version: 66.03
glider: 126
mission: 7
dive: 102
start: 3 10 108 6 24 37
data:
$ID,126
$MISSION,7
$DIVE,102
$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,-621416.06
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,061407,1245.717,12044.729,38,1.3,38,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.87
$_SM_ANGLEo,-56.8
$GPS2,062345,1245.724,12044.715,11,1.7,11,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,339.8,9892,-22.0,-7.990
$D_GRID,898
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-67.88,0.000,6,0.000,0.000,414,2328,3101
$GC,92,-2.33,-67.0,0.1,-14.0,13,110,10.15,1.80,0.00,0.000,4,0.174,0.034,2198,1268,3102
$GC,274,-2.22,-67.0,46.5,-19.7,45,280,0.12,1.75,0.00,0.000,6,0.127,0.027,2221,2330,3104
$GC,618,-2.16,-67.0,106.5,-15.7,106,624,0.00,1.80,0.00,0.000,4,0.000,0.048,2221,3366,3105
$GC,765,-2.10,-67.0,128.8,-13.0,132,772,0.12,1.70,0.00,0.000,6,0.110,0.024,2249,2311,3106
$GC,1111,-2.10,-67.0,168.0,-11.1,193,1117,0.00,1.85,0.00,0.000,4,0.000,0.047,2249,3380,3106
$GC,1315,-2.10,-67.0,191.4,-11.9,229,1321,0.00,1.60,0.00,0.000,6,0.000,0.026,2249,2376,3106
$GC,1657,-2.10,-67.0,226.6,-8.9,290,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2371,3106
$GC,2001,-2.10,-67.0,258.8,-10.0,344,2004,0.00,1.80,0.00,0.000,4,0.000,0.040,2249,1311,3106
$GC,2079,-2.10,-67.0,266.2,-9.9,351,2082,0.00,1.80,0.00,0.000,6,0.000,0.031,2249,2385,3105
$GC,2411,-2.12,-67.0,300.0,-11.2,382,2415,0.00,1.73,0.00,0.000,4,0.000,0.056,2249,3373,3103
$GC,2494,-2.12,-67.0,310.5,-12.3,389,2500,0.00,1.60,0.00,0.000,6,0.000,0.028,2249,2408,3102
$GC,2820,-2.15,-67.0,347.8,-11.3,420,2824,0.00,1.88,0.00,0.000,4,0.000,0.044,2249,1310,3100
$GC,2955,-2.17,-67.0,362.6,-10.2,432,2958,0.00,1.83,0.00,0.000,6,0.000,0.032,2249,2390,3100
$GC,3285,-2.21,-67.0,393.7,-8.5,463,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2390,3098
$GC,3604,-2.24,-67.0,421.0,-8.9,493,3608,0.12,1.90,0.00,0.000,4,0.067,0.051,2214,1318,3095
$GC,3652,-2.24,-67.0,425.9,-10.4,497,3659,0.00,1.80,0.00,0.000,6,0.000,0.035,2214,2355,3095
$GC,3978,-2.24,-67.0,458.5,-10.5,528,3981,0.00,1.83,0.00,0.000,4,0.000,0.066,2215,3375,3093
$GC,4038,-2.24,-67.0,465.0,-10.2,533,4044,0.00,1.65,0.00,0.000,6,0.000,0.037,2215,2421,3093
$GC,4364,-2.24,-67.0,497.5,-10.2,564,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2419,3089
$GC,4683,-2.24,-67.0,529.3,-9.5,581,4686,0.00,2.00,0.00,0.000,4,0.000,0.071,2214,1320,3088
$GC,4743,-2.24,-67.0,535.3,-10.0,583,4750,0.00,1.88,0.00,0.000,6,0.000,0.054,2214,2372,3087
$GC,5059,-2.24,-67.0,564.8,-9.3,599,5062,0.00,1.88,0.00,0.000,4,0.000,0.087,2214,3376,3085
$GC,5107,-2.24,-67.0,569.8,-10.7,601,5113,0.00,1.70,0.00,0.000,6,0.000,0.057,2214,2438,3085
$GC,5436,-2.24,-67.0,601.5,-9.6,617,5440,0.00,2.08,0.00,0.000,4,0.000,0.081,2214,1318,3083
$GC,5491,-2.24,-67.0,607.3,-10.3,619,5496,0.00,1.95,0.00,0.000,6,0.000,0.067,2215,2367,3082
$GC,5812,-2.24,-67.0,639.8,-10.0,635,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2368,3081
$GC,6121,-2.24,-67.0,668.5,-8.7,650,6125,0.00,2.08,0.00,0.000,4,0.000,0.127,2215,3386,3079
$GC,6221,-2.24,-67.0,677.8,-9.2,654,6225,0.00,1.90,0.00,0.000,6,0.000,0.102,2214,2448,3078
$GC,6542,-2.24,-67.0,707.1,-9.2,670,6546,0.00,2.28,0.00,0.000,4,0.000,0.129,2214,1325,3076
$GC,6598,-2.24,-67.0,711.9,-8.7,672,6604,0.00,2.12,0.00,0.000,6,0.000,0.111,2214,2382,3076
$GC,6914,-2.24,-67.0,739.8,-8.8,688,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2382,3075
$GC,7222,-2.27,-67.0,766.0,-8.1,703,7226,0.00,2.30,0.00,0.000,4,0.000,0.179,2214,3384,3074
$GC,7300,-2.27,-67.0,772.6,-8.9,706,7306,0.00,2.10,0.00,0.000,6,0.000,0.155,2214,2460,3073
$GC,7616,-2.29,-67.0,798.5,-8.5,722,7620,0.00,2.62,0.00,0.000,4,0.000,0.184,2214,1328,3073
$GC,7732,-2.29,-67.0,808.1,-8.1,727,7736,0.00,2.38,0.00,0.000,6,0.000,0.165,2215,2359,3072
$GC,8054,-2.64,-146.0,825.4,0.1,743,8059,0.32,1.88,0.00,0.000,4,0.054,0.065,2130,3407,3070
$STATE,8174,end dive,NO_VERTICAL_VELOCITY
$STATE,8174,begin apogee
$GC,8182,-0.51,0.0,825.3,0.0,748,8239,2.15,0.00,52.65,1.309,6,0.089,0.000,2599,1997,2825
$STATE,8240,end apogee,CONTROL_FINISHED_OK
$STATE,8240,begin climb
$GC,8242,2.47,146.0,825.2,0.0,751,8377,2.95,2.10,124.88,1.288,4,0.073,0.067,3248,907,2229
$GC,8632,2.47,146.0,799.3,10.4,769,8636,0.00,1.88,0.00,0.000,6,0.000,0.033,3248,1997,2224
$GC,8965,2.47,146.0,775.6,8.0,785,8968,0.00,1.98,0.00,0.000,4,0.000,0.058,3248,912,2221
$GC,9221,2.47,146.0,751.1,8.2,796,9226,0.00,1.75,0.00,0.000,6,0.000,0.032,3248,1923,2220
$GC,9543,2.47,146.0,725.2,9.1,812,9546,0.00,1.85,0.00,0.000,4,0.000,0.059,3248,908,2219
$GC,9717,2.44,146.0,707.4,10.9,819,9723,0.00,1.77,0.00,0.000,6,0.000,0.033,3248,1948,2218
$GC,10033,2.44,146.0,675.7,9.8,835,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1948,2218
$GC,10340,2.44,146.0,643.9,10.0,850,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1948,2218
$GC,10650,2.44,146.0,612.2,9.8,865,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1949,2217
$GC,10960,2.44,146.0,579.1,10.8,880,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1950,2216
$GC,11268,2.44,146.0,545.4,10.5,895,11272,0.00,1.88,0.00,0.000,4,0.000,0.058,3248,3009,2216
$GC,11312,2.44,146.0,540.9,9.5,897,11316,0.00,1.90,0.00,0.000,6,0.000,0.047,3248,1923,2216
$GC,11644,2.44,146.0,512.5,8.4,913,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1923,2216
$GC,11957,2.44,146.0,485.2,9.5,935,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1922,2215
$GC,12276,2.44,146.0,457.2,8.5,965,12280,0.00,1.92,0.00,0.000,4,0.000,0.056,3248,3010,2215
$GC,12527,2.44,146.0,433.9,8.9,987,12534,0.00,1.95,0.00,0.000,6,0.000,0.051,3247,1910,2215
$GC,12853,2.44,146.0,403.4,9.1,1018,12857,0.00,1.80,0.00,0.000,4,0.000,0.064,3248,906,2215
$GC,12879,2.44,146.0,400.9,8.6,1020,12886,0.00,1.73,0.00,0.000,6,0.000,0.032,3248,1920,2215
$GC,13205,2.44,146.0,372.5,8.2,1051,13209,0.00,1.90,0.00,0.000,4,0.000,0.054,3248,3005,2216
$GC,13289,2.44,146.0,365.1,9.7,1058,13295,0.00,1.92,0.00,0.000,6,0.000,0.044,3248,1913,2216
$GC,13614,2.46,159.4,338.9,6.7,1089,13626,0.00,0.00,10.20,0.924,6,0.000,0.000,3248,1913,2174
$GC,13941,2.46,159.4,313.7,8.4,1120,13945,0.00,1.92,0.00,0.000,4,0.000,0.052,3248,3002,2174
$GC,14043,2.47,164.9,305.6,7.5,1129,14054,0.00,1.88,6.30,0.817,6,0.000,0.041,3248,1914,2152
$GC,14372,2.48,171.3,280.9,7.4,1160,14383,0.00,1.88,7.03,0.823,4,0.000,0.061,3248,908,2126
$GC,14433,2.49,173.4,275.7,7.8,1165,14440,0.00,1.77,3.55,0.574,6,0.000,0.031,3247,1943,2118
$GC,14759,2.49,173.4,248.2,8.2,1197,14764,0.00,1.85,0.00,0.000,4,0.000,0.052,3248,3005,2118
$GC,14845,2.49,173.4,241.4,8.1,1212,14851,0.00,1.90,0.00,0.000,6,0.000,0.040,3248,1920,2118
$GC,15189,2.50,179.8,215.3,7.4,1273,15200,0.00,0.00,7.10,0.769,6,0.000,0.000,3247,1919,2092
$GC,15541,2.54,191.5,189.3,6.9,1335,15557,0.00,0.00,11.40,0.818,6,0.000,0.000,3247,1919,2043
$GC,15896,2.62,222.7,165.9,5.0,1398,15929,0.15,0.00,26.95,0.831,6,0.064,0.000,3293,1918,1916
$GC,16267,2.67,249.3,138.8,5.5,1464,16295,0.00,2.00,22.75,0.793,4,0.000,0.046,3293,3005,1807
$GC,16454,2.73,275.8,128.1,5.5,1497,16482,0.00,1.85,22.40,0.775,6,0.000,0.035,3293,1916,1700
$GC,16821,2.77,275.8,100.8,8.1,1562,16827,0.00,1.77,0.00,0.000,4,0.000,0.051,3293,914,1698
$GC,17080,2.80,275.8,79.4,8.4,1608,17087,0.08,1.73,0.00,0.000,6,0.058,0.026,3325,1948,1699
$GC,17424,2.85,303.0,56.3,5.4,1669,17452,0.00,1.88,23.20,0.696,4,0.000,0.045,3324,2992,1588
$GC,17498,2.88,308.5,50.9,7.5,1682,17510,0.00,1.80,5.95,0.563,6,0.000,0.030,3325,1930,1567
$GC,17849,2.92,308.5,22.1,8.5,1744,17855,0.00,1.75,0.00,0.000,4,0.000,0.045,3325,923,1567
$GC,17940,2.95,313.3,14.9,7.5,1760,17953,0.08,1.65,6.00,0.538,6,0.053,0.025,3359,1932,1546
$STATE,18097,end climb,SURFACE_DEPTH_REACHED
$STATE,18097,begin surface coast
$FINISH,-0.2,1.021435
$STATE,18121,end surface coast,CONTROL_FINISHED_OK
$STATE,18121,begin surface
$SM_CCo,18142,115.28,0.634,0,0,786,500.17
$SM_GC,-5.14,0.00,0.00,115.28,0.000,0.000,0.634,416,2319,786,-10.55,-0.17,500.17
$IRIDIUM_FIX,1243.25,12044.18,040697,060642
$TT8_MAMPS,0.026078
$HUMID,1770
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.70
$XPDR_PINGS,389
$ALTIM_BOTTOM_PING,770.1,82.2
$24V_AH,23.2,15.637
$10V_AH,10.2,12.629
$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,29.025,114.475,330.350,115.275,0.000,76.464,91.250,180.103,104.750,0.000,0.000,11.687,2922.506,11460.080,563.763,3292.831,620.688,0.000,2094.665,0.000,3261.782,0.000,57.443
$DEVICE_MAMPS,174.109,184.080,1309.269,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.322,802.334,747.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97957,1792
$CAP_FILE_SIZE,174369,0
$CFSIZE,260165632,248475648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100308,113008,1247.370,12044.447,38,1.2,38,-0.8