version: 66.03
glider: 126
mission: 7
dive: 75
start: 3 3 108 3 49 55
data:
$ID,126
$MISSION,7
$DIVE,75
$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,-620933.19
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,034107,1316.519,12021.848,42,1.4,47,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.19
$_SM_ANGLEo,-57.4
$GPS2,034903,1316.559,12021.868,13,1.5,13,-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,147.1,9272,-22.0,-7.990
$D_GRID,1831
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-67.50,0.000,6,0.000,0.000,418,2278,3101
$GC,91,-2.33,-67.0,0.2,-15.0,13,108,10.15,1.88,0.00,0.000,4,0.175,0.037,2198,3371,3102
$GC,221,-2.19,-67.0,37.1,-23.5,36,227,0.12,1.73,0.00,0.000,6,0.116,0.025,2226,2313,3103
$GC,565,-2.13,-67.0,99.0,-17.0,97,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2305,3104
$GC,908,-2.09,-67.0,151.5,-13.2,158,915,0.12,1.85,0.00,0.000,4,0.121,0.040,2249,3394,3105
$GC,1021,-2.09,-67.0,167.4,-12.6,178,1028,0.00,1.75,0.00,0.000,6,0.000,0.025,2249,2313,3105
$GC,1365,-2.12,-67.0,204.8,-9.6,239,1371,0.00,1.83,0.00,0.000,4,0.000,0.042,2250,3379,3106
$GC,1624,-2.12,-67.0,232.2,-10.8,285,1630,0.00,1.62,0.00,0.000,6,0.000,0.027,2249,2363,3106
$GC,1958,-2.14,-67.0,266.9,-10.3,331,1961,0.00,1.75,0.00,0.000,4,0.000,0.045,2249,3373,3106
$GC,2152,-2.14,-67.0,287.6,-10.9,348,2160,0.00,1.65,0.00,0.000,6,0.000,0.028,2249,2373,3106
$GC,2479,-2.16,-67.0,320.1,-9.9,379,2482,0.00,1.75,0.00,0.000,4,0.000,0.047,2249,3378,3103
$GC,2572,-2.16,-67.0,330.5,-10.5,387,2579,0.00,1.65,0.00,0.000,6,0.000,0.029,2249,2386,3103
$GC,2899,-2.19,-67.0,362.3,-9.6,418,2903,0.00,1.75,0.00,0.000,4,0.000,0.049,2249,3370,3100
$GC,2977,-2.19,-67.0,370.1,-10.0,425,2980,0.00,1.62,0.00,0.000,6,0.000,0.031,2249,2404,3100
$GC,3308,-2.22,-67.0,402.6,-10.3,456,3312,0.00,1.90,0.00,0.000,4,0.000,0.051,2249,1308,3098
$GC,3398,-2.24,-67.0,411.7,-9.6,464,3402,0.12,1.85,0.00,0.000,6,0.069,0.033,2216,2407,3097
$GC,3727,-2.24,-67.0,445.5,-10.6,495,3730,0.00,1.67,0.00,0.000,4,0.000,0.052,2216,3373,3095
$GC,3798,-2.24,-67.0,453.3,-11.0,501,3805,0.00,1.60,0.00,0.000,6,0.000,0.031,2216,2427,3094
$GC,4124,-2.24,-67.0,485.7,-9.5,532,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2426,3093
$GC,4449,-2.24,-67.0,516.8,-9.7,555,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2426,3090
$GC,4756,-2.24,-67.0,547.5,-10.1,570,4760,0.00,2.05,0.00,0.000,4,0.000,0.073,2216,1303,3089
$GC,4789,-2.24,-67.0,550.9,-10.4,571,4793,0.00,1.92,0.00,0.000,6,0.000,0.047,2216,2387,3088
$GC,5109,-2.24,-67.0,582.5,-9.9,587,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2388,3086
$GC,5420,-2.24,-67.0,611.6,-9.3,602,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2388,3084
$GC,5731,-2.24,-67.0,641.7,-9.4,617,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2387,3082
$GC,6040,-2.24,-67.0,670.4,-9.6,632,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2387,3081
$GC,6347,-2.24,-67.0,699.4,-9.1,647,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2388,3079
$GC,6656,-2.24,-67.0,727.1,-8.6,662,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2388,3078
$GC,6965,-2.24,-67.0,754.5,-9.4,677,6968,0.00,2.12,0.00,0.000,4,0.000,0.158,2216,3357,3076
$GC,7092,-2.24,-67.0,766.3,-9.2,682,7099,0.00,2.00,0.00,0.000,6,0.000,0.139,2216,2447,3075
$GC,7407,-2.24,-67.0,793.5,-8.8,698,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2446,3073
$GC,7717,-2.24,-67.0,819.1,-8.2,713,7721,0.00,2.67,0.00,0.000,4,0.000,0.192,2216,1314,3072
$GC,7822,-2.24,-67.0,827.9,-8.2,718,7826,0.00,1.77,0.00,0.000,6,0.000,0.035,2216,2357,3072
$GC,8154,-2.24,-67.0,854.8,-8.1,734,8158,0.00,1.83,0.00,0.000,4,0.000,0.057,2216,3379,3072
$GC,8288,-2.24,-67.0,866.5,-8.7,740,8292,0.00,1.67,0.00,0.000,6,0.000,0.035,2216,2383,3071
$GC,8620,-2.24,-67.0,894.6,-8.6,756,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2383,3070
$GC,8929,-2.26,-67.0,922.6,-9.1,771,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2383,3070
$GC,9238,-2.29,-67.0,948.9,-8.3,786,9242,0.00,1.77,0.00,0.000,4,0.000,0.058,2216,3374,3070
$GC,9293,-2.29,-67.0,953.7,-9.0,788,9297,0.00,1.70,0.00,0.000,6,0.000,0.036,2216,2391,3069
$GC,9615,-2.31,-68.6,978.8,-7.8,804,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2392,3067
$STATE,9778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9778,begin apogee
$GC,9783,-0.51,0.0,991.5,7.5,812,9841,1.85,0.00,52.70,1.442,6,0.107,0.000,2599,1990,2825
$STATE,9841,end apogee,CONTROL_FINISHED_OK
$STATE,9841,begin climb
$GC,9843,2.34,68.6,992.7,0.0,815,9910,2.88,0.00,61.38,1.404,6,0.069,0.000,3223,1990,2545
$GC,10209,2.32,87.0,972.7,6.3,833,10229,0.00,0.00,17.25,1.347,6,0.000,0.000,3223,1990,2470
$GC,10539,2.29,93.5,947.9,7.4,849,10552,0.00,2.08,6.97,1.161,4,0.000,0.071,3223,910,2444
$GC,10720,2.23,94.9,933.1,7.9,857,10725,0.10,1.85,0.00,0.000,6,0.109,0.036,3200,1972,2443
$GC,11047,2.22,99.5,908.8,7.6,873,11060,0.00,1.90,6.97,1.160,4,0.000,0.052,3200,3007,2419
$GC,11123,2.19,99.5,902.4,8.7,876,11126,0.00,1.83,0.00,0.000,6,0.000,0.046,3200,1966,2419
$GC,11444,2.17,101.0,876.9,7.8,892,11447,0.00,1.92,0.00,0.000,4,0.000,0.068,3200,911,2418
$GC,11512,2.14,101.0,871.3,8.2,895,11516,0.12,1.83,0.00,0.000,6,0.123,0.036,3178,1976,2418
$GC,11843,2.14,101.5,845.3,7.9,911,11847,0.00,1.80,0.00,0.000,4,0.000,0.052,3178,3007,2418
$GC,11959,2.14,101.5,835.5,8.4,916,11964,0.00,1.83,0.00,0.000,6,0.000,0.042,3178,1978,2417
$GC,12286,2.15,107.4,810.9,7.4,932,12296,0.00,0.00,8.30,1.180,6,0.000,0.000,3178,1978,2387
$GC,12596,2.16,111.2,787.0,7.6,947,12603,0.00,0.00,5.07,0.993,6,0.000,0.000,3178,1978,2371
$GC,12905,2.16,113.6,761.8,7.8,962,12910,0.00,0.00,3.95,0.845,6,0.000,0.000,3178,1978,2362
$GC,13214,2.17,116.0,737.9,7.8,977,13223,0.00,1.88,3.97,0.844,4,0.000,0.051,3178,3010,2352
$GC,13273,2.17,116.0,733.0,8.1,979,13280,0.00,1.85,0.00,0.000,6,0.000,0.041,3178,1968,2352
$GC,13589,2.17,118.5,708.2,7.7,995,13595,0.00,0.00,4.18,0.861,6,0.000,0.000,3178,1969,2341
$GC,13898,2.17,120.3,683.5,7.8,1010,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1969,2341
$GC,14207,2.18,126.6,660.6,7.4,1025,14221,0.00,2.00,8.45,1.108,4,0.000,0.067,3178,908,2309
$GC,14277,2.19,128.2,655.0,7.8,1028,14282,0.00,1.88,0.00,0.000,6,0.000,0.035,3178,1979,2309
$GC,14605,2.20,135.6,630.1,7.3,1044,14616,0.00,0.00,9.57,1.115,6,0.000,0.000,3178,1981,2272
$GC,14914,2.22,135.6,605.4,8.2,1059,14917,0.00,1.98,0.00,0.000,4,0.000,0.064,3178,905,2272
$GC,14985,2.23,139.5,599.7,7.6,1062,14995,0.00,1.85,5.35,0.929,6,0.000,0.035,3177,1972,2255
$GC,15312,2.25,139.7,574.7,8.0,1078,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1972,2255
$GC,15620,2.27,139.7,548.7,8.7,1093,15622,0.12,0.00,0.00,0.000,6,0.082,0.000,3208,1972,2255
$GC,15929,2.27,139.7,522.5,8.3,1108,15930,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1973,2255
$GC,16239,2.27,139.7,494.5,8.7,1125,16243,0.00,1.80,0.00,0.000,4,0.000,0.051,3208,3012,2255
$GC,16299,2.27,139.7,489.1,8.8,1130,16306,0.00,1.85,0.00,0.000,6,0.000,0.041,3207,1960,2255
$GC,16625,2.27,139.7,461.6,8.8,1161,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1961,2255
$GC,16944,2.27,139.7,436.4,8.0,1191,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1961,2255
$GC,17261,2.27,139.7,411.1,8.1,1221,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1961,2255
$GC,17581,2.28,144.6,385.1,7.5,1251,17592,0.00,1.92,6.22,0.848,4,0.000,0.064,3208,901,2234
$GC,17783,2.28,144.6,368.4,8.2,1269,17787,0.00,1.83,0.00,0.000,6,0.000,0.034,3208,1976,2234
$GC,18112,2.28,144.6,343.0,8.2,1300,18113,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1977,2234
$GC,18431,2.28,144.6,316.4,8.3,1330,18434,0.00,1.92,0.00,0.000,4,0.000,0.059,3208,909,2235
$GC,18488,2.28,144.6,311.7,8.0,1335,18492,0.00,1.83,0.00,0.000,6,0.000,0.033,3208,1991,2235
$GC,18817,2.29,150.6,286.0,7.4,1366,18828,0.00,0.00,6.90,0.816,6,0.000,0.000,3208,1992,2210
$GC,19147,2.31,162.9,261.9,6.8,1397,19168,0.00,2.05,11.95,0.887,4,0.000,0.058,3208,906,2160
$GC,19257,2.31,162.9,252.7,8.3,1407,19261,0.00,1.85,0.00,0.000,6,0.000,0.032,3208,2000,2160
$GC,19598,2.31,162.9,224.8,8.5,1465,19603,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2000,2159
$GC,19941,2.32,171.3,198.1,7.2,1526,19953,0.00,2.05,8.62,0.792,4,0.000,0.056,3207,901,2126
$GC,20021,2.34,183.0,192.5,6.9,1540,20039,0.00,1.80,11.10,0.813,6,0.000,0.040,3208,1954,2079
$GC,20377,2.41,200.3,170.6,6.3,1603,20400,0.12,0.00,15.60,0.818,6,0.073,0.000,3242,1954,2008
$GC,20738,2.48,220.7,147.9,6.1,1667,20761,0.00,1.98,17.95,0.797,4,0.000,0.053,3242,900,1925
$GC,20818,2.48,222.3,142.1,7.8,1681,20824,0.00,1.75,0.00,0.000,6,0.000,0.029,3242,1948,1924
$GC,21162,2.57,247.2,121.1,5.6,1742,21191,0.12,1.83,22.88,0.769,4,0.067,0.041,3277,3001,1816
$GC,21444,2.58,254.3,99.7,7.3,1792,21456,0.00,1.80,7.20,0.650,6,0.000,0.029,3277,1935,1788
$GC,21796,2.63,267.9,73.1,6.7,1854,21813,0.00,0.00,12.88,0.687,6,0.000,0.000,3277,1934,1732
$GC,22152,2.71,286.9,44.6,6.2,1917,22175,0.00,1.77,16.62,0.672,4,0.000,0.046,3277,917,1654
$GC,22427,2.77,299.7,24.6,6.8,1966,22446,0.12,1.73,11.77,0.630,6,0.046,0.026,3321,1960,1602
$STATE,22713,end climb,SURFACE_DEPTH_REACHED
$STATE,22714,begin surface coast
$FINISH,-0.2,1.021638
$STATE,22742,end surface coast,CONTROL_FINISHED_OK
$STATE,22743,begin surface
$SM_CCo,22764,121.80,0.627,0,0,786,500.17
$SM_GC,-5.45,0.00,0.00,121.80,0.000,0.000,0.627,417,2328,786,-10.55,0.08,500.17
$IRIDIUM_FIX,1309.80,12021.76,280597,030337
$TT8_MAMPS,0.026078
$HUMID,1708
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,23.60
$XPDR_PINGS,408
$24V_AH,23.1,11.092
$10V_AH,10.1,8.916
$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,28.650,104.850,343.825,121.800,0.000,58.762,46.861,183.024,114.500,0.000,0.000,13.673,3304.798,15324.430,603.879,3563.685,584.170,0.000,2247.824,0.000,3524.709,0.000,91.487
$DEVICE_MAMPS,174.876,191.750,1441.960,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1374.552,797.545,752.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110526,2022
$CAP_FILE_SIZE,198339,0
$CFSIZE,260165632,251076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030308,101237,1314.591,12023.442,41,1.9,41,-0.9