version: 66.03
glider: 126
mission: 7
dive: 32
start: 2 23 108 8 51 30
data:
$ID,126
$MISSION,7
$DIVE,32
$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,-620250.81
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,083438,1316.107,12023.088,42,0.9,42,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.72
$_SM_ANGLEo,-57.0
$GPS2,085039,1316.225,12023.046,12,1.7,12,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,CALAVITE
$TGT_LATLONG,1326.020,12016.740
$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,328.8,21403,-22.0,-7.990
$D_GRID,1712
$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,-67.0,0.0,0.0,0,89,0.00,0.00,-65.03,0.000,6,0.000,0.000,416,2330,3101
$GC,91,-2.33,-67.0,0.6,-14.8,13,108,10.20,1.83,0.00,0.000,4,0.176,0.035,2198,1260,3102
$GC,209,-2.21,-67.0,32.6,-22.7,34,216,0.12,1.77,0.00,0.000,6,0.122,0.028,2224,2322,3102
$GC,553,-2.14,-67.0,95.0,-16.1,95,559,0.00,1.80,0.00,0.000,4,0.000,0.043,2224,3382,3103
$GC,644,-2.08,-67.0,110.1,-16.0,111,650,0.15,1.80,0.00,0.000,6,0.123,0.025,2252,2273,3103
$GC,987,-2.08,-67.0,156.0,-13.5,172,993,0.00,1.92,0.00,0.000,4,0.000,0.042,2252,3374,3104
$GC,1101,-2.08,-67.0,170.2,-12.3,192,1107,0.00,1.80,0.00,0.000,6,0.000,0.027,2252,2284,3104
$GC,1445,-2.10,-67.0,208.4,-10.3,253,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2277,3104
$GC,1787,-2.13,-67.0,245.4,-10.2,314,1793,0.00,1.92,0.00,0.000,4,0.000,0.045,2252,3376,3104
$GC,1870,-2.13,-67.0,254.3,-10.2,325,1877,0.00,1.77,0.00,0.000,6,0.000,0.028,2252,2312,3104
$GC,2196,-2.16,-67.0,287.7,-9.9,356,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2306,3102
$GC,2514,-2.19,-67.0,318.6,-9.3,386,2518,0.00,1.85,0.00,0.000,4,0.000,0.048,2252,3372,3101
$GC,2575,-2.22,-67.0,324.9,-10.1,391,2582,0.08,1.77,0.00,0.000,6,0.063,0.031,2225,2319,3100
$GC,2899,-2.22,-67.0,357.4,-10.1,422,2903,0.00,1.85,0.00,0.000,4,0.000,0.049,2225,3375,3098
$GC,2993,-2.22,-67.0,367.3,-10.6,430,3000,0.00,1.77,0.00,0.000,6,0.000,0.032,2225,2330,3097
$GC,3318,-2.22,-67.0,399.8,-9.8,461,3322,0.00,1.83,0.00,0.000,4,0.000,0.051,2225,3371,3095
$GC,3401,-2.22,-67.0,408.2,-9.7,468,3408,0.00,1.77,0.00,0.000,6,0.000,0.034,2225,2333,3094
$GC,3727,-2.24,-67.0,439.1,-9.4,499,3730,0.00,1.83,0.00,0.000,4,0.000,0.051,2225,3371,3092
$GC,3798,-2.24,-67.0,446.4,-9.7,505,3805,0.00,1.77,0.00,0.000,6,0.000,0.035,2225,2340,3092
$GC,4125,-2.24,-67.0,477.6,-9.4,536,4128,0.00,1.83,0.00,0.000,4,0.000,0.054,2225,3370,3089
$GC,4214,-2.24,-67.0,486.5,-9.7,544,4218,0.00,1.75,0.00,0.000,6,0.000,0.035,2225,2361,3089
$GC,4551,-2.26,-67.0,518.1,-9.1,567,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2362,3087
$GC,4860,-2.29,-67.0,545.7,-8.7,582,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2361,3085
$GC,5167,-2.31,-67.0,573.0,-9.0,597,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2361,3083
$GC,5476,-2.34,-67.0,599.6,-8.7,612,5482,0.12,2.00,0.00,0.000,4,0.078,0.082,2194,1282,3081
$GC,5525,-2.34,-67.0,604.5,-9.5,614,5530,0.00,1.95,0.00,0.000,6,0.000,0.064,2194,2345,3081
$GC,5852,-2.34,-67.0,634.5,-9.0,630,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2344,3078
$GC,6162,-2.34,-67.0,660.7,-8.1,645,6166,0.00,2.05,0.00,0.000,4,0.000,0.108,2194,3385,3076
$GC,6244,-2.34,-67.0,667.8,-8.6,648,6251,0.00,1.98,0.00,0.000,6,0.000,0.087,2194,2380,3076
$GC,6560,-2.34,-67.0,693.8,-8.8,664,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2380,3075
$GC,6869,-2.34,-67.0,722.0,-9.3,679,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2380,3074
$GC,7181,-2.34,-67.0,751.3,-9.1,694,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2380,3072
$GC,7488,-2.34,-67.0,778.0,-8.4,709,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2380,3071
$GC,7797,-2.34,-67.0,804.1,-8.5,724,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2372,3070
$GC,8108,-2.34,-69.2,829.3,-7.8,739,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2372,3068
$GC,8416,-2.35,-70.8,853.5,-7.8,754,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2372,3067
$GC,8725,-2.37,-83.5,875.8,-6.8,769,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2372,3066
$GC,9034,-2.37,-83.5,898.8,-8.1,784,9038,0.00,1.83,0.00,0.000,4,0.000,0.061,2194,3392,3066
$GC,9125,-2.37,-83.5,906.3,-8.7,788,9128,0.00,1.80,0.00,0.000,6,0.000,0.041,2194,2353,3066
$GC,9456,-2.37,-83.5,935.7,-8.6,804,9459,0.00,1.92,0.00,0.000,4,0.000,0.065,2194,1271,3064
$GC,9600,-2.37,-87.8,947.8,-7.6,810,9605,0.00,1.92,0.00,0.000,6,0.000,0.042,2194,2371,3064
$GC,9922,-2.39,-98.3,972.5,-7.0,826,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2372,3064
$STATE,10232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10232,begin apogee
$GC,10236,-0.51,0.0,991.1,6.3,841,10292,1.98,0.00,51.70,1.453,6,0.111,0.000,2599,1957,2825
$STATE,10293,end apogee,CONTROL_FINISHED_OK
$STATE,10293,begin climb
$GC,10295,2.39,98.3,991.8,0.0,844,10392,2.95,0.00,87.50,1.422,6,0.077,0.000,3226,1956,2423
$GC,10700,2.34,98.3,955.3,10.6,864,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1956,2419
$GC,11009,2.29,98.3,923.9,10.2,879,11013,0.00,1.95,0.00,0.000,4,0.000,0.075,3226,903,2417
$GC,11148,2.22,98.3,910.0,9.4,885,11153,0.15,1.88,0.00,0.000,6,0.112,0.038,3194,1974,2417
$GC,11474,2.19,98.3,880.3,9.0,901,11478,0.00,1.98,0.00,0.000,4,0.000,0.067,3194,905,2416
$GC,11602,2.15,98.3,868.3,9.0,906,11608,0.00,1.83,0.00,0.000,6,0.000,0.037,3194,1955,2416
$GC,11917,2.13,98.3,839.7,9.1,922,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1955,2415
$GC,12227,2.10,98.3,812.0,8.9,937,12229,0.15,0.00,0.00,0.000,6,0.122,0.000,3167,1956,2415
$GC,12537,2.11,102.5,787.4,7.6,952,12541,0.00,1.92,0.00,0.000,4,0.000,0.066,3167,904,2415
$GC,12631,2.11,102.5,779.7,8.5,956,12636,0.00,1.83,0.00,0.000,6,0.000,0.036,3166,1953,2415
$GC,12958,2.11,102.5,752.9,8.1,972,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1953,2414
$GC,13267,2.12,105.5,728.9,7.7,987,13275,0.00,0.00,5.82,1.017,6,0.000,0.000,3167,1954,2395
$GC,13576,2.12,107.6,705.2,7.8,1002,13582,0.00,0.00,3.85,0.811,6,0.000,0.000,3167,1954,2386
$GC,13886,2.13,113.3,682.2,7.5,1017,13894,0.00,0.00,6.60,1.062,6,0.000,0.000,3166,1954,2363
$GC,14194,2.13,113.3,658.3,8.1,1032,14198,0.00,1.92,0.00,0.000,4,0.000,0.065,3167,905,2363
$GC,14266,2.13,113.3,652.2,8.7,1035,14270,0.00,1.77,0.00,0.000,6,0.000,0.035,3167,1932,2363
$GC,14593,2.13,113.3,625.7,8.1,1051,14596,0.00,1.88,0.00,0.000,4,0.000,0.052,3167,3010,2363
$GC,14782,2.13,113.3,609.6,8.3,1059,14787,0.00,1.90,0.00,0.000,6,0.000,0.044,3167,1938,2363
$GC,15103,2.14,122.0,585.6,7.2,1075,15115,0.00,0.00,9.38,1.092,6,0.000,0.000,3166,1938,2327
$GC,15412,2.15,125.0,562.1,7.7,1090,15418,0.00,0.00,4.28,0.812,6,0.000,0.000,3167,1938,2315
$GC,15722,2.15,125.7,538.2,7.9,1105,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1938,2315
$GC,16031,2.16,130.3,514.2,7.6,1120,16042,0.00,1.95,6.50,0.958,4,0.000,0.068,3167,908,2293
$GC,16192,2.16,130.3,500.6,8.4,1127,16197,0.00,1.80,0.00,0.000,6,0.000,0.034,3167,1948,2293
$GC,16523,2.16,133.8,475.5,7.7,1158,16533,0.00,0.00,4.78,0.825,6,0.000,0.000,3167,1948,2279
$GC,16852,2.17,138.6,449.7,7.5,1189,16863,0.00,0.00,5.97,0.893,6,0.000,0.000,3167,1949,2259
$GC,17181,2.21,147.1,425.3,7.2,1220,17195,0.10,1.90,8.60,0.968,4,0.087,0.049,3191,3005,2225
$GC,17251,2.21,147.1,419.0,9.1,1226,17257,0.00,1.90,0.00,0.000,6,0.000,0.042,3192,1935,2225
$GC,17575,2.21,147.1,391.4,8.2,1257,17576,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1935,2225
$GC,17894,2.21,147.1,364.5,8.7,1287,17895,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1934,2225
$GC,18212,2.21,147.1,337.7,8.1,1317,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1934,2225
$GC,18530,2.21,147.1,310.1,9.0,1347,18534,0.00,1.85,0.00,0.000,4,0.000,0.064,3191,902,2225
$GC,18777,2.22,156.9,289.7,7.1,1369,18791,0.00,1.73,10.10,0.894,6,0.000,0.031,3191,1938,2185
$GC,19117,2.22,158.1,262.9,7.9,1401,19118,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1938,2185
$GC,19444,2.22,158.1,235.8,8.3,1446,19450,0.00,1.85,0.00,0.000,4,0.000,0.047,3191,3002,2185
$GC,19508,2.22,158.1,230.6,8.6,1457,19514,0.00,1.90,0.00,0.000,6,0.000,0.036,3192,1884,2185
$GC,19851,2.26,166.8,205.7,7.2,1518,19868,0.00,0.00,10.18,0.824,6,0.000,0.000,3192,1883,2144
$GC,20207,2.30,175.5,178.4,7.2,1581,20219,0.00,0.00,8.60,0.776,6,0.000,0.000,3191,1883,2109
$GC,20557,2.36,190.7,154.6,6.6,1643,20580,0.15,2.00,14.00,0.802,4,0.069,0.041,3235,3003,2048
$GC,20625,2.38,200.5,149.8,7.1,1655,20642,0.00,1.95,9.70,0.752,6,0.000,0.033,3236,1858,2006
$GC,20981,2.39,210.9,123.1,7.0,1718,20998,0.00,2.05,9.93,0.736,4,0.000,0.041,3236,3012,1965
$GC,21251,2.43,219.3,102.1,7.2,1766,21264,0.00,1.88,8.62,0.694,6,0.000,0.032,3235,1911,1930
$GC,21603,2.50,239.6,80.4,6.1,1828,21626,0.00,1.98,17.75,0.729,4,0.000,0.039,3235,3012,1848
$GC,21711,2.55,247.1,73.2,7.3,1847,21725,0.12,1.83,7.65,0.642,6,0.069,0.030,3272,1919,1816
$GC,22064,2.64,288.3,52.4,4.1,1909,22107,0.00,1.92,34.17,0.699,4,0.000,0.037,3272,3006,1648
$GC,22248,2.67,288.3,38.7,8.1,1942,22254,0.00,1.83,0.00,0.000,6,0.000,0.029,3272,1926,1647
$GC,22593,2.71,288.3,9.7,8.3,2003,22599,0.12,1.73,0.00,0.000,4,0.067,0.046,3310,922,1647
$STATE,22676,end climb,SURFACE_DEPTH_REACHED
$STATE,22676,begin surface coast
$FINISH,-0.4,1.021939
$STATE,22700,end surface coast,CONTROL_FINISHED_OK
$STATE,22701,begin surface
$SM_CCo,22722,112.93,0.640,0,0,887,475.15
$SM_GC,-4.99,0.00,0.00,112.93,0.000,0.000,0.640,414,2331,887,-10.56,0.17,475.15
$IRIDIUM_FIX,1312.02,12024.79,190597,080857
$TT8_MAMPS,0.026078
$HUMID,1667
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,443
$24V_AH,23.1,5.027
$10V_AH,10.1,4.129
$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,29.050,102.100,325.675,112.925,0.000,122.202,208.014,275.428,123.250,0.000,0.000,12.085,3288.706,15529.487,604.488,3535.601,855.614,0.000,2229.171,0.000,3494.006,0.000,91.483
$DEVICE_MAMPS,176.410,108.147,1453.465,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1373.218,798.440,753.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110522,2022
$CAP_FILE_SIZE,200236,0
$CFSIZE,260165632,254484480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230208,151308,1318.390,12022.118,29,1.1,29,-0.9