version: 66.03
glider: 126
mission: 7
dive: 43
start: 2 24 108 5 44 14
data:
$ID,126
$MISSION,7
$DIVE,43
$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,0
$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,250
$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,-620412.19
$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,44
$R_STBD_OVSHOOT,54
$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,100
$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
$GPS1,053607,1325.538,12017.342,33,1.1,33,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.27
$_SM_ANGLEo,-54.6
$GPS2,054333,1325.687,12017.248,15,1.1,15,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,HEADING
$TGT_LATLONG,1321.993,12007.375
$TGT_RADIUS,1852.000
$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,250.9,20000,-22.0,-7.990
$D_GRID,990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-2.33,-67.0,0.0,0.0,0,96,0.00,0.00,-65.57,0.000,6,0.000,0.000,419,2324,3101
$GC,98,-2.33,-67.0,3.5,-16.2,13,115,10.10,1.77,0.00,0.000,4,0.176,0.038,2197,3363,3102
$GC,368,-2.20,-67.0,74.8,-21.2,61,375,0.15,1.70,0.00,0.000,6,0.127,0.025,2225,2301,3102
$GC,711,-2.14,-67.0,136.8,-16.9,122,717,0.00,1.83,0.00,0.000,4,0.000,0.041,2225,3359,3103
$GC,891,-2.08,-67.0,166.3,-16.2,154,898,0.12,1.67,0.00,0.000,6,0.109,0.026,2253,2331,3104
$GC,1236,-2.08,-67.0,209.9,-11.9,215,1243,0.00,1.73,0.00,0.000,4,0.000,0.037,2253,1283,3104
$GC,1275,-2.08,-67.0,214.9,-12.6,222,1282,0.00,1.67,0.00,0.000,6,0.000,0.026,2254,2308,3104
$GC,1615,-2.08,-67.0,254.8,-10.7,279,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2308,3104
$GC,1936,-2.08,-67.0,289.9,-11.5,309,1941,0.00,1.80,0.00,0.000,4,0.000,0.045,2253,3366,3104
$GC,1995,-2.08,-67.0,297.2,-11.4,314,2002,0.00,1.70,0.00,0.000,6,0.000,0.028,2253,2341,3104
$GC,2320,-2.08,-67.0,333.1,-11.1,345,2324,0.00,1.77,0.00,0.000,4,0.000,0.048,2253,3363,3102
$GC,2380,-2.08,-67.0,339.7,-10.5,350,2388,0.00,1.73,0.00,0.000,6,0.000,0.029,2253,2326,3102
$GC,2705,-2.08,-67.0,375.0,-10.9,381,2708,0.00,1.75,0.00,0.000,4,0.000,0.045,2253,1298,3100
$GC,2742,-2.08,-67.0,379.2,-10.6,384,2750,0.00,1.73,0.00,0.000,6,0.000,0.031,2253,2324,3099
$GC,3068,-2.10,-67.0,413.5,-10.6,415,3072,0.00,1.83,0.00,0.000,4,0.000,0.051,2253,3366,3097
$GC,3146,-2.10,-67.0,422.1,-11.1,422,3149,0.00,1.70,0.00,0.000,6,0.000,0.033,2253,2367,3096
$GC,3476,-2.13,-67.0,457.7,-10.9,453,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2367,3094
$GC,3794,-2.15,-67.0,489.2,-10.0,483,3798,0.00,1.92,0.00,0.000,4,0.000,0.063,2254,1279,3093
$GC,3855,-2.18,-67.0,495.1,-9.6,488,3861,0.00,1.83,0.00,0.000,6,0.000,0.037,2253,2340,3092
$GC,4182,-2.21,-67.0,525.7,-9.6,507,4184,0.12,0.00,0.00,0.000,6,0.075,0.000,2221,2340,3089
$GC,4491,-2.21,-67.0,557.1,-10.4,522,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2340,3088
$GC,4800,-2.21,-67.0,587.6,-9.8,537,4804,0.00,1.90,0.00,0.000,4,0.000,0.080,2222,3371,3086
$GC,4877,-2.21,-67.0,595.9,-10.7,540,4882,0.00,1.85,0.00,0.000,6,0.000,0.057,2221,2358,3085
$GC,5198,-2.21,-67.0,629.3,-10.2,556,5202,0.00,1.95,0.00,0.000,4,0.000,0.092,2222,3372,3083
$GC,5252,-2.21,-67.0,634.7,-9.4,558,5257,0.00,1.95,0.00,0.000,6,0.000,0.072,2222,2342,3082
$GC,5573,-2.21,-67.0,665.4,-9.1,574,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2342,3081
$GC,5883,-2.21,-67.0,693.5,-8.8,589,5886,0.00,2.10,0.00,0.000,4,0.000,0.120,2221,3369,3079
$GC,5982,-2.21,-67.0,702.5,-9.6,593,5987,0.00,2.08,0.00,0.000,6,0.000,0.106,2222,2348,3078
$GC,6304,-2.21,-67.0,731.8,-9.5,609,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2348,3077
$GC,6612,-2.21,-67.0,762.1,-10.0,624,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2348,3075
$GC,6924,-2.21,-67.0,790.9,-9.0,639,6928,0.00,2.47,0.00,0.000,4,0.000,0.183,2222,1266,3075
$GC,7009,-2.21,-67.0,799.2,-9.9,643,7013,0.00,2.38,0.00,0.000,6,0.000,0.156,2222,2341,3074
$GC,7334,-2.21,-67.0,829.6,-8.9,659,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2342,3073
$GC,7643,-2.21,-67.0,857.9,-9.5,674,7648,0.00,2.65,0.00,0.000,4,0.000,0.221,2222,3385,3071
$GC,7804,-2.21,-67.0,873.4,-9.5,681,7808,0.00,1.83,0.00,0.000,6,0.000,0.038,2222,2341,3070
$GC,8125,-2.21,-67.0,902.1,-8.9,697,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2341,3069
$GC,8434,-2.21,-67.0,928.7,-8.8,712,8437,0.00,1.88,0.00,0.000,4,0.000,0.061,2222,1276,3068
$GC,8539,-2.21,-67.0,938.1,-8.6,716,8546,0.00,1.95,0.00,0.000,6,0.000,0.041,2222,2396,3068
$GC,8855,-2.21,-67.0,964.7,-9.0,732,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2397,3066
$STATE,9165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9165,begin apogee
$GC,9169,-0.51,0.0,991.2,8.9,747,9225,1.80,0.00,51.92,1.453,6,0.106,0.000,2595,1960,2825
$STATE,9226,end apogee,CONTROL_FINISHED_OK
$STATE,9226,begin climb
$GC,9228,2.33,67.0,992.6,0.0,750,9293,2.88,0.00,59.30,1.414,6,0.073,0.000,3216,1960,2551
$GC,9594,2.34,90.9,973.9,5.7,768,9618,0.00,0.00,21.92,1.369,6,0.000,0.000,3216,1960,2454
$GC,9923,2.33,94.9,949.7,7.6,784,9930,0.00,0.00,4.88,1.001,6,0.000,0.000,3216,1960,2438
$GC,10232,2.31,100.2,926.4,7.5,799,10240,0.00,0.00,6.32,1.125,6,0.000,0.000,3216,1960,2416
$GC,10541,2.31,101.1,902.4,7.9,814,10545,0.00,1.90,0.00,0.000,4,0.000,0.077,3217,914,2415
$GC,10721,2.28,101.1,888.5,8.0,822,10725,0.00,1.85,0.00,0.000,6,0.000,0.036,3216,1996,2415
$GC,11054,2.30,114.2,864.5,6.8,838,11073,0.00,0.00,13.57,1.305,6,0.000,0.000,3216,1996,2359
$GC,11382,2.30,114.2,838.4,8.2,854,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1996,2358
$GC,11691,2.31,120.0,815.2,7.4,869,11700,0.00,0.00,6.60,1.118,6,0.000,0.000,3216,1996,2335
$GC,12000,2.32,123.2,792.2,7.7,884,12007,0.00,0.00,4.43,0.928,6,0.000,0.000,3216,1996,2322
$GC,12310,2.32,123.8,767.5,7.9,899,12313,0.00,1.98,0.00,0.000,4,0.000,0.063,3216,913,2322
$GC,12454,2.29,123.8,755.3,8.7,905,12459,0.00,1.85,0.00,0.000,6,0.000,0.036,3217,1978,2322
$GC,12775,2.29,123.8,729.1,8.4,921,12779,0.00,1.95,0.00,0.000,4,0.000,0.064,3216,910,2321
$GC,12887,2.27,123.8,719.5,8.3,926,12891,0.00,1.80,0.00,0.000,6,0.000,0.037,3217,1964,2321
$GC,13219,2.28,127.7,693.7,7.6,942,13229,0.00,1.95,5.68,1.006,4,0.000,0.064,3216,910,2304
$GC,13340,2.28,127.7,683.0,8.4,947,13347,0.00,1.80,0.00,0.000,6,0.000,0.036,3216,1950,2303
$GC,13655,2.28,127.7,658.0,8.1,963,13659,0.00,1.85,0.00,0.000,4,0.000,0.054,3216,3010,2303
$GC,13744,2.28,127.7,650.5,8.5,967,13748,0.00,1.83,0.00,0.000,6,0.000,0.044,3216,1960,2303
$GC,14075,2.28,127.7,623.8,8.1,983,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1960,2303
$GC,14385,2.28,128.5,598.8,7.9,998,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1960,2303
$GC,14696,2.30,140.3,576.6,6.9,1013,14714,0.00,0.00,12.50,1.130,6,0.000,0.000,3216,1960,2252
$GC,15023,2.31,144.3,551.4,7.6,1029,15030,0.00,0.00,5.05,0.887,6,0.000,0.000,3216,1960,2236
$GC,15332,2.31,147.6,527.0,7.7,1044,15341,0.00,1.98,4.40,0.811,4,0.000,0.070,3216,905,2224
$GC,15533,2.32,152.0,510.5,7.6,1053,15543,0.00,1.83,5.75,0.913,6,0.000,0.035,3216,1979,2205
$GC,15864,2.32,152.8,484.8,7.9,1078,15865,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1979,2205
$GC,16182,2.32,152.8,458.9,8.6,1108,16186,0.00,1.98,0.00,0.000,4,0.000,0.064,3216,911,2205
$GC,16383,2.32,152.8,441.4,8.6,1126,16387,0.00,1.83,0.00,0.000,6,0.000,0.034,3216,1974,2205
$GC,16713,2.33,158.7,413.7,7.4,1157,16723,0.00,0.00,7.55,0.930,6,0.000,0.000,3216,1974,2177
$GC,17043,2.33,159.1,386.3,8.0,1188,17046,0.00,1.95,0.00,0.000,4,0.000,0.063,3216,898,2177
$GC,17222,2.33,159.1,371.7,8.0,1204,17226,0.00,1.83,0.00,0.000,6,0.000,0.034,3216,1980,2177
$GC,17553,2.36,162.5,344.8,7.7,1235,17562,0.00,0.00,5.05,0.768,6,0.000,0.000,3216,1981,2162
$GC,17881,2.40,172.6,319.4,7.0,1266,17893,0.00,0.00,10.23,0.920,6,0.000,0.000,3216,1981,2121
$GC,18209,2.43,172.6,294.0,8.1,1297,18211,0.10,0.00,0.00,0.000,6,0.085,0.000,3243,1981,2121
$GC,18528,2.43,172.6,266.6,9.2,1327,18531,0.00,1.77,0.00,0.000,4,0.000,0.048,3243,3013,2121
$GC,18610,2.43,172.6,259.2,8.5,1334,18617,0.00,1.85,0.00,0.000,6,0.000,0.038,3243,1950,2121
$GC,18946,2.43,172.6,231.4,8.5,1384,18952,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1949,2121
$GC,19290,2.43,172.6,202.1,8.5,1445,19296,0.00,1.85,0.00,0.000,4,0.000,0.061,3243,907,2121
$GC,19504,2.45,183.7,185.3,6.9,1483,19521,0.00,1.75,10.95,0.811,6,0.000,0.031,3243,1967,2076
$GC,19859,2.48,204.1,159.8,6.1,1546,19881,0.00,1.98,18.23,0.821,4,0.000,0.054,3243,913,1992
$GC,20135,2.51,209.2,140.2,7.5,1595,20147,0.00,1.67,5.62,0.656,6,0.000,0.029,3243,1933,1972
$GC,20486,2.60,236.9,116.3,5.4,1657,20515,0.15,1.90,23.85,0.777,4,0.065,0.041,3288,3000,1859
$GC,20672,2.63,252.3,102.7,6.5,1690,20690,0.00,1.80,13.93,0.731,6,0.000,0.031,3287,1940,1796
$GC,21030,2.66,252.3,76.7,8.1,1753,21036,0.00,1.77,0.00,0.000,4,0.000,0.051,3288,918,1794
$GC,21233,2.70,264.7,61.5,6.8,1789,21250,0.00,1.70,11.65,0.676,6,0.000,0.028,3287,1962,1745
$GC,21588,2.79,286.7,36.1,5.9,1852,21617,0.12,1.92,18.75,0.673,4,0.066,0.047,3324,910,1656
$GC,21870,2.82,308.0,15.9,6.0,1902,21892,0.00,1.67,18.45,0.648,6,0.000,0.026,3324,1923,1569
$STATE,22070,end climb,SURFACE_DEPTH_REACHED
$STATE,22070,begin surface coast
$FINISH,-0.4,1.022016
$STATE,22094,end surface coast,CONTROL_FINISHED_OK
$STATE,22094,begin surface
$SM_CCo,22114,102.45,0.634,0,0,887,475.15
$SM_GC,-5.75,0.00,0.00,102.45,0.000,0.000,0.634,415,2316,887,-10.56,-0.25,475.15
$IRIDIUM_FIX,1320.88,12016.02,200597,050515
$TT8_MAMPS,0.026078
$HUMID,1759
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.30
$XPDR_PINGS,410
$24V_AH,23.2,6.167
$10V_AH,10.1,4.754
$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,28.275,106.275,346.575,102.450,0.000,54.628,36.074,204.077,125.000,0.000,0.000,15.510,3207.708,14868.754,594.035,3480.003,541.926,0.000,2194.713,0.000,3432.062,0.000,142.525
$DEVICE_MAMPS,176.410,220.896,1453.465,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1319.796,749.886,715.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104237,1942
$CAP_FILE_SIZE,194880,0
$CFSIZE,260165632,254042112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240208,115537,1326.201,12014.836,32,1.3,32,-0.9