version: 66.03
glider: 126
mission: 7
dive: 148
start: 3 18 108 20 4 0
data:
$ID,126
$MISSION,7
$DIVE,148
$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,-622264.06
$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,34
$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
$GPS1,195631,1250.517,12035.601,39,1.4,44,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.85
$_SM_ANGLEo,-57.5
$GPS2,200309,1250.527,12035.604,17,1.4,17,-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,89.3,12909,-22.0,-7.990
$D_GRID,1709
$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,-66.60,0.000,6,0.000,0.000,416,2335,3103
$GC,93,-2.33,-67.0,-0.0,-16.4,13,110,10.10,1.83,0.00,0.000,4,0.173,0.033,2196,1261,3104
$GC,284,-2.22,-67.0,47.3,-20.5,47,291,0.15,1.70,0.00,0.000,6,0.120,0.024,2224,2316,3105
$GC,629,-2.16,-67.0,105.2,-15.1,108,636,0.00,1.80,0.00,0.000,4,0.000,0.041,2224,3368,3107
$GC,823,-2.10,-67.0,134.4,-13.8,142,830,0.10,1.73,0.00,0.000,6,0.111,0.024,2247,2308,3107
$GC,1168,-2.10,-67.0,174.0,-10.9,203,1174,0.00,1.67,0.00,0.000,4,0.000,0.037,2247,1302,3109
$GC,1370,-2.10,-67.0,195.1,-10.4,239,1376,0.00,1.67,0.00,0.000,6,0.000,0.026,2247,2329,3108
$GC,1712,-2.10,-67.0,228.6,-10.3,300,1719,0.00,1.77,0.00,0.000,4,0.000,0.044,2247,3357,3109
$GC,1845,-2.10,-67.0,241.8,-9.9,323,1851,0.00,1.67,0.00,0.000,6,0.000,0.027,2247,2319,3109
$GC,2179,-2.10,-67.0,274.7,-9.6,362,2182,0.00,1.83,0.00,0.000,4,0.000,0.045,2247,3371,3107
$GC,2347,-2.10,-67.0,291.6,-10.1,377,2351,0.00,1.67,0.00,0.000,6,0.000,0.028,2247,2344,3107
$GC,2679,-2.13,-67.0,323.2,-9.6,408,2682,0.00,1.77,0.00,0.000,4,0.000,0.048,2247,3364,3104
$GC,2802,-2.13,-67.0,335.6,-9.8,419,2806,0.00,1.67,0.00,0.000,6,0.000,0.029,2247,2347,3104
$GC,3133,-2.15,-67.0,366.3,-9.5,450,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2346,3101
$GC,3452,-2.19,-67.0,395.4,-9.4,480,3456,0.00,1.77,0.00,0.000,4,0.000,0.051,2247,3359,3099
$GC,3530,-2.19,-67.0,403.0,-9.6,487,3534,0.00,1.73,0.00,0.000,6,0.000,0.032,2247,2334,3099
$GC,3862,-2.22,-67.0,434.1,-9.1,518,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2333,3097
$GC,4179,-2.25,-67.0,463.2,-9.1,548,4181,0.12,0.00,0.00,0.000,6,0.069,0.000,2214,2334,3094
$GC,4498,-2.25,-67.0,494.6,-9.6,578,4502,0.00,1.90,0.00,0.000,4,0.000,0.065,2214,1277,3092
$GC,4557,-2.25,-67.0,500.3,-10.2,583,4560,0.00,1.80,0.00,0.000,6,0.000,0.041,2214,2324,3092
$GC,4880,-2.25,-67.0,531.7,-9.9,599,4883,0.00,1.88,0.00,0.000,4,0.000,0.064,2214,3376,3090
$GC,5063,-2.25,-67.0,550.5,-9.7,607,5068,0.00,1.80,0.00,0.000,6,0.000,0.041,2214,2356,3089
$GC,5393,-2.25,-67.0,580.9,-9.2,623,5396,0.00,1.98,0.00,0.000,4,0.000,0.074,2214,1271,3086
$GC,5465,-2.25,-67.0,587.8,-9.7,626,5469,0.00,1.92,0.00,0.000,6,0.000,0.058,2214,2331,3086
$GC,5791,-2.25,-67.0,617.5,-9.3,642,5795,0.00,2.00,0.00,0.000,4,0.000,0.090,2214,3378,3084
$GC,5874,-2.25,-67.0,625.3,-9.7,645,5880,0.00,1.95,0.00,0.000,6,0.000,0.067,2214,2340,3084
$GC,6189,-2.25,-67.0,654.1,-9.3,661,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2339,3083
$GC,6499,-2.25,-67.0,681.6,-8.9,676,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2330,3081
$GC,6808,-2.25,-67.0,708.8,-9.0,691,6812,0.00,1.90,0.00,0.000,4,0.000,0.055,2214,3390,3079
$GC,6909,-2.25,-67.0,718.1,-9.3,695,6913,0.00,1.83,0.00,0.000,6,0.000,0.032,2214,2304,3079
$GC,7230,-2.25,-67.0,747.5,-9.0,711,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2304,3077
$GC,7538,-2.25,-67.0,773.7,-8.5,726,7542,0.00,1.95,0.00,0.000,4,0.000,0.057,2214,3383,3076
$GC,7702,-2.25,-67.0,788.3,-9.4,733,7706,0.00,1.75,0.00,0.000,6,0.000,0.033,2214,2346,3076
$GC,8028,-2.25,-67.0,816.6,-9.1,749,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2341,3074
$GC,8338,-2.28,-67.0,844.1,-8.8,764,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2341,3074
$GC,8649,-2.30,-67.0,871.6,-8.9,779,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2341,3073
$GC,8956,-2.32,-67.0,898.5,-8.4,794,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2341,3072
$GC,9266,-2.34,-67.0,925.7,-8.8,809,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2340,3071
$GC,9575,-2.36,-67.0,951.5,-8.5,824,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2340,3070
$GC,9884,-2.39,-67.0,978.2,-8.3,839,9888,0.12,1.90,0.00,0.000,4,0.077,0.055,2183,1283,3069
$GC,9989,-2.39,-67.0,988.0,-8.9,843,9995,0.00,1.85,0.00,0.000,6,0.000,0.036,2183,2348,3069
$STATE,10015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10015,begin apogee
$GC,10020,-0.51,0.0,990.4,9.2,845,10078,2.00,0.00,53.75,1.440,6,0.105,0.000,2597,1954,2825
$STATE,10079,end apogee,CONTROL_FINISHED_OK
$STATE,10079,begin climb
$GC,10081,2.33,67.0,992.0,0.0,848,10147,2.80,0.00,60.12,1.407,6,0.067,0.000,3224,1953,2551
$GC,10453,2.31,84.0,971.7,6.4,866,10475,0.00,1.95,15.95,1.338,4,0.000,0.067,3224,917,2482
$GC,10671,2.25,88.5,955.0,7.6,875,10681,0.08,1.80,5.38,1.050,6,0.110,0.032,3200,1949,2464
$GC,11009,2.22,88.5,929.2,8.2,892,11013,0.00,1.90,0.00,0.000,4,0.000,0.059,3200,912,2463
$GC,11110,2.18,91.6,921.0,7.7,896,11121,0.00,1.75,4.55,0.960,6,0.000,0.031,3200,1919,2451
$GC,11430,2.16,96.0,895.6,7.6,912,11440,0.00,1.90,5.62,1.073,4,0.000,0.048,3199,3009,2432
$GC,11485,2.12,96.0,891.3,8.0,914,11492,0.15,1.90,0.00,0.000,6,0.115,0.038,3172,1913,2432
$GC,11800,2.14,106.5,869.0,7.0,930,11813,0.00,0.00,10.93,1.269,6,0.000,0.000,3172,1913,2390
$GC,12109,2.14,106.5,843.6,8.2,945,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1913,2389
$GC,12418,2.14,106.5,818.3,8.1,960,12422,0.00,1.83,0.00,0.000,4,0.000,0.064,3172,904,2388
$GC,12467,2.14,106.5,814.3,8.5,962,12471,0.00,1.77,0.00,0.000,6,0.000,0.032,3172,1930,2388
$GC,12795,2.14,106.7,789.0,8.0,978,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1930,2388
$GC,13104,2.15,114.4,765.5,7.3,993,13113,0.00,0.00,8.20,1.158,6,0.000,0.000,3172,1930,2358
$GC,13412,2.15,114.4,741.0,8.0,1008,13416,0.00,1.88,0.00,0.000,4,0.000,0.049,3172,3008,2357
$GC,13502,2.15,114.6,733.5,8.0,1012,13506,0.00,1.90,0.00,0.000,6,0.000,0.040,3172,1910,2357
$GC,13834,2.17,126.0,708.2,6.9,1028,13850,0.00,2.05,11.52,1.197,4,0.000,0.048,3172,3016,2311
$GC,13906,2.18,131.4,702.7,7.5,1030,13918,0.00,1.95,6.68,1.057,6,0.000,0.038,3172,1912,2289
$GC,14226,2.18,131.4,675.7,9.1,1046,14229,0.00,1.92,0.00,0.000,4,0.000,0.048,3172,3016,2288
$GC,14293,2.18,131.4,669.6,9.2,1049,14297,0.00,1.90,0.00,0.000,6,0.000,0.038,3172,1919,2288
$GC,14625,2.18,131.4,641.1,8.2,1065,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1919,2288
$GC,14934,2.18,131.4,615.5,8.2,1080,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1919,2287
$GC,15243,2.18,131.4,590.2,8.2,1095,15244,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1919,2287
$GC,15553,2.19,133.5,564.9,7.8,1110,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1919,2287
$GC,15862,2.20,142.9,542.1,7.1,1125,15875,0.00,0.00,11.30,1.088,6,0.000,0.000,3172,1919,2242
$GC,16171,2.20,142.9,517.7,8.0,1140,16172,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1919,2242
$GC,16484,2.20,142.9,492.0,8.9,1159,16488,0.00,1.92,0.00,0.000,4,0.000,0.047,3172,3016,2242
$GC,16578,2.20,142.9,483.2,9.3,1167,16585,0.00,1.90,0.00,0.000,6,0.000,0.036,3172,1926,2241
$GC,16906,2.20,142.9,455.2,9.1,1198,16910,0.00,1.83,0.00,0.000,4,0.000,0.064,3172,908,2242
$GC,17040,2.20,142.9,442.8,8.2,1210,17045,0.00,1.75,0.00,0.000,6,0.000,0.031,3172,1926,2241
$GC,17370,2.20,143.0,415.5,8.0,1241,17374,0.00,1.83,0.00,0.000,4,0.000,0.058,3172,909,2241
$GC,17442,2.20,143.8,409.7,7.9,1247,17448,0.00,1.73,0.00,0.000,6,0.000,0.030,3172,1913,2242
$GC,17771,2.25,156.9,385.8,6.7,1278,17792,0.12,1.90,13.27,1.003,4,0.074,0.057,3205,906,2185
$GC,17815,2.22,156.9,382.0,8.0,1282,17819,0.00,1.70,0.00,0.000,6,0.000,0.030,3205,1902,2185
$GC,18146,2.22,156.9,355.9,8.1,1313,18150,0.00,1.92,0.00,0.000,4,0.000,0.048,3205,3013,2184
$GC,18236,2.22,156.9,348.3,8.5,1321,18239,0.00,1.90,0.00,0.000,6,0.000,0.037,3205,1907,2184
$GC,18568,2.22,156.9,322.1,8.5,1352,18569,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1908,2184
$GC,18884,2.22,156.9,295.4,8.4,1382,18885,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1907,2184
$GC,19203,2.24,166.7,270.6,7.1,1412,19218,0.00,1.98,10.10,0.886,4,0.000,0.044,3205,3020,2144
$GC,19376,2.26,177.0,257.3,7.0,1427,19391,0.00,1.90,10.23,0.871,6,0.000,0.034,3205,1907,2103
$GC,19723,2.26,177.0,228.7,8.5,1480,19729,0.00,1.95,0.00,0.000,4,0.000,0.041,3205,3017,2102
$GC,19808,2.26,177.0,221.7,8.1,1495,19814,0.00,1.85,0.00,0.000,6,0.000,0.031,3205,1924,2102
$GC,20153,2.27,181.6,195.6,7.6,1556,20165,0.00,1.90,5.70,0.710,4,0.000,0.040,3205,3018,2083
$GC,20420,2.28,189.6,176.6,7.2,1603,20433,0.00,1.77,8.35,0.776,6,0.000,0.031,3205,1964,2051
$GC,20774,2.36,222.6,152.6,4.9,1665,20807,0.00,1.95,28.33,0.831,4,0.000,0.054,3205,916,1917
$GC,20954,2.42,237.3,140.0,6.6,1697,20976,0.15,1.75,13.40,0.777,6,0.060,0.026,3248,1974,1857
$GC,21318,2.48,254.9,113.5,6.3,1761,21340,0.00,1.90,15.82,0.759,4,0.000,0.046,3248,916,1783
$GC,21450,2.50,254.9,103.4,8.7,1784,21457,0.00,1.77,0.00,0.000,6,0.000,0.025,3247,1980,1783
$GC,21795,2.57,270.1,77.6,6.6,1845,21817,0.00,1.95,13.57,0.711,4,0.000,0.045,3248,909,1724
$GC,21841,2.63,282.0,74.5,6.9,1853,21859,0.15,1.70,10.88,0.677,6,0.058,0.024,3292,1956,1675
$GC,22198,2.69,300.0,49.1,6.3,1916,22220,0.00,1.75,16.30,0.681,4,0.000,0.035,3292,2989,1601
$GC,22446,2.71,300.9,29.5,7.9,1960,22452,0.00,1.75,0.00,0.000,6,0.000,0.026,3292,1941,1600
$GC,22790,2.77,312.6,4.1,6.9,2021,22807,0.00,1.83,11.90,0.615,4,0.000,0.044,3292,916,1550
$STATE,22822,end climb,SURFACE_DEPTH_REACHED
$STATE,22822,begin surface coast
$FINISH,-0.2,1.021322
$STATE,22858,end surface coast,CONTROL_FINISHED_OK
$STATE,22858,begin surface
$SM_CCo,22881,112.90,0.630,0,0,786,500.17
$SM_GC,-6.06,0.00,0.00,112.90,0.000,0.000,0.630,417,2319,786,-10.55,-0.17,500.17
$IRIDIUM_FIX,1243.25,12039.25,120697,131323
$TT8_MAMPS,0.025311
$HUMID,1719
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,440
$24V_AH,23.1,21.988
$10V_AH,10.2,17.920
$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,28.575,126.225,351.850,112.900,0.000,30.209,31.166,206.736,122.500,0.000,0.000,17.084,3332.775,15189.090,586.320,3654.729,645.922,0.000,2296.259,0.000,3624.544,0.000,91.469
$DEVICE_MAMPS,172.575,89.739,1440.426,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1381.749,806.531,767.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110185,2033
$CAP_FILE_SIZE,204529,0
$CFSIZE,260165632,244756480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190308,022837,1251.097,12037.581,42,1.1,47,-0.8