version: 66.03
glider: 126
mission: 7
dive: 137
start: 3 16 108 8 14 18
data:
$ID,126
$MISSION,7
$DIVE,137
$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,-622082.75
$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,46
$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
$GPS1,075838,1245.237,12017.364,26,2.0,26,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.64
$_SM_ANGLEo,-57.7
$GPS2,081327,1245.150,12017.216,13,2.0,13,-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,78.2,47241,-22.0,-7.990
$D_GRID,782
$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,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.57,0.000,6,0.000,0.000,413,2316,3102
$GC,93,-2.33,-67.0,-0.1,-15.3,13,110,10.12,1.77,0.00,0.000,4,0.173,0.032,2195,1266,3104
$GC,296,-2.22,-67.0,48.0,-18.6,49,302,0.15,1.75,0.00,0.000,6,0.127,0.026,2222,2329,3105
$GC,639,-2.16,-67.0,106.8,-17.0,110,646,0.00,1.80,0.00,0.000,4,0.000,0.034,2222,1266,3106
$GC,730,-2.09,-67.0,122.2,-16.8,126,737,0.12,1.75,0.00,0.000,6,0.113,0.025,2250,2322,3107
$GC,1075,-2.09,-67.0,164.9,-11.6,187,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2322,3107
$GC,1416,-2.09,-67.0,201.1,-10.3,248,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2323,3107
$GC,1761,-2.09,-67.0,234.7,-9.5,309,1766,0.00,1.80,0.00,0.000,4,0.000,0.051,2249,3367,3106
$GC,1990,-2.09,-67.0,258.0,-10.1,343,1997,0.00,1.73,0.00,0.000,6,0.000,0.026,2249,2314,3106
$GC,2316,-2.12,-67.0,287.2,-9.4,374,2320,0.00,1.83,0.00,0.000,4,0.000,0.048,2249,3363,3104
$GC,2445,-2.12,-67.0,300.5,-10.7,385,2451,0.00,1.73,0.00,0.000,6,0.000,0.027,2249,2319,3102
$GC,2770,-2.14,-67.0,330.7,-8.9,416,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2319,3100
$GC,3089,-2.17,-67.0,360.4,-9.8,446,3093,0.00,1.85,0.00,0.000,4,0.000,0.051,2249,3373,3097
$GC,3138,-2.20,-67.0,365.5,-10.1,450,3145,0.00,1.73,0.00,0.000,6,0.000,0.030,2249,2352,3097
$GC,3465,-2.23,-67.0,395.2,-9.0,481,3469,0.12,1.80,0.00,0.000,4,0.067,0.051,2215,3370,3094
$GC,3648,-2.23,-67.0,414.3,-10.2,497,3655,0.00,1.75,0.00,0.000,6,0.000,0.031,2215,2347,3093
$GC,3974,-2.23,-67.0,447.2,-10.0,528,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2347,3091
$GC,4291,-2.23,-67.0,479.7,-9.8,558,4295,0.00,1.80,0.00,0.000,4,0.000,0.057,2214,3360,3087
$GC,4374,-2.23,-67.0,488.6,-11.3,565,4381,0.00,1.77,0.00,0.000,6,0.000,0.033,2215,2331,3087
$GC,4707,-2.23,-67.0,520.4,-9.8,587,4711,0.00,1.92,0.00,0.000,4,0.000,0.073,2214,1271,3085
$GC,4812,-2.23,-67.0,531.0,-9.4,591,4819,0.00,1.80,0.00,0.000,6,0.000,0.040,2214,2305,3084
$GC,5128,-2.23,-67.0,559.9,-8.9,607,5133,0.00,1.95,0.00,0.000,4,0.000,0.072,2215,3382,3082
$GC,5227,-2.23,-67.0,569.3,-8.8,611,5232,0.00,1.90,0.00,0.000,6,0.000,0.048,2214,2318,3081
$GC,5549,-2.23,-67.0,599.4,-9.3,627,5552,0.00,1.92,0.00,0.000,4,0.000,0.076,2215,1263,3079
$GC,5671,-2.23,-67.0,610.8,-9.7,632,5676,0.00,1.88,0.00,0.000,6,0.000,0.061,2214,2288,3078
$GC,5994,-2.23,-67.0,639.7,-9.0,648,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2289,3077
$GC,6301,-2.23,-67.0,667.7,-9.0,663,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2289,3075
$GC,6610,-2.23,-67.0,696.2,-9.6,678,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2289,3074
$GC,6920,-2.23,-67.0,725.2,-9.1,693,6923,0.00,2.12,0.00,0.000,4,0.000,0.133,2214,1278,3073
$GC,7019,-2.23,-67.0,734.6,-9.3,697,7024,0.00,2.10,0.00,0.000,6,0.000,0.115,2214,2295,3072
$GC,7341,-2.23,-67.0,765.2,-9.8,713,7345,0.00,2.40,0.00,0.000,4,0.000,0.163,2214,3386,3070
$GC,7390,-2.23,-67.0,770.3,-9.9,715,7394,0.00,1.88,0.00,0.000,6,0.000,0.032,2214,2296,3070
$STATE,7523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7523,begin apogee
$GC,7528,-0.51,0.0,783.4,9.8,722,7586,1.83,0.00,52.22,1.282,6,0.100,0.000,2596,1958,2825
$STATE,7587,end apogee,CONTROL_FINISHED_OK
$STATE,7587,begin climb
$GC,7589,2.33,67.0,785.3,0.0,725,7656,2.80,1.95,58.28,1.250,4,0.064,0.065,3224,907,2551
$GC,7720,2.33,101.1,781.6,4.8,731,7756,0.00,1.88,30.25,1.222,6,0.000,0.031,3224,2007,2412
$GC,8067,2.29,101.9,755.3,7.9,748,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2008,2409
$GC,8374,2.25,103.1,730.6,7.9,763,8376,0.12,0.00,0.00,0.000,6,0.114,0.000,3200,2008,2408
$GC,8684,2.24,114.9,708.0,6.9,778,8704,0.00,2.08,12.30,1.155,4,0.000,0.054,3200,910,2356
$GC,8835,2.21,114.9,695.7,9.1,784,8840,0.00,1.77,0.00,0.000,6,0.000,0.031,3200,1963,2355
$GC,9150,2.19,114.9,668.1,8.7,800,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1963,2354
$GC,9460,2.19,114.9,641.6,8.6,815,9464,0.00,1.90,0.00,0.000,4,0.000,0.054,3200,906,2353
$GC,9562,2.16,114.9,633.2,8.8,819,9565,0.00,1.77,0.00,0.000,6,0.000,0.030,3200,1963,2352
$GC,9882,2.16,114.9,605.8,8.4,835,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1963,2352
$GC,10193,2.16,114.9,579.8,8.1,850,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1964,2352
$GC,10501,2.17,120.6,557.0,7.5,865,10508,0.00,0.00,5.70,0.916,6,0.000,0.000,3200,1964,2333
$GC,10810,2.18,127.6,534.0,7.3,880,10819,0.00,0.00,7.72,1.003,6,0.000,0.000,3200,1965,2304
$GC,11119,2.18,128.8,509.9,7.9,895,11123,0.00,1.80,0.00,0.000,4,0.000,0.050,3200,3003,2303
$GC,11174,2.18,128.8,505.3,8.3,897,11179,0.00,1.85,0.00,0.000,6,0.000,0.036,3200,1933,2303
$GC,11504,2.20,136.0,480.5,7.3,925,11519,0.00,1.88,8.75,0.999,4,0.000,0.057,3200,917,2270
$GC,11661,2.17,136.0,467.3,8.6,939,11665,0.00,1.70,0.00,0.000,6,0.000,0.030,3200,1931,2269
$GC,11992,2.17,136.0,439.9,8.1,970,11995,0.00,1.85,0.00,0.000,4,0.000,0.048,3200,3004,2269
$GC,12119,2.17,136.0,428.9,8.4,981,12126,0.00,1.85,0.00,0.000,6,0.000,0.035,3201,1932,2268
$GC,12447,2.18,136.2,402.1,8.0,1012,12451,0.00,1.88,0.00,0.000,4,0.000,0.044,3200,3011,2269
$GC,12481,2.18,138.7,399.1,7.7,1015,12492,0.00,1.83,4.00,0.696,6,0.000,0.035,3200,1954,2258
$GC,12810,2.19,142.9,373.5,7.6,1046,12820,0.00,0.00,5.18,0.800,6,0.000,0.000,3200,1954,2241
$GC,13139,2.19,147.2,346.9,7.6,1077,13149,0.00,0.00,5.28,0.792,6,0.000,0.000,3200,1954,2224
$GC,13468,2.19,147.2,321.5,8.1,1108,13472,0.00,1.83,0.00,0.000,4,0.000,0.044,3200,3004,2224
$GC,13697,2.19,147.2,303.3,8.2,1128,13704,0.00,1.80,0.00,0.000,6,0.000,0.038,3200,1957,2224
$GC,14023,2.20,150.0,277.2,7.7,1159,14032,0.00,0.00,4.25,0.666,6,0.000,0.000,3200,1956,2212
$GC,14352,2.20,153.5,252.5,7.7,1190,14363,0.00,1.85,4.68,0.694,4,0.000,0.043,3200,3014,2199
$GC,14499,2.21,159.3,241.1,7.4,1213,14511,0.00,1.75,6.82,0.800,6,0.000,0.032,3200,1978,2175
$GC,14850,2.23,168.6,214.3,7.1,1275,14862,0.00,0.00,9.25,0.830,6,0.000,0.000,3200,1978,2137
$GC,15200,2.27,190.3,188.6,5.9,1337,15227,0.00,1.85,19.15,0.858,4,0.000,0.041,3200,3003,2049
$GC,15430,2.30,195.0,171.1,7.5,1378,15443,0.00,1.73,5.50,0.681,6,0.000,0.040,3200,1996,2029
$GC,15782,2.39,223.6,149.4,5.3,1440,15812,0.12,2.00,24.92,0.818,4,0.070,0.051,3238,910,1912
$GC,15998,2.41,235.2,134.4,6.9,1478,16016,0.00,1.85,10.85,0.752,6,0.000,0.026,3237,2018,1865
$GC,16356,2.48,254.2,110.8,6.2,1541,16378,0.00,0.00,16.77,0.752,6,0.000,0.000,3237,2019,1787
$GC,16716,2.56,270.2,85.3,6.5,1605,16733,0.12,0.00,14.52,0.713,6,0.064,0.000,3277,2019,1723
$GC,17071,2.59,274.0,57.1,7.6,1668,17083,0.00,1.98,4.68,0.522,4,0.000,0.043,3276,907,1708
$GC,17337,2.67,300.5,38.5,5.5,1715,17364,0.00,1.77,23.02,0.675,6,0.000,0.024,3277,2017,1599
$GC,17704,2.75,315.4,14.4,6.6,1780,17723,0.15,2.00,13.18,0.624,4,0.056,0.041,3328,901,1539
$STATE,17850,end climb,SURFACE_DEPTH_REACHED
$STATE,17850,begin surface coast
$FINISH,-0.6,1.021449
$STATE,17874,end surface coast,CONTROL_FINISHED_OK
$STATE,17874,begin surface
$SM_CCo,17896,110.78,0.626,0,0,786,500.17
$SM_GC,-5.56,0.00,0.00,110.78,0.000,0.000,0.626,418,2331,786,-10.54,0.17,500.17
$IRIDIUM_FIX,1238.83,12018.41,100697,080825
$TT8_MAMPS,0.026078
$HUMID,1735
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.80
$XPDR_PINGS,365
$24V_AH,23.2,20.356
$10V_AH,10.2,16.498
$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,28.300,94.075,347.275,110.775,0.000,112.594,161.103,282.130,98.500,0.000,0.000,14.522,2905.712,11333.787,567.619,3212.753,896.302,0.000,2059.736,0.000,3195.894,0.000,53.451
$DEVICE_MAMPS,173.342,162.604,1282.424,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1226.679,818.395,774.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97812,1810
$CAP_FILE_SIZE,172256,0
$CFSIZE,260165632,245829632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160308,131538,1245.667,12018.398,37,1.0,37,-0.8