version: 66.03
glider: 126
mission: 7
dive: 60
start: 2 28 108 18 8 25
data:
$ID,126
$MISSION,7
$DIVE,60
$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,500
$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,-620699.56
$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,43
$R_STBD_OVSHOOT,50
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,175107,1333.753,12014.944,36,1.0,42,-1.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.90
$_SM_ANGLEo,-48.7
$GPS2,180733,1333.772,12014.842,11,1.5,11,-1.0
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,CALAVITE_SB
$TGT_LATLONG,1326.020,12015.240
$TGT_RADIUS,1000.000
$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,178.1,14375,-22.0,-7.990
$D_GRID,1857
$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,-67.0,0.0,0.0,0,100,0.00,0.00,-75.78,0.000,6,0.000,0.000,416,2324,3100
$GC,102,-2.33,-67.0,0.8,-15.0,15,120,10.25,1.77,0.00,0.000,4,0.178,0.031,2196,1270,3101
$GC,373,-2.24,-67.0,65.5,-15.9,63,380,0.12,1.70,0.00,0.000,6,0.137,0.025,2217,2323,3102
$GC,717,-2.19,-67.0,121.4,-14.8,124,723,0.00,1.80,0.00,0.000,4,0.000,0.041,2217,3371,3103
$GC,751,-2.13,-67.0,126.5,-15.1,130,758,0.10,1.67,0.00,0.000,6,0.120,0.025,2240,2333,3103
$GC,1095,-2.13,-67.0,171.8,-12.0,191,1101,0.00,1.77,0.00,0.000,4,0.000,0.042,2240,3368,3103
$GC,1141,-2.10,-67.0,177.2,-12.3,199,1147,0.00,1.60,0.00,0.000,6,0.000,0.025,2240,2348,3103
$GC,1483,-2.10,-67.0,219.0,-11.4,260,1490,0.00,1.77,0.00,0.000,4,0.000,0.044,2240,3366,3103
$GC,1649,-2.10,-67.0,238.1,-11.1,289,1655,0.00,1.60,0.00,0.000,6,0.000,0.028,2240,2360,3103
$GC,1983,-2.10,-67.0,277.1,-11.7,329,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2354,3103
$GC,2302,-2.10,-67.0,314.4,-11.3,359,2306,0.00,1.77,0.00,0.000,4,0.000,0.040,2239,1309,3101
$GC,2396,-2.10,-67.0,325.6,-12.1,367,2403,0.00,1.73,0.00,0.000,6,0.000,0.030,2240,2336,3100
$GC,2722,-2.10,-67.0,362.4,-11.6,398,2725,0.00,1.75,0.00,0.000,4,0.000,0.041,2240,1319,3098
$GC,2788,-2.10,-67.0,370.1,-11.0,404,2792,0.00,1.73,0.00,0.000,6,0.000,0.031,2240,2334,3098
$GC,3118,-2.10,-67.0,406.2,-10.6,435,3122,0.00,1.80,0.00,0.000,4,0.000,0.051,2240,3375,3096
$GC,3178,-2.10,-67.0,412.8,-11.0,440,3185,0.00,1.70,0.00,0.000,6,0.000,0.031,2240,2367,3095
$GC,3504,-2.13,-67.0,446.2,-10.7,471,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2364,3093
$GC,3824,-2.15,-67.0,476.2,-8.9,501,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2363,3091
$GC,4150,-2.18,-67.0,506.3,-9.3,529,4154,0.00,1.80,0.00,0.000,4,0.000,0.058,2240,3373,3089
$GC,4278,-2.18,-67.0,519.1,-10.2,534,4285,0.00,1.77,0.00,0.000,6,0.000,0.036,2240,2356,3088
$GC,4594,-2.21,-67.0,549.8,-10.1,550,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2355,3086
$GC,4903,-2.24,-67.0,578.3,-9.2,565,4907,0.00,1.90,0.00,0.000,4,0.000,0.074,2240,3366,3083
$GC,5031,-2.26,-67.0,590.6,-9.8,570,5038,0.08,1.83,0.00,0.000,6,0.067,0.052,2214,2359,3082
$GC,5346,-2.26,-67.0,619.7,-9.3,586,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2358,3080
$GC,5655,-2.26,-67.0,649.2,-9.7,601,5659,0.00,1.95,0.00,0.000,4,0.000,0.098,2215,3357,3079
$GC,5722,-2.26,-67.0,656.0,-10.4,604,5726,0.00,1.90,0.00,0.000,6,0.000,0.078,2214,2355,3078
$GC,6053,-2.26,-67.0,689.1,-9.9,620,6057,0.00,2.17,0.00,0.000,4,0.000,0.117,2214,1260,3077
$GC,6101,-2.26,-67.0,693.9,-9.8,622,6106,0.00,2.10,0.00,0.000,6,0.000,0.096,2215,2321,3076
$GC,6423,-2.26,-67.0,724.2,-9.1,638,6426,0.00,2.22,0.00,0.000,4,0.000,0.135,2214,3392,3074
$GC,6506,-2.26,-67.0,731.9,-10.0,642,6510,0.00,2.15,0.00,0.000,6,0.000,0.117,2214,2347,3074
$GC,6838,-2.26,-67.4,759.1,-8.0,658,6842,0.00,2.35,0.00,0.000,4,0.000,0.156,2214,1262,3072
$GC,6893,-2.26,-67.4,763.8,-9.2,660,6899,0.00,2.28,0.00,0.000,6,0.000,0.131,2214,2348,3072
$GC,7207,-2.26,-67.4,792.7,-9.4,676,7211,0.00,1.85,0.00,0.000,4,0.000,0.055,2214,3406,3071
$GC,7252,-2.26,-67.4,797.1,-10.0,678,7255,0.00,1.85,0.00,0.000,6,0.000,0.035,2214,2313,3070
$GC,7583,-2.26,-67.4,828.5,-9.6,694,7586,0.00,1.95,0.00,0.000,4,0.000,0.055,2215,3409,3070
$GC,7672,-2.26,-67.4,837.2,-9.7,698,7676,0.00,1.77,0.00,0.000,6,0.000,0.044,2214,2364,3070
$GC,8003,-2.26,-67.4,867.7,-8.8,714,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2363,3069
$GC,8313,-2.26,-67.4,894.5,-8.5,729,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2362,3067
$GC,8623,-2.26,-67.4,919.9,-8.6,744,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2361,3066
$GC,8932,-2.29,-68.7,944.7,-7.9,759,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2362,3065
$GC,9242,-2.31,-68.7,970.4,-8.5,774,9245,0.00,1.88,0.00,0.000,4,0.000,0.059,2215,3406,3064
$GC,9286,-2.31,-68.7,974.5,-9.7,776,9290,0.00,1.77,0.00,0.000,6,0.000,0.036,2214,2364,3064
$STATE,9472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9473,begin apogee
$GC,9477,-0.51,0.0,990.3,8.2,785,9534,1.85,0.00,51.80,1.444,6,0.107,0.000,2597,1965,2825
$STATE,9535,end apogee,CONTROL_FINISHED_OK
$STATE,9535,begin climb
$GC,9537,2.34,68.7,991.7,0.0,788,9604,2.88,0.00,61.50,1.409,6,0.071,0.000,3219,1964,2544
$GC,9903,2.31,79.9,970.3,6.9,806,9916,0.00,0.00,10.75,1.272,6,0.000,0.000,3219,1964,2499
$GC,10212,2.28,82.6,946.7,7.7,821,10218,0.00,0.00,3.92,0.869,6,0.000,0.000,3219,1965,2489
$GC,10522,2.24,84.6,922.8,7.8,836,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1964,2487
$GC,10831,2.23,99.1,900.9,6.6,851,10853,0.12,1.98,16.12,1.329,4,0.123,0.051,3197,3048,2421
$GC,10966,2.21,99.1,890.0,8.8,857,10970,0.00,1.95,0.00,0.000,6,0.000,0.042,3196,1941,2419
$GC,11298,2.21,102.5,864.7,7.7,873,11307,0.00,1.95,4.40,0.937,4,0.000,0.070,3196,908,2407
$GC,11403,2.18,102.5,855.8,9.1,877,11409,0.00,1.88,0.00,0.000,6,0.000,0.035,3196,1984,2406
$GC,11719,2.18,102.5,829.1,8.9,893,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1983,2406
$GC,12027,2.18,102.5,802.4,8.4,908,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1984,2405
$GC,12336,2.18,103.8,777.6,7.9,923,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1985,2405
$GC,12647,2.18,103.8,753.1,8.3,938,12650,0.00,1.80,0.00,0.000,4,0.000,0.051,3196,3020,2405
$GC,12763,2.18,103.8,743.5,8.8,943,12767,0.00,1.90,0.00,0.000,6,0.000,0.041,3196,1943,2404
$GC,13090,2.20,111.9,720.3,7.2,959,13104,0.00,1.95,9.43,1.164,4,0.000,0.067,3196,907,2368
$GC,13230,2.17,111.9,709.8,8.1,965,13233,0.00,1.75,0.00,0.000,6,0.000,0.034,3196,1936,2368
$GC,13555,2.17,111.9,683.5,8.6,981,13559,0.00,1.88,0.00,0.000,4,0.000,0.051,3196,3018,2367
$GC,13677,2.15,111.9,672.9,8.9,986,13682,0.00,1.92,0.00,0.000,6,0.000,0.041,3196,1922,2367
$GC,13998,2.16,117.1,647.2,7.5,1002,14009,0.00,1.92,6.43,1.024,4,0.000,0.066,3196,901,2346
$GC,14143,2.16,119.0,634.9,7.8,1008,14149,0.00,1.73,0.00,0.000,6,0.000,0.033,3196,1901,2346
$GC,14458,2.17,123.6,610.6,7.6,1024,14472,0.00,2.03,7.05,1.033,4,0.000,0.050,3196,3019,2321
$GC,14696,2.17,123.6,591.2,8.4,1034,14703,0.00,1.98,0.00,0.000,6,0.000,0.041,3196,1900,2321
$GC,15012,2.18,126.8,567.3,7.7,1050,15019,0.00,0.00,4.85,0.873,6,0.000,0.000,3196,1899,2307
$GC,15321,2.18,126.8,542.4,8.1,1065,15325,0.00,1.95,0.00,0.000,4,0.000,0.051,3196,3011,2307
$GC,15411,2.18,126.8,535.0,8.1,1069,15414,0.00,1.92,0.00,0.000,6,0.000,0.038,3196,1893,2307
$GC,15742,2.18,126.8,505.6,8.8,1085,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1893,2307
$GC,16058,2.18,130.5,480.2,7.6,1111,16070,0.00,2.00,4.88,0.831,4,0.000,0.048,3196,3019,2292
$GC,16137,2.18,130.5,473.7,8.5,1118,16140,0.00,1.92,0.00,0.000,6,0.000,0.038,3196,1902,2292
$GC,16467,2.19,135.0,446.6,7.6,1149,16477,0.00,0.00,5.68,0.872,6,0.000,0.000,3196,1902,2274
$GC,16795,2.19,135.0,420.7,8.0,1180,16799,0.00,1.92,0.00,0.000,4,0.000,0.047,3196,3016,2274
$GC,16952,2.19,135.0,406.7,9.1,1194,16955,0.00,1.90,0.00,0.000,6,0.000,0.037,3196,1907,2274
$GC,17282,2.19,136.5,381.6,7.8,1225,17286,0.00,1.92,0.00,0.000,4,0.000,0.046,3196,3017,2274
$GC,17398,2.19,136.5,372.5,8.6,1235,17405,0.00,1.88,0.00,0.000,6,0.000,0.035,3196,1934,2274
$GC,17724,2.20,142.0,348.9,7.5,1266,17736,0.00,1.95,7.90,0.895,4,0.000,0.045,3196,3011,2245
$GC,17943,2.20,142.0,331.5,8.0,1285,17949,0.00,1.83,0.00,0.000,6,0.000,0.035,3196,1958,2244
$GC,18268,2.20,144.5,305.6,7.8,1316,18269,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1959,2244
$GC,18587,2.21,149.2,281.7,7.5,1346,18597,0.00,0.00,7.62,0.838,6,0.000,0.000,3196,1958,2216
$GC,18916,2.25,157.0,255.7,7.3,1377,18926,0.00,0.00,8.12,0.829,6,0.000,0.000,3196,1959,2185
$GC,19258,2.31,180.4,231.0,5.8,1431,19286,0.00,1.92,20.98,0.888,4,0.000,0.060,3197,909,2090
$GC,19495,2.33,180.4,212.1,8.3,1473,19500,0.00,1.80,0.00,0.000,6,0.000,0.030,3196,1988,2088
$GC,19838,2.39,194.6,185.9,6.6,1534,19856,0.15,1.83,12.95,0.821,4,0.068,0.044,3239,3004,2031
$GC,20109,2.39,194.6,160.3,10.2,1582,20116,0.00,1.80,0.00,0.000,6,0.000,0.031,3240,1948,2029
$GC,20453,2.41,211.2,132.8,6.4,1643,20476,0.00,1.88,14.85,0.782,4,0.000,0.041,3240,2998,1963
$GC,20729,2.43,211.2,111.9,8.4,1692,20735,0.00,1.77,0.00,0.000,6,0.000,0.030,3240,1951,1963
$GC,21074,2.49,223.3,87.9,6.8,1753,21090,0.00,0.00,11.75,0.717,6,0.000,0.000,3240,1951,1913
$GC,21429,2.57,246.2,63.3,5.8,1816,21458,0.12,1.85,19.95,0.712,4,0.067,0.048,3276,923,1820
$GC,21711,2.65,280.9,44.2,4.7,1866,21744,0.00,1.65,28.62,0.696,6,0.000,0.026,3276,1926,1678
$GC,22084,2.70,284.3,20.3,7.7,1932,22096,0.10,1.80,4.03,0.455,4,0.071,0.045,3308,918,1666
$STATE,22297,end climb,SURFACE_DEPTH_REACHED
$STATE,22297,begin surface coast
$FINISH,-0.3,1.021964
$STATE,22321,end surface coast,CONTROL_FINISHED_OK
$STATE,22321,begin surface
$SM_CCo,22342,127.80,0.636,0,0,786,500.17
$SM_GC,-5.16,0.00,0.00,127.80,0.000,0.000,0.636,414,2323,786,-10.56,-0.06,500.17
$IRIDIUM_FIX,1327.53,12015.23,240597,181839
$TT8_MAMPS,0.026078
$HUMID,1690
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.30
$XPDR_PINGS,335
$24V_AH,23.1,8.870
$10V_AH,10.1,7.032
$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,28.400,124.850,323.575,127.800,0.000,76.238,86.139,594.912,96.250,0.000,0.000,11.451,3247.921,14986.752,613.582,3617.108,1009.963,0.000,2286.069,0.000,3563.804,0.000,91.476
$DEVICE_MAMPS,177.944,156.468,1444.261,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1341.155,770.154,730.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107250,1974
$CAP_FILE_SIZE,210915,0
$CFSIZE,260165632,252399616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290208,002407,1331.629,12015.263,37,1.1,37,-1.0