version: 66.03
glider: 126
mission: 7
dive: 28
start: 2 22 108 6 40 25
data:
$ID,126
$MISSION,7
$DIVE,28
$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,-620173.06
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,063131,1307.984,12028.326,39,1.5,39,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.93
$_SM_ANGLEo,-55.9
$GPS2,063933,1308.108,12028.239,16,1.6,16,-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,322.4,10159,-22.0,-7.990
$D_GRID,1179
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-65.45,0.000,6,0.000,0.000,414,2324,3100
$GC,91,-2.33,-67.0,0.7,-15.3,13,108,10.23,1.83,0.00,0.000,4,0.177,0.034,2198,1254,3102
$GC,226,-2.21,-67.0,38.2,-22.6,37,233,0.15,1.75,0.00,0.000,6,0.136,0.026,2224,2325,3102
$GC,570,-2.16,-67.0,101.4,-16.0,98,576,0.00,1.83,0.00,0.000,4,0.000,0.035,2224,1256,3104
$GC,829,-2.13,-67.0,139.5,-12.4,144,835,0.00,1.85,0.00,0.000,6,0.000,0.027,2224,2365,3104
$GC,1173,-2.13,-67.0,183.1,-12.0,205,1180,0.10,1.88,0.00,0.000,4,0.133,0.035,2242,1253,3105
$GC,1432,-2.13,-67.0,213.8,-11.2,251,1438,0.00,1.83,0.00,0.000,6,0.000,0.028,2242,2359,3105
$GC,1775,-2.13,-67.0,250.2,-10.3,312,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2360,3105
$GC,2093,-2.13,-67.0,283.6,-10.9,342,2097,0.00,1.75,0.00,0.000,4,0.000,0.047,2242,3379,3104
$GC,2187,-2.13,-67.0,294.5,-11.0,350,2195,0.00,1.80,0.00,0.000,6,0.000,0.029,2241,2301,3103
$GC,2513,-2.16,-67.0,326.9,-9.5,381,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2295,3102
$GC,2832,-2.19,-67.0,358.9,-10.0,411,2835,0.00,1.73,0.00,0.000,4,0.000,0.044,2242,1288,3101
$GC,2990,-2.22,-67.0,374.8,-10.2,425,2994,0.00,1.77,0.00,0.000,6,0.000,0.032,2241,2350,3099
$GC,3320,-2.25,-67.0,407.2,-10.0,456,3322,0.10,0.00,0.00,0.000,6,0.080,0.000,2215,2350,3097
$GC,3638,-2.25,-67.0,440.0,-10.1,486,3641,0.00,1.80,0.00,0.000,4,0.000,0.052,2215,3383,3095
$GC,3721,-2.25,-67.0,448.5,-10.3,493,3728,0.00,1.75,0.00,0.000,6,0.000,0.033,2215,2359,3095
$GC,4046,-2.25,-67.0,478.6,-8.7,524,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2358,3093
$GC,4361,-2.25,-67.0,508.1,-9.3,550,4365,0.00,1.83,0.00,0.000,4,0.000,0.058,2215,3367,3091
$GC,4496,-2.25,-67.0,520.9,-9.2,556,4500,0.00,1.70,0.00,0.000,6,0.000,0.035,2215,2370,3090
$GC,4827,-2.25,-67.0,549.7,-8.5,572,4831,0.00,1.83,0.00,0.000,4,0.000,0.065,2216,3373,3088
$GC,4882,-2.25,-67.0,554.5,-9.0,574,4886,0.00,1.75,0.00,0.000,6,0.000,0.040,2215,2376,3087
$GC,5203,-2.25,-67.0,582.5,-8.9,590,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2377,3086
$GC,5513,-2.27,-67.0,609.3,-8.7,605,5516,0.00,2.05,0.00,0.000,4,0.000,0.082,2215,1273,3084
$GC,5664,-2.30,-67.0,623.5,-9.5,611,5670,0.00,2.05,0.00,0.000,6,0.000,0.068,2215,2377,3084
$GC,5980,-2.32,-67.0,650.3,-8.5,627,5984,0.00,1.90,0.00,0.000,4,0.000,0.100,2215,3362,3082
$GC,6159,-2.32,-67.0,666.0,-8.7,635,6163,0.00,1.80,0.00,0.000,6,0.000,0.084,2215,2425,3080
$GC,6492,-2.34,-67.5,692.9,-7.9,651,6496,0.00,2.30,0.00,0.000,4,0.000,0.120,2215,1278,3079
$GC,6671,-2.36,-67.5,707.5,-8.3,659,6675,0.00,2.20,0.00,0.000,6,0.000,0.104,2215,2376,3078
$GC,6998,-2.39,-67.5,733.8,-8.0,675,7003,0.12,2.33,0.00,0.000,4,0.084,0.141,2186,1278,3076
$GC,7070,-2.39,-67.5,740.4,-9.8,678,7074,0.00,2.22,0.00,0.000,6,0.000,0.120,2187,2367,3076
$GC,7390,-2.39,-67.5,767.3,-8.6,694,7394,0.00,2.25,0.00,0.000,4,0.000,0.163,2187,3384,3076
$GC,7416,-2.39,-67.5,769.7,-9.4,695,7421,0.00,2.15,0.00,0.000,6,0.000,0.142,2186,2414,3076
$GC,7738,-2.39,-67.5,797.3,-9.1,711,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2403,3074
$GC,8048,-2.39,-67.5,824.1,-8.6,726,8051,0.00,2.00,0.00,0.000,4,0.000,0.054,2186,1269,3073
$GC,8102,-2.39,-67.5,828.9,-8.6,728,8106,0.00,2.03,0.00,0.000,6,0.000,0.038,2186,2435,3073
$GC,8423,-2.39,-67.5,855.9,-8.3,744,8427,0.00,1.70,0.00,0.000,4,0.000,0.060,2186,3400,3072
$GC,8483,-2.39,-67.5,860.9,-8.1,746,8490,0.00,1.73,0.00,0.000,6,0.000,0.038,2186,2406,3071
$GC,8799,-2.39,-67.5,886.8,-8.2,762,8803,0.00,2.00,0.00,0.000,4,0.000,0.060,2186,1276,3070
$GC,9023,-2.39,-67.5,904.2,-8.3,772,9026,0.00,1.95,0.00,0.000,6,0.000,0.041,2186,2412,3070
$GC,9354,-2.39,-68.4,931.7,-7.9,788,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2412,3069
$GC,9664,-2.40,-71.3,955.2,-7.7,803,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2412,3068
$GC,9973,-2.40,-71.3,982.5,-9.7,818,9976,0.00,2.05,0.00,0.000,4,0.000,0.059,2186,1268,3067
$STATE,10049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10049,begin apogee
$GC,10054,-0.51,0.0,990.3,10.2,821,10111,1.95,0.00,52.67,1.454,6,0.109,0.000,2597,1995,2825
$STATE,10112,end apogee,CONTROL_FINISHED_OK
$STATE,10112,begin climb
$GC,10113,2.34,71.3,991.8,0.0,824,10185,2.85,1.85,63.40,1.418,4,0.073,0.055,3220,3015,2533
$GC,10258,2.31,93.0,986.6,5.9,831,10283,0.00,1.90,20.35,1.353,6,0.000,0.045,3220,1964,2445
$GC,10611,2.26,93.0,952.8,9.9,848,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1965,2441
$GC,10919,2.21,93.0,921.2,10.0,863,10921,0.15,0.00,0.00,0.000,6,0.123,0.000,3193,1965,2440
$GC,11229,2.18,93.0,894.0,8.7,878,11233,0.00,1.88,0.00,0.000,4,0.000,0.052,3193,3021,2440
$GC,11454,2.15,93.0,874.5,8.8,888,11457,0.00,1.88,0.00,0.000,6,0.000,0.044,3193,1954,2440
$GC,11786,2.12,93.0,847.1,8.1,904,11789,0.00,1.92,0.00,0.000,4,0.000,0.072,3193,904,2439
$GC,11863,2.09,93.0,840.4,8.3,907,11868,0.12,1.88,0.00,0.000,6,0.114,0.036,3165,1981,2439
$GC,12184,2.10,100.4,816.7,7.3,923,12195,0.00,1.90,6.70,1.114,4,0.000,0.054,3165,3019,2415
$GC,12404,2.10,101.4,799.6,7.9,933,12407,0.00,1.83,0.00,0.000,6,0.000,0.044,3166,1979,2415
$GC,12736,2.10,104.3,774.7,7.7,949,12742,0.00,0.00,5.15,1.002,6,0.000,0.000,3165,1979,2399
$GC,13044,2.11,105.6,751.1,7.9,964,13048,0.00,1.98,0.00,0.000,4,0.000,0.070,3165,912,2399
$GC,13212,2.11,107.7,737.6,7.8,971,13225,0.00,1.85,4.85,0.960,6,0.000,0.035,3165,1995,2385
$GC,13532,2.13,121.2,715.2,6.7,987,13552,0.00,0.00,13.32,1.226,6,0.000,0.000,3165,1996,2330
$GC,13860,2.13,121.2,689.4,8.0,1003,13861,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1997,2329
$GC,14170,2.14,125.3,665.4,7.6,1018,14177,0.00,0.00,4.97,0.934,6,0.000,0.000,3165,1997,2314
$GC,14479,2.14,125.3,639.7,8.8,1033,14483,0.00,2.03,0.00,0.000,4,0.000,0.065,3165,887,2314
$GC,14557,2.14,125.3,632.8,9.4,1036,14561,0.00,1.83,0.00,0.000,6,0.000,0.034,3165,1965,2314
$GC,14877,2.14,125.3,606.0,8.3,1052,14878,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1965,2314
$GC,15187,2.14,128.2,581.3,7.7,1067,15196,0.00,2.00,4.38,0.834,4,0.000,0.065,3165,904,2302
$GC,15257,2.15,131.5,575.9,7.7,1070,15267,0.00,1.77,4.93,0.890,6,0.000,0.034,3165,1932,2288
$GC,15583,2.15,131.5,550.4,8.6,1086,15587,0.00,1.88,0.00,0.000,4,0.000,0.051,3165,3012,2288
$GC,15628,2.15,131.5,546.6,8.9,1088,15632,0.00,1.92,0.00,0.000,6,0.000,0.043,3165,1908,2288
$GC,15960,2.15,131.5,517.9,8.9,1104,15963,0.00,1.92,0.00,0.000,4,0.000,0.050,3165,3004,2288
$GC,16087,2.15,131.5,506.1,8.5,1109,16094,0.00,1.90,0.00,0.000,6,0.000,0.041,3165,1927,2288
$GC,16410,2.16,136.4,479.8,7.5,1136,16421,0.00,0.00,6.03,0.913,6,0.000,0.000,3165,1927,2268
$GC,16739,2.16,136.4,453.7,8.6,1167,16743,0.00,1.92,0.00,0.000,4,0.000,0.049,3166,3005,2268
$GC,16955,2.16,136.4,435.2,8.5,1186,16963,0.00,1.88,0.00,0.000,6,0.000,0.040,3165,1935,2268
$GC,17281,2.16,136.4,409.9,8.4,1217,17282,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1935,2268
$GC,17601,2.18,137.3,385.0,7.9,1247,17604,0.00,1.85,0.00,0.000,4,0.000,0.067,3165,907,2268
$GC,17678,2.18,137.3,378.6,8.3,1254,17683,0.00,1.75,0.00,0.000,6,0.000,0.032,3165,1934,2268
$GC,18009,2.22,144.6,354.1,7.3,1285,18020,0.12,0.00,8.73,0.920,6,0.081,0.000,3196,1935,2235
$GC,18337,2.22,147.5,327.9,7.7,1316,18347,0.00,0.00,4.03,0.672,6,0.000,0.000,3196,1937,2224
$GC,18665,2.23,150.8,300.4,7.7,1347,18677,0.00,1.90,4.75,0.723,4,0.000,0.049,3196,3018,2210
$GC,18793,2.23,150.8,289.3,9.2,1358,18800,0.00,1.90,0.00,0.000,6,0.000,0.039,3196,1931,2210
$GC,19119,2.25,162.0,264.5,6.9,1389,19132,0.00,0.00,11.07,0.884,6,0.000,0.000,3196,1930,2164
$GC,19454,2.25,162.0,237.4,8.3,1433,19460,0.00,1.83,0.00,0.000,4,0.000,0.061,3196,907,2163
$GC,19512,2.25,162.0,232.6,8.3,1443,19518,0.00,1.77,0.00,0.000,6,0.000,0.030,3196,1974,2164
$GC,19854,2.25,162.0,204.5,8.6,1504,19860,0.00,1.92,0.00,0.000,4,0.000,0.055,3196,911,2164
$GC,19984,2.26,169.8,194.3,7.2,1527,19997,0.00,1.70,8.40,0.785,6,0.000,0.029,3196,1943,2132
$GC,20335,2.31,184.7,168.3,6.6,1589,20352,0.00,0.00,13.80,0.815,6,0.000,0.000,3196,1943,2071
$GC,20691,2.37,195.5,144.9,7.0,1652,20709,0.12,1.85,10.55,0.766,4,0.072,0.043,3230,2996,2026
$GC,20962,2.42,225.7,124.9,5.1,1700,20995,0.00,1.85,25.90,0.791,6,0.000,0.031,3230,1910,1903
$GC,21333,2.48,245.4,95.5,6.1,1766,21355,0.00,0.00,17.05,0.743,6,0.000,0.000,3230,1908,1823
$GC,21692,2.57,265.1,70.0,6.1,1830,21714,0.15,0.00,17.15,0.714,6,0.062,0.000,3276,1908,1743
$GC,22054,2.64,289.9,47.5,5.6,1894,22082,0.00,1.92,21.12,0.690,4,0.000,0.040,3276,2996,1643
$GC,22201,2.67,289.9,36.4,8.5,1920,22207,0.00,1.85,0.00,0.000,6,0.000,0.029,3276,1899,1642
$GC,22547,2.71,293.0,9.4,7.7,1981,22553,0.10,0.00,4.28,0.458,6,0.072,0.000,3308,1897,1630
$STATE,22632,end climb,SURFACE_DEPTH_REACHED
$STATE,22632,begin surface coast
$FINISH,-0.8,1.021819
$STATE,22656,end surface coast,CONTROL_FINISHED_OK
$STATE,22656,begin surface
$SM_CCo,22675,109.90,0.639,0,0,888,475.15
$SM_GC,-5.16,0.00,0.00,109.90,0.000,0.000,0.639,418,2327,888,-10.54,0.08,475.15
$IRIDIUM_FIX,1303.16,12029.73,180597,060655
$TT8_MAMPS,0.026078
$HUMID,1663
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.60
$XPDR_PINGS,471
$24V_AH,23.1,4.395
$10V_AH,10.1,3.580
$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,28.925,125.325,333.575,109.900,0.000,48.027,54.595,207.215,130.250,0.000,0.000,16.055,3326.301,14647.443,571.934,4143.303,595.392,0.000,2331.925,0.000,4111.653,0.000,91.480
$DEVICE_MAMPS,177.177,162.604,1454.232,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1361.684,2206.364,744.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113757,2000
$CAP_FILE_SIZE,207154,0
$CFSIZE,260165632,254877696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220208,130126,1309.631,12026.824,41,1.9,41,-0.9