version: 66.03
glider: 126
mission: 7
dive: 64
start: 2 29 108 19 14 0
data:
$ID,126
$MISSION,7
$DIVE,64
$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,-620751.25
$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,37
$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,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
$GPS1,190402,1327.151,12015.146,42,1.1,42,-0.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.00
$_SM_ANGLEo,-50.6
$GPS2,191309,1327.294,12015.142,11,1.6,11,-0.9
$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,176.6,2367,-24.2,-7.990
$D_GRID,1877
$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,-2.54,-56.0,0.0,0.0,0,90,0.00,0.00,-68.15,0.000,6,0.000,0.000,414,2326,3056
$GC,92,-2.54,-56.0,-0.4,-12.8,13,109,9.88,1.80,0.00,0.000,4,0.174,0.035,2152,1272,3058
$GC,269,-2.42,-56.0,49.3,-25.2,44,276,0.10,1.75,0.00,0.000,6,0.132,0.026,2174,2328,3059
$GC,613,-2.37,-56.0,111.5,-15.3,105,619,0.00,1.77,0.00,0.000,4,0.000,0.035,2174,1266,3060
$GC,658,-2.32,-56.0,118.0,-14.0,113,665,0.15,1.73,0.00,0.000,6,0.125,0.026,2201,2326,3060
$GC,1002,-2.32,-56.0,165.7,-11.7,174,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2326,3061
$GC,1346,-2.32,-56.0,209.6,-12.5,235,1352,0.00,1.77,0.00,0.000,4,0.000,0.044,2201,3369,3060
$GC,1593,-2.32,-56.0,239.4,-12.6,279,1599,0.00,1.77,0.00,0.000,6,0.000,0.027,2201,2279,3061
$GC,1923,-2.35,-56.0,278.7,-11.9,318,1926,0.00,1.67,0.00,0.000,4,0.000,0.041,2201,1285,3061
$GC,2024,-2.37,-56.0,290.8,-11.9,327,2027,0.00,1.67,0.00,0.000,6,0.000,0.029,2202,2301,3061
$GC,2354,-2.39,-56.0,327.7,-10.9,358,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2302,3060
$GC,2673,-2.42,-56.0,362.6,-11.1,388,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2302,3057
$GC,2991,-2.45,-56.0,397.3,-10.7,418,2995,0.12,1.85,0.00,0.000,4,0.072,0.049,2170,3371,3055
$GC,3185,-2.45,-56.0,420.1,-11.3,435,3192,0.00,1.80,0.00,0.000,6,0.000,0.031,2170,2310,3054
$GC,3511,-2.45,-56.0,454.9,-10.6,466,3514,0.00,1.88,0.00,0.000,4,0.000,0.051,2170,3377,3053
$GC,3683,-2.45,-56.0,474.9,-11.7,481,3690,0.00,1.80,0.00,0.000,6,0.000,0.034,2170,2333,3052
$GC,4006,-2.45,-56.0,509.7,-10.9,508,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2333,3050
$GC,4316,-2.45,-56.0,542.3,-10.2,523,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2333,3048
$GC,4624,-2.45,-56.0,573.5,-10.3,538,4627,0.00,1.90,0.00,0.000,4,0.000,0.074,2170,3359,3045
$GC,4735,-2.45,-56.0,585.4,-10.7,543,4739,0.00,1.85,0.00,0.000,6,0.000,0.052,2170,2321,3045
$GC,5070,-2.45,-56.0,620.8,-10.3,559,5074,0.00,1.98,0.00,0.000,4,0.000,0.088,2170,1263,3042
$GC,5197,-2.45,-56.0,634.1,-10.0,564,5204,0.00,1.88,0.00,0.000,6,0.000,0.072,2170,2261,3042
$GC,5513,-2.45,-56.0,664.7,-9.7,580,5517,0.00,2.15,0.00,0.000,4,0.000,0.107,2170,3362,3040
$GC,5708,-2.45,-56.0,683.6,-9.5,589,5712,0.00,2.10,0.00,0.000,6,0.000,0.094,2170,2287,3039
$GC,6041,-2.47,-56.0,715.2,-9.5,605,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2287,3036
$GC,6349,-2.47,-56.0,743.2,-8.8,620,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2286,3035
$GC,6660,-2.50,-56.0,770.8,-9.1,635,6664,0.00,2.38,0.00,0.000,4,0.000,0.157,2171,3353,3034
$GC,6803,-2.50,-56.0,784.9,-10.4,641,6811,0.00,2.03,0.00,0.000,6,0.000,0.080,2170,2275,3033
$GC,7120,-2.52,-56.0,813.4,-9.1,657,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2274,3032
$GC,7430,-2.54,-56.0,839.2,-8.4,672,7434,0.00,1.95,0.00,0.000,4,0.000,0.056,2170,3368,3030
$GC,7526,-2.54,-56.0,847.4,-8.3,676,7529,0.00,1.80,0.00,0.000,6,0.000,0.036,2170,2310,3030
$GC,7852,-2.57,-56.0,875.3,-8.4,692,7855,0.00,1.83,0.00,0.000,4,0.000,0.062,2170,1281,3028
$GC,7951,-2.57,-56.0,884.0,-8.7,696,7956,0.00,1.77,0.00,0.000,6,0.000,0.038,2170,2303,3028
$GC,8272,-2.59,-56.0,909.8,-8.5,712,8274,0.12,0.00,0.00,0.000,6,0.085,0.000,2142,2304,3027
$GC,8582,-2.59,-56.0,938.2,-9.2,727,8585,0.00,1.90,0.00,0.000,4,0.000,0.061,2142,3375,3026
$GC,8659,-2.59,-56.0,945.6,-9.2,730,8663,0.00,1.85,0.00,0.000,6,0.000,0.038,2142,2316,3026
$GC,8980,-2.59,-56.0,974.1,-8.8,746,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2315,3025
$STATE,9166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9166,begin apogee
$GC,9171,-0.51,0.0,990.9,9.3,755,9219,2.25,0.00,43.85,1.440,6,0.115,0.000,2599,1961,2825
$STATE,9220,end apogee,CONTROL_FINISHED_OK
$STATE,9220,begin climb
$GC,9222,2.54,56.0,992.2,0.0,757,9284,3.03,2.05,50.28,1.406,4,0.070,0.077,3267,909,2596
$GC,9397,2.51,73.0,983.8,6.2,765,9419,0.00,1.88,16.05,1.337,6,0.000,0.037,3267,1972,2527
$GC,9727,2.48,76.4,958.2,7.6,781,9733,0.00,0.00,4.35,0.941,6,0.000,0.000,3267,1972,2513
$GC,10036,2.44,76.4,932.6,8.3,796,10040,0.15,1.98,0.00,0.000,4,0.125,0.064,3240,901,2512
$GC,10148,2.41,76.4,923.6,8.1,801,10151,0.00,1.83,0.00,0.000,6,0.000,0.036,3240,1963,2512
$GC,10479,2.43,89.3,900.0,6.6,817,10500,0.00,1.92,12.98,1.307,4,0.000,0.053,3240,3006,2460
$GC,10752,2.41,89.3,877.6,9.0,829,10756,0.00,1.88,0.00,0.000,6,0.000,0.042,3240,1949,2459
$GC,11079,2.41,89.3,851.4,8.0,845,11082,0.00,1.90,0.00,0.000,4,0.000,0.066,3240,900,2458
$GC,11252,2.38,89.3,837.0,8.2,852,11258,0.00,1.80,0.00,0.000,6,0.000,0.036,3240,1946,2458
$GC,11567,2.38,89.3,811.2,8.2,868,11570,0.00,1.88,0.00,0.000,4,0.000,0.054,3240,3018,2457
$GC,11723,2.38,89.3,798.5,8.1,875,11727,0.00,1.88,0.00,0.000,6,0.000,0.042,3240,1957,2457
$GC,12055,2.39,93.0,774.7,7.6,891,12064,0.00,1.95,4.12,0.868,4,0.000,0.066,3240,907,2446
$GC,12166,2.37,93.0,765.3,8.2,896,12170,0.00,1.80,0.00,0.000,6,0.000,0.037,3240,1958,2446
$GC,12497,2.39,106.7,741.6,6.5,912,12518,0.00,1.92,13.82,1.243,4,0.000,0.054,3240,3007,2389
$GC,12568,2.39,106.7,736.0,9.0,915,12572,0.00,1.88,0.00,0.000,6,0.000,0.041,3240,1952,2388
$GC,12894,2.39,106.7,707.4,9.2,931,12898,0.00,1.88,0.00,0.000,4,0.000,0.052,3240,3009,2387
$GC,12966,2.39,106.7,701.0,9.2,934,12970,0.00,1.83,0.00,0.000,6,0.000,0.040,3240,1974,2387
$GC,13293,2.39,106.7,674.0,8.0,950,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1974,2387
$GC,13602,2.39,107.2,649.1,7.9,965,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1974,2387
$GC,13913,2.39,107.2,624.4,8.1,980,13914,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1974,2387
$GC,14220,2.39,107.2,599.0,8.3,995,14224,0.00,1.90,0.00,0.000,4,0.000,0.064,3240,912,2386
$GC,14400,2.39,107.2,584.1,8.1,1003,14404,0.00,1.85,0.00,0.000,6,0.000,0.035,3240,1998,2387
$GC,14731,2.39,107.2,557.3,8.3,1019,14735,0.00,1.77,0.00,0.000,4,0.000,0.054,3240,3017,2386
$GC,14831,2.39,107.2,548.8,8.3,1023,14835,0.00,1.80,0.00,0.000,6,0.000,0.041,3240,1989,2387
$GC,15153,2.40,110.1,523.5,7.7,1039,15161,0.00,0.00,4.15,0.771,6,0.000,0.000,3240,1989,2376
$GC,15473,2.40,111.9,499.1,7.8,1055,15474,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1990,2376
$GC,15792,2.41,118.0,475.5,7.3,1085,15803,0.00,0.00,8.77,1.006,6,0.000,0.000,3240,1989,2343
$GC,16120,2.41,119.6,450.5,7.8,1116,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1989,2343
$GC,16439,2.42,123.0,425.1,7.6,1146,16451,0.00,1.83,6.05,0.880,4,0.000,0.049,3240,3019,2323
$GC,16568,2.43,132.8,415.4,6.9,1157,16585,0.00,1.83,9.93,0.981,6,0.000,0.037,3240,1967,2283
$GC,16903,2.44,136.2,388.9,7.6,1189,16914,0.00,1.92,4.53,0.752,4,0.000,0.062,3240,906,2269
$GC,16981,2.45,140.3,382.6,7.5,1196,16993,0.00,1.83,5.47,0.816,6,0.000,0.034,3240,1976,2252
$GC,17310,2.45,140.3,352.5,8.9,1227,17313,0.00,1.80,0.00,0.000,4,0.000,0.051,3240,3011,2252
$GC,17381,2.45,140.3,345.7,9.4,1233,17388,0.00,1.80,0.00,0.000,6,0.000,0.037,3240,1972,2251
$GC,17707,2.45,140.3,316.1,8.6,1264,17711,0.00,1.83,0.00,0.000,4,0.000,0.049,3240,3015,2252
$GC,17842,2.45,141.7,304.5,7.8,1276,17845,0.00,1.75,0.00,0.000,6,0.000,0.035,3240,1987,2251
$GC,18171,2.47,141.7,277.0,8.6,1307,18175,0.00,1.80,0.00,0.000,4,0.000,0.048,3240,3019,2252
$GC,18209,2.47,141.7,273.9,8.5,1310,18216,0.00,1.75,0.00,0.000,6,0.000,0.034,3239,1999,2252
$GC,18534,2.49,141.7,248.8,8.3,1342,18540,0.00,1.77,0.00,0.000,4,0.000,0.046,3240,3007,2253
$GC,18669,2.49,141.7,237.6,8.2,1366,18676,0.00,1.67,0.00,0.000,6,0.000,0.033,3240,2028,2253
$GC,19014,2.53,148.4,211.2,7.3,1427,19031,0.00,2.03,8.68,0.803,4,0.000,0.056,3240,917,2219
$GC,19121,2.56,167.4,203.7,5.9,1446,19144,0.08,1.90,16.92,0.857,6,0.067,0.031,3267,2037,2142
$GC,19483,2.59,173.5,179.3,7.3,1510,19494,0.00,0.00,6.75,0.726,6,0.000,0.000,3267,2038,2117
$GC,19832,2.62,176.0,151.9,7.7,1572,19839,0.00,1.73,3.78,0.532,4,0.000,0.044,3267,3015,2107
$GC,19948,2.68,195.8,145.5,5.8,1592,19972,0.08,1.70,17.65,0.795,6,0.063,0.030,3296,2011,2026
$GC,20309,2.68,200.3,115.9,7.5,1656,20321,0.00,1.92,5.32,0.614,4,0.000,0.050,3295,917,2007
$GC,20573,2.72,223.9,97.7,5.4,1703,20601,0.00,1.85,20.70,0.751,6,0.000,0.027,3296,2045,1911
$GC,20939,2.76,223.9,71.4,8.2,1768,20945,0.00,2.00,0.00,0.000,4,0.000,0.047,3295,899,1910
$GC,21199,2.80,231.3,54.1,7.2,1814,21211,0.05,1.98,7.38,0.622,6,0.039,0.027,3328,2080,1882
$GC,21550,2.98,313.6,40.1,-0.9,1876,21621,0.12,1.67,66.15,0.687,4,0.069,0.041,3364,3020,1546
$GC,21875,3.00,313.6,12.7,11.5,1934,21881,0.00,1.73,0.00,0.000,6,0.000,0.028,3363,1989,1543
$STATE,21971,end climb,SURFACE_DEPTH_REACHED
$STATE,21971,begin surface coast
$FINISH,-0.2,1.021776
$STATE,21987,end surface coast,CONTROL_FINISHED_OK
$STATE,21987,begin surface
$SM_CCo,22008,109.57,0.630,0,0,785,500.17
$SM_GC,-5.21,0.00,0.00,109.57,0.000,0.000,0.630,415,2353,785,-10.56,0.79,500.17
$IRIDIUM_FIX,1323.10,12014.11,250597,191943
$TT8_MAMPS,0.026078
$HUMID,1684
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,358
$24V_AH,23.1,9.524
$10V_AH,10.1,7.577
$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,29.025,127.450,337.675,109.575,0.000,54.769,44.170,266.562,102.000,0.000,0.000,11.384,3234.294,14492.533,579.115,3707.966,666.679,0.000,2312.237,0.000,3668.582,0.000,91.475
$DEVICE_MAMPS,174.109,157.235,1439.659,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1326.414,782.305,732.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107169,1954
$CAP_FILE_SIZE,205678,0
$CFSIZE,260165632,252010496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010308,012355,1325.219,12015.348,42,1.0,42,-0.9