version: 66.03
glider: 126
mission: 7
dive: 68
start: 3 1 108 20 58 42
data:
$ID,126
$MISSION,7
$DIVE,68
$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,-620812.25
$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,41
$R_STBD_OVSHOOT,43
$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
$GPS1,204031,1323.982,12016.647,37,1.4,42,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.67
$_SM_ANGLEo,-58.3
$GPS2,205750,1324.201,12016.607,10,1.6,14,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,TUBILE_SB
$TGT_LATLONG,1312.400,12024.730
$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,147.1,26310,-22.0,-7.990
$D_GRID,1014
$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,-67.0,0.0,0.0,0,90,0.00,0.00,-68.22,0.000,6,0.000,0.000,418,2336,3101
$GC,92,-2.33,-67.0,0.3,-14.3,13,110,10.12,1.77,0.00,0.000,4,0.175,0.037,2195,3373,3102
$GC,363,-2.23,-67.0,64.6,-18.0,61,369,0.15,1.73,0.00,0.000,6,0.123,0.024,2222,2293,3103
$GC,707,-2.17,-67.0,120.2,-15.1,122,713,0.00,1.88,0.00,0.000,4,0.000,0.041,2222,3371,3105
$GC,803,-2.11,-67.0,136.1,-16.4,139,810,0.15,1.67,0.00,0.000,6,0.118,0.025,2250,2313,3105
$GC,1146,-2.11,-67.0,179.2,-12.5,200,1152,0.00,1.85,0.00,0.000,4,0.000,0.042,2251,3375,3105
$GC,1292,-2.11,-67.0,197.2,-12.7,226,1299,0.00,1.67,0.00,0.000,6,0.000,0.026,2250,2336,3105
$GC,1637,-2.11,-67.0,233.2,-10.7,287,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2333,3105
$GC,1974,-2.11,-67.0,269.3,-10.2,332,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2333,3105
$GC,2294,-2.13,-67.0,302.3,-10.4,362,2298,0.00,1.80,0.00,0.000,4,0.000,0.048,2250,3372,3103
$GC,2372,-2.13,-67.0,310.6,-10.9,369,2376,0.00,1.62,0.00,0.000,6,0.000,0.029,2250,2368,3102
$GC,2703,-2.15,-67.0,344.4,-10.5,400,2706,0.00,1.80,0.00,0.000,4,0.000,0.042,2250,1308,3100
$GC,2759,-2.18,-67.0,350.4,-11.0,405,2762,0.00,1.73,0.00,0.000,6,0.000,0.031,2250,2345,3100
$GC,3089,-2.21,-67.0,384.4,-9.2,436,3093,0.00,1.80,0.00,0.000,4,0.000,0.044,2250,1303,3097
$GC,3127,-2.24,-67.0,388.3,-10.4,439,3134,0.10,1.75,0.00,0.000,6,0.056,0.031,2218,2339,3097
$GC,3451,-2.24,-67.0,423.7,-10.9,470,3455,0.00,1.80,0.00,0.000,4,0.000,0.051,2217,3377,3095
$GC,3484,-2.24,-67.0,427.5,-11.0,473,3488,0.00,1.73,0.00,0.000,6,0.000,0.031,2217,2362,3095
$GC,3815,-2.24,-67.0,463.9,-11.2,504,3818,0.00,1.88,0.00,0.000,4,0.000,0.056,2217,1290,3092
$GC,3881,-2.24,-67.0,471.5,-10.6,510,3885,0.00,1.75,0.00,0.000,6,0.000,0.036,2217,2327,3092
$GC,4210,-2.24,-67.0,506.6,-10.0,538,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3090
$GC,4518,-2.24,-67.0,538.2,-9.6,553,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3088
$GC,4828,-2.24,-67.0,567.8,-9.9,568,4831,0.00,1.90,0.00,0.000,4,0.000,0.075,2217,3367,3086
$GC,4894,-2.24,-67.0,574.3,-10.1,571,4897,0.00,1.83,0.00,0.000,6,0.000,0.048,2218,2335,3085
$GC,5227,-2.24,-67.0,607.1,-10.4,587,5230,0.00,1.95,0.00,0.000,4,0.000,0.084,2217,3365,3083
$GC,5293,-2.24,-67.0,614.0,-9.9,590,5297,0.00,1.88,0.00,0.000,6,0.000,0.062,2217,2338,3083
$GC,5625,-2.24,-67.0,645.2,-9.4,606,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2337,3081
$GC,5934,-2.24,-67.0,673.7,-9.5,621,5938,0.00,2.05,0.00,0.000,4,0.000,0.110,2217,3361,3079
$GC,5988,-2.24,-67.0,679.1,-9.9,623,5993,0.00,2.03,0.00,0.000,6,0.000,0.091,2217,2341,3079
$GC,6312,-2.24,-67.0,711.0,-9.1,639,6316,0.00,2.20,0.00,0.000,4,0.000,0.130,2217,1261,3077
$GC,6388,-2.24,-67.0,718.5,-9.1,642,6395,0.00,2.12,0.00,0.000,6,0.000,0.109,2218,2306,3077
$GC,6704,-2.24,-67.0,745.0,-8.3,658,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2306,3075
$GC,7015,-2.26,-67.0,770.3,-8.1,673,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2306,3073
$GC,7323,-2.28,-67.0,794.3,-8.1,688,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2306,3072
$GC,7633,-2.31,-67.0,820.2,-8.8,703,7637,0.00,2.58,0.00,0.000,4,0.000,0.193,2218,3385,3071
$GC,7746,-2.31,-67.0,830.3,-9.7,708,7750,0.00,2.00,0.00,0.000,6,0.000,0.075,2217,2296,3070
$GC,8072,-2.33,-67.0,859.4,-8.8,724,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2297,3069
$GC,8382,-2.35,-67.6,884.2,-7.9,739,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2297,3068
$GC,8690,-2.38,-67.6,909.8,-8.0,754,8692,0.12,0.00,0.00,0.000,6,0.081,0.000,2188,2296,3067
$GC,9000,-2.38,-67.6,935.6,-8.1,769,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2295,3066
$GC,9308,-2.38,-67.6,963.0,-8.7,784,9312,0.00,2.00,0.00,0.000,4,0.000,0.061,2188,3400,3065
$GC,9391,-2.38,-67.6,970.9,-10.3,787,9398,0.00,1.85,0.00,0.000,6,0.000,0.038,2188,2340,3065
$STATE,9623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9623,begin apogee
$GC,9628,-0.51,0.0,991.7,9.1,799,9686,2.00,0.00,52.15,1.442,6,0.113,0.000,2596,1967,2825
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9688,2.34,67.6,993.6,0.0,802,9758,2.83,2.08,59.92,1.407,4,0.073,0.076,3217,911,2549
$GC,9864,2.30,84.5,986.1,6.4,810,9884,0.00,1.90,15.95,1.330,6,0.000,0.035,3217,1991,2480
$GC,10206,2.27,91.8,961.4,7.3,827,10216,0.00,0.00,8.02,1.206,6,0.000,0.000,3217,1991,2450
$GC,10515,2.25,100.8,938.7,7.1,842,10526,0.00,0.00,9.43,1.246,6,0.000,0.000,3218,1991,2414
$GC,10823,2.22,100.8,913.8,8.1,857,10825,0.12,0.00,0.00,0.000,6,0.123,0.000,3195,1992,2412
$GC,11133,2.22,100.8,887.8,8.2,872,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1991,2412
$GC,11442,2.22,103.2,863.6,7.8,887,11445,0.00,1.98,0.00,0.000,4,0.000,0.061,3194,909,2411
$GC,11571,2.19,106.0,853.3,7.7,892,11581,0.00,1.80,5.60,1.056,6,0.000,0.035,3195,1966,2393
$GC,11902,2.19,106.0,826.4,8.4,909,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1967,2393
$GC,12211,2.20,108.5,801.7,7.7,924,12217,0.00,0.00,4.07,0.874,6,0.000,0.000,3195,1967,2382
$GC,12520,2.20,108.5,776.5,8.3,939,12524,0.00,1.92,0.00,0.000,4,0.000,0.062,3195,911,2381
$GC,12637,2.17,108.5,766.7,8.4,944,12641,0.00,1.85,0.00,0.000,6,0.000,0.034,3195,1978,2381
$GC,12965,2.17,108.5,739.8,8.7,960,12968,0.00,1.80,0.00,0.000,4,0.000,0.052,3195,3015,2381
$GC,13025,2.15,108.5,734.2,8.6,962,13032,0.00,1.85,0.00,0.000,6,0.000,0.040,3195,1959,2380
$GC,13340,2.15,108.5,707.8,8.1,978,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1959,2381
$GC,13650,2.17,119.9,684.4,6.9,993,13663,0.00,0.00,11.40,1.180,6,0.000,0.000,3195,1960,2336
$GC,13959,2.17,122.3,661.6,7.8,1008,13965,0.00,0.00,3.70,0.769,6,0.000,0.000,3195,1960,2326
$GC,14268,2.17,122.3,636.0,8.7,1023,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1960,2326
$GC,14577,2.17,122.3,609.4,8.6,1038,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1960,2326
$GC,14887,2.18,129.3,585.2,7.3,1053,14897,0.00,0.00,8.10,1.053,6,0.000,0.000,3195,1959,2297
$GC,15196,2.18,129.3,558.5,9.0,1068,15199,0.00,1.85,0.00,0.000,4,0.000,0.048,3195,3013,2297
$GC,15358,2.18,129.3,543.9,8.4,1075,15362,0.00,1.80,0.00,0.000,6,0.000,0.038,3195,1978,2297
$GC,15684,2.18,129.3,515.5,8.5,1091,15687,0.00,1.80,0.00,0.000,4,0.000,0.048,3194,3012,2297
$GC,15864,2.18,129.3,499.3,8.8,1099,15868,0.00,1.75,0.00,0.000,6,0.000,0.037,3195,1999,2297
$GC,16193,2.18,129.3,472.1,8.0,1130,16196,0.00,1.77,0.00,0.000,4,0.000,0.047,3195,3021,2297
$GC,16249,2.18,131.4,468.0,7.8,1135,16252,0.00,1.75,0.00,0.000,6,0.000,0.037,3195,1995,2297
$GC,16579,2.18,131.4,443.5,8.2,1166,16582,0.00,1.92,0.00,0.000,4,0.000,0.060,3195,909,2297
$GC,16837,2.20,139.6,422.0,7.2,1189,16852,0.00,1.83,10.43,0.992,6,0.000,0.033,3195,1994,2255
$GC,17171,2.20,139.6,394.5,8.2,1220,17174,0.00,1.95,0.00,0.000,4,0.000,0.057,3194,909,2254
$GC,17294,2.20,139.6,384.1,8.3,1231,17298,0.00,1.83,0.00,0.000,6,0.000,0.032,3195,1991,2254
$GC,17624,2.20,141.2,356.9,7.8,1262,17628,0.00,1.75,0.00,0.000,4,0.000,0.048,3195,3008,2254
$GC,17718,2.20,141.2,349.0,8.4,1270,17725,0.00,1.77,0.00,0.000,6,0.000,0.035,3195,1986,2254
$GC,18043,2.20,141.2,322.1,8.3,1301,18047,0.00,1.90,0.00,0.000,4,0.000,0.060,3195,914,2254
$GC,18301,2.21,143.5,301.7,7.8,1324,18313,0.00,1.77,4.82,0.717,6,0.000,0.031,3195,1981,2240
$GC,18630,2.21,148.0,277.5,7.6,1355,18641,0.00,1.92,5.80,0.771,4,0.000,0.054,3195,914,2221
$GC,18832,2.21,148.0,261.5,8.2,1373,18836,0.00,1.80,0.00,0.000,6,0.000,0.030,3195,1975,2221
$GC,19167,2.22,153.2,234.8,7.5,1420,19178,0.00,0.00,6.32,0.759,6,0.000,0.000,3195,1976,2199
$GC,19517,2.24,153.2,206.8,8.2,1482,19522,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1976,2199
$GC,19859,2.36,205.6,189.6,3.0,1543,19908,0.12,0.00,43.88,0.858,6,0.074,0.000,3227,1976,1985
$GC,20247,2.37,209.4,160.1,7.6,1612,20259,0.00,1.80,4.20,0.573,4,0.000,0.042,3227,3001,1971
$GC,20316,2.39,210.0,154.1,7.9,1624,20322,0.00,1.77,0.00,0.000,6,0.000,0.030,3227,1959,1971
$GC,20660,2.45,223.2,130.0,6.7,1685,20677,0.00,1.90,13.15,0.759,4,0.000,0.049,3227,914,1914
$GC,20717,2.48,230.0,125.7,7.4,1695,20730,0.10,1.80,6.95,0.667,6,0.077,0.028,3256,2005,1887
$GC,21071,2.54,248.4,100.3,6.2,1757,21093,0.00,1.70,16.58,0.735,4,0.000,0.039,3256,2994,1812
$GC,21346,2.56,248.4,77.8,9.0,1806,21353,0.00,1.65,0.00,0.000,6,0.000,0.027,3256,2006,1811
$GC,21691,2.62,259.1,50.2,7.0,1867,21708,0.10,1.70,10.50,0.653,4,0.074,0.036,3287,2997,1767
$GC,21894,2.63,262.4,34.6,7.7,1903,21907,0.00,1.60,4.35,0.493,6,0.000,0.025,3287,2014,1755
$GC,22245,2.67,273.4,11.1,6.9,1965,22261,0.00,1.88,10.68,0.616,4,0.000,0.042,3287,926,1709
$GC,22285,2.70,277.1,8.1,7.6,1972,22296,0.00,1.77,4.62,0.480,6,0.000,0.025,3287,2007,1694
$STATE,22368,end climb,SURFACE_DEPTH_REACHED
$STATE,22368,begin surface coast
$FINISH,-0.6,1.021811
$STATE,22405,end surface coast,CONTROL_FINISHED_OK
$STATE,22405,begin surface
$SM_CCo,22425,131.60,0.630,0,0,785,500.17
$SM_GC,-5.08,0.00,0.00,131.60,0.000,0.000,0.630,416,2324,785,-10.55,-0.03,500.17
$IRIDIUM_FIX,1318.67,12016.02,260597,212119
$TT8_MAMPS,0.025311
$HUMID,1691
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.00
$XPDR_PINGS,396
$24V_AH,23.1,10.149
$10V_AH,10.1,8.123
$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,28.450,115.650,320.625,131.600,0.000,134.606,163.227,363.836,111.500,0.000,0.000,14.908,3269.459,15196.395,581.464,3604.998,961.118,0.000,2256.220,0.000,3562.323,0.000,91.478
$DEVICE_MAMPS,174.876,193.284,1441.960,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1354.528,792.780,743.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107232,1993
$CAP_FILE_SIZE,206402,0
$CFSIZE,260165632,251621376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020308,031555,1322.503,12017.958,25,1.0,42,-0.9