version: 66.03
glider: 126
mission: 7
dive: 150
start: 3 19 108 9 36 30
data:
$ID,126
$MISSION,7
$DIVE,150
$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,-622294.38
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,091538,1251.701,12039.409,41,1.0,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.62
$_SM_ANGLEo,-56.3
$GPS2,093539,1251.958,12039.439,12,1.3,12,-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,111.9,6409,-22.0,-7.990
$D_GRID,969
$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,-67.0,0.0,0.0,0,96,0.00,0.00,-73.20,0.000,6,0.000,0.000,415,2344,3101
$GC,98,-2.33,-67.0,-0.7,-12.9,14,116,10.02,1.75,0.00,0.000,4,0.170,0.033,2198,3384,3103
$GC,369,-2.21,-67.0,62.6,-19.1,62,376,0.12,1.77,0.00,0.000,6,0.117,0.023,2225,2291,3103
$GC,714,-2.16,-67.0,117.5,-15.3,123,719,0.00,1.85,0.00,0.000,4,0.000,0.038,2225,3383,3104
$GC,967,-2.12,-67.0,152.8,-12.8,168,974,0.08,1.75,0.00,0.000,6,0.114,0.024,2243,2302,3104
$GC,1311,-2.12,-67.0,190.1,-10.4,229,1317,0.00,1.83,0.00,0.000,4,0.000,0.041,2243,3371,3105
$GC,1452,-2.12,-67.0,205.1,-10.9,254,1458,0.00,1.67,0.00,0.000,6,0.000,0.025,2243,2341,3105
$GC,1795,-2.12,-67.0,238.9,-9.8,315,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2340,3104
$GC,2126,-2.12,-67.0,270.9,-9.6,356,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2339,3101
$GC,2443,-2.12,-67.0,302.1,-9.1,386,2446,0.00,1.80,0.00,0.000,4,0.000,0.046,2243,3380,3100
$GC,2544,-2.12,-67.0,311.8,-9.9,395,2547,0.00,1.65,0.00,0.000,6,0.000,0.028,2243,2364,3099
$GC,2875,-2.14,-67.0,341.3,-8.9,426,2878,0.00,1.75,0.00,0.000,4,0.000,0.048,2243,3369,3096
$GC,2924,-2.14,-67.0,346.2,-9.3,430,2931,0.00,1.65,0.00,0.000,6,0.000,0.028,2242,2373,3095
$GC,3251,-2.16,-67.0,375.7,-9.5,461,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2373,3093
$GC,3569,-2.19,-67.0,404.8,-9.0,491,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2372,3091
$GC,3886,-2.22,-67.0,433.8,-9.1,521,3890,0.00,1.88,0.00,0.000,4,0.000,0.051,2244,1293,3088
$GC,3970,-2.24,-67.0,441.9,-9.6,528,3976,0.00,1.80,0.00,0.000,6,0.000,0.034,2243,2343,3086
$GC,4296,-2.27,-67.0,471.9,-9.0,559,4298,0.12,0.00,0.00,0.000,6,0.070,0.000,2211,2344,3084
$GC,4614,-2.27,-67.0,502.7,-9.4,588,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2344,3081
$GC,4924,-2.27,-67.0,531.1,-9.2,603,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2344,3079
$GC,5233,-2.27,-67.0,560.1,-9.1,618,5236,0.00,1.90,0.00,0.000,4,0.000,0.067,2210,1303,3077
$GC,5273,-2.27,-67.0,564.0,-9.5,619,5279,0.00,1.85,0.00,0.000,6,0.000,0.050,2211,2351,3077
$GC,5587,-2.27,-67.0,594.8,-10.0,635,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2351,3075
$GC,5896,-2.27,-67.0,625.0,-10.1,650,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2351,3074
$GC,6206,-2.27,-67.0,655.3,-9.5,665,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2351,3071
$GC,6515,-2.27,-67.0,683.5,-9.0,680,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2351,3070
$GC,6827,-2.27,-67.0,710.1,-8.2,695,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2351,3068
$GC,7133,-2.27,-67.0,738.7,-9.8,710,7137,0.00,2.22,0.00,0.000,4,0.000,0.142,2211,1313,3067
$GC,7182,-2.27,-67.0,743.3,-9.7,712,7187,0.00,2.20,0.00,0.000,6,0.000,0.124,2211,2359,3067
$GC,7504,-2.27,-67.0,772.9,-8.7,728,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2358,3066
$GC,7813,-2.27,-67.0,799.2,-9.0,743,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2358,3065
$GC,8122,-2.27,-67.0,826.3,-8.9,758,8126,0.00,1.90,0.00,0.000,4,0.000,0.050,2211,1301,3063
$GC,8177,-2.27,-67.0,831.6,-9.5,760,8181,0.00,1.90,0.00,0.000,6,0.000,0.034,2211,2403,3063
$STATE,8498,end dive,NO_VERTICAL_VELOCITY
$STATE,8498,begin apogee
$GC,8504,-0.51,0.0,841.5,0.0,776,8559,1.77,0.00,51.03,1.332,6,0.081,0.000,2597,1977,2825
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8560,begin climb
$GC,8562,2.33,67.0,841.4,0.0,779,8627,2.80,0.00,59.25,1.302,6,0.058,0.000,3220,1977,2551
$GC,8928,2.36,98.6,829.0,5.0,797,8962,0.00,1.98,28.33,1.280,4,0.000,0.049,3220,3041,2422
$GC,9038,2.34,106.0,821.7,7.3,802,9052,0.00,1.88,7.68,1.090,6,0.000,0.038,3219,1964,2393
$GC,9369,2.34,117.7,797.2,6.9,818,9382,0.00,0.00,11.65,1.194,6,0.000,0.000,3220,1965,2345
$GC,9677,2.33,125.2,775.5,7.3,833,9687,0.00,0.00,8.07,1.119,6,0.000,0.000,3219,1965,2314
$GC,9986,2.33,125.2,750.5,10.0,848,9989,0.00,1.90,0.00,0.000,4,0.000,0.048,3220,3037,2312
$GC,10087,2.31,125.2,740.6,9.2,852,10091,0.00,1.85,0.00,0.000,6,0.000,0.038,3220,1965,2312
$GC,10408,2.31,125.2,714.4,8.6,868,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1965,2311
$GC,10718,2.31,125.2,685.1,8.8,883,10722,0.00,1.90,0.00,0.000,4,0.000,0.048,3220,3045,2310
$GC,10830,2.29,125.2,675.2,8.3,888,10834,0.00,1.85,0.00,0.000,6,0.000,0.038,3220,1973,2310
$GC,11162,2.29,125.2,646.5,8.8,904,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1974,2310
$GC,11471,2.29,127.4,621.5,7.8,919,11475,0.00,1.88,0.00,0.000,4,0.000,0.048,3219,3040,2310
$GC,11526,2.30,130.3,617.2,7.7,921,11538,0.00,1.85,5.55,0.945,6,0.000,0.037,3220,1983,2293
$GC,11847,2.30,130.3,590.7,8.8,937,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1983,2292
$GC,12156,2.30,130.3,563.2,8.8,952,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1983,2292
$GC,12465,2.30,130.3,536.8,8.3,967,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1983,2292
$GC,12776,2.30,133.9,512.3,7.6,982,12782,0.00,0.00,4.35,0.792,6,0.000,0.000,3219,1983,2279
$GC,13088,2.31,139.4,487.6,7.5,1004,13099,0.00,0.00,6.78,0.956,6,0.000,0.000,3219,1983,2255
$GC,13418,2.31,139.9,461.8,7.9,1035,13422,0.00,1.85,0.00,0.000,4,0.000,0.048,3219,3038,2255
$GC,13501,2.31,140.2,454.7,8.0,1042,13508,0.00,1.83,0.00,0.000,6,0.000,0.038,3220,1995,2255
$GC,13827,2.31,140.2,429.2,8.2,1073,13831,0.00,1.98,0.00,0.000,4,0.000,0.063,3219,909,2255
$GC,13917,2.29,140.2,421.7,8.3,1081,13921,0.00,1.90,0.00,0.000,6,0.000,0.030,3219,2038,2255
$GC,14248,2.29,140.9,395.3,7.9,1112,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2038,2255
$GC,14567,2.31,148.5,371.6,7.3,1142,14578,0.00,0.00,9.07,0.945,6,0.000,0.000,3219,2038,2219
$GC,14894,2.33,160.6,347.7,6.8,1173,14914,0.00,2.12,11.80,0.963,4,0.000,0.054,3220,909,2170
$GC,15106,2.33,160.6,331.1,8.1,1192,15109,0.00,1.92,0.00,0.000,6,0.000,0.030,3219,2050,2170
$GC,15436,2.33,162.1,305.4,7.9,1223,15440,0.00,1.70,0.00,0.000,4,0.000,0.054,3220,3042,2169
$GC,15505,2.35,172.4,300.3,7.0,1229,15521,0.00,1.75,11.45,0.926,6,0.000,0.034,3219,2012,2122
$GC,15840,2.35,176.5,274.5,7.6,1260,15851,0.00,1.83,5.12,0.739,4,0.000,0.051,3219,3049,2105
$GC,15919,2.35,176.5,267.6,8.9,1267,15922,0.00,1.75,0.00,0.000,6,0.000,0.032,3219,2021,2104
$GC,16250,2.36,180.4,241.7,7.6,1307,16261,0.00,0.00,5.15,0.716,6,0.000,0.000,3219,2021,2089
$GC,16599,2.39,188.6,215.5,7.2,1369,16611,0.00,1.85,8.35,0.811,4,0.000,0.043,3220,3042,2056
$GC,16651,2.39,188.6,211.2,8.1,1378,16657,0.00,1.75,0.00,0.000,6,0.000,0.031,3220,2030,2056
$GC,16997,2.42,189.6,183.3,7.9,1439,17003,0.00,1.98,0.00,0.000,4,0.000,0.054,3219,907,2056
$GC,17138,2.43,197.5,171.7,7.2,1464,17156,0.00,1.92,9.35,0.786,6,0.000,0.028,3220,2047,2019
$GC,17495,2.51,218.6,147.4,6.0,1527,17518,0.15,0.00,18.73,0.811,6,0.064,0.000,3266,2048,1933
$GC,17858,2.56,232.7,120.9,6.7,1591,17876,0.00,2.10,12.75,0.761,4,0.000,0.048,3266,907,1876
$GC,17905,2.59,250.2,117.8,6.3,1599,17927,0.00,1.88,16.02,0.752,6,0.000,0.026,3266,2038,1803
$GC,18267,2.67,270.5,94.7,6.1,1663,18291,0.10,2.03,17.73,0.739,4,0.071,0.045,3298,906,1721
$GC,18493,2.69,284.3,80.0,6.7,1703,18510,0.00,1.88,12.23,0.698,6,0.000,0.025,3298,2050,1666
$GC,18849,2.76,302.7,56.3,6.2,1766,18872,0.00,1.70,16.55,0.683,4,0.000,0.037,3298,3049,1590
$GC,19127,2.82,310.1,36.7,7.3,1815,19140,0.12,1.75,7.70,0.597,6,0.061,0.025,3338,1980,1560
$GC,19480,2.84,310.1,7.7,8.4,1877,19485,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1979,1560
$STATE,19562,end climb,SURFACE_DEPTH_REACHED
$STATE,19562,begin surface coast
$FINISH,-0.7,1.021534
$STATE,19597,end surface coast,CONTROL_FINISHED_OK
$STATE,19597,begin surface
$SM_CCo,19618,114.80,0.628,0,0,785,500.17
$SM_GC,-6.01,0.00,0.00,114.80,0.000,0.000,0.628,414,2382,785,-10.56,1.61,500.17
$IRIDIUM_FIX,1247.67,12037.35,130697,090956
$TT8_MAMPS,0.026078
$HUMID,1783
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.80
$XPDR_PINGS,416
$24V_AH,23.2,22.342
$10V_AH,10.2,18.201
$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,27.975,87.050,344.675,114.800,0.000,124.667,239.321,439.785,113.000,0.000,0.000,13.888,3057.215,12940.561,577.028,3222.684,1153.068,0.000,2060.156,0.000,3198.838,0.000,67.222
$DEVICE_MAMPS,169.507,141.895,1332.279,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.219,814.235,778.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104142,1898
$CAP_FILE_SIZE,182168,0
$CFSIZE,260165632,244580352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190308,150637,1251.405,12041.305,38,1.2,38,-0.8