version: 66.03
glider: 126
mission: 7
dive: 27
start: 2 22 108 0 21 12
data:
$ID,126
$MISSION,7
$DIVE,27
$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,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,-620156.38
$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,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
$GPS1,001407,1305.935,12029.406,29,1.2,29,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.09
$_SM_ANGLEo,-52.9
$GPS2,002021,1306.030,12029.290,13,1.9,13,-0.9
$SPEED_LIMITS,0.138,0.148
$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,326.0,14379,-22.0,-7.990
$D_GRID,1270
$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,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.25,0.000,6,0.000,0.000,418,2326,3100
$GC,92,-2.33,-67.0,0.2,-14.6,13,109,10.18,1.80,0.00,0.000,4,0.176,0.040,2194,3370,3102
$GC,362,-2.19,-67.0,69.0,-23.6,61,369,0.20,1.73,0.00,0.000,6,0.131,0.027,2230,2303,3103
$GC,706,-2.16,-67.0,124.6,-13.4,122,712,0.00,1.85,0.00,0.000,4,0.000,0.041,2231,3366,3104
$GC,964,-2.13,-67.0,161.4,-13.0,168,971,0.00,1.70,0.00,0.000,6,0.000,0.026,2230,2329,3105
$GC,1309,-2.13,-67.0,201.6,-11.1,229,1315,0.00,1.80,0.00,0.000,4,0.000,0.044,2230,3372,3106
$GC,1462,-2.13,-67.0,219.3,-10.9,256,1468,0.00,1.75,0.00,0.000,6,0.000,0.028,2230,2319,3105
$GC,1808,-2.13,-67.0,256.3,-11.2,313,1811,0.00,1.83,0.00,0.000,4,0.000,0.046,2230,3372,3106
$GC,1942,-2.13,-67.0,271.1,-10.2,325,1946,0.00,1.73,0.00,0.000,6,0.000,0.029,2230,2321,3106
$GC,2272,-2.13,-67.0,306.5,-9.8,356,2276,0.00,1.85,0.00,0.000,4,0.000,0.048,2231,3365,3104
$GC,2327,-2.13,-67.0,312.4,-10.9,361,2331,0.00,1.73,0.00,0.000,6,0.000,0.030,2230,2316,3103
$GC,2657,-2.13,-67.0,344.8,-9.9,392,2661,0.00,1.75,0.00,0.000,4,0.000,0.044,2230,1288,3102
$GC,2751,-2.15,-67.0,354.3,-9.9,400,2758,0.00,1.75,0.00,0.000,6,0.000,0.031,2230,2321,3101
$GC,3077,-2.17,-67.0,386.6,-10.2,431,3081,0.00,1.80,0.00,0.000,4,0.000,0.047,2231,1284,3100
$GC,3160,-2.20,-67.0,395.5,-10.8,438,3167,0.00,1.75,0.00,0.000,6,0.000,0.032,2230,2317,3099
$GC,3486,-2.22,-67.0,425.7,-8.9,469,3489,0.00,1.85,0.00,0.000,4,0.000,0.053,2231,3377,3097
$GC,3598,-2.22,-67.0,436.2,-9.1,479,3601,0.00,1.75,0.00,0.000,6,0.000,0.034,2230,2341,3096
$GC,3928,-2.25,-67.0,466.1,-9.3,510,3932,0.00,1.88,0.00,0.000,4,0.000,0.061,2230,1282,3095
$GC,4040,-2.28,-67.0,477.3,-9.8,520,4044,0.00,1.77,0.00,0.000,6,0.000,0.036,2230,2328,3094
$GC,4379,-2.31,-67.0,508.6,-9.3,548,4383,0.10,1.85,0.00,0.000,4,0.082,0.058,2206,3373,3092
$GC,4446,-2.31,-67.0,515.8,-10.8,551,4449,0.00,1.80,0.00,0.000,6,0.000,0.036,2205,2319,3091
$GC,4778,-2.31,-67.0,549.3,-9.9,567,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2318,3089
$GC,5086,-2.31,-67.0,579.8,-9.6,582,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2318,3087
$GC,5396,-2.31,-67.0,606.8,-8.4,597,5400,0.00,1.92,0.00,0.000,4,0.000,0.084,2205,1283,3086
$GC,5463,-2.31,-67.0,612.8,-8.6,600,5467,0.00,1.88,0.00,0.000,6,0.000,0.066,2205,2297,3086
$GC,5795,-2.31,-67.0,640.8,-8.7,616,5798,0.00,2.10,0.00,0.000,4,0.000,0.100,2206,3386,3084
$GC,5862,-2.31,-67.0,647.1,-9.5,619,5866,0.00,2.00,0.00,0.000,6,0.000,0.077,2205,2329,3084
$GC,6194,-2.31,-67.0,678.4,-9.5,635,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2329,3082
$GC,6502,-2.31,-67.0,708.7,-9.7,650,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2329,3080
$GC,6812,-2.31,-67.0,736.9,-8.8,665,6816,0.00,2.28,0.00,0.000,4,0.000,0.143,2205,3383,3079
$GC,6905,-2.31,-67.0,745.5,-9.1,669,6911,0.00,2.30,0.00,0.000,6,0.000,0.130,2205,2310,3078
$GC,7230,-2.31,-70.8,771.6,-7.6,685,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2301,3077
$GC,7536,-2.31,-70.8,797.8,-8.9,700,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2301,3077
$GC,7846,-2.34,-70.8,823.7,-8.7,715,7850,0.00,1.85,0.00,0.000,4,0.000,0.057,2205,1255,3076
$GC,7918,-2.34,-70.8,830.0,-8.2,718,7926,0.00,1.85,0.00,0.000,6,0.000,0.037,2205,2323,3076
$GC,8248,-2.36,-73.1,856.8,-7.8,734,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2323,3074
$GC,8556,-2.37,-80.3,879.7,-7.3,749,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2323,3073
$GC,8866,-2.40,-84.8,902.7,-7.6,764,8869,0.00,1.90,0.00,0.000,4,0.000,0.056,2205,1256,3072
$GC,9004,-2.40,-84.8,914.7,-8.4,770,9009,0.00,1.85,0.00,0.000,6,0.000,0.039,2205,2317,3071
$GC,9333,-2.43,-84.8,941.7,-8.3,786,9334,0.12,0.00,0.00,0.000,6,0.084,0.000,2177,2317,3071
$GC,9641,-2.45,-95.8,966.8,-6.9,801,9645,0.00,1.90,0.00,0.000,4,0.000,0.061,2177,3385,3070
$GC,9718,-2.47,-107.4,972.4,-6.9,804,9723,0.00,1.92,0.00,0.000,6,0.000,0.039,2177,2289,3070
$STATE,9812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9812,begin apogee
$GC,9816,-0.51,0.0,977.5,5.4,809,9874,2.08,0.00,53.25,1.443,6,0.115,0.000,2597,1958,2825
$STATE,9875,end apogee,CONTROL_FINISHED_OK
$STATE,9875,begin climb
$GC,9876,2.40,107.4,976.8,0.0,812,9979,2.95,2.03,94.80,1.414,4,0.071,0.079,3234,908,2386
$GC,10041,2.33,107.4,961.0,12.8,820,10045,0.00,1.85,0.00,0.000,6,0.000,0.037,3234,1971,2383
$GC,10367,2.28,107.4,925.4,10.8,836,10369,0.15,0.00,0.00,0.000,6,0.123,0.000,3208,1972,2381
$GC,10678,2.24,107.4,895.7,9.5,851,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1972,2380
$GC,10986,2.21,107.4,866.9,9.4,866,10989,0.00,1.98,0.00,0.000,4,0.000,0.067,3208,907,2379
$GC,11214,2.17,107.4,845.0,8.8,876,11219,0.10,1.88,0.00,0.000,6,0.117,0.037,3186,1981,2379
$GC,11541,2.17,107.4,817.4,8.9,892,11544,0.00,1.83,0.00,0.000,4,0.000,0.054,3185,3018,2377
$GC,11653,2.14,107.4,807.0,10.0,897,11657,0.00,1.83,0.00,0.000,6,0.000,0.044,3186,1976,2377
$GC,11986,2.14,107.4,778.2,8.5,913,11990,0.00,1.95,0.00,0.000,4,0.000,0.069,3185,906,2377
$GC,12243,2.12,107.4,755.0,9.8,924,12248,0.00,1.88,0.00,0.000,6,0.000,0.035,3185,1989,2377
$GC,12564,2.12,107.4,728.0,8.5,940,12567,0.00,2.00,0.00,0.000,4,0.000,0.065,3185,901,2376
$GC,12669,2.10,107.4,718.8,8.3,944,12676,0.00,1.88,0.00,0.000,6,0.000,0.035,3185,1984,2376
$GC,12984,2.10,107.6,693.5,8.0,960,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1985,2376
$GC,13294,2.10,110.2,669.0,7.7,975,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1985,2376
$GC,13602,2.11,116.5,645.3,7.4,990,13612,0.00,0.00,7.50,1.065,6,0.000,0.000,3185,1985,2349
$GC,13914,2.11,116.5,620.2,8.3,1005,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1986,2349
$GC,14221,2.11,116.5,595.7,8.2,1020,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1987,2349
$GC,14531,2.12,118.5,571.4,7.8,1035,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1986,2349
$GC,14840,2.12,121.9,547.6,7.7,1050,14850,0.00,1.98,6.38,0.971,4,0.000,0.063,3185,913,2327
$GC,14972,2.12,121.9,536.6,8.3,1056,14977,0.00,1.83,0.00,0.000,6,0.000,0.035,3185,1973,2327
$GC,15299,2.12,123.6,510.4,7.8,1072,15303,0.00,1.95,0.00,0.000,4,0.000,0.063,3185,901,2327
$GC,15399,2.12,123.6,502.0,8.3,1076,15403,0.00,1.80,0.00,0.000,6,0.000,0.034,3185,1949,2328
$GC,15729,2.14,133.4,477.6,7.1,1106,15745,0.00,1.88,11.43,1.048,4,0.000,0.051,3185,3007,2280
$GC,15823,2.14,133.4,469.8,8.9,1114,15827,0.00,1.88,0.00,0.000,6,0.000,0.041,3185,1948,2279
$GC,16154,2.15,138.6,443.7,7.5,1145,16165,0.00,1.90,6.40,0.910,4,0.000,0.067,3185,910,2259
$GC,16334,2.16,145.7,429.2,7.3,1161,16346,0.00,1.73,7.28,0.933,6,0.000,0.034,3185,1930,2231
$GC,16663,2.16,145.7,402.7,8.1,1192,16664,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1931,2231
$GC,16981,2.16,145.7,374.4,9.4,1222,16982,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1932,2231
$GC,17301,2.16,145.7,345.1,8.3,1252,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1932,2231
$GC,17619,2.17,150.6,319.7,7.5,1282,17631,0.00,1.88,6.00,0.809,4,0.000,0.060,3185,903,2211
$GC,17788,2.17,150.6,305.5,8.5,1297,17792,0.00,1.70,0.00,0.000,6,0.000,0.031,3186,1923,2211
$GC,18117,2.18,154.7,279.5,7.6,1328,18129,0.00,0.00,5.60,0.766,6,0.000,0.000,3185,1923,2193
$GC,18448,2.20,158.1,255.4,7.7,1359,18459,0.00,1.90,4.40,0.660,4,0.000,0.048,3185,3000,2180
$GC,18713,2.20,158.1,232.9,8.5,1400,18719,0.00,1.90,0.00,0.000,6,0.000,0.037,3185,1905,2180
$GC,19057,2.24,164.9,206.2,7.3,1461,19070,0.00,2.00,7.65,0.783,4,0.000,0.044,3186,3013,2152
$GC,19239,2.27,167.3,192.1,7.8,1493,19250,0.00,1.90,3.90,0.582,6,0.000,0.035,3186,1896,2142
$GC,19589,2.33,182.7,166.9,6.5,1555,19612,0.15,1.83,14.20,0.817,4,0.070,0.058,3228,908,2079
$GC,19657,2.33,182.7,161.0,8.8,1567,19663,0.00,1.67,0.00,0.000,6,0.000,0.029,3228,1922,2079
$GC,20002,2.34,192.2,134.6,7.1,1628,20020,0.00,1.90,9.23,0.744,4,0.000,0.053,3228,898,2041
$GC,20273,2.35,198.2,116.2,7.4,1676,20284,0.00,1.65,6.57,0.672,6,0.000,0.028,3228,1898,2017
$GC,20624,2.42,225.9,96.8,5.4,1738,20653,0.00,1.85,23.83,0.758,4,0.000,0.050,3228,901,1904
$GC,20835,2.47,239.5,81.7,6.7,1775,20852,0.00,1.60,12.40,0.708,6,0.000,0.026,3228,1894,1849
$GC,21189,2.59,278.7,61.9,4.3,1838,21229,0.17,1.90,32.50,0.715,4,0.061,0.038,3280,3004,1687
$GC,21482,2.61,278.7,41.9,8.2,1890,21488,0.00,1.95,0.00,0.000,6,0.000,0.029,3280,1848,1685
$GC,21828,2.65,283.8,15.1,7.5,1951,21840,0.00,1.62,5.43,0.522,4,0.000,0.048,3280,905,1667
$GC,21924,2.67,283.8,7.1,8.4,1968,21930,0.00,1.52,0.00,0.000,6,0.000,0.025,3280,1855,1668
$STATE,21985,end climb,SURFACE_DEPTH_REACHED
$STATE,21985,begin surface coast
$FINISH,-0.2,1.021844
$STATE,22009,end surface coast,CONTROL_FINISHED_OK
$STATE,22009,begin surface
$SM_CCo,22029,116.05,0.644,0,0,888,475.15
$SM_GC,-5.15,0.00,0.00,116.05,0.000,0.000,0.644,414,2323,888,-10.56,-0.06,475.15
$IRIDIUM_FIX,1258.73,12028.61,170597,181836
$TT8_MAMPS,0.026078
$HUMID,1669
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.40
$XPDR_PINGS,619
$ALTIM_BOTTOM_PING,961.0,41.1
$24V_AH,23.1,4.242
$10V_AH,10.1,3.396
$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,28.725,123.550,318.725,116.050,0.000,28.531,20.197,214.429,167.000,0.000,0.000,13.243,3287.731,14262.038,568.867,3873.738,543.571,0.000,2262.059,0.000,3843.208,0.000,91.652
$DEVICE_MAMPS,176.410,143.429,1443.494,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1351.086,1704.841,1310.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113739,1983
$CAP_FILE_SIZE,200585,0
$CFSIZE,260165632,254988288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,063131,1307.984,12028.326,39,1.5,39,-0.9