version: 66.03
glider: 126
mission: 7
dive: 73
start: 3 2 108 16 4 58
data:
$ID,126
$MISSION,7
$DIVE,73
$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,-620900.5
$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,38
$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
$GPS1,155708,1319.864,12019.999,30,1.5,31,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.31
$_SM_ANGLEo,-57.9
$GPS2,160407,1319.909,12019.970,16,1.1,32,-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,149.2,16343,-22.0,-7.990
$D_GRID,812
$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,-67.0,0.0,0.0,0,89,0.00,0.00,-67.72,0.000,6,0.000,0.000,417,2317,3101
$GC,91,-2.33,-67.0,2.1,-15.1,13,108,10.10,1.77,0.00,0.000,4,0.175,0.033,2197,1270,3103
$GC,131,-1.97,-67.0,17.5,-34.8,20,138,0.35,1.75,0.00,0.000,6,0.112,0.028,2278,2320,3103
$GC,476,-1.95,-67.0,75.2,-13.7,81,481,0.00,1.77,0.00,0.000,4,0.000,0.035,2279,1261,3104
$GC,548,-1.95,-67.0,86.4,-15.4,94,555,0.00,1.73,0.00,0.000,6,0.000,0.026,2278,2302,3105
$GC,894,-1.95,-67.0,137.3,-14.8,155,899,0.00,1.80,0.00,0.000,4,0.000,0.042,2278,3369,3106
$GC,977,-1.95,-67.0,148.6,-13.0,170,984,0.00,1.80,0.00,0.000,6,0.000,0.025,2278,2263,3106
$GC,1322,-1.99,-67.0,187.2,-9.5,231,1327,0.00,1.90,0.00,0.000,4,0.000,0.041,2278,3375,3106
$GC,1581,-2.03,-67.0,212.2,-10.3,277,1587,0.00,1.70,0.00,0.000,6,0.000,0.026,2278,2308,3107
$GC,1925,-2.07,-67.0,244.1,-9.3,338,1931,0.00,1.85,0.00,0.000,4,0.000,0.044,2279,3366,3106
$GC,2185,-2.11,-67.0,269.1,-9.3,367,2189,0.12,1.62,0.00,0.000,6,0.065,0.028,2242,2352,3106
$GC,2514,-2.11,-67.0,303.9,-11.0,398,2517,0.00,1.77,0.00,0.000,4,0.000,0.048,2242,3376,3105
$GC,2637,-2.11,-67.0,317.7,-11.5,409,2640,0.00,1.67,0.00,0.000,6,0.000,0.029,2242,2356,3104
$GC,2969,-2.11,-67.0,352.0,-10.9,440,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2350,3102
$GC,3285,-2.11,-67.0,384.7,-10.6,470,3288,0.00,1.77,0.00,0.000,4,0.000,0.050,2242,3371,3100
$GC,3409,-2.11,-67.0,398.6,-11.2,481,3413,0.00,1.65,0.00,0.000,6,0.000,0.031,2242,2371,3099
$GC,3740,-2.14,-67.0,431.6,-9.0,512,3743,0.00,1.75,0.00,0.000,4,0.000,0.051,2242,3368,3097
$GC,3789,-2.14,-67.0,436.2,-9.6,516,3796,0.00,1.70,0.00,0.000,6,0.000,0.032,2242,2368,3097
$GC,4115,-2.17,-67.0,466.5,-10.6,547,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2366,3095
$GC,4437,-2.20,-67.0,500.5,-10.3,577,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2366,3093
$GC,4742,-2.23,-67.0,528.7,-8.8,592,4745,0.00,1.80,0.00,0.000,4,0.000,0.063,2242,3366,3091
$GC,4831,-2.25,-67.0,537.1,-9.5,596,4836,0.12,1.70,0.00,0.000,6,0.071,0.037,2209,2370,3090
$GC,5163,-2.25,-67.0,567.6,-9.8,612,5167,0.00,1.98,0.00,0.000,4,0.000,0.076,2209,1280,3088
$GC,5202,-2.25,-67.0,571.3,-9.9,613,5208,0.00,1.88,0.00,0.000,6,0.000,0.052,2209,2342,3088
$GC,5517,-2.25,-67.0,602.0,-9.8,629,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2342,3086
$GC,5826,-2.25,-67.0,632.9,-9.9,644,5830,0.00,1.98,0.00,0.000,4,0.000,0.097,2209,3376,3083
$GC,5948,-2.25,-67.0,645.6,-11.0,649,5952,0.00,1.90,0.00,0.000,6,0.000,0.077,2209,2383,3083
$GC,6269,-2.25,-67.0,677.2,-9.9,665,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2382,3081
$GC,6578,-2.25,-67.0,705.5,-8.8,680,6582,0.00,2.22,0.00,0.000,4,0.000,0.127,2209,1286,3080
$GC,6684,-2.25,-67.0,714.7,-8.5,685,6688,0.00,2.17,0.00,0.000,6,0.000,0.110,2209,2380,3079
$GC,7015,-2.25,-67.0,743.5,-8.6,701,7019,0.00,2.35,0.00,0.000,4,0.000,0.145,2209,1285,3078
$GC,7087,-2.25,-67.0,749.8,-8.9,704,7092,0.00,2.25,0.00,0.000,6,0.000,0.127,2209,2367,3078
$GC,7407,-2.25,-67.0,776.0,-8.2,720,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2367,3076
$GC,7718,-2.25,-67.0,804.5,-9.3,735,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2367,3074
$STATE,7797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7797,begin apogee
$GC,7802,-0.51,0.0,812.0,9.1,739,7860,1.88,0.00,52.85,1.295,6,0.106,0.000,2597,1985,2825
$STATE,7861,end apogee,CONTROL_FINISHED_OK
$STATE,7861,begin climb
$GC,7862,2.33,67.0,813.5,0.0,742,7929,2.83,2.75,58.00,1.264,4,0.075,0.200,3219,899,2550
$GC,8018,2.32,94.3,807.9,5.4,749,8051,0.00,2.40,24.27,1.234,6,0.000,0.153,3219,1961,2440
$GC,8359,2.29,94.3,780.4,8.0,766,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1960,2437
$GC,8668,2.26,94.3,754.6,8.5,781,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1960,2435
$GC,8977,2.23,94.3,729.2,9.1,796,8982,0.12,2.17,0.00,0.000,4,0.119,0.124,3196,3030,2434
$GC,9071,2.22,100.9,721.5,7.4,800,9083,0.00,2.20,6.22,1.007,6,0.000,0.117,3196,1959,2413
$GC,9391,2.22,100.9,696.4,8.3,816,9395,0.00,2.17,0.00,0.000,4,0.000,0.125,3196,896,2412
$GC,9485,2.19,100.9,688.1,8.0,820,9489,0.00,2.08,0.00,0.000,6,0.000,0.083,3196,1980,2412
$GC,9806,2.21,108.7,665.3,7.2,836,9816,0.00,0.00,8.15,1.077,6,0.000,0.000,3196,1980,2381
$GC,10115,2.23,120.2,642.8,6.9,851,10128,0.00,0.00,11.25,1.129,6,0.000,0.000,3196,1980,2335
$GC,10424,2.23,124.5,619.8,7.6,866,10432,0.00,0.00,5.47,0.931,6,0.000,0.000,3196,1980,2317
$GC,10733,2.24,129.8,596.9,7.5,881,10744,0.00,1.98,6.45,0.979,4,0.000,0.067,3196,3033,2294
$GC,10827,2.24,129.8,588.7,8.6,885,10832,0.00,1.98,0.00,0.000,6,0.000,0.054,3196,1952,2294
$GC,11150,2.24,129.8,560.5,8.7,901,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1952,2294
$GC,11458,2.24,129.8,534.1,8.2,916,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1952,2293
$GC,11767,2.25,133.7,509.7,7.6,931,11776,0.00,1.95,4.53,0.802,4,0.000,0.051,3196,3031,2280
$GC,11826,2.25,137.2,505.1,7.7,933,11836,0.00,1.88,5.30,0.871,6,0.000,0.040,3196,1964,2264
$GC,12161,2.25,137.2,478.1,8.3,961,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1964,2264
$GC,12479,2.25,137.2,451.5,8.2,991,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1964,2264
$GC,12797,2.26,141.6,425.6,7.6,1021,12807,0.00,0.00,5.20,0.820,6,0.000,0.000,3196,1964,2247
$GC,13126,2.27,144.9,400.4,7.7,1052,13137,0.00,1.90,4.53,0.755,4,0.000,0.047,3196,3043,2234
$GC,13333,2.27,144.9,383.9,8.1,1070,13340,0.00,1.85,0.00,0.000,6,0.000,0.036,3196,1979,2234
$GC,13658,2.27,144.9,358.9,8.4,1101,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1978,2233
$GC,13979,2.27,148.4,333.8,7.7,1131,13987,0.00,0.00,4.70,0.729,6,0.000,0.000,3196,1978,2219
$GC,14305,2.29,156.9,310.0,7.2,1162,14316,0.00,0.00,8.80,0.881,6,0.000,0.000,3196,1978,2185
$GC,14633,2.31,156.9,282.8,8.3,1193,14637,0.00,1.90,0.00,0.000,4,0.000,0.058,3196,903,2185
$GC,14705,2.32,159.9,277.1,7.7,1199,14715,0.00,1.92,4.35,0.667,6,0.000,0.031,3196,2032,2172
$GC,15040,2.34,159.9,251.7,8.0,1231,15044,0.10,2.00,0.00,0.000,4,0.084,0.053,3222,911,2173
$GC,15158,2.34,159.9,240.7,8.9,1250,15165,0.00,1.85,0.00,0.000,6,0.000,0.030,3223,2004,2172
$GC,15501,2.34,159.9,212.4,8.0,1311,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2004,2173
$GC,15843,2.41,200.9,190.0,4.1,1372,15882,0.00,0.00,34.55,0.860,6,0.000,0.000,3223,2005,2006
$GC,16220,2.49,224.4,167.0,5.8,1439,16243,0.12,0.00,20.58,0.815,6,0.071,0.000,3256,2005,1910
$GC,16582,2.53,232.5,140.0,7.2,1503,16595,0.00,1.73,7.88,0.709,4,0.000,0.041,3256,3014,1876
$GC,16680,2.56,241.4,132.8,7.1,1520,16697,0.00,1.77,9.25,0.721,6,0.000,0.029,3256,1965,1839
$GC,17037,2.61,248.0,106.8,7.4,1583,17050,0.00,1.85,6.88,0.651,4,0.000,0.038,3256,3010,1813
$GC,17303,2.66,255.5,86.4,7.3,1630,17316,0.10,1.77,7.85,0.652,6,0.054,0.028,3293,1948,1783
$GC,17654,2.66,255.7,56.4,8.0,1692,17660,0.00,1.83,0.00,0.000,4,0.000,0.037,3293,3010,1783
$GC,17913,2.73,284.9,38.3,5.2,1738,17946,0.00,1.70,25.02,0.678,6,0.000,0.026,3293,1985,1662
$GC,18286,2.81,300.1,15.9,6.5,1804,18305,0.12,1.90,13.65,0.630,4,0.064,0.044,3332,923,1600
$STATE,18461,end climb,SURFACE_DEPTH_REACHED
$STATE,18461,begin surface coast
$FINISH,-0.5,1.021719
$STATE,18489,end surface coast,CONTROL_FINISHED_OK
$STATE,18490,begin surface
$SM_CCo,18511,118.18,0.626,0,0,785,500.17
$SM_GC,-5.25,0.00,0.00,118.18,0.000,0.000,0.626,415,2337,785,-10.55,0.34,500.17
$IRIDIUM_FIX,1316.45,12017.94,270597,161618
$TT8_MAMPS,0.026078
$HUMID,1765
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.60
$XPDR_PINGS,410
$24V_AH,23.3,10.787
$10V_AH,10.2,8.648
$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,28.700,97.100,335.725,118.175,0.000,48.301,51.401,147.324,110.750,0.000,0.000,32.426,2973.287,11792.220,561.933,3251.334,503.249,0.000,2055.096,0.000,3209.855,0.000,61.863
$DEVICE_MAMPS,174.876,200.187,1295.463,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1247.334,822.280,770.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101061,1840
$CAP_FILE_SIZE,172489,0
$CFSIZE,260165632,251297792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020308,211637,1318.363,12020.637,35,1.4,35,-0.9