version: 66.03
glider: 126
mission: 7
dive: 149
start: 3 19 108 2 47 49
data:
$ID,126
$MISSION,7
$DIVE,149
$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,548.98138
$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,-622279.88
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,022837,1251.097,12037.581,42,1.1,47,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.60
$_SM_ANGLEo,-57.8
$GPS2,024657,1251.152,12037.487,15,1.4,15,-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,95.7,9538,-22.0,-7.990
$D_GRID,1318
$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,-67.0,0.0,0.0,0,91,0.00,0.00,-66.25,0.000,6,0.000,0.000,417,2321,3102
$GC,93,-2.33,-67.0,0.0,-15.7,13,110,10.02,1.77,0.00,0.000,4,0.170,0.033,2199,1275,3103
$GC,122,-1.76,-67.0,12.5,-39.7,18,129,0.57,1.75,0.00,0.000,6,0.113,0.027,2324,2325,3104
$GC,468,-1.76,-67.0,66.7,-13.9,79,474,0.00,1.77,0.00,0.000,4,0.000,0.043,2324,3373,3105
$GC,597,-1.76,-67.0,85.5,-14.5,102,603,0.00,1.70,0.00,0.000,6,0.000,0.023,2325,2314,3105
$GC,941,-1.80,-67.0,128.0,-11.3,163,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2312,3106
$GC,1284,-1.87,-67.0,162.9,-9.3,224,1290,0.00,1.70,0.00,0.000,4,0.000,0.037,2325,1309,3105
$GC,1318,-1.93,-67.0,166.1,-9.3,230,1326,0.12,1.75,0.00,0.000,6,0.042,0.026,2278,2362,3106
$GC,1663,-1.97,-67.0,200.4,-9.7,291,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2362,3106
$GC,2005,-2.01,-67.0,232.1,-8.9,352,2012,0.00,1.75,0.00,0.000,4,0.000,0.047,2279,3369,3105
$GC,2159,-2.04,-67.0,246.0,-9.0,379,2165,0.00,1.60,0.00,0.000,6,0.000,0.027,2278,2371,3105
$GC,2493,-2.09,-67.0,277.3,-9.1,414,2497,0.12,1.73,0.00,0.000,4,0.062,0.045,2240,3367,3102
$GC,2572,-2.09,-67.0,285.5,-10.7,421,2575,0.00,1.60,0.00,0.000,6,0.000,0.028,2241,2377,3101
$GC,2902,-2.09,-67.0,318.8,-10.4,452,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2374,3099
$GC,3222,-2.12,-67.0,349.6,-9.1,482,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2374,3096
$GC,3539,-2.14,-67.0,380.1,-9.4,512,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2374,3094
$GC,3859,-2.16,-67.0,409.2,-8.6,542,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2374,3092
$GC,4177,-2.20,-67.0,438.1,-9.1,572,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2374,3090
$GC,4495,-2.22,-67.0,467.7,-9.3,602,4498,0.00,1.90,0.00,0.000,4,0.000,0.058,2240,1303,3087
$GC,4607,-2.25,-67.0,477.9,-8.8,612,4611,0.00,1.85,0.00,0.000,6,0.000,0.038,2240,2382,3087
$GC,4947,-2.28,-67.0,507.9,-8.8,640,4951,0.12,1.75,0.00,0.000,4,0.067,0.061,2205,3370,3084
$GC,4995,-2.28,-67.0,512.9,-10.0,642,5000,0.00,1.60,0.00,0.000,6,0.000,0.033,2205,2436,3084
$GC,5322,-2.28,-67.0,544.5,-9.6,658,5326,0.00,2.00,0.00,0.000,4,0.000,0.066,2205,1317,3081
$GC,5395,-2.28,-67.0,551.6,-10.0,661,5399,0.00,1.85,0.00,0.000,6,0.000,0.047,2205,2375,3080
$GC,5721,-2.28,-67.0,583.3,-9.7,677,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2377,3079
$GC,6031,-2.28,-67.0,613.0,-9.4,692,6034,0.00,2.00,0.00,0.000,4,0.000,0.081,2205,1314,3077
$GC,6085,-2.28,-67.0,618.3,-9.2,694,6090,0.00,2.00,0.00,0.000,6,0.000,0.067,2205,2387,3077
$GC,6407,-2.28,-67.0,647.1,-8.8,710,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2388,3075
$GC,6716,-2.28,-67.0,676.3,-9.6,725,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2388,3074
$GC,7025,-2.28,-67.0,706.8,-9.7,740,7029,0.00,2.20,0.00,0.000,4,0.000,0.124,2205,1324,3072
$GC,7113,-2.28,-67.0,715.5,-9.7,744,7117,0.00,2.15,0.00,0.000,6,0.000,0.110,2205,2390,3072
$GC,7440,-2.28,-67.0,746.9,-9.1,760,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2391,3070
$GC,7749,-2.28,-67.0,773.9,-8.7,775,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2391,3068
$GC,8059,-2.28,-67.0,801.1,-9.1,790,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2395,3067
$GC,8370,-2.28,-67.0,830.4,-9.5,805,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2395,3067
$GC,8677,-2.28,-67.0,858.9,-9.0,820,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2395,3066
$GC,8986,-2.28,-67.0,886.9,-9.4,835,8989,0.00,1.92,0.00,0.000,4,0.000,0.053,2205,1310,3065
$GC,9098,-2.28,-67.0,897.3,-9.5,840,9101,0.00,1.88,0.00,0.000,6,0.000,0.037,2205,2402,3064
$GC,9431,-2.28,-67.0,926.6,-8.7,856,9435,0.00,1.95,0.00,0.000,4,0.000,0.052,2205,1303,3063
$GC,9531,-2.28,-67.0,935.6,-8.8,860,9535,0.00,1.88,0.00,0.000,6,0.000,0.038,2205,2382,3063
$GC,9852,-2.28,-67.0,962.8,-8.5,876,9856,0.00,1.90,0.00,0.000,4,0.000,0.053,2205,1315,3063
$GC,9968,-2.28,-67.0,973.2,-9.9,881,9973,0.00,1.85,0.00,0.000,6,0.000,0.038,2205,2374,3062
$STATE,10171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10171,begin apogee
$GC,10176,-0.51,0.0,991.4,8.7,891,10233,1.88,0.00,51.97,1.446,6,0.103,0.000,2596,1991,2825
$STATE,10234,end apogee,CONTROL_FINISHED_OK
$STATE,10234,begin climb
$GC,10236,2.33,67.0,993.2,0.0,894,10306,2.80,2.12,60.17,1.411,4,0.064,0.078,3221,918,2551
$GC,10396,2.29,80.8,986.4,6.7,901,10416,0.00,1.85,13.25,1.302,6,0.000,0.034,3221,1974,2495
$GC,10738,2.24,85.1,961.7,7.6,918,10746,0.12,0.00,5.10,1.022,6,0.118,0.000,3199,1974,2478
$GC,11047,2.22,85.1,937.4,8.0,933,11050,0.00,1.95,0.00,0.000,4,0.000,0.060,3198,913,2478
$GC,11108,2.18,86.8,932.3,7.8,935,11114,0.00,1.83,0.00,0.000,6,0.000,0.032,3199,1963,2477
$GC,11423,2.20,115.9,912.2,5.2,951,11454,0.00,0.00,28.67,1.375,6,0.000,0.000,3198,1963,2352
$GC,11753,2.18,115.9,887.2,8.4,967,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1963,2349
$GC,12061,2.16,115.9,860.9,8.4,982,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1963,2348
$GC,12370,2.16,115.9,833.3,8.9,997,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1963,2348
$GC,12682,2.14,115.9,805.6,9.2,1012,12684,0.12,0.00,0.00,0.000,6,0.116,0.000,3176,1964,2348
$GC,12989,2.14,115.9,776.9,9.3,1027,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1964,2347
$GC,13298,2.14,115.9,750.4,8.6,1042,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1964,2347
$GC,13609,2.14,115.9,722.7,8.8,1057,13610,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1965,2346
$GC,13917,2.14,118.3,697.2,7.8,1072,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1965,2346
$GC,14226,2.14,120.6,672.8,7.8,1087,14233,0.00,0.00,4.68,0.905,6,0.000,0.000,3176,1965,2333
$GC,14535,2.16,130.3,650.8,7.1,1102,14548,0.00,0.00,10.50,1.156,6,0.000,0.000,3176,1965,2292
$GC,14844,2.16,130.3,625.8,8.1,1117,14846,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1966,2292
$GC,15154,2.16,130.3,599.7,8.3,1132,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1967,2291
$GC,15463,2.16,132.0,575.5,7.8,1147,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1968,2291
$GC,15774,2.16,132.7,550.6,7.9,1162,15778,0.00,1.90,0.00,0.000,4,0.000,0.057,3175,907,2291
$GC,15875,2.16,132.7,541.6,8.6,1166,15879,0.00,1.80,0.00,0.000,6,0.000,0.031,3176,1969,2291
$GC,16196,2.17,135.2,515.8,7.8,1182,16203,0.00,0.00,5.70,0.920,6,0.000,0.000,3176,1970,2273
$GC,16508,2.17,135.2,490.2,8.4,1202,16509,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1970,2273
$GC,16826,2.17,135.2,463.9,8.1,1232,16828,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1971,2273
$GC,17147,2.18,139.7,439.4,7.6,1262,17158,0.00,1.92,5.80,0.885,4,0.000,0.055,3175,909,2254
$GC,17337,2.18,139.7,423.4,8.5,1279,17341,0.00,1.77,0.00,0.000,6,0.000,0.031,3175,1961,2254
$GC,17669,2.18,139.9,396.9,8.0,1310,17670,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1962,2254
$GC,17987,2.22,154.2,373.3,6.6,1340,18006,0.00,0.00,13.73,1.002,6,0.000,0.000,3175,1962,2195
$GC,18326,2.26,163.9,348.9,7.1,1372,18341,0.12,1.92,9.77,0.938,4,0.072,0.064,3209,915,2156
$GC,18436,2.26,163.9,339.0,9.3,1382,18440,0.00,1.73,0.00,0.000,6,0.000,0.029,3209,1937,2156
$GC,18767,2.26,163.9,309.9,8.5,1413,18771,0.00,1.83,0.00,0.000,4,0.000,0.044,3209,3006,2155
$GC,18957,2.26,163.9,293.5,8.6,1430,18961,0.00,1.83,0.00,0.000,6,0.000,0.040,3209,1928,2155
$GC,19287,2.26,163.9,266.4,8.2,1461,19288,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1927,2155
$GC,19612,2.26,163.9,239.0,8.2,1502,19618,0.00,1.88,0.00,0.000,4,0.000,0.041,3209,3005,2155
$GC,19844,2.28,175.1,222.6,6.9,1543,19861,0.00,1.83,10.98,0.854,6,0.000,0.031,3209,1920,2110
$GC,20199,2.28,175.1,195.7,8.2,1606,20205,0.00,1.80,0.00,0.000,4,0.000,0.055,3209,914,2110
$GC,20320,2.28,176.2,186.1,7.9,1627,20326,0.00,1.62,0.00,0.000,6,0.000,0.027,3209,1904,2110
$GC,20663,2.34,194.0,162.6,6.3,1688,20687,0.00,1.92,17.05,0.824,4,0.000,0.043,3210,3019,2034
$GC,20851,2.37,200.8,149.8,7.4,1721,20863,0.00,1.92,7.05,0.716,6,0.000,0.031,3209,1879,2006
$GC,21203,2.45,220.9,128.0,6.1,1783,21227,0.15,1.77,18.05,0.785,4,0.061,0.050,3256,910,1924
$GC,21312,2.47,235.1,120.5,6.6,1802,21330,0.00,1.65,13.10,0.747,6,0.000,0.025,3256,1900,1866
$GC,21671,2.54,258.8,96.4,5.8,1865,21693,0.00,0.00,20.40,0.745,6,0.000,0.000,3256,1902,1769
$GC,22032,2.61,279.0,73.4,6.1,1929,22055,0.10,1.95,17.58,0.708,4,0.070,0.035,3290,3015,1687
$GC,22309,2.65,289.1,53.4,7.0,1978,22326,0.00,1.92,9.98,0.646,6,0.000,0.026,3290,1867,1645
$GC,22666,2.70,295.8,27.5,7.4,2041,22678,0.00,2.00,7.00,0.578,4,0.000,0.033,3290,3017,1618
$GC,22932,2.74,302.6,6.7,7.3,2088,22944,0.00,1.88,7.20,0.561,6,0.000,0.025,3290,1893,1591
$STATE,22998,end climb,SURFACE_DEPTH_REACHED
$STATE,22999,begin surface coast
$FINISH,-0.3,1.021610
$STATE,23028,end surface coast,CONTROL_FINISHED_OK
$STATE,23029,begin surface
$SM_CCo,23049,141.95,0.623,0,0,587,548.98
$SM_GC,-6.04,0.00,0.00,141.95,0.000,0.000,0.623,414,2343,587,-10.56,0.51,548.98
$IRIDIUM_FIX,1245.46,12037.35,130697,020242
$TT8_MAMPS,0.026078
$HUMID,1712
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.80
$XPDR_PINGS,487
$24V_AH,23.1,22.167
$10V_AH,10.2,18.067
$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,28.750,93.800,337.725,141.950,0.000,132.968,218.240,347.678,134.250,0.000,0.000,15.189,3407.233,15604.195,588.224,3624.210,1085.370,0.000,2245.843,0.000,3586.267,0.000,91.481
$DEVICE_MAMPS,170.274,124.254,1445.795,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1430.887,872.285,807.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113470,2105
$CAP_FILE_SIZE,205219,0
$CFSIZE,260165632,244633600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190308,091538,1251.701,12039.409,41,1.0,41,-0.8