version: 66.03
glider: 126
mission: 7
dive: 24
start: 2 21 108 6 19 14
data:
$ID,126
$MISSION,7
$DIVE,24
$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,330
$T_MISSION,396
$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,475
$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,-620117.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2706
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$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,2300
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,48
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,060826,1259.547,12032.208,41,1.8,41,-0.9
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.12
$_SM_ANGLEo,-53.6
$GPS2,061823,1259.763,12032.091,12,2.2,31,-0.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,TUBILE
$TGT_LATLONG,1312.400,12024.730
$TGT_RADIUS,2000.000
$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,331.3,26905,-23.3,-10.000
$D_GRID,1013
$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,18,-2.46,-86.6,0.0,0.0,0,100,0.00,0.00,-77.75,0.000,6,0.000,0.000,417,2311,3180
$GC,101,-2.46,-86.6,0.4,-20.4,15,119,10.05,1.77,0.00,0.000,4,0.177,0.050,2168,3338,3181
$GC,231,-2.33,-86.6,40.9,-27.4,38,238,0.12,1.75,0.00,0.000,6,0.128,0.025,2194,2277,3182
$GC,575,-2.30,-86.6,112.1,-15.5,99,581,0.00,1.83,0.00,0.000,4,0.000,0.041,2194,3344,3182
$GC,694,-2.26,-86.6,132.3,-17.1,120,700,0.08,1.67,0.00,0.000,6,0.124,0.025,2210,2317,3183
$GC,1038,-2.26,-86.6,180.9,-12.9,181,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2311,3183
$GC,1380,-2.26,-86.6,223.4,-12.7,242,1386,0.00,1.77,0.00,0.000,4,0.000,0.039,2210,1278,3184
$GC,1476,-2.26,-86.6,235.1,-11.6,259,1482,0.00,1.70,0.00,0.000,6,0.000,0.028,2210,2314,3183
$GC,1808,-2.28,-86.6,273.8,-11.8,301,1812,0.00,1.80,0.00,0.000,4,0.000,0.048,2210,3343,3183
$GC,1935,-2.28,-86.6,289.5,-12.1,312,1943,0.00,1.70,0.00,0.000,6,0.000,0.028,2210,2322,3182
$GC,2261,-2.31,-86.6,327.7,-11.2,343,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2316,3181
$GC,2580,-2.35,-86.6,364.5,-11.4,373,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2316,3179
$GC,2900,-2.38,-86.6,399.7,-10.9,403,2902,0.12,0.00,0.00,0.000,6,0.073,0.000,2179,2316,3178
$GC,3216,-2.38,-86.6,437.2,-12.4,433,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2316,3176
$GC,3534,-2.38,-86.6,473.8,-11.2,463,3538,0.00,1.80,0.00,0.000,4,0.000,0.054,2179,3342,3174
$GC,3668,-2.38,-86.6,489.7,-11.6,475,3672,0.00,1.70,0.00,0.000,6,0.000,0.035,2179,2342,3173
$GC,3992,-2.38,-86.6,526.5,-10.8,495,3996,0.00,1.98,0.00,0.000,4,0.000,0.070,2178,1250,3170
$GC,4218,-2.38,-86.6,551.4,-11.8,505,4221,0.00,1.85,0.00,0.000,6,0.000,0.048,2179,2307,3169
$GC,4549,-2.38,-86.6,587.7,-11.1,521,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2307,3167
$GC,4858,-2.38,-86.6,622.9,-11.9,536,4861,0.00,2.00,0.00,0.000,4,0.000,0.094,2179,3354,3165
$GC,4997,-2.38,-86.6,639.6,-12.2,542,5003,0.00,1.98,0.00,0.000,6,0.000,0.077,2179,2322,3164
$GC,5324,-2.41,-91.8,674.1,-9.5,558,5328,0.00,2.15,0.00,0.000,4,0.000,0.116,2178,1238,3162
$GC,5378,-2.43,-91.8,679.6,-10.3,560,5385,0.00,2.08,0.00,0.000,6,0.000,0.095,2179,2289,3162
$GC,5695,-2.48,-105.3,708.4,-8.8,576,5699,0.00,2.22,0.00,0.000,4,0.000,0.135,2179,3362,3160
$GC,5790,-2.49,-110.5,717.6,-9.5,580,5794,0.00,2.15,0.00,0.000,6,0.000,0.117,2178,2315,3160
$GC,6106,-2.52,-117.0,747.7,-9.4,595,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2315,3158
$GC,6414,-2.55,-119.8,777.6,-9.8,610,6419,0.12,2.45,0.00,0.000,4,0.084,0.177,2150,1237,3158
$GC,6468,-2.55,-119.8,783.7,-11.5,612,6475,0.00,2.40,0.00,0.000,6,0.000,0.150,2150,2314,3157
$GC,6783,-2.55,-119.8,818.3,-11.3,628,6787,0.00,2.55,0.00,0.000,4,0.000,0.209,2150,3362,3155
$GC,6942,-2.55,-119.8,836.4,-12.3,635,6946,0.00,2.03,0.00,0.000,6,0.000,0.089,2150,2289,3155
$GC,7274,-2.55,-119.8,875.1,-11.1,651,7278,0.00,1.83,0.00,0.000,4,0.000,0.062,2150,1261,3154
$GC,7409,-2.55,-119.8,889.2,-10.3,657,7413,0.00,1.88,0.00,0.000,6,0.000,0.040,2150,2353,3153
$GC,7741,-2.55,-123.9,922.3,-9.6,673,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2354,3152
$GC,8049,-2.55,-123.9,953.8,-10.4,688,8053,0.00,1.83,0.00,0.000,4,0.000,0.064,2150,3376,3152
$GC,8149,-2.55,-123.9,964.3,-11.0,692,8154,0.00,1.83,0.00,0.000,6,0.000,0.040,2150,2343,3151
$STATE,8386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8386,begin apogee
$GC,8390,-0.50,0.0,991.0,11.7,704,8469,2.20,0.00,69.70,1.451,6,0.117,0.000,2594,1964,2825
$STATE,8469,end apogee,CONTROL_FINISHED_OK
$STATE,8469,begin climb
$GC,8471,2.52,123.9,994.5,0.0,708,8588,3.00,2.00,108.47,1.420,4,0.071,0.057,3258,3041,2319
$GC,8660,2.47,125.1,984.9,9.9,716,8665,0.00,1.95,0.00,0.000,6,0.000,0.046,3258,1966,2316
$GC,8987,2.43,125.1,949.6,11.5,732,8991,0.12,1.98,0.00,0.000,4,0.129,0.076,3236,907,2313
$GC,9069,2.39,125.1,940.3,11.1,735,9076,0.00,1.90,0.00,0.000,6,0.000,0.036,3236,1992,2313
$GC,9385,2.37,125.1,903.8,11.9,751,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1992,2312
$GC,9694,2.35,125.1,869.1,10.6,766,9697,0.00,1.80,0.00,0.000,4,0.000,0.054,3236,3017,2311
$GC,9754,2.31,125.1,862.7,10.6,768,9762,0.10,1.90,0.00,0.000,6,0.120,0.044,3214,1951,2310
$GC,10070,2.31,125.5,832.0,10.0,784,10073,0.00,1.92,0.00,0.000,4,0.000,0.070,3213,912,2310
$GC,10249,2.31,125.5,814.0,10.4,792,10253,0.00,1.77,0.00,0.000,6,0.000,0.035,3214,1950,2309
$GC,10581,2.32,126.9,782.2,9.9,808,10584,0.00,1.88,0.00,0.000,4,0.000,0.054,3213,3019,2308
$GC,10798,2.33,137.1,759.8,9.1,817,10813,0.00,1.88,11.02,1.215,6,0.000,0.044,3213,1964,2266
$GC,11134,2.33,137.1,726.4,10.2,834,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1964,2264
$GC,11444,2.33,137.1,694.1,10.4,849,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1964,2264
$GC,11753,2.33,137.8,663.1,9.9,864,11756,0.00,1.92,0.00,0.000,4,0.000,0.069,3214,902,2264
$GC,11813,2.33,137.8,656.6,11.2,866,11820,0.00,1.85,0.00,0.000,6,0.000,0.035,3213,1974,2263
$GC,12128,2.34,140.5,625.6,9.8,882,12134,0.00,0.00,4.20,0.828,6,0.000,0.000,3213,1974,2252
$GC,12438,2.35,146.3,596.5,9.5,897,12449,0.00,1.90,6.82,1.023,4,0.000,0.051,3213,3018,2228
$GC,12601,2.35,146.3,579.8,10.3,904,12604,0.00,1.85,0.00,0.000,6,0.000,0.042,3213,1955,2227
$GC,12921,2.35,146.3,547.0,10.5,920,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1954,2227
$GC,13230,2.35,146.3,514.8,10.6,935,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1955,2227
$GC,13544,2.36,151.3,483.5,9.6,957,13556,0.00,1.92,5.95,0.913,4,0.000,0.067,3214,904,2207
$GC,13717,2.36,151.3,464.8,11.0,972,13725,0.00,1.85,0.00,0.000,6,0.000,0.032,3213,1981,2208
$GC,14044,2.37,156.9,432.5,9.5,1003,14056,0.00,1.80,6.43,0.910,4,0.000,0.048,3213,3012,2184
$GC,14094,2.37,159.7,427.3,9.8,1007,14104,0.00,1.88,4.22,0.749,6,0.000,0.041,3213,1949,2174
$GC,14429,2.37,159.7,392.0,10.5,1039,14433,0.00,1.88,0.00,0.000,4,0.000,0.054,3213,3015,2173
$GC,14541,2.37,159.7,380.1,10.4,1049,14545,0.00,1.80,0.00,0.000,6,0.000,0.039,3213,1969,2173
$GC,14871,2.38,162.9,348.2,9.7,1080,14881,0.00,0.00,4.80,0.759,6,0.000,0.000,3213,1969,2160
$GC,15202,2.40,175.6,316.9,8.9,1111,15216,0.00,0.00,12.25,0.944,6,0.000,0.000,3213,1968,2109
$GC,15530,2.43,181.8,285.1,9.5,1142,15542,0.10,0.00,7.00,0.828,6,0.085,0.000,3238,1968,2083
$GC,15859,2.43,181.8,250.4,10.3,1173,15860,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1967,2082
$GC,16195,2.43,181.8,215.7,10.3,1232,16201,0.00,1.92,0.00,0.000,4,0.000,0.060,3238,905,2083
$GC,16291,2.45,192.3,206.5,9.1,1249,16308,0.00,1.88,10.30,0.833,6,0.000,0.030,3238,2026,2040
$GC,16645,2.46,196.7,171.9,9.6,1312,16656,0.00,2.03,5.55,0.690,4,0.000,0.054,3238,900,2021
$GC,16894,2.48,209.2,147.3,8.9,1356,16912,0.00,1.85,11.65,0.792,6,0.000,0.029,3239,1998,1972
$GC,17252,2.54,226.7,117.0,8.5,1419,17274,0.00,1.98,16.00,0.779,4,0.000,0.051,3238,904,1900
$GC,17388,2.62,248.7,104.8,8.1,1443,17416,0.17,1.67,19.12,0.768,6,0.064,0.028,3284,1929,1810
$GC,17755,2.73,296.4,79.3,5.9,1508,17800,0.00,1.90,39.15,0.745,4,0.000,0.049,3284,906,1616
$GC,17886,2.81,324.0,69.1,7.6,1531,17914,0.15,1.60,23.30,0.713,6,0.064,0.026,3324,1894,1504
$GC,18252,2.84,324.0,26.4,10.7,1596,18258,0.00,1.88,0.00,0.000,4,0.000,0.042,3324,2984,1501
$GC,18378,2.86,324.0,11.4,13.2,1618,18384,0.00,1.90,0.00,0.000,6,0.000,0.029,3324,1857,1501
$STATE,18461,end climb,SURFACE_DEPTH_REACHED
$STATE,18461,begin surface coast
$FINISH,-0.3,1.021849
$STATE,18479,end surface coast,CONTROL_FINISHED_OK
$STATE,18479,begin surface
$SM_CCo,18499,92.07,0.657,0,0,888,475.15
$SM_GC,-5.26,0.00,0.00,92.07,0.000,0.000,0.657,418,2300,888,-10.52,0.00,475.15
$IRIDIUM_FIX,1252.10,12033.54,170597,010139
$TT8_MAMPS,0.026078
$HUMID,1707
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.10
$XPDR_PINGS,448
$ALTIM_BOTTOM_PING,951.5,77.7
$24V_AH,22.9,3.788
$10V_AH,10.1,2.901
$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,29.125,108.300,365.950,92.075,0.000,25.019,17.398,436.550,124.250,0.000,0.000,32.111,2705.442,11913.360,570.800,3297.798,724.898,0.000,2037.700,0.000,3242.831,0.000,92.954
$DEVICE_MAMPS,177.177,208.624,1451.164,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.207,1406.045,612.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94642,1636
$CAP_FILE_SIZE,178248,0
$CFSIZE,260165632,255315968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,113008,1301.511,12031.185,29,1.6,29,-0.9