version: 66.03
glider: 126
mission: 7
dive: 147
start: 3 18 108 13 32 0
data:
$ID,126
$MISSION,7
$DIVE,147
$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,-622246.38
$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
$GPS1,132437,1249.125,12033.873,29,1.0,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.86
$_SM_ANGLEo,-57.9
$GPS2,133109,1249.146,12033.904,15,1.1,15,-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,80.5,16233,-22.0,-7.990
$D_GRID,1474
$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,18,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,-66.25,0.000,6,0.000,0.000,416,2342,3102
$GC,92,-2.33,-67.0,0.1,-16.5,13,109,10.15,1.83,0.00,0.000,4,0.175,0.033,2194,1269,3104
$GC,263,-2.22,-67.0,43.4,-20.7,43,269,0.17,1.70,0.00,0.000,6,0.126,0.024,2226,2327,3104
$GC,607,-2.16,-67.0,103.9,-16.0,104,613,0.00,1.77,0.00,0.000,4,0.000,0.038,2226,3369,3106
$GC,720,-2.09,-67.0,122.1,-16.0,124,727,0.10,1.67,0.00,0.000,6,0.110,0.023,2249,2326,3107
$GC,1065,-2.09,-67.0,165.6,-11.4,185,1071,0.00,1.70,0.00,0.000,4,0.000,0.036,2249,1301,3108
$GC,1101,-2.09,-67.0,169.6,-11.7,191,1107,0.00,1.73,0.00,0.000,6,0.000,0.025,2249,2361,3107
$GC,1444,-2.09,-67.0,205.3,-9.6,252,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2361,3109
$GC,1789,-2.09,-67.0,239.6,-9.5,313,1795,0.00,1.73,0.00,0.000,4,0.000,0.046,2249,3373,3109
$GC,1857,-2.09,-67.0,246.7,-10.4,325,1863,0.00,1.62,0.00,0.000,6,0.000,0.027,2249,2362,3108
$GC,2189,-2.12,-67.0,278.9,-9.6,359,2192,0.00,1.75,0.00,0.000,4,0.000,0.046,2249,3374,3107
$GC,2357,-2.12,-67.0,295.7,-9.6,374,2361,0.00,1.67,0.00,0.000,6,0.000,0.028,2249,2364,3106
$GC,2688,-2.14,-67.0,325.9,-9.6,405,2692,0.00,1.75,0.00,0.000,4,0.000,0.048,2249,3370,3104
$GC,2794,-2.14,-67.0,336.2,-9.3,414,2800,0.00,1.62,0.00,0.000,6,0.000,0.028,2249,2394,3103
$GC,3120,-2.18,-67.0,367.0,-9.3,445,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2394,3101
$GC,3440,-2.21,-67.0,396.8,-9.4,475,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2394,3099
$GC,3755,-2.24,-67.0,426.5,-9.0,505,3757,0.12,0.00,0.00,0.000,6,0.068,0.000,2215,2394,3096
$GC,4076,-2.24,-67.0,458.0,-9.4,535,4080,0.00,1.92,0.00,0.000,4,0.000,0.056,2215,1302,3094
$GC,4177,-2.24,-67.0,468.0,-10.0,544,4180,0.00,1.85,0.00,0.000,6,0.000,0.037,2215,2385,3093
$GC,4509,-2.24,-67.0,500.4,-9.9,575,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2384,3091
$GC,4818,-2.24,-67.0,530.7,-9.9,590,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2384,3089
$GC,5128,-2.24,-67.0,560.9,-9.7,605,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2384,3086
$GC,5436,-2.24,-67.0,590.9,-9.8,620,5440,0.00,2.03,0.00,0.000,4,0.000,0.076,2214,1299,3085
$GC,5476,-2.24,-67.0,595.0,-10.4,621,5482,0.00,1.90,0.00,0.000,6,0.000,0.061,2214,2354,3085
$GC,5791,-2.24,-67.0,626.1,-9.7,637,5795,0.00,1.98,0.00,0.000,4,0.000,0.100,2215,3389,3083
$GC,5851,-2.24,-67.0,632.1,-9.6,639,5858,0.00,1.83,0.00,0.000,6,0.000,0.070,2215,2423,3083
$GC,6168,-2.24,-67.0,660.9,-9.0,655,6172,0.00,2.15,0.00,0.000,4,0.000,0.104,2214,1315,3081
$GC,6229,-2.24,-67.0,666.8,-9.7,658,6233,0.00,2.00,0.00,0.000,6,0.000,0.087,2214,2366,3081
$GC,6560,-2.24,-67.0,698.0,-9.5,674,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2366,3079
$GC,6869,-2.24,-67.0,726.4,-8.9,689,6873,0.00,2.22,0.00,0.000,4,0.000,0.135,2214,1316,3077
$GC,6952,-2.24,-67.0,734.0,-9.3,692,6959,0.00,1.85,0.00,0.000,6,0.000,0.033,2214,2388,3077
$GC,7270,-2.24,-67.0,760.5,-8.2,708,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2388,3076
$GC,7577,-2.24,-67.0,786.4,-8.7,723,7581,0.00,1.90,0.00,0.000,4,0.000,0.047,2214,1303,3075
$GC,7736,-2.24,-67.0,800.3,-9.6,730,7739,0.00,1.85,0.00,0.000,6,0.000,0.034,2215,2392,3075
$GC,8072,-2.26,-67.0,830.1,-9.3,746,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2392,3073
$GC,8377,-2.29,-67.0,857.2,-8.6,761,8380,0.00,1.92,0.00,0.000,4,0.000,0.048,2214,1298,3073
$GC,8454,-2.31,-67.0,864.2,-8.9,764,8458,0.00,1.85,0.00,0.000,6,0.000,0.035,2215,2367,3072
$GC,8776,-2.33,-67.0,893.1,-9.0,780,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2367,3072
$GC,9087,-2.36,-67.0,921.2,-9.6,795,9091,0.00,1.88,0.00,0.000,4,0.000,0.049,2215,1299,3071
$GC,9160,-2.38,-67.0,928.3,-9.3,798,9163,0.00,1.80,0.00,0.000,6,0.000,0.035,2214,2355,3070
$GC,9486,-2.40,-67.0,956.8,-8.4,814,9488,0.12,0.00,0.00,0.000,6,0.075,0.000,2185,2354,3069
$GC,9795,-2.40,-67.0,984.5,-8.9,829,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2355,3068
$STATE,9876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9877,begin apogee
$GC,9882,-0.51,0.0,991.6,8.5,833,9940,1.98,0.00,53.72,1.443,6,0.103,0.000,2595,1986,2825
$STATE,9940,end apogee,CONTROL_FINISHED_OK
$STATE,9940,begin climb
$GC,9942,2.33,67.0,993.0,0.0,836,10008,2.85,0.00,60.60,1.411,6,0.063,0.000,3221,1987,2551
$GC,10308,2.31,82.8,972.3,6.5,854,10327,0.00,0.00,14.98,1.329,6,0.000,0.000,3221,1986,2486
$GC,10637,2.27,85.3,947.8,7.8,870,10640,0.00,1.95,0.00,0.000,4,0.000,0.064,3221,915,2485
$GC,10777,2.21,90.0,936.7,7.5,876,10794,0.15,1.83,7.93,1.200,6,0.115,0.033,3194,1982,2457
$GC,11103,2.20,96.6,912.2,7.4,892,11112,0.00,0.00,7.28,1.174,6,0.000,0.000,3194,1982,2431
$GC,11411,2.18,96.6,887.3,8.3,907,11415,0.00,1.95,0.00,0.000,4,0.000,0.059,3193,916,2430
$GC,11501,2.15,103.9,879.7,7.3,911,11515,0.00,1.80,7.97,1.194,6,0.000,0.033,3194,1966,2401
$GC,11832,2.13,103.9,853.3,8.3,927,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1966,2400
$GC,12141,2.13,103.9,828.5,8.1,942,12144,0.00,1.92,0.00,0.000,4,0.000,0.059,3193,909,2400
$GC,12219,2.10,103.9,821.8,8.9,945,12223,0.15,1.80,0.00,0.000,6,0.115,0.033,3165,1962,2400
$GC,12539,2.10,106.2,796.3,7.8,961,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1963,2399
$GC,12850,2.11,110.6,772.5,7.6,976,12859,0.00,0.00,7.40,1.134,6,0.000,0.000,3165,1963,2373
$GC,13157,2.11,112.8,747.9,7.8,991,13161,0.00,1.90,0.00,0.000,4,0.000,0.058,3165,913,2373
$GC,13252,2.12,114.3,740.6,7.8,995,13261,0.00,1.80,5.05,0.976,6,0.000,0.032,3165,1955,2358
$GC,13578,2.12,116.5,715.6,7.8,1011,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1955,2358
$GC,13887,2.13,124.5,692.9,7.2,1026,13899,0.00,0.00,10.50,1.174,6,0.000,0.000,3165,1955,2317
$GC,14196,2.14,125.3,668.6,7.9,1041,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1955,2316
$GC,14505,2.14,130.3,645.3,7.5,1056,14517,0.00,1.90,6.88,1.045,4,0.000,0.048,3165,3004,2293
$GC,14667,2.15,131.3,632.4,7.9,1063,14672,0.00,1.85,0.00,0.000,6,0.000,0.038,3165,1949,2292
$GC,14989,2.16,137.1,608.5,7.4,1079,14998,0.00,0.00,7.55,1.054,6,0.000,0.000,3165,1949,2266
$GC,15298,2.16,141.4,584.8,7.6,1094,15308,0.00,1.90,5.68,0.950,4,0.000,0.061,3165,907,2247
$GC,15370,2.16,141.4,578.8,8.4,1097,15374,0.00,1.83,0.00,0.000,6,0.000,0.031,3165,1982,2247
$GC,15691,2.18,141.4,553.4,8.3,1113,15695,0.00,1.77,0.00,0.000,4,0.000,0.048,3165,3013,2247
$GC,15760,2.18,141.4,547.6,8.4,1116,15763,0.00,1.75,0.00,0.000,6,0.000,0.036,3165,1993,2247
$GC,16092,2.21,144.8,521.6,7.7,1132,16099,0.12,0.00,4.53,0.821,6,0.075,0.000,3198,1993,2234
$GC,16402,2.21,144.8,495.9,8.3,1149,16405,0.00,1.77,0.00,0.000,4,0.000,0.046,3198,3009,2234
$GC,16469,2.22,150.6,490.4,7.4,1155,16480,0.00,1.75,6.85,0.958,6,0.000,0.035,3198,2000,2210
$GC,16798,2.22,150.8,463.5,8.0,1186,16801,0.00,1.95,0.00,0.000,4,0.000,0.061,3198,912,2210
$GC,16914,2.22,150.8,453.7,8.0,1196,16921,0.00,1.88,0.00,0.000,6,0.000,0.030,3198,2005,2210
$GC,17241,2.22,151.9,427.9,7.9,1227,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2006,2210
$GC,17560,2.22,151.9,401.2,8.4,1257,17564,0.00,1.98,0.00,0.000,4,0.000,0.056,3198,906,2210
$GC,17627,2.22,151.9,395.2,8.8,1263,17631,0.00,1.83,0.00,0.000,6,0.000,0.031,3198,1993,2210
$GC,17957,2.23,158.1,368.3,7.4,1294,17967,0.00,0.00,8.05,0.920,6,0.000,0.000,3198,1994,2180
$GC,18286,2.23,158.1,341.4,8.4,1325,18290,0.00,1.95,0.00,0.000,4,0.000,0.054,3197,904,2180
$GC,18398,2.23,158.1,331.7,8.6,1335,18402,0.00,1.83,0.00,0.000,6,0.000,0.029,3198,1992,2180
$GC,18728,2.23,158.1,306.8,8.0,1366,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1993,2180
$GC,19047,2.24,162.2,282.4,7.6,1396,19059,0.00,1.75,5.40,0.757,4,0.000,0.044,3198,3013,2162
$GC,19093,2.24,163.5,278.5,7.9,1400,19096,0.00,1.77,0.00,0.000,6,0.000,0.032,3198,1966,2162
$GC,19422,2.25,166.1,253.2,7.7,1431,19433,0.00,0.00,5.18,0.728,6,0.000,0.000,3198,1966,2147
$GC,19768,2.26,174.1,226.3,7.2,1488,19780,0.00,1.88,8.27,0.818,4,0.000,0.049,3198,3008,2115
$GC,19967,2.26,174.5,211.0,8.0,1523,19973,0.00,1.75,0.00,0.000,6,0.000,0.031,3198,1969,2115
$GC,20310,2.31,188.4,184.1,6.7,1584,20329,0.00,1.88,13.43,0.837,4,0.000,0.041,3198,3007,2057
$GC,20410,2.35,196.9,177.2,7.2,1601,20428,0.10,1.67,8.80,0.775,6,0.077,0.030,3227,2014,2021
$GC,20768,2.39,224.9,151.1,5.3,1664,20797,0.00,2.03,24.27,0.821,4,0.000,0.058,3227,919,1908
$GC,21050,2.45,245.3,133.6,6.1,1714,21073,0.00,1.83,18.00,0.785,6,0.000,0.026,3227,2010,1824
$GC,21412,2.51,253.9,106.9,7.2,1778,21425,0.12,2.00,8.27,0.692,4,0.066,0.045,3266,912,1790
$GC,21679,2.53,263.1,87.0,7.1,1825,21696,0.00,1.83,9.52,0.686,6,0.000,0.024,3266,2032,1752
$GC,22035,2.61,288.0,62.9,5.6,1888,22063,0.00,1.65,21.62,0.705,4,0.000,0.036,3266,3002,1649
$GC,22317,2.69,308.5,43.6,6.0,1938,22340,0.08,1.58,17.73,0.670,6,0.052,0.025,3301,2053,1567
$GC,22679,2.73,318.4,15.1,7.1,2002,22696,0.00,2.00,9.48,0.604,4,0.000,0.043,3301,916,1527
$GC,22754,2.76,323.6,9.4,7.5,2015,22766,0.00,1.90,6.10,0.539,6,0.000,0.023,3301,2091,1504
$STATE,22837,end climb,SURFACE_DEPTH_REACHED
$STATE,22837,begin surface coast
$FINISH,-0.1,1.021500
$STATE,22863,end surface coast,CONTROL_FINISHED_OK
$STATE,22863,begin surface
$SM_CCo,22884,106.90,0.633,0,0,786,500.17
$SM_GC,-6.04,0.00,0.00,106.90,0.000,0.000,0.633,416,2335,786,-10.55,0.28,500.17
$IRIDIUM_FIX,1243.25,12032.42,120697,070735
$TT8_MAMPS,0.026078
$HUMID,1732
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.60
$XPDR_PINGS,498
$24V_AH,23.1,21.831
$10V_AH,10.2,17.782
$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,28.775,118.850,371.025,106.900,0.000,25.704,37.946,201.946,137.000,0.000,0.000,15.092,3331.363,15263.967,610.171,3603.820,590.303,0.000,2277.939,0.000,3548.388,0.000,93.117
$DEVICE_MAMPS,174.876,134.992,1443.494,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1382.970,799.335,758.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110459,2034
$CAP_FILE_SIZE,203166,0
$CFSIZE,260165632,244862976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180308,195631,1250.517,12035.601,39,1.4,44,-0.8