version: 66.03
glider: 126
mission: 7
dive: 145
start: 3 18 108 0 31 12
data:
$ID,126
$MISSION,7
$DIVE,145
$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,-622214.62
$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,44
$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
$GPS1,002356,1248.354,12029.157,39,1.8,39,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.53
$_SM_ANGLEo,-58.3
$GPS2,003021,1248.323,12029.173,13,1.5,13,-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,80.6,24911,-22.0,-7.990
$D_GRID,989
$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,-66.38,0.000,6,0.000,0.000,418,2321,3101
$GC,92,-2.33,-67.0,0.6,-17.0,13,110,10.10,1.77,0.00,0.000,4,0.173,0.034,2196,1278,3103
$GC,172,-2.20,-67.0,24.7,-22.4,27,179,0.17,1.70,0.00,0.000,6,0.121,0.026,2228,2318,3103
$GC,516,-2.14,-67.0,86.7,-15.1,88,523,0.00,1.80,0.00,0.000,4,0.000,0.042,2228,3368,3105
$GC,618,-2.07,-67.0,103.3,-15.9,106,625,0.10,1.75,0.00,0.000,6,0.116,0.024,2251,2294,3105
$GC,963,-2.07,-67.0,150.2,-12.0,167,968,0.00,1.65,0.00,0.000,4,0.000,0.037,2251,1299,3106
$GC,1013,-2.07,-67.0,155.9,-11.1,176,1019,0.00,1.70,0.00,0.000,6,0.000,0.025,2251,2329,3106
$GC,1358,-2.07,-67.0,192.2,-10.4,237,1363,0.00,1.75,0.00,0.000,4,0.000,0.043,2252,3364,3107
$GC,1415,-2.07,-67.0,198.0,-10.0,247,1421,0.00,1.73,0.00,0.000,6,0.000,0.025,2251,2292,3107
$GC,1758,-2.07,-67.0,231.9,-9.4,308,1764,0.00,1.88,0.00,0.000,4,0.000,0.044,2252,3362,3108
$GC,1954,-2.07,-67.0,252.0,-10.5,341,1960,0.00,1.75,0.00,0.000,6,0.000,0.026,2251,2304,3108
$GC,2280,-2.09,-67.0,283.3,-9.6,372,2284,0.00,1.85,0.00,0.000,4,0.000,0.046,2251,3369,3106
$GC,2340,-2.09,-67.0,289.6,-9.5,377,2347,0.00,1.75,0.00,0.000,6,0.000,0.028,2251,2314,3105
$GC,2667,-2.12,-67.0,320.8,-9.6,408,2670,0.00,1.83,0.00,0.000,4,0.000,0.048,2251,3363,3103
$GC,2795,-2.14,-67.0,334.0,-9.8,419,2801,0.00,1.70,0.00,0.000,6,0.000,0.029,2251,2330,3103
$GC,3121,-2.18,-67.0,365.3,-9.6,450,3124,0.00,1.83,0.00,0.000,4,0.000,0.049,2251,3370,3100
$GC,3227,-2.20,-67.0,376.2,-9.9,459,3233,0.00,1.75,0.00,0.000,6,0.000,0.031,2251,2340,3099
$GC,3552,-2.24,-67.0,405.4,-8.6,490,3554,0.12,0.00,0.00,0.000,6,0.067,0.000,2217,2339,3098
$GC,3872,-2.24,-67.0,435.9,-11.0,520,3875,0.00,1.80,0.00,0.000,4,0.000,0.053,2217,3361,3095
$GC,3984,-2.24,-67.0,447.9,-11.2,530,3987,0.00,1.70,0.00,0.000,6,0.000,0.032,2217,2350,3094
$GC,4314,-2.24,-67.0,480.0,-9.7,561,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2350,3092
$GC,4630,-2.24,-67.0,510.7,-9.5,586,4633,0.00,1.83,0.00,0.000,4,0.000,0.062,2217,3359,3090
$GC,4735,-2.24,-67.0,521.7,-10.4,590,4741,0.00,1.73,0.00,0.000,6,0.000,0.038,2217,2367,3089
$GC,5050,-2.24,-67.0,552.1,-9.8,606,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2366,3087
$GC,5362,-2.24,-67.0,581.6,-9.5,621,5366,0.00,2.03,0.00,0.000,4,0.000,0.083,2216,1278,3085
$GC,5434,-2.24,-67.0,588.5,-8.7,624,5438,0.00,1.92,0.00,0.000,6,0.000,0.061,2217,2332,3085
$GC,5760,-2.24,-67.0,617.9,-8.9,640,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2333,3083
$GC,6070,-2.24,-67.0,645.1,-9.0,655,6074,0.00,2.05,0.00,0.000,4,0.000,0.106,2217,3386,3081
$GC,6186,-2.24,-67.0,656.1,-9.1,660,6191,0.00,1.95,0.00,0.000,6,0.000,0.084,2217,2382,3081
$GC,6514,-2.24,-67.0,685.5,-8.6,676,6517,0.00,2.03,0.00,0.000,4,0.000,0.118,2217,3377,3079
$GC,6580,-2.24,-67.0,691.6,-9.7,679,6584,0.00,1.95,0.00,0.000,6,0.000,0.102,2217,2398,3078
$GC,6912,-2.24,-67.0,723.8,-9.9,695,6916,0.00,2.33,0.00,0.000,4,0.000,0.138,2217,1276,3077
$GC,7033,-2.24,-67.0,736.3,-9.7,700,7038,0.00,1.90,0.00,0.000,6,0.000,0.033,2217,2379,3076
$GC,7355,-2.26,-67.0,765.6,-9.3,716,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2380,3075
$GC,7665,-2.28,-67.0,794.4,-8.9,731,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2379,3074
$GC,7976,-2.30,-67.0,820.7,-8.5,746,7980,0.00,1.77,0.00,0.000,4,0.000,0.058,2217,3390,3074
$GC,8077,-2.30,-67.0,829.9,-9.0,750,8082,0.00,1.77,0.00,0.000,6,0.000,0.034,2217,2339,3073
$GC,8397,-2.33,-67.0,856.9,-8.3,766,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2339,3072
$GC,8708,-2.35,-67.0,883.0,-8.6,781,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2338,3071
$GC,9016,-2.38,-67.0,908.5,-8.4,796,9020,0.12,1.88,0.00,0.000,4,0.076,0.055,2186,3390,3070
$GC,9082,-2.38,-67.0,914.7,-9.9,799,9086,0.00,1.77,0.00,0.000,6,0.000,0.034,2186,2344,3069
$GC,9414,-2.38,-67.0,944.3,-9.2,815,9417,0.00,1.88,0.00,0.000,4,0.000,0.056,2186,1275,3068
$GC,9463,-2.38,-67.0,948.8,-9.0,817,9467,0.00,1.88,0.00,0.000,6,0.000,0.035,2186,2362,3068
$GC,9790,-2.38,-67.0,976.3,-8.9,833,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2362,3068
$STATE,9955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9955,begin apogee
$GC,9960,-0.51,0.0,990.1,8.0,841,10018,2.00,0.00,53.20,1.443,6,0.107,0.000,2599,1952,2825
$STATE,10019,end apogee,CONTROL_FINISHED_OK
$STATE,10019,begin climb
$GC,10020,2.33,67.0,991.6,0.0,844,10086,2.83,0.00,60.42,1.405,6,0.064,0.000,3218,1952,2551
$GC,10385,2.30,76.7,970.0,7.1,862,10399,0.00,1.98,9.40,1.243,4,0.000,0.063,3218,908,2512
$GC,10468,2.24,81.8,964.0,7.5,865,10478,0.00,1.83,6.22,1.106,6,0.000,0.032,3218,1974,2491
$GC,10801,2.21,87.3,939.6,7.5,882,10812,0.15,2.03,6.40,1.125,4,0.114,0.060,3190,913,2469
$GC,10925,2.18,93.0,929.3,7.4,887,10938,0.00,1.75,7.12,1.162,6,0.000,0.031,3190,1941,2445
$GC,11261,2.17,99.0,903.3,7.4,904,11270,0.00,0.00,6.80,1.147,6,0.000,0.000,3190,1941,2421
$GC,11593,2.15,101.2,876.7,7.8,920,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1941,2420
$GC,11902,2.15,101.2,850.2,8.9,935,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1941,2419
$GC,12212,2.15,101.2,823.4,8.4,950,12216,0.00,1.88,0.00,0.000,4,0.000,0.059,3190,909,2419
$GC,12393,2.12,101.2,808.9,8.3,958,12396,0.00,1.75,0.00,0.000,6,0.000,0.032,3190,1940,2419
$GC,12726,2.13,108.6,784.3,7.3,974,12740,0.00,1.90,9.55,1.206,4,0.000,0.050,3190,3006,2382
$GC,12899,2.13,115.5,770.5,7.3,981,12913,0.00,1.90,7.97,1.154,6,0.000,0.039,3190,1927,2353
$GC,13235,2.13,115.5,740.9,9.1,998,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1927,2352
$GC,13543,2.13,115.5,712.8,8.8,1013,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1927,2352
$GC,13855,2.13,117.0,687.9,7.8,1028,13859,0.00,1.83,0.00,0.000,4,0.000,0.063,3190,910,2352
$GC,13961,2.11,117.0,678.9,8.7,1032,13968,0.08,1.73,0.00,0.000,6,0.111,0.031,3165,1916,2352
$GC,14276,2.11,117.0,654.3,8.0,1048,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1916,2352
$GC,14586,2.11,120.4,631.0,7.7,1063,14596,0.00,1.92,5.75,0.977,4,0.000,0.047,3166,3019,2334
$GC,14752,2.12,124.2,617.9,7.6,1070,14762,0.00,1.92,5.15,0.930,6,0.000,0.037,3165,1920,2318
$GC,15089,2.13,133.1,592.8,7.1,1087,15101,0.00,0.00,9.50,1.095,6,0.000,0.000,3165,1921,2282
$GC,15398,2.14,137.3,569.5,7.6,1102,15405,0.00,0.00,5.43,0.925,6,0.000,0.000,3165,1921,2265
$GC,15708,2.17,142.1,546.0,7.5,1117,15716,0.00,0.00,5.85,0.939,6,0.000,0.000,3165,1921,2245
$GC,16017,2.19,143.7,521.4,7.8,1132,16018,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1921,2245
$GC,16327,2.21,143.7,496.8,8.0,1148,16329,0.12,0.00,0.00,0.000,6,0.075,0.000,3198,1921,2245
$GC,16648,2.22,147.2,471.1,7.7,1178,16660,0.00,1.92,6.25,0.917,4,0.000,0.044,3198,3010,2223
$GC,16704,2.22,147.2,466.1,8.6,1183,16708,0.00,1.85,0.00,0.000,6,0.000,0.038,3198,1938,2223
$GC,17034,2.22,147.2,438.5,8.3,1214,17037,0.00,1.85,0.00,0.000,4,0.000,0.062,3198,907,2223
$GC,17101,2.22,147.2,432.7,9.0,1220,17105,0.00,1.77,0.00,0.000,6,0.000,0.031,3198,1947,2223
$GC,17430,2.22,147.2,405.3,8.1,1251,17434,0.00,1.83,0.00,0.000,4,0.000,0.046,3198,3010,2223
$GC,17508,2.23,150.8,399.2,7.6,1258,17520,0.00,1.83,4.60,0.769,6,0.000,0.035,3198,1942,2210
$GC,17837,2.23,150.8,372.8,8.2,1289,17838,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1942,2210
$GC,18156,2.23,150.8,346.9,8.2,1319,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1942,2210
$GC,18476,2.23,152.4,319.6,7.8,1349,18479,0.00,1.85,0.00,0.000,4,0.000,0.044,3198,3013,2211
$GC,18689,2.23,156.0,302.1,7.7,1368,18700,0.00,1.80,6.20,0.816,6,0.000,0.036,3198,1952,2189
$GC,19018,2.25,163.4,276.3,7.3,1399,19032,0.00,1.90,8.20,0.857,4,0.000,0.042,3198,3011,2158
$GC,19122,2.25,168.2,268.3,7.5,1408,19132,0.00,1.80,5.78,0.768,6,0.000,0.033,3198,1969,2138
$GC,19456,2.25,168.2,242.2,8.1,1447,19462,0.00,1.80,0.00,0.000,4,0.000,0.042,3198,3012,2138
$GC,19593,2.25,168.2,231.0,8.7,1471,19599,0.00,1.73,0.00,0.000,6,0.000,0.032,3198,1993,2138
$GC,19936,2.25,168.2,202.1,8.4,1532,19942,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1993,2138
$GC,20282,2.31,184.2,178.0,6.5,1593,20304,0.00,1.98,14.85,0.840,4,0.000,0.056,3198,918,2074
$GC,20541,2.37,210.5,160.4,5.5,1639,20569,0.12,1.80,22.75,0.833,6,0.068,0.027,3234,2005,1967
$GC,20909,2.45,242.6,135.3,5.0,1704,20942,0.00,0.00,27.60,0.805,6,0.000,0.000,3234,2005,1835
$GC,21281,2.51,257.8,111.6,6.5,1770,21300,0.10,2.03,13.45,0.743,4,0.073,0.046,3266,905,1773
$GC,21468,2.51,257.8,96.5,8.2,1803,21474,0.00,1.77,0.00,0.000,6,0.000,0.025,3266,1990,1773
$GC,21812,2.58,276.5,73.1,6.2,1864,21835,0.00,1.70,16.77,0.707,4,0.000,0.035,3266,2993,1696
$GC,22090,2.63,287.2,51.6,7.0,1913,22106,0.00,1.62,10.05,0.650,6,0.000,0.025,3266,2001,1653
$GC,22447,2.72,303.6,27.0,6.4,1976,22471,0.15,1.75,14.80,0.650,4,0.055,0.035,3319,3003,1586
$GC,22579,2.72,303.6,16.7,8.0,1999,22585,0.00,1.60,0.00,0.000,6,0.000,0.025,3318,2024,1586
$STATE,22774,end climb,SURFACE_DEPTH_REACHED
$STATE,22774,begin surface coast
$FINISH,-0.0,1.021133
$STATE,22804,end surface coast,CONTROL_FINISHED_OK
$STATE,22805,begin surface
$SM_CCo,22825,123.00,0.632,0,0,785,500.17
$SM_GC,-6.06,0.00,0.00,123.00,0.000,0.000,0.632,417,2342,785,-10.55,0.48,500.17
$IRIDIUM_FIX,1241.04,12026.36,110697,191904
$TT8_MAMPS,0.026078
$HUMID,1743
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.50
$XPDR_PINGS,378
$24V_AH,23.1,21.517
$10V_AH,10.2,17.508
$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,28.750,122.125,350.075,123.000,0.000,31.249,32.968,202.074,107.000,0.000,0.000,13.395,3353.379,15098.899,608.190,3713.507,579.728,0.000,2323.876,0.000,3654.167,0.000,91.485
$DEVICE_MAMPS,173.342,138.060,1442.727,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1385.977,815.054,763.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110401,2039
$CAP_FILE_SIZE,204990,0
$CFSIZE,260165632,245063680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180308,065456,1248.761,12031.319,39,1.2,39,-0.8