version: 66.03
glider: 126
mission: 7
dive: 74
start: 3 2 108 21 23 12
data:
$ID,126
$MISSION,7
$DIVE,74
$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,-620918.88
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,211637,1318.363,12020.637,35,1.4,35,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.96
$_SM_ANGLEo,-54.8
$GPS2,212221,1318.388,12020.631,17,1.6,17,-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,147.2,13327,-22.0,-7.990
$D_GRID,1323
$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,-68.20,0.000,6,0.000,0.000,416,2342,3100
$GC,92,-2.33,-67.0,0.2,-13.5,13,109,10.10,1.80,0.00,0.000,4,0.173,0.033,2197,1277,3102
$GC,199,-2.20,-67.0,32.5,-24.3,32,206,0.12,1.75,0.00,0.000,6,0.126,0.026,2224,2334,3103
$GC,545,-2.13,-67.0,96.0,-18.4,93,551,0.12,0.00,0.00,0.000,6,0.132,0.000,2246,2335,3104
$GC,887,-2.10,-67.0,150.2,-13.3,154,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2335,3105
$GC,1231,-2.10,-67.0,194.5,-9.9,215,1237,0.00,1.75,0.00,0.000,4,0.000,0.041,2246,3373,3106
$GC,1489,-2.10,-67.0,220.5,-10.4,261,1495,0.00,1.75,0.00,0.000,6,0.000,0.025,2246,2283,3106
$GC,1829,-2.12,-67.0,255.5,-9.6,317,1833,0.00,1.88,0.00,0.000,4,0.000,0.044,2246,3370,3106
$GC,1988,-2.12,-67.0,272.1,-10.8,331,1992,0.00,1.70,0.00,0.000,6,0.000,0.028,2246,2317,3106
$GC,2318,-2.12,-67.0,307.3,-10.6,362,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2310,3105
$GC,2637,-2.14,-67.0,342.1,-10.4,392,2641,0.00,1.83,0.00,0.000,4,0.000,0.048,2246,3367,3103
$GC,2749,-2.14,-67.0,354.5,-11.0,402,2752,0.00,1.70,0.00,0.000,6,0.000,0.031,2246,2338,3103
$GC,3080,-2.17,-67.0,388.8,-10.0,433,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2338,3100
$GC,3398,-2.19,-67.0,421.2,-10.0,463,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2336,3098
$GC,3717,-2.23,-67.0,452.9,-9.6,493,3720,0.00,1.80,0.00,0.000,4,0.000,0.051,2246,3364,3096
$GC,3901,-2.25,-67.0,471.6,-10.3,509,3908,0.12,1.70,0.00,0.000,6,0.073,0.032,2213,2355,3096
$GC,4224,-2.25,-67.0,504.8,-10.1,538,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2353,3093
$GC,4533,-2.25,-67.0,537.0,-10.8,553,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2353,3091
$GC,4842,-2.25,-67.0,567.8,-9.6,568,4846,0.00,1.85,0.00,0.000,4,0.000,0.073,2213,3358,3089
$GC,5026,-2.25,-67.0,587.0,-10.6,576,5031,0.00,1.83,0.00,0.000,6,0.000,0.052,2213,2346,3087
$GC,5353,-2.25,-67.0,619.7,-10.3,592,5361,0.00,1.92,0.00,0.000,4,0.000,0.087,2213,3355,3086
$GC,5416,-2.25,-67.0,626.1,-10.0,594,5423,0.00,1.92,0.00,0.000,6,0.000,0.067,2213,2331,3085
$GC,5731,-2.25,-67.0,655.5,-9.4,610,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2331,3083
$GC,6040,-2.25,-67.0,684.8,-9.2,625,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2331,3081
$GC,6350,-2.25,-67.0,713.5,-8.9,640,6354,0.00,2.15,0.00,0.000,4,0.000,0.130,2213,3356,3080
$GC,6495,-2.25,-67.0,726.2,-8.9,646,6501,0.00,2.12,0.00,0.000,6,0.000,0.117,2213,2342,3079
$GC,6810,-2.25,-67.0,753.2,-8.8,662,6814,0.00,2.33,0.00,0.000,4,0.000,0.155,2213,1261,3078
$GC,6871,-2.25,-67.0,758.7,-8.9,665,6875,0.00,2.17,0.00,0.000,6,0.000,0.132,2213,2294,3078
$GC,7196,-2.25,-67.0,787.9,-9.1,681,7199,0.00,1.92,0.00,0.000,4,0.000,0.054,2213,3397,3076
$GC,7263,-2.25,-67.0,793.9,-9.7,684,7266,0.00,1.85,0.00,0.000,6,0.000,0.035,2213,2304,3076
$GC,7594,-2.25,-67.0,821.9,-8.5,700,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2303,3075
$GC,7903,-2.25,-67.0,847.2,-8.2,715,7907,0.00,1.98,0.00,0.000,4,0.000,0.055,2213,3411,3073
$GC,7964,-2.25,-67.0,852.5,-8.5,717,7970,0.00,1.83,0.00,0.000,6,0.000,0.035,2213,2352,3073
$GC,8279,-2.25,-67.0,878.4,-8.1,733,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2350,3072
$GC,8588,-2.25,-67.0,904.0,-8.6,748,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2351,3071
$GC,8897,-2.25,-67.0,929.9,-8.4,763,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2350,3071
$GC,9206,-2.25,-67.0,955.7,-8.2,778,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2350,3070
$GC,9517,-2.25,-67.0,980.9,-8.2,793,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2349,3069
$STATE,9639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9639,begin apogee
$GC,9643,-0.51,0.0,991.4,8.4,799,9701,1.85,0.00,53.05,1.440,6,0.106,0.000,2597,1974,2825
$STATE,9702,end apogee,CONTROL_FINISHED_OK
$STATE,9702,begin climb
$GC,9704,2.33,67.0,992.9,0.0,802,9773,2.83,2.08,59.58,1.399,4,0.069,0.075,3222,916,2551
$GC,9842,2.30,82.4,987.4,6.5,808,9861,0.00,1.88,14.68,1.312,6,0.000,0.035,3222,2003,2489
$GC,10183,2.25,82.4,960.8,8.3,825,10185,0.12,0.00,0.00,0.000,6,0.121,0.000,3200,2003,2486
$GC,10492,2.24,92.1,937.7,7.1,840,10504,0.00,0.00,9.85,1.256,6,0.000,0.000,3199,2003,2449
$GC,10801,2.23,95.8,914.6,7.6,855,10808,0.00,0.00,4.93,1.006,6,0.000,0.000,3200,2003,2434
$GC,11111,2.23,96.4,889.7,7.9,870,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2003,2433
$GC,11420,2.21,96.4,864.1,8.1,885,11423,0.00,2.00,0.00,0.000,4,0.000,0.067,3199,908,2433
$GC,11491,2.18,97.9,858.1,7.9,888,11495,0.00,1.83,0.00,0.000,6,0.000,0.035,3199,1962,2432
$GC,11818,2.19,105.4,832.5,7.3,904,11830,0.00,0.00,9.85,1.226,6,0.000,0.000,3199,1962,2395
$GC,12127,2.19,105.4,808.9,8.0,919,12130,0.00,1.83,0.00,0.000,4,0.000,0.051,3199,3014,2393
$GC,12210,2.18,111.1,802.2,7.5,922,12221,0.00,1.85,6.43,1.094,6,0.000,0.040,3199,1963,2372
$GC,12541,2.18,111.1,775.2,8.2,939,12545,0.00,1.90,0.00,0.000,4,0.000,0.065,3199,908,2371
$GC,12676,2.15,111.1,764.0,8.8,945,12680,0.12,1.80,0.00,0.000,6,0.124,0.035,3177,1965,2372
$GC,13007,2.15,111.1,737.7,8.2,961,13010,0.00,1.83,0.00,0.000,4,0.000,0.051,3177,3014,2372
$GC,13174,2.15,111.1,723.5,8.1,968,13178,0.00,1.85,0.00,0.000,6,0.000,0.048,3177,1962,2371
$GC,13497,2.17,120.6,699.7,7.1,984,13510,0.00,0.00,9.95,1.163,6,0.000,0.000,3177,1962,2333
$GC,13827,2.17,123.4,673.9,7.7,1000,13833,0.00,0.00,4.25,0.852,6,0.000,0.000,3177,1962,2321
$GC,14136,2.17,123.4,649.9,8.2,1015,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1962,2321
$GC,14445,2.17,123.4,625.4,8.1,1030,14449,0.00,1.85,0.00,0.000,4,0.000,0.050,3177,3013,2321
$GC,14506,2.17,123.4,620.3,8.8,1032,14512,0.00,1.85,0.00,0.000,6,0.000,0.040,3177,1962,2321
$GC,14822,2.18,125.7,595.9,7.8,1048,14827,0.00,0.00,3.70,0.734,6,0.000,0.000,3177,1962,2312
$GC,15131,2.19,137.2,573.2,6.9,1063,15144,0.00,0.00,11.93,1.113,6,0.000,0.000,3177,1962,2265
$GC,15440,2.19,137.2,548.3,8.0,1078,15443,0.00,1.85,0.00,0.000,4,0.000,0.049,3177,3012,2265
$GC,15517,2.20,141.2,542.0,7.6,1081,15529,0.00,1.88,5.15,0.883,6,0.000,0.039,3177,1944,2248
$GC,15837,2.20,141.2,514.3,8.7,1097,15841,0.00,1.88,0.00,0.000,4,0.000,0.049,3177,3009,2248
$GC,15914,2.20,141.2,507.5,8.8,1100,15919,0.00,1.83,0.00,0.000,6,0.000,0.038,3177,1966,2248
$GC,16243,2.22,141.2,480.7,8.1,1127,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1966,2248
$GC,16562,2.25,141.5,456.0,8.0,1157,16563,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1967,2248
$GC,16880,2.29,151.2,431.2,7.1,1187,16895,0.15,1.88,10.15,0.994,4,0.075,0.048,3218,3013,2207
$GC,16986,2.29,152.7,422.6,7.9,1196,16990,0.00,1.83,0.00,0.000,6,0.000,0.038,3218,1962,2207
$GC,17316,2.29,152.7,394.2,9.2,1227,17320,0.00,1.85,0.00,0.000,4,0.000,0.048,3218,3015,2207
$GC,17466,2.29,152.7,380.1,8.7,1240,17473,0.00,1.83,0.00,0.000,6,0.000,0.038,3218,1973,2207
$GC,17792,2.29,152.7,352.6,8.1,1271,17793,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1973,2207
$GC,18111,2.30,154.8,326.3,7.8,1301,18120,0.00,0.00,5.03,0.750,6,0.000,0.000,3218,1972,2192
$GC,18439,2.30,154.8,298.4,8.3,1332,18440,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1972,2192
$GC,18758,2.31,160.9,271.0,7.4,1362,18768,0.00,0.00,6.95,0.807,6,0.000,0.000,3218,1972,2168
$GC,19088,2.31,162.2,245.1,7.9,1398,19094,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1971,2168
$GC,19431,2.32,170.2,219.0,7.2,1459,19443,0.00,0.00,9.25,0.820,6,0.000,0.000,3218,1972,2131
$GC,19781,2.34,182.5,191.5,6.8,1521,19799,0.00,1.88,11.98,0.827,4,0.000,0.044,3218,3004,2080
$GC,19873,2.39,208.9,185.9,5.5,1537,19901,0.00,1.73,22.85,0.841,6,0.000,0.032,3218,1982,1973
$GC,20240,2.46,225.2,160.2,6.5,1602,20257,0.12,0.00,14.62,0.800,6,0.073,0.000,3252,1982,1906
$GC,20598,2.51,238.5,133.8,6.7,1665,20615,0.00,1.85,12.32,0.759,4,0.000,0.041,3252,3009,1852
$GC,20761,2.54,240.6,121.3,7.8,1694,20768,0.00,1.75,0.00,0.000,6,0.000,0.030,3252,1981,1851
$GC,21106,2.61,256.9,96.2,6.5,1755,21129,0.12,1.80,16.55,0.731,4,0.068,0.039,3288,3020,1776
$GC,21382,2.61,256.9,72.6,9.0,1804,21388,0.00,1.80,0.00,0.000,6,0.000,0.029,3288,1955,1775
$GC,21726,2.67,273.1,47.6,6.5,1865,21748,0.00,1.85,14.75,0.675,4,0.000,0.038,3288,3004,1710
$GC,22001,2.73,285.7,30.0,6.8,1914,22018,0.00,1.67,11.35,0.636,6,0.000,0.027,3288,2002,1660
$GC,22359,2.81,301.1,7.3,6.5,1977,22382,0.15,1.77,14.10,0.624,4,0.059,0.038,3337,3012,1596
$STATE,22426,end climb,SURFACE_DEPTH_REACHED
$STATE,22426,begin surface coast
$FINISH,0.1,1.021682
$STATE,22450,end surface coast,CONTROL_FINISHED_OK
$STATE,22450,begin surface
$SM_CCo,22471,121.22,0.627,0,0,786,500.17
$SM_GC,-5.43,0.00,0.00,121.22,0.000,0.000,0.627,418,2279,786,-10.54,-1.30,500.17
$IRIDIUM_FIX,1314.23,12020.97,270597,161616
$TT8_MAMPS,0.026845
$HUMID,1728
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.20
$XPDR_PINGS,389
$24V_AH,23.1,10.938
$10V_AH,10.1,8.781
$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,28.725,96.775,343.225,121.225,0.000,30.221,14.968,187.319,109.750,0.000,0.000,17.730,3254.663,15053.534,583.915,3548.341,517.808,0.000,2222.547,0.000,3506.796,0.000,92.762
$DEVICE_MAMPS,173.342,154.934,1439.659,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1354.329,789.268,741.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107150,1993
$CAP_FILE_SIZE,194547,0
$CFSIZE,260165632,251174912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030308,034107,1316.519,12021.848,42,1.4,47,-0.9