version: 66.03
glider: 126
mission: 7
dive: 65
start: 3 1 108 1 30 30
data:
$ID,126
$MISSION,7
$DIVE,65
$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,-620764.38
$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,45
$R_STBD_OVSHOOT,53
$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
$GPS1,012355,1325.219,12015.348,42,1.0,42,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.97
$_SM_ANGLEo,-56.0
$GPS2,012939,1325.301,12015.343,11,1.0,11,-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,353.0,1345,-24.2,-7.990
$D_GRID,2658
$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,-67.55,0.000,6,0.000,0.000,415,2353,3055
$GC,92,-2.54,-56.0,0.3,-14.6,13,109,9.90,1.73,0.00,0.000,4,0.176,0.038,2149,3363,3057
$GC,165,-2.39,-56.0,24.6,-26.2,26,172,0.15,1.75,0.00,0.000,6,0.137,0.025,2180,2295,3058
$GC,510,-2.33,-56.0,93.1,-17.1,87,515,0.12,0.00,0.00,0.000,6,0.137,0.000,2201,2287,3059
$GC,852,-2.33,-56.0,148.1,-15.7,148,859,0.00,1.85,0.00,0.000,4,0.000,0.041,2201,3365,3060
$GC,1111,-2.33,-56.0,185.1,-13.7,194,1118,0.00,1.65,0.00,0.000,6,0.000,0.025,2200,2354,3061
$GC,1454,-2.33,-56.0,225.0,-11.6,255,1460,0.00,1.77,0.00,0.000,4,0.000,0.038,2201,1290,3061
$GC,1488,-2.33,-56.0,229.0,-11.9,261,1494,0.00,1.73,0.00,0.000,6,0.000,0.028,2201,2343,3061
$GC,1822,-2.33,-56.0,268.4,-12.4,308,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2343,3061
$GC,2143,-2.36,-56.0,303.8,-10.3,338,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2344,3061
$GC,2460,-2.38,-56.0,339.7,-11.8,368,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2344,3059
$GC,2780,-2.41,-56.0,376.8,-10.9,398,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2344,3056
$GC,3097,-2.45,-56.0,410.0,-10.3,428,3101,0.12,1.80,0.00,0.000,4,0.071,0.049,2169,3386,3055
$GC,3254,-2.45,-56.0,428.4,-11.6,442,3257,0.00,1.73,0.00,0.000,6,0.000,0.031,2169,2349,3054
$GC,3583,-2.45,-56.0,465.3,-11.3,473,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2347,3052
$GC,3902,-2.45,-56.0,499.1,-10.6,503,3905,0.00,1.80,0.00,0.000,4,0.000,0.055,2169,3362,3050
$GC,3961,-2.45,-56.0,505.9,-11.3,506,3968,0.00,1.70,0.00,0.000,6,0.000,0.033,2169,2377,3050
$GC,4277,-2.45,-56.0,539.0,-10.1,522,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2375,3048
$GC,4586,-2.45,-56.0,569.9,-9.8,537,4594,0.00,1.98,0.00,0.000,4,0.000,0.075,2169,1297,3046
$GC,4700,-2.45,-56.0,581.4,-10.4,542,4704,0.00,1.88,0.00,0.000,6,0.000,0.055,2169,2348,3045
$GC,5032,-2.45,-56.0,615.4,-10.3,558,5035,0.00,1.95,0.00,0.000,4,0.000,0.087,2169,3383,3043
$GC,5148,-2.45,-56.0,627.5,-10.3,563,5153,0.00,1.83,0.00,0.000,6,0.000,0.067,2169,2410,3042
$GC,5475,-2.45,-56.0,658.5,-9.2,579,5479,0.00,2.15,0.00,0.000,4,0.000,0.102,2169,1289,3041
$GC,5568,-2.45,-56.0,667.1,-9.4,583,5573,0.00,2.10,0.00,0.000,6,0.000,0.086,2169,2375,3040
$GC,5895,-2.45,-56.0,697.9,-9.3,599,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2376,3038
$GC,6204,-2.45,-56.0,726.1,-9.2,614,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2376,3036
$GC,6514,-2.47,-56.0,752.8,-8.3,629,6518,0.00,2.20,0.00,0.000,4,0.000,0.153,2169,3389,3035
$GC,6563,-2.47,-56.0,757.1,-9.1,631,6567,0.00,2.12,0.00,0.000,6,0.000,0.133,2169,2413,3035
$GC,6884,-2.47,-56.0,784.7,-8.8,647,6888,0.00,2.22,0.00,0.000,4,0.000,0.166,2169,3386,3034
$GC,6952,-2.47,-56.0,790.4,-8.7,650,6956,0.00,2.12,0.00,0.000,6,0.000,0.153,2169,2433,3033
$GC,7272,-2.49,-56.0,818.9,-8.7,666,7277,0.00,2.67,0.00,0.000,4,0.000,0.193,2169,1299,3032
$GC,7389,-2.51,-56.1,828.8,-8.0,671,7392,0.00,1.92,0.00,0.000,6,0.000,0.036,2169,2413,3031
$GC,7710,-2.54,-56.1,855.0,-8.3,687,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2414,3029
$GC,8019,-2.56,-56.1,881.8,-8.7,702,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2414,3028
$GC,8328,-2.58,-56.1,908.6,-8.5,717,8332,0.00,2.00,0.00,0.000,4,0.000,0.052,2169,1282,3027
$GC,8495,-2.61,-56.1,923.8,-10.0,724,8500,0.10,1.98,0.00,0.000,6,0.070,0.038,2140,2416,3027
$GC,8816,-2.61,-56.1,953.8,-9.2,740,8819,0.00,2.00,0.00,0.000,4,0.000,0.053,2140,1287,3026
$GC,8927,-2.61,-56.1,964.3,-9.0,745,8931,0.00,1.92,0.00,0.000,6,0.000,0.040,2140,2407,3026
$STATE,9217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9217,begin apogee
$GC,9222,-0.51,0.0,990.4,8.7,759,9271,2.28,0.00,44.10,1.442,6,0.118,0.000,2599,1972,2825
$STATE,9271,end apogee,CONTROL_FINISHED_OK
$STATE,9271,begin climb
$GC,9273,2.54,56.1,991.7,0.0,761,9329,3.03,0.00,50.47,1.409,6,0.070,0.000,3266,1972,2596
$GC,9628,2.53,72.1,972.3,6.3,779,9650,0.00,1.95,15.38,1.340,4,0.000,0.052,3266,3038,2530
$GC,9768,2.48,72.3,962.0,8.0,785,9772,0.00,1.90,0.00,0.000,6,0.000,0.043,3267,1972,2529
$GC,10094,2.45,73.8,937.1,7.8,801,10096,0.12,0.00,0.00,0.000,6,0.129,0.000,3245,1972,2528
$GC,10403,2.44,82.8,915.1,7.0,816,10418,0.00,1.95,10.55,1.275,4,0.000,0.051,3245,3045,2486
$GC,10501,2.41,82.8,907.2,8.7,819,10508,0.00,1.95,0.00,0.000,6,0.000,0.042,3245,1952,2485
$GC,10817,2.42,89.3,883.7,7.3,835,10830,0.00,2.00,7.32,1.174,4,0.000,0.071,3245,908,2460
$GC,11005,2.40,89.3,867.4,8.7,843,11009,0.00,1.85,0.00,0.000,6,0.000,0.037,3244,1970,2459
$GC,11326,2.40,89.3,840.6,8.2,859,11329,0.00,1.83,0.00,0.000,4,0.000,0.053,3244,3011,2459
$GC,11448,2.37,89.3,830.1,8.2,864,11452,0.00,1.92,0.00,0.000,6,0.000,0.044,3245,1930,2458
$GC,11771,2.38,90.3,804.3,7.9,880,11774,0.00,1.85,0.00,0.000,4,0.000,0.069,3244,910,2458
$GC,11877,2.34,90.9,795.9,7.9,884,11883,0.12,1.75,0.00,0.000,6,0.130,0.035,3223,1940,2458
$GC,12192,2.36,100.1,774.2,7.0,900,12207,0.00,1.90,10.80,1.228,4,0.000,0.053,3223,3011,2415
$GC,12312,2.37,107.2,765.2,7.2,904,12324,0.00,1.90,7.57,1.134,6,0.000,0.043,3222,1944,2388
$GC,12645,2.37,107.5,738.7,8.0,921,12649,0.00,1.90,0.00,0.000,4,0.000,0.051,3223,3017,2386
$GC,12729,2.37,107.5,731.7,8.8,924,12735,0.00,1.83,0.00,0.000,6,0.000,0.041,3222,1966,2387
$GC,13043,2.37,107.5,705.2,8.3,940,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1967,2387
$GC,13353,2.37,107.5,679.0,8.3,955,13354,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1967,2386
$GC,13662,2.37,107.5,653.6,8.2,970,13665,0.00,1.85,0.00,0.000,4,0.000,0.050,3223,3019,2386
$GC,13847,2.38,110.9,638.8,7.6,978,13856,0.00,1.83,4.60,0.885,6,0.000,0.041,3222,1962,2373
$GC,14172,2.38,111.7,613.2,7.9,994,14173,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1962,2373
$GC,14481,2.39,116.8,590.1,7.4,1009,14495,0.00,1.92,7.10,1.029,4,0.000,0.049,3223,3009,2348
$GC,14584,2.39,116.8,581.4,8.7,1013,14591,0.00,1.83,0.00,0.000,6,0.000,0.039,3222,1972,2347
$GC,14900,2.39,116.8,554.8,8.1,1029,14903,0.00,1.92,0.00,0.000,4,0.000,0.067,3222,907,2347
$GC,15062,2.39,116.8,541.3,8.5,1036,15066,0.00,1.80,0.00,0.000,6,0.000,0.035,3222,1973,2348
$GC,15388,2.39,116.8,513.9,8.2,1052,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1973,2347
$GC,15701,2.39,116.8,488.7,8.0,1073,15702,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1974,2348
$GC,16020,2.39,116.8,463.3,8.1,1103,16021,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1974,2348
$GC,16339,2.42,122.7,439.4,7.4,1133,16349,0.00,0.00,6.82,0.924,6,0.000,0.000,3222,1974,2324
$GC,16668,2.45,125.9,414.1,7.7,1164,16677,0.00,0.00,4.78,0.795,6,0.000,0.000,3222,1975,2311
$GC,16997,2.48,132.0,389.5,7.3,1195,17007,0.12,0.00,6.78,0.892,6,0.080,0.000,3253,1976,2286
$GC,17323,2.48,132.0,362.6,8.2,1226,17327,0.00,1.77,0.00,0.000,4,0.000,0.048,3253,3006,2286
$GC,17424,2.49,135.8,354.2,7.6,1235,17436,0.00,1.80,4.97,0.770,6,0.000,0.046,3253,1958,2271
$GC,17753,2.49,136.1,328.4,8.0,1266,17757,0.00,1.88,0.00,0.000,4,0.000,0.061,3253,905,2271
$GC,17858,2.49,136.1,319.9,8.3,1275,17865,0.00,1.80,0.00,0.000,6,0.000,0.031,3253,1962,2271
$GC,18184,2.49,136.1,292.7,8.3,1306,18185,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1962,2271
$GC,18502,2.49,136.1,268.2,8.2,1336,18505,0.00,1.80,0.00,0.000,4,0.000,0.047,3253,3014,2271
$GC,18624,2.49,136.1,258.1,9.5,1347,18628,0.00,1.83,0.00,0.000,6,0.000,0.035,3253,1939,2272
$GC,18961,2.50,143.7,231.0,7.2,1398,18978,0.00,1.92,8.57,0.819,4,0.000,0.044,3254,3005,2239
$GC,19059,2.51,147.3,223.6,7.6,1415,19071,0.00,1.75,4.82,0.678,6,0.000,0.032,3253,1972,2223
$GC,19411,2.59,180.7,200.2,4.4,1477,19444,0.00,1.98,28.67,0.870,4,0.000,0.056,3253,911,2088
$GC,19602,2.59,183.4,186.5,7.7,1511,19614,0.00,1.77,3.67,0.541,6,0.000,0.030,3253,1978,2077
$GC,19952,2.63,183.4,157.8,8.1,1573,19958,0.12,0.00,0.00,0.000,6,0.074,0.000,3287,1979,2076
$GC,20296,2.69,205.5,134.7,5.6,1634,20318,0.00,0.00,19.33,0.786,6,0.000,0.000,3287,1979,1987
$GC,20657,2.72,209.4,107.4,7.6,1698,20669,0.00,1.77,5.07,0.594,4,0.000,0.041,3287,3001,1971
$GC,20691,2.75,209.4,104.3,8.2,1704,20698,0.00,1.77,0.00,0.000,6,0.000,0.028,3287,1953,1971
$GC,21036,2.83,236.6,83.3,5.1,1765,21065,0.15,1.88,23.45,0.732,4,0.062,0.038,3333,2998,1860
$GC,21317,2.84,240.4,59.0,7.6,1815,21329,0.00,1.62,4.72,0.534,6,0.000,0.027,3333,2006,1844
$GC,21670,2.92,273.0,36.2,4.5,1877,21703,0.00,1.70,27.45,0.683,4,0.000,0.037,3333,3000,1711
$GC,21955,2.97,273.0,14.2,8.7,1928,21962,0.05,1.60,0.00,0.000,6,0.064,0.026,3359,2038,1710
$STATE,22107,end climb,SURFACE_DEPTH_REACHED
$STATE,22107,begin surface coast
$FINISH,-0.3,1.021687
$STATE,22136,end surface coast,CONTROL_FINISHED_OK
$STATE,22136,begin surface
$SM_CCo,22156,136.95,0.637,0,0,786,500.17
$SM_GC,-5.08,0.00,0.00,136.95,0.000,0.000,0.637,417,2339,786,-10.54,0.40,500.17
$IRIDIUM_FIX,1320.88,12017.14,250597,191912
$TT8_MAMPS,0.026078
$HUMID,1670
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.40
$XPDR_PINGS,453
$24V_AH,23.1,9.669
$10V_AH,10.1,7.710
$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,29.275,118.075,307.025,136.950,0.000,29.572,13.819,189.945,125.750,0.000,0.000,12.470,3239.400,14697.111,587.846,3637.030,493.697,0.000,2271.258,0.000,3585.590,0.000,91.491
$DEVICE_MAMPS,175.643,192.517,1441.960,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1331.964,770.379,726.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107335,1960
$CAP_FILE_SIZE,199722,0
$CFSIZE,260165632,251920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010308,074308,1327.194,12015.154,30,1.5,30,-0.9