version: 66.03
glider: 126
mission: 7
dive: 146
start: 3 18 108 7 2 7
data:
$ID,126
$MISSION,7
$DIVE,146
$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,-622230.69
$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,58
$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
$GPS1,065456,1248.761,12031.319,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.98
$_SM_ANGLEo,-58.1
$GPS2,070115,1248.748,12031.335,15,1.1,15,-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,80.8,20930,-22.0,-7.990
$D_GRID,1030
$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,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.55,0.000,6,0.000,0.000,417,2343,3102
$GC,92,-2.33,-67.0,0.2,-16.3,13,110,10.12,1.80,0.00,0.000,4,0.173,0.033,2198,1278,3104
$GC,329,-2.22,-67.0,55.5,-19.6,55,336,0.15,1.67,0.00,0.000,6,0.127,0.024,2226,2316,3105
$GC,674,-2.16,-67.0,112.2,-15.9,116,681,0.00,1.80,0.00,0.000,4,0.000,0.039,2226,3369,3107
$GC,911,-2.12,-67.0,148.4,-12.9,158,918,0.08,1.70,0.00,0.000,6,0.114,0.024,2243,2317,3107
$GC,1258,-2.12,-67.0,185.0,-10.3,219,1264,0.00,1.70,0.00,0.000,4,0.000,0.038,2244,1298,3109
$GC,1360,-2.12,-67.0,195.1,-9.9,237,1366,0.00,1.67,0.00,0.000,6,0.000,0.025,2244,2326,3109
$GC,1703,-2.12,-67.0,227.5,-9.3,298,1709,0.00,1.80,0.00,0.000,4,0.000,0.044,2244,3366,3108
$GC,1818,-2.12,-67.0,239.3,-10.2,318,1824,0.00,1.67,0.00,0.000,6,0.000,0.027,2244,2348,3108
$GC,2148,-2.12,-67.0,271.9,-9.6,358,2151,0.00,1.77,0.00,0.000,4,0.000,0.046,2244,3372,3107
$GC,2316,-2.12,-67.0,289.4,-10.3,373,2320,0.00,1.65,0.00,0.000,6,0.000,0.028,2244,2358,3106
$GC,2649,-2.15,-67.0,321.2,-9.3,404,2652,0.00,1.75,0.00,0.000,4,0.000,0.048,2244,3361,3103
$GC,2720,-2.15,-67.0,328.9,-10.0,410,2727,0.00,1.62,0.00,0.000,6,0.000,0.028,2243,2385,3103
$GC,3047,-2.17,-67.0,360.3,-10.1,441,3051,0.00,1.70,0.00,0.000,4,0.000,0.049,2244,3362,3101
$GC,3130,-2.17,-67.0,368.9,-10.0,448,3136,0.00,1.60,0.00,0.000,6,0.000,0.029,2244,2409,3101
$GC,3456,-2.20,-67.0,400.1,-9.2,479,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2407,3098
$GC,3773,-2.23,-67.0,427.7,-8.9,509,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2406,3096
$GC,4092,-2.26,-67.0,456.3,-8.5,539,4094,0.12,0.00,0.00,0.000,6,0.070,0.000,2211,2407,3094
$GC,4411,-2.26,-67.0,485.4,-9.2,569,4415,0.00,1.98,0.00,0.000,4,0.000,0.061,2211,1301,3092
$GC,4523,-2.26,-67.0,496.3,-9.6,579,4527,0.00,1.88,0.00,0.000,6,0.000,0.039,2211,2388,3091
$GC,4856,-2.26,-67.0,526.5,-9.2,597,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2389,3089
$GC,5164,-2.26,-67.0,554.7,-9.3,612,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2389,3087
$GC,5473,-2.26,-67.0,583.0,-8.9,627,5477,0.00,2.00,0.00,0.000,4,0.000,0.073,2211,1310,3085
$GC,5528,-2.26,-67.0,587.9,-8.9,629,5532,0.00,1.92,0.00,0.000,6,0.000,0.058,2211,2361,3085
$GC,5849,-2.26,-67.0,616.8,-9.1,645,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2361,3083
$GC,6158,-2.26,-67.0,644.3,-8.9,660,6161,0.00,1.98,0.00,0.000,4,0.000,0.104,2211,3382,3081
$GC,6213,-2.26,-67.0,649.5,-9.1,662,6217,0.00,1.83,0.00,0.000,6,0.000,0.079,2210,2433,3081
$GC,6534,-2.26,-67.0,678.5,-9.2,678,6538,0.00,2.22,0.00,0.000,4,0.000,0.113,2211,1307,3079
$GC,6633,-2.26,-67.0,688.2,-10.1,682,6640,0.00,2.12,0.00,0.000,6,0.000,0.097,2211,2381,3079
$GC,6949,-2.26,-67.0,719.5,-9.8,698,6953,0.00,2.25,0.00,0.000,4,0.000,0.132,2211,1299,3077
$GC,7020,-2.26,-67.0,726.4,-9.4,701,7024,0.00,1.90,0.00,0.000,6,0.000,0.032,2211,2403,3077
$GC,7341,-2.26,-67.0,756.5,-9.4,717,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2403,3076
$GC,7650,-2.26,-67.0,785.3,-9.3,732,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2403,3075
$GC,7960,-2.26,-67.0,812.9,-9.0,747,7963,0.00,1.95,0.00,0.000,4,0.000,0.048,2211,1293,3074
$GC,8020,-2.26,-67.0,818.6,-9.7,749,8026,0.00,1.90,0.00,0.000,6,0.000,0.035,2211,2397,3074
$GC,8335,-2.26,-67.0,847.5,-9.4,765,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2396,3073
$GC,8646,-2.28,-67.0,876.7,-9.5,780,8649,0.00,1.92,0.00,0.000,4,0.000,0.058,2211,1306,3072
$GC,8717,-2.28,-67.0,883.6,-9.5,783,8721,0.00,1.88,0.00,0.000,6,0.000,0.035,2211,2389,3072
$GC,9044,-2.30,-67.0,913.5,-8.9,799,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2389,3071
$GC,9356,-2.30,-67.0,940.3,-8.8,814,9359,0.00,1.92,0.00,0.000,4,0.000,0.049,2210,1298,3070
$GC,9469,-2.33,-67.0,950.2,-8.6,819,9473,0.00,1.88,0.00,0.000,6,0.000,0.036,2211,2394,3070
$GC,9801,-2.35,-67.0,978.1,-8.1,835,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2394,3068
$STATE,9966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9966,begin apogee
$GC,9971,-0.51,0.0,991.5,8.1,843,10029,1.85,0.00,53.33,1.444,6,0.104,0.000,2595,1983,2825
$STATE,10030,end apogee,CONTROL_FINISHED_OK
$STATE,10030,begin climb
$GC,10032,2.33,67.0,992.8,0.0,846,10102,2.83,2.05,60.00,1.407,4,0.067,0.065,3224,917,2551
$GC,10161,2.30,88.0,987.5,6.0,852,10186,0.00,1.85,19.73,1.341,6,0.000,0.034,3224,1988,2466
$GC,10515,2.25,90.7,959.9,7.7,869,10517,0.12,0.00,0.00,0.000,6,0.118,0.000,3202,1988,2463
$GC,10823,2.23,98.5,936.8,7.2,884,10838,0.00,2.00,10.32,1.266,4,0.000,0.064,3201,917,2422
$GC,10979,2.19,100.1,924.4,7.8,890,10982,0.00,1.80,0.00,0.000,6,0.000,0.033,3202,1963,2421
$GC,11307,2.17,100.1,899.1,8.0,906,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1964,2420
$GC,11615,2.14,100.1,874.3,8.5,921,11619,0.12,1.92,0.00,0.000,4,0.120,0.058,3179,906,2420
$GC,11799,2.13,108.3,859.7,7.2,929,11816,0.00,1.80,9.77,1.243,6,0.000,0.033,3179,1944,2383
$GC,12124,2.13,108.3,832.9,8.8,945,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1944,2381
$GC,12434,2.13,108.3,807.1,8.3,960,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1944,2381
$GC,12742,2.13,108.3,782.8,8.2,975,12746,0.00,1.88,0.00,0.000,4,0.000,0.059,3179,912,2380
$GC,12872,2.14,110.6,772.8,7.8,980,12878,0.00,1.75,0.00,0.000,6,0.000,0.032,3179,1945,2381
$GC,13187,2.14,113.9,748.5,7.7,996,13195,0.00,0.00,6.20,1.071,6,0.000,0.000,3179,1946,2360
$GC,13496,2.14,115.1,723.5,7.9,1011,13500,0.00,1.85,0.00,0.000,4,0.000,0.050,3179,3010,2360
$GC,13670,2.14,115.1,708.8,8.3,1018,13676,0.00,1.80,0.00,0.000,6,0.000,0.038,3179,1958,2359
$GC,13985,2.14,115.1,682.6,8.2,1034,13988,0.00,1.88,0.00,0.000,4,0.000,0.063,3179,912,2359
$GC,14142,2.14,115.1,669.5,8.3,1041,14146,0.00,1.80,0.00,0.000,6,0.000,0.032,3179,1974,2359
$GC,14473,2.16,123.6,644.6,7.2,1057,14485,0.00,0.00,10.02,1.143,6,0.000,0.000,3179,1974,2320
$GC,14783,2.16,123.6,619.5,8.4,1072,14786,0.00,1.92,0.00,0.000,4,0.000,0.058,3178,912,2319
$GC,14854,2.16,123.6,613.2,8.2,1075,14858,0.00,1.83,0.00,0.000,6,0.000,0.031,3179,1972,2319
$GC,15181,2.17,128.2,587.4,7.6,1091,15189,0.00,0.00,5.68,0.956,6,0.000,0.000,3179,1972,2302
$GC,15490,2.17,128.2,562.7,8.3,1106,15491,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1972,2302
$GC,15800,2.17,128.2,536.9,8.2,1121,15803,0.00,1.92,0.00,0.000,4,0.000,0.058,3179,904,2302
$GC,15871,2.17,128.2,530.9,8.1,1124,15875,0.00,1.83,0.00,0.000,6,0.000,0.031,3179,1969,2302
$GC,16199,2.18,134.5,506.6,7.4,1140,16207,0.00,0.00,7.15,0.982,6,0.000,0.000,3179,1969,2276
$GC,16514,2.19,142.6,482.6,7.2,1165,16528,0.00,1.85,8.82,1.016,4,0.000,0.047,3179,3003,2243
$GC,16572,2.19,142.6,477.8,9.2,1170,16579,0.00,1.85,0.00,0.000,6,0.000,0.036,3179,1948,2242
$GC,16899,2.19,143.3,451.2,7.9,1201,16900,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1948,2242
$GC,17217,2.19,143.3,425.0,8.2,1231,17221,0.00,1.85,0.00,0.000,4,0.000,0.061,3179,911,2243
$GC,17341,2.22,158.7,415.0,6.5,1242,17362,0.00,1.77,14.95,1.036,6,0.000,0.031,3179,1965,2178
$GC,17680,2.22,163.3,387.8,7.6,1274,17690,0.00,0.00,5.53,0.831,6,0.000,0.000,3179,1966,2159
$GC,18009,2.22,163.3,360.3,8.3,1305,18010,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1966,2159
$GC,18329,2.25,165.9,334.1,7.7,1335,18340,0.00,1.95,4.30,0.707,4,0.000,0.056,3179,909,2148
$GC,18412,2.25,165.9,326.6,8.4,1342,18419,0.00,1.77,0.00,0.000,6,0.000,0.030,3179,1949,2148
$GC,18739,2.28,172.0,301.1,7.4,1373,18752,0.12,1.90,6.93,0.840,4,0.072,0.044,3212,3015,2124
$GC,18842,2.28,172.0,291.5,9.4,1382,18845,0.00,1.80,0.00,0.000,6,0.000,0.034,3212,1957,2123
$GC,19171,2.28,172.0,262.6,8.6,1413,19175,0.00,1.83,0.00,0.000,4,0.000,0.042,3212,3013,2123
$GC,19329,2.28,172.0,249.0,8.2,1428,19336,0.00,1.80,0.00,0.000,6,0.000,0.032,3213,1965,2123
$GC,19672,2.28,172.0,218.2,8.9,1489,19678,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1965,2123
$GC,20016,2.29,176.4,190.8,7.6,1550,20028,0.00,1.83,5.82,0.719,4,0.000,0.039,3212,3017,2104
$GC,20124,2.29,176.4,181.6,8.5,1569,20130,0.00,1.77,0.00,0.000,6,0.000,0.031,3212,1966,2104
$GC,20467,2.38,215.2,159.0,4.3,1630,20506,0.00,1.90,33.10,0.845,4,0.000,0.052,3212,912,1947
$GC,20616,2.41,223.8,149.6,7.2,1656,20634,0.08,1.75,8.50,0.742,6,0.058,0.026,3242,1954,1912
$GC,20974,2.47,243.8,123.7,6.1,1719,20996,0.00,0.00,17.60,0.780,6,0.000,0.000,3242,1954,1831
$GC,21336,2.53,256.9,99.6,6.7,1783,21352,0.00,0.00,12.20,0.726,6,0.000,0.000,3242,1954,1776
$GC,21691,2.61,276.3,75.5,6.1,1846,21714,0.15,1.77,17.27,0.713,4,0.057,0.035,3293,2998,1697
$GC,21867,2.61,277.6,61.1,7.9,1877,21873,0.00,1.75,0.00,0.000,6,0.000,0.027,3293,1938,1697
$GC,22210,2.67,292.9,36.7,6.5,1938,22233,0.00,1.85,14.80,0.663,4,0.000,0.035,3293,2998,1631
$GC,22379,2.71,303.4,25.5,7.0,1968,22397,0.00,1.70,10.15,0.622,6,0.000,0.025,3293,1977,1587
$STATE,22711,end climb,SURFACE_DEPTH_REACHED
$STATE,22711,begin surface coast
$FINISH,0.2,1.021127
$STATE,22741,end surface coast,CONTROL_FINISHED_OK
$STATE,22741,begin surface
$SM_CCo,22762,122.18,0.630,0,0,786,500.17
$SM_GC,-5.99,0.00,0.00,122.18,0.000,0.000,0.630,415,2341,786,-10.55,0.45,500.17
$IRIDIUM_FIX,1241.04,12029.39,120697,000036
$TT8_MAMPS,0.025311
$HUMID,1733
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.70
$XPDR_PINGS,383
$24V_AH,23.1,21.671
$10V_AH,10.2,17.646
$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,28.225,119.325,342.175,122.175,0.000,22.584,31.078,197.289,108.250,0.000,0.000,15.439,3340.394,15054.854,597.873,3698.587,589.490,0.000,2313.398,0.000,3647.116,0.000,91.821
$DEVICE_MAMPS,173.342,131.924,1444.261,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1381.555,811.574,764.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110586,2032
$CAP_FILE_SIZE,201475,0
$CFSIZE,260165632,244961280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180308,132437,1249.125,12033.873,29,1.0,29,-0.8