version: 66.03
glider: 126
mission: 7
dive: 136
start: 3 16 108 2 36 19
data:
$ID,126
$MISSION,7
$DIVE,136
$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,-622067.62
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,022907,1245.451,12015.624,32,1.2,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.12
$_SM_ANGLEo,-58.7
$GPS2,023527,1245.447,12015.565,13,1.2,13,-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,79.6,50044,-22.0,-7.990
$D_GRID,823
$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,19,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-66.03,0.000,6,0.000,0.000,416,2310,3102
$GC,91,-2.33,-67.0,1.2,-17.6,13,109,10.15,1.80,0.00,0.000,4,0.175,0.036,2197,3373,3104
$GC,189,-2.18,-67.0,31.4,-24.0,30,196,0.15,1.75,0.00,0.000,6,0.120,0.024,2229,2297,3104
$GC,534,-2.12,-67.0,93.8,-16.8,91,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2296,3105
$GC,876,-2.09,-67.0,144.6,-13.6,152,882,0.12,0.00,0.00,0.000,6,0.124,0.000,2251,2295,3106
$GC,1219,-2.09,-67.0,182.3,-9.4,213,1225,0.00,1.83,0.00,0.000,4,0.000,0.044,2251,3362,3107
$GC,1326,-2.09,-67.0,193.0,-10.3,232,1333,0.00,1.70,0.00,0.000,6,0.000,0.025,2251,2313,3107
$GC,1671,-2.11,-67.0,224.4,-8.6,293,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2310,3108
$GC,2011,-2.14,-67.0,255.3,-9.3,349,2014,0.00,1.83,0.00,0.000,4,0.000,0.046,2251,3369,3108
$GC,2257,-2.14,-67.0,278.5,-9.5,371,2261,0.00,1.73,0.00,0.000,6,0.000,0.028,2251,2301,3106
$GC,2588,-2.17,-67.0,307.5,-8.6,402,2592,0.00,1.85,0.00,0.000,4,0.000,0.048,2251,3363,3104
$GC,2656,-2.19,-67.0,314.0,-9.5,408,2659,0.00,1.70,0.00,0.000,6,0.000,0.028,2251,2317,3103
$GC,2987,-2.22,-67.0,343.8,-8.9,439,2989,0.12,0.00,0.00,0.000,6,0.067,0.000,2216,2315,3102
$GC,3304,-2.22,-67.0,374.0,-9.4,469,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2315,3098
$GC,3622,-2.22,-67.0,403.9,-9.5,499,3626,0.00,1.85,0.00,0.000,4,0.000,0.051,2216,3368,3097
$GC,3723,-2.22,-67.0,414.2,-10.1,508,3726,0.00,1.73,0.00,0.000,6,0.000,0.030,2216,2333,3096
$GC,4053,-2.22,-67.0,446.9,-10.5,539,4057,0.00,1.83,0.00,0.000,4,0.000,0.054,2216,3365,3093
$GC,4143,-2.22,-67.0,455.9,-10.4,547,4146,0.00,1.73,0.00,0.000,6,0.000,0.031,2216,2338,3093
$GC,4473,-2.22,-67.0,487.6,-9.7,578,4477,0.00,1.85,0.00,0.000,4,0.000,0.057,2216,3362,3090
$GC,4523,-2.22,-67.0,492.9,-10.1,582,4529,0.00,1.73,0.00,0.000,6,0.000,0.033,2216,2357,3090
$GC,4851,-2.22,-67.0,524.0,-9.7,602,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2356,3088
$GC,5160,-2.22,-67.0,554.4,-9.9,617,5163,0.00,1.98,0.00,0.000,4,0.000,0.073,2216,1274,3086
$GC,5209,-2.22,-67.0,559.3,-9.6,619,5213,0.00,1.88,0.00,0.000,6,0.000,0.046,2216,2330,3086
$GC,5539,-2.22,-67.0,590.7,-9.4,635,5543,0.00,1.92,0.00,0.000,4,0.000,0.071,2216,1281,3084
$GC,5631,-2.22,-67.0,600.4,-10.3,639,5635,0.00,1.88,0.00,0.000,6,0.000,0.059,2216,2324,3084
$GC,5963,-2.22,-67.0,632.8,-9.1,655,5966,0.00,2.00,0.00,0.000,4,0.000,0.087,2216,1277,3082
$GC,6030,-2.22,-67.0,638.6,-8.7,658,6034,0.00,1.95,0.00,0.000,6,0.000,0.073,2216,2327,3082
$GC,6361,-2.22,-67.0,668.6,-9.1,674,6365,0.00,2.10,0.00,0.000,4,0.000,0.116,2216,3389,3080
$GC,6406,-2.22,-67.0,672.8,-9.5,676,6409,0.00,2.05,0.00,0.000,6,0.000,0.092,2216,2337,3080
$GC,6738,-2.22,-67.0,701.8,-8.9,692,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2337,3078
$GC,7048,-2.22,-67.0,729.1,-8.6,707,7052,0.00,2.22,0.00,0.000,4,0.000,0.140,2216,3378,3076
$GC,7200,-2.22,-67.0,742.4,-8.7,714,7204,0.00,2.20,0.00,0.000,6,0.000,0.129,2216,2335,3076
$GC,7528,-2.24,-67.0,771.6,-8.8,730,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2335,3075
$GC,7835,-2.26,-67.0,799.3,-9.1,745,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2334,3074
$STATE,8121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8121,begin apogee
$GC,8126,-0.51,0.0,823.5,8.2,759,8184,1.83,0.00,53.10,1.318,6,0.102,0.000,2597,1928,2825
$STATE,8185,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8187,2.33,67.0,824.6,0.0,762,8251,2.80,0.00,58.62,1.282,6,0.066,0.000,3223,1928,2551
$GC,8559,2.32,84.4,803.9,6.3,780,8581,0.00,1.88,16.17,1.224,4,0.000,0.064,3223,916,2479
$GC,8777,2.26,86.3,788.2,7.8,789,8783,0.00,1.85,0.00,0.000,6,0.000,0.035,3223,1991,2478
$GC,9092,2.24,95.9,765.4,7.1,805,9106,0.15,0.00,11.10,1.178,6,0.112,0.000,3194,1991,2433
$GC,9401,2.24,100.2,742.9,7.6,820,9408,0.00,0.00,5.15,0.946,6,0.000,0.000,3195,1991,2416
$GC,9710,2.25,102.4,718.5,7.8,835,9715,0.00,0.00,3.62,0.742,6,0.000,0.000,3194,1990,2407
$GC,10036,2.27,114.0,694.7,6.9,851,10049,0.00,0.00,11.65,1.159,6,0.000,0.000,3194,1991,2361
$GC,10345,2.27,116.9,670.9,7.7,866,10354,0.00,2.00,4.25,0.832,4,0.000,0.055,3194,916,2348
$GC,10461,2.25,116.9,661.1,8.4,871,10465,0.00,1.80,0.00,0.000,6,0.000,0.030,3194,1966,2348
$GC,10788,2.25,118.5,635.2,7.8,887,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1966,2348
$GC,11097,2.25,120.4,610.8,7.8,902,11107,0.00,1.95,4.68,0.861,4,0.000,0.056,3194,917,2334
$GC,11259,2.23,120.4,598.0,8.3,909,11263,0.00,1.73,0.00,0.000,6,0.000,0.031,3194,1946,2334
$GC,11585,2.23,120.4,572.0,8.5,925,11589,0.00,1.85,0.00,0.000,4,0.000,0.056,3194,917,2333
$GC,11697,2.23,120.4,562.5,9.2,930,11701,0.00,1.70,0.00,0.000,6,0.000,0.031,3194,1928,2334
$GC,12029,2.25,130.5,537.6,7.0,946,12043,0.00,1.92,10.40,1.062,4,0.000,0.049,3194,3014,2292
$GC,12106,2.25,130.7,532.0,8.0,948,12112,0.00,1.90,0.00,0.000,6,0.000,0.038,3194,1914,2290
$GC,12421,2.25,133.4,507.1,7.7,964,12430,0.00,1.85,3.85,0.721,4,0.000,0.061,3194,913,2281
$GC,12582,2.25,133.4,494.0,8.8,974,12588,0.00,1.67,0.00,0.000,6,0.000,0.031,3194,1914,2281
$GC,12908,2.26,134.4,468.3,7.9,1005,12911,0.00,1.90,0.00,0.000,4,0.000,0.048,3194,3010,2281
$GC,13098,2.26,135.3,453.3,7.9,1022,13102,0.00,1.88,0.00,0.000,6,0.000,0.039,3194,1922,2281
$GC,13430,2.26,139.2,427.8,7.6,1053,13441,0.00,1.90,6.85,0.914,4,0.000,0.062,3194,907,2257
$GC,13509,2.26,139.2,421.1,8.4,1060,13512,0.00,1.73,0.00,0.000,6,0.000,0.031,3195,1929,2257
$GC,13839,2.26,139.2,394.2,8.3,1091,13843,0.00,1.88,0.00,0.000,4,0.000,0.048,3194,3014,2256
$GC,13911,2.26,139.2,388.0,8.7,1097,13918,0.00,1.92,0.00,0.000,6,0.000,0.038,3194,1911,2257
$GC,14237,2.27,143.8,363.2,7.5,1128,14249,0.00,1.92,5.75,0.825,4,0.000,0.044,3194,3003,2237
$GC,14402,2.28,146.9,349.8,7.7,1142,14411,0.00,1.85,4.12,0.695,6,0.000,0.037,3194,1923,2225
$GC,14737,2.28,146.9,322.8,8.2,1174,14740,0.00,1.90,0.00,0.000,4,0.000,0.046,3194,3010,2226
$GC,14921,2.28,146.9,308.0,8.1,1190,14927,0.00,1.80,0.00,0.000,6,0.000,0.035,3194,1952,2225
$GC,15247,2.28,150.8,283.9,7.6,1221,15256,0.00,0.00,5.10,0.739,6,0.000,0.000,3194,1952,2210
$GC,15575,2.31,168.1,260.0,6.4,1252,15597,0.00,1.88,16.17,0.916,4,0.000,0.050,3194,3003,2138
$GC,15849,2.32,173.6,239.6,7.5,1288,15861,0.00,1.80,5.93,0.757,6,0.000,0.034,3194,1963,2117
$GC,16199,2.37,187.2,213.2,6.7,1350,16218,0.15,1.90,13.00,0.859,4,0.066,0.044,3239,3003,2061
$GC,16431,2.37,187.2,193.6,8.8,1391,16437,0.00,1.75,0.00,0.000,6,0.000,0.033,3239,1971,2060
$GC,16774,2.40,202.2,168.0,6.6,1452,16792,0.00,0.00,13.55,0.822,6,0.000,0.000,3239,1971,2000
$GC,17132,2.44,216.2,143.4,6.7,1515,17149,0.00,1.95,13.02,0.791,4,0.000,0.053,3239,914,1943
$GC,17307,2.50,239.1,133.0,5.8,1546,17335,0.00,1.77,20.02,0.794,6,0.000,0.026,3239,1974,1849
$GC,17675,2.59,262.8,110.9,5.7,1611,17703,0.15,1.80,20.58,0.759,4,0.061,0.041,3286,2992,1752
$GC,17815,2.61,269.6,100.1,7.4,1636,17828,0.00,1.70,6.80,0.647,6,0.000,0.028,3285,1987,1726
$GC,18167,2.64,273.8,71.9,7.6,1698,18179,0.00,1.85,5.57,0.578,4,0.000,0.044,3286,918,1707
$GC,18415,2.68,288.3,53.3,6.6,1742,18433,0.00,1.75,13.23,0.670,6,0.000,0.024,3286,1984,1649
$GC,18773,2.77,309.7,28.5,6.0,1805,18797,0.12,1.92,18.77,0.655,4,0.062,0.042,3325,920,1563
$GC,19049,2.79,323.0,7.6,6.7,1854,19067,0.00,1.65,12.20,0.614,6,0.000,0.023,3325,1936,1508
$STATE,19122,end climb,SURFACE_DEPTH_REACHED
$STATE,19123,begin surface coast
$FINISH,0.1,1.021467
$STATE,19149,end surface coast,CONTROL_FINISHED_OK
$STATE,19149,begin surface
$SM_CCo,19170,107.62,0.629,0,0,785,500.17
$SM_GC,-5.75,0.00,0.00,107.62,0.000,0.000,0.629,413,2315,785,-10.57,-0.28,500.17
$IRIDIUM_FIX,1238.83,12013.48,090697,222206
$TT8_MAMPS,0.026078
$HUMID,1782
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.50
$XPDR_PINGS,478
$24V_AH,23.2,20.201
$10V_AH,10.2,16.370
$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,28.425,108.825,363.275,107.625,0.000,32.998,48.957,184.852,127.750,0.000,0.000,13.064,3044.647,12058.672,568.955,3436.602,574.872,0.000,2162.224,0.000,3404.436,0.000,60.693
$DEVICE_MAMPS,174.876,139.594,1317.706,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1269.512,816.573,777.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100867,1871
$CAP_FILE_SIZE,181669,0
$CFSIZE,260165632,245907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160308,075838,1245.237,12017.364,26,2.0,26,-0.8