GPS2,001445,1247.033,12021.293,10,1.1,10,-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,80.8,39338,-22.0,-7.990
$D_GRID,821
$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,-66.65,0.000,6,0.000,0.000,415,2333,3101
$GC,92,-2.33,-67.0,0.2,-16.0,13,110,10.07,1.80,0.00,0.000,4,0.172,0.031,2197,1269,3103
$GC,206,-2.21,-67.0,32.2,-22.0,33,212,0.17,1.70,0.00,0.000,6,0.120,0.025,2229,2318,3104
$GC,551,-2.14,-67.0,92.1,-17.4,94,558,0.00,1.77,0.00,0.000,4,0.000,0.033,2229,1272,3105
$GC,626,-2.07,-67.0,105.1,-17.2,107,633,0.15,1.67,0.00,0.000,6,0.117,0.024,2258,2308,3105
$GC,969,-2.07,-67.0,153.3,-11.7,168,976,0.00,1.80,0.00,0.000,4,0.000,0.041,2258,3362,3107
$GC,1066,-2.07,-67.0,163.9,-10.9,185,1072,0.00,1.75,0.00,0.000,6,0.000,0.023,2258,2260,3107
$GC,1409,-2.09,-67.0,198.5,-9.3,246,1415,0.00,1.92,0.00,0.000,4,0.000,0.041,2258,3367,3108
$GC,1534,-2.09,-67.0,211.1,-10.2,268,1540,0.00,1.80,0.00,0.000,6,0.000,0.025,2258,2264,3108
$GC,1878,-2.12,-67.0,244.6,-9.7,329,1883,0.00,1.65,0.00,0.000,4,0.000,0.039,2258,1276,3107
$GC,1945,-2.15,-67.0,251.4,-9.6,340,1949,0.00,1.65,0.00,0.000,6,0.000,0.026,2258,2288,3108
$GC,2278,-2.18,-67.0,282.0,-9.7,371,2282,0.00,1.85,0.00,0.000,4,0.000,0.046,2258,3370,3106
$GC,2312,-2.20,-67.0,285.6,-9.9,374,2317,0.10,1.83,0.00,0.000,6,0.051,0.026,2222,2265,3106
$GC,2641,-2.20,-67.0,318.7,-10.3,405,2644,0.00,1.92,0.00,0.000,4,0.000,0.046,2223,3373,3103
$GC,2847,-2.20,-67.0,339.4,-10.3,423,2854,0.00,1.77,0.00,0.000,6,0.000,0.028,2222,2302,3102
$GC,3173,-2.20,-67.0,372.6,-10.0,454,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2301,3100
$GC,3490,-2.20,-67.0,405.3,-10.3,484,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2301,3098
$GC,3809,-2.20,-67.0,437.3,-10.1,514,3813,0.00,1.88,0.00,0.000,4,0.000,0.051,2222,3369,3096
$GC,3934,-2.20,-67.0,449.8,-10.1,525,3938,0.00,1.77,0.00,0.000,6,0.000,0.032,2222,2314,3095
$GC,4265,-2.20,-67.0,482.4,-9.9,556,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2314,3092
$GC,4580,-2.20,-67.0,511.0,-8.8,580,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2314,3091
$GC,4887,-2.20,-67.0,537.3,-8.4,595,4891,0.00,1.90,0.00,0.000,4,0.000,0.065,2222,3362,3088
$GC,4937,-2.20,-67.0,541.5,-8.5,597,4941,0.00,1.85,0.00,0.000,6,0.000,0.039,2222,2307,3088
$GC,5264,-2.20,-67.0,571.7,-9.7,613,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2307,3085
$GC,5573,-2.20,-67.0,600.5,-9.2,628,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2306,3084
$GC,5882,-2.20,-67.0,628.4,-8.9,643,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2306,3083
$GC,6191,-2.20,-67.0,655.9,-8.8,658,6195,0.00,2.05,0.00,0.000,4,0.000,0.106,2222,3349,3081
$GC,6325,-2.20,-67.0,668.6,-9.3,664,6329,0.00,2.00,0.00,0.000,6,0.000,0.089,2222,2315,3080
$GC,6658,-2.22,-67.0,699.2,-9.1,680,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2313,3079
$GC,6966,-2.24,-67.0,726.9,-9.0,695,6970,0.00,2.20,0.00,0.000,4,0.000,0.140,2222,1260,3077
$GC,7032,-2.24,-67.0,733.0,-8.6,698,7037,0.00,2.10,0.00,0.000,6,0.000,0.117,2222,2275,3076
$GC,7362,-2.27,-67.0,761.0,-8.5,714,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2275,3076
$GC,7669,-2.29,-67.0,788.9,-9.3,729,7673,0.00,2.53,0.00,0.000,4,0.000,0.175,2222,3387,3074
$GC,7746,-2.29,-67.0,796.7,-10.3,732,7752,0.00,2.05,0.00,0.000,6,0.000,0.074,2222,2290,3074
$STATE,8000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8000,begin apogee
$GC,8005,-0.51,0.0,821.3,9.7,745,8063,1.77,0.00,53.42,1.311,6,0.097,0.000,2596,1960,2825
$STATE,8063,end apogee,CONTROL_FINISHED_OK
$STATE,8063,begin climb
$GC,8065,2.33,67.0,823.5,0.0,748,8129,2.85,0.00,58.88,1.279,6,0.063,0.000,3224,1960,2551
$GC,8429,2.33,92.1,806.1,5.6,766,8454,0.00,0.00,22.60,1.244,6,0.000,0.000,3224,1955,2449
$GC,8758,2.29,92.1,781.3,8.5,782,8761,0.00,1.92,0.00,0.000,4,0.000,0.068,3224,904,2446
$GC,8932,2.23,92.1,766.3,8.5,789,8939,0.15,1.83,0.00,0.000,6,0.113,0.031,3196,1980,2446
$GC,9247,2.25,105.7,743.9,6.7,805,9262,0.00,0.00,12.82,1.186,6,0.000,0.000,3196,1980,2393
$GC,9556,2.26,107.8,720.8,7.8,820,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1980,2391
$GC,9866,2.27,115.2,697.9,7.3,835,9880,0.00,2.03,9.38,1.118,4,0.000,0.058,3196,908,2355
$GC,10044,2.24,115.2,683.1,8.5,843,10047,0.00,1.75,0.00,0.000,6,0.000,0.032,3196,1939,2353
$GC,10376,2.24,115.2,654.8,9.0,859,10379,0.00,1.88,0.00,0.000,4,0.000,0.058,3196,902,2352
$GC,10510,2.22,115.2,642.4,9.1,865,10514,0.00,1.70,0.00,0.000,6,0.000,0.030,3196,1907,2352
$GC,10842,2.22,115.6,615.1,8.0,881,10846,0.00,1.90,0.00,0.000,4,0.000,0.048,3196,3003,2352
$GC,10995,2.21,123.1,603.5,7.3,887,11009,0.00,1.85,8.18,1.053,6,0.000,0.037,3196,1921,2321
$GC,11331,2.21,125.5,577.3,7.8,904,11335,0.00,1.90,0.00,0.000,4,0.000,0.047,3196,3004,2320
$GC,11431,2.22,127.5,569.5,7.8,908,11443,0.00,1.83,5.25,0.898,6,0.000,0.035,3196,1955,2304
$GC,11752,2.22,128.1,544.4,7.9,924,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1956,2304
$GC,12061,2.22,128.1,518.6,8.6,939,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1955,2304
$GC,12372,2.22,128.1,491.8,8.5,958,12376,0.00,1.85,0.00,0.000,4,0.000,0.045,3196,3016,2304
$GC,12489,2.22,128.1,481.7,8.8,968,12495,0.00,1.85,0.00,0.000,6,0.000,0.042,3196,1948,2303
$GC,12815,2.22,128.1,455.2,8.4,999,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1948,2303
$GC,13133,2.23,136.4,430.0,7.2,1029,13147,0.00,1.90,8.88,0.974,4,0.000,0.045,3196,3003,2269
$GC,13290,2.24,139.9,418.0,7.7,1043,13302,0.00,1.80,4.95,0.807,6,0.000,0.035,3195,1951,2254
$GC,13620,2.24,142.2,393.5,7.8,1074,13631,0.00,1.90,3.78,0.667,4,0.000,0.061,3196,917,2245
$GC,13767,2.25,148.6,381.8,7.4,1087,13779,0.00,1.73,6.95,0.890,6,0.000,0.030,3196,1949,2219
$GC,14096,2.25,148.6,354.0,8.0,1118,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1949,2219
$GC,14414,2.25,148.6,328.5,8.3,1148,14418,0.00,1.83,0.00,0.000,4,0.000,0.044,3196,3014,2218
$GC,14554,2.25,148.6,316.9,8.1,1160,14560,0.00,1.88,0.00,0.000,6,0.000,0.035,3196,1927,2219
$GC,14879,2.25,149.9,291.9,7.9,1191,14883,0.00,1.88,0.00,0.000,4,0.000,0.042,3196,3014,2219
$GC,14958,2.26,153.6,285.8,7.6,1198,14970,0.00,1.83,5.93,0.785,6,0.000,0.032,3196,1933,2198
$GC,15287,2.26,155.4,260.0,7.8,1229,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1932,2198
$GC,15616,2.28,167.5,235.6,6.8,1276,15634,0.00,1.95,13.18,0.881,4,0.000,0.041,3196,3010,2142
$GC,15691,2.28,167.5,229.7,8.3,1289,15697,0.00,1.75,0.00,0.000,6,0.000,0.031,3196,1979,2141
$GC,16034,2.30,167.5,203.4,8.1,1350,16040,0.00,1.92,0.00,0.000,4,0.000,0.058,3195,909,2141
$GC,16211,2.31,174.1,189.5,7.4,1381,16223,0.00,1.83,7.07,0.759,6,0.000,0.028,3196,2006,2115
$GC,16563,2.40,204.3,166.4,5.1,1443,16598,0.15,1.75,26.12,0.844,4,0.063,0.049,3242,2997,1991
$GC,16851,2.41,213.5,145.0,7.1,1494,16868,0.00,1.67,8.95,0.750,6,0.000,0.030,3242,2016,1954
$GC,17208,2.50,250.0,123.4,4.5,1557,17241,0.00,0.00,31.02,0.785,6,0.000,0.000,3242,2016,1805
$GC,17580,2.57,267.0,99.4,6.4,1623,17603,0.12,1.98,15.10,0.734,4,0.063,0.048,3281,917,1736
$GC,17665,2.57,267.0,92.6,8.2,1638,17671,0.00,1.83,0.00,0.000,6,0.000,0.025,3281,2017,1735
$GC,18009,2.60,272.6,64.6,7.5,1699,18021,0.00,1.95,6.47,0.605,4,0.000,0.043,3281,903,1712
$GC,18274,2.65,290.0,44.6,6.3,1746,18297,0.00,1.75,15.52,0.674,6,0.000,0.023,3281,1978,1641
$GC,18635,2.73,309.2,19.7,6.2,1810,18659,0.10,1.88,16.88,0.649,4,0.070,0.041,3315,910,1563
$STATE,18854,end climb,SURFACE_DEPTH_REACHED
$STATE,18854,begin surface coast
$FINISH,-0.2,1.021426
$STATE,18877,end surface coast,CONTROL_FINISHED_OK
$STATE,18877,begin surface
$SM_CCo,18900,114.15,0.631,0,0,785,500.17
$SM_GC,-5.79,0.00,0.00,114.15,0.000,0.000,0.631,412,2320,785,-10.57,-0.14,500.17
$IRIDIUM_FIX,1241.04,12021.43,100697,181817
$TT8_MAMPS,0.026078
$HUMID,1731
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.60
$XPDR_PINGS,440
$24V_AH,23.2,20.793
$10V_AH,10.2,16.883
$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,28.225,105.400,341.325,114.150,0.000,26.188,41.545,184.070,118.250,0.000,0.000,11.557,2985.007,11975.062,580.847,3301.177,560.317,0.000,2105.325,0.000,3284.055,0.000,60.687
$DEVICE_MAMPS,171.808,174.876,1310.803,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.639,818.193,768.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100954,1853
$CAP_FILE_SIZE,176060,0
$CFSIZE,260165632,245547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170308,053338,1246.888,12023.229,32,1.6,32,-0.8