version: 66.03
glider: 126
mission: 7
dive: 342
start: 4 30 108 18 49 13
data:
$ID,126
$MISSION,7
$DIVE,342
$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,366
$T_MISSION,439
$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,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,475
$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,-625904
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2368
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,53
$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
$GPS1,183808,1250.365,12014.043,25,1.6,25,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.92
$_SM_ANGLEo,-59.6
$GPS2,184821,1250.557,12013.982,13,1.5,13,-0.8
$SPEED_LIMITS,0.156,0.166
$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,90.5,51945,-19.0,-9.016
$D_GRID,1044
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-2.18,-120.8,0.0,0.0,0,93,0.00,0.00,-66.85,0.000,6,0.000,0.000,418,2360,3319
$GC,96,-2.18,-120.8,-0.2,-19.1,13,113,10.25,1.77,0.00,0.000,4,0.165,0.037,2252,3402,3321
$GC,160,-2.00,-120.8,15.5,-15.8,24,167,0.17,1.75,0.00,0.000,6,0.105,0.023,2291,2316,3321
$GC,506,-1.88,-120.8,62.1,-12.6,85,512,0.15,0.00,0.00,0.000,6,0.113,0.000,2323,2309,3322
$GC,849,-1.88,-120.8,99.4,-9.9,146,856,0.00,1.70,0.00,0.000,4,0.000,0.033,2323,1303,3324
$GC,936,-1.88,-120.8,107.6,-9.3,161,942,0.00,1.77,0.00,0.000,6,0.000,0.023,2323,2399,3324
$GC,1281,-1.98,-137.5,139.0,-8.0,222,1287,0.12,1.85,0.00,0.000,4,0.058,0.030,2281,1286,3326
$GC,1294,-2.03,-146.0,140.0,-7.2,224,1301,0.00,1.73,0.00,0.000,6,0.000,0.024,2281,2340,3326
$GC,1639,-2.03,-146.0,170.8,-8.7,285,1645,0.00,1.80,0.00,0.000,4,0.000,0.040,2281,3410,3327
$GC,1730,-2.03,-146.0,178.5,-8.4,301,1736,0.00,1.83,0.00,0.000,6,0.000,0.025,2282,2251,3327
$GC,2075,-2.07,-146.0,204.3,-8.5,362,2080,0.00,1.98,0.00,0.000,4,0.000,0.040,2281,3411,3327
$GC,2115,-2.07,-146.0,207.8,-8.9,369,2121,0.00,1.75,0.00,0.000,6,0.000,0.025,2281,2304,3327
$GC,2459,-2.11,-146.0,240.0,-8.9,430,2465,0.00,1.88,0.00,0.000,4,0.000,0.042,2282,3400,3326
$GC,2568,-2.11,-146.0,250.0,-8.6,449,2574,0.00,1.88,0.00,0.000,6,0.000,0.026,2282,2242,3325
$GC,2895,-2.16,-146.0,276.5,-7.6,480,2899,0.00,1.60,0.00,0.000,4,0.000,0.039,2281,1307,3324
$GC,3002,-2.19,-146.0,284.8,-7.5,489,3009,0.12,1.58,0.00,0.000,6,0.061,0.025,2243,2254,3324
$GC,3329,-2.19,-146.0,311.3,-8.5,520,3332,0.00,1.62,0.00,0.000,4,0.000,0.039,2243,1301,3321
$GC,3391,-2.19,-146.0,316.6,-8.6,525,3397,0.00,1.48,0.00,0.000,6,0.000,0.026,2243,2195,3321
$GC,3717,-2.19,-146.0,345.7,-9.1,556,3721,0.00,2.08,0.00,0.000,4,0.000,0.044,2243,3405,3319
$GC,3847,-2.14,-146.0,358.2,-9.2,567,3854,0.10,2.05,0.00,0.000,6,0.110,0.028,2263,2169,3318
$GC,4173,-2.14,-146.0,385.5,-7.5,598,4176,0.00,2.15,0.00,0.000,4,0.000,0.045,2263,3404,3316
$GC,4224,-2.14,-146.0,389.6,-7.3,602,4227,0.00,2.05,0.00,0.000,6,0.000,0.029,2262,2175,3316
$GC,4558,-2.17,-146.0,413.8,-7.7,633,4561,0.00,1.50,0.00,0.000,4,0.000,0.047,2262,1315,3314
$GC,4614,-2.17,-146.0,418.4,-8.1,638,4618,0.00,1.52,0.00,0.000,6,0.000,0.029,2263,2217,3314
$GC,4948,-2.21,-146.0,446.7,-9.3,669,4951,0.00,1.58,0.00,0.000,4,0.000,0.044,2263,1308,3311
$GC,5027,-2.21,-146.0,454.2,-8.7,676,5030,0.00,1.65,0.00,0.000,6,0.000,0.030,2263,2296,3310
$GC,5361,-2.21,-146.0,487.3,-9.8,707,5364,0.00,1.73,0.00,0.000,4,0.000,0.048,2263,1312,3308
$GC,5444,-2.21,-146.0,495.8,-9.3,714,5450,0.00,1.55,0.00,0.000,6,0.000,0.031,2263,2217,3308
$GC,5764,-2.24,-146.0,523.9,-8.7,732,5768,0.00,1.60,0.00,0.000,4,0.000,0.054,2263,1318,3306
$GC,5842,-2.24,-146.0,530.8,-7.8,735,5846,0.00,1.40,0.00,0.000,6,0.000,0.037,2263,2129,3305
$GC,6166,-2.24,-146.0,555.1,-7.2,751,6170,0.00,2.28,0.00,0.000,4,0.000,0.063,2263,3401,3304
$GC,6234,-2.24,-146.0,560.1,-7.0,754,6238,0.00,2.22,0.00,0.000,6,0.000,0.039,2263,2117,3303
$GC,6556,-2.28,-146.0,584.0,-7.7,770,6560,0.15,2.35,0.00,0.000,4,0.061,0.069,2215,3391,3302
$GC,6625,-2.20,-146.0,589.9,-8.6,773,6630,0.17,2.10,0.00,0.000,6,0.102,0.050,2249,2206,3301
$GC,6954,-2.20,-146.0,617.2,-8.5,789,6958,0.00,2.25,0.00,0.000,4,0.000,0.081,2249,3397,3300
$GC,7089,-2.20,-146.0,629.4,-9.4,795,7093,0.00,2.25,0.00,0.000,6,0.000,0.052,2249,2114,3299
$GC,7410,-2.20,-146.0,656.0,-8.0,811,7414,0.00,1.40,0.00,0.000,4,0.000,0.048,2249,1317,3298
$GC,7517,-2.20,-146.0,664.3,-7.4,815,7523,0.00,1.52,0.00,0.000,6,0.000,0.029,2250,2220,3297
$GC,7833,-2.20,-146.0,688.2,-7.7,831,7836,0.00,1.58,0.00,0.000,4,0.000,0.046,2249,1318,3296
$GC,7902,-2.20,-146.0,693.5,-8.0,834,7905,0.00,1.42,0.00,0.000,6,0.000,0.030,2249,2156,3295
$GC,8237,-2.24,-146.0,721.2,-8.7,850,8241,0.00,1.50,0.00,0.000,4,0.000,0.048,2249,1318,3294
$GC,8328,-2.24,-146.0,729.2,-9.3,854,8331,0.00,1.55,0.00,0.000,6,0.000,0.031,2249,2223,3294
$GC,8663,-2.27,-146.0,757.9,-8.6,870,8666,0.00,1.60,0.00,0.000,4,0.000,0.048,2249,1311,3293
$GC,8776,-2.27,-146.0,767.8,-8.7,875,8780,0.00,1.73,0.00,0.000,6,0.000,0.033,2249,2313,3293
$GC,9109,-2.27,-146.0,794.9,-8.2,891,9113,0.00,1.75,0.00,0.000,4,0.000,0.046,2249,1314,3291
$GC,9143,-2.27,-146.0,797.8,-7.9,892,9147,0.00,1.60,0.00,0.000,6,0.000,0.031,2249,2268,3291
$GC,9465,-2.27,-146.0,824.8,-8.8,908,9469,0.00,1.67,0.00,0.000,4,0.000,0.044,2249,1305,3289
$GC,9528,-2.27,-146.0,830.1,-8.7,910,9533,0.00,1.55,0.00,0.000,6,0.000,0.031,2249,2218,3289
$GC,9844,-2.30,-146.0,856.1,-8.3,926,9848,0.00,2.05,0.00,0.000,4,0.000,0.051,2250,3395,3288
$GC,9998,-2.30,-146.0,868.7,-8.4,932,10004,0.00,1.90,0.00,0.000,6,0.000,0.033,2250,2270,3288
$GC,10316,-2.34,-146.0,893.5,-7.7,948,10320,0.12,2.00,0.00,0.000,4,0.065,0.051,2214,3395,3287
$GC,10417,-2.27,-146.0,901.9,-8.4,952,10422,0.08,1.83,0.00,0.000,6,0.104,0.033,2232,2330,3286
$GC,10740,-2.27,-146.0,926.0,-7.5,968,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3286
$GC,11049,-2.27,-146.0,950.6,-8.3,983,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3285
$GC,11357,-2.27,-146.0,975.1,-7.9,998,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2329,3284
$STATE,11561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11561,begin apogee
$GC,11568,-0.52,0.0,991.5,8.0,1008,11673,1.80,0.00,100.90,1.433,6,0.090,0.000,2616,2074,2825
$STATE,11674,end apogee,CONTROL_FINISHED_OK
$STATE,11674,begin climb
$GC,11677,2.22,146.0,995.4,0.0,1013,11820,2.65,2.00,131.25,1.394,4,0.054,0.065,3219,1026,2228
$GC,11929,2.12,168.2,985.0,7.6,1024,11957,0.15,1.77,20.50,1.316,6,0.106,0.033,3191,2059,2139
$GC,12267,2.06,189.5,958.6,7.7,1041,12292,0.00,1.90,20.40,1.321,4,0.000,0.051,3190,3118,2051
$GC,12321,1.99,204.1,953.9,8.1,1043,12341,0.15,1.83,14.70,1.262,6,0.106,0.036,3162,2072,1992
$GC,12659,1.97,214.8,926.0,8.3,1060,12681,0.00,1.92,11.02,1.245,4,0.000,0.057,3161,1017,1949
$GC,12710,1.95,231.2,921.2,8.0,1062,12731,0.00,1.85,16.23,1.282,6,0.000,0.032,3161,2091,1882
$GC,13052,1.95,231.2,890.6,9.1,1079,13055,0.00,1.95,0.00,0.000,4,0.000,0.055,3161,1015,1879
$GC,13091,1.91,231.2,886.8,9.1,1080,13097,0.00,1.83,0.00,0.000,6,0.000,0.032,3161,2084,1879
$GC,13407,1.91,231.2,857.2,9.5,1096,13411,0.00,1.95,0.00,0.000,4,0.000,0.055,3161,999,1878
$GC,13434,1.87,231.2,854.4,9.7,1097,13439,0.12,1.83,0.00,0.000,6,0.107,0.032,3138,2069,1878
$GC,13762,1.87,233.6,825.2,8.9,1113,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2069,1877
$GC,14071,1.92,236.9,797.8,8.8,1128,14081,0.00,1.88,5.97,1.058,4,0.000,0.050,3138,3126,1858
$GC,14233,1.95,256.1,784.4,7.8,1135,14257,0.00,1.88,19.20,1.281,6,0.000,0.035,3138,2045,1779
$GC,14574,1.99,280.0,758.1,7.5,1152,14599,0.12,0.00,22.65,1.266,6,0.072,0.000,3172,2045,1683
$GC,14904,2.00,285.6,729.7,8.7,1168,14912,0.00,0.00,6.40,1.051,6,0.000,0.000,3172,2045,1660
$GC,15212,2.01,290.4,702.5,8.7,1183,15220,0.00,0.00,6.05,1.021,6,0.000,0.000,3172,2045,1641
$GC,15521,2.01,290.4,674.0,9.3,1198,15525,0.00,1.92,0.00,0.000,4,0.000,0.048,3172,3129,1641
$GC,15605,2.01,290.4,665.9,9.5,1201,15611,0.00,1.83,0.00,0.000,6,0.000,0.035,3172,2070,1640
$GC,15921,2.04,290.4,634.3,10.3,1217,15925,0.00,1.88,0.00,0.000,4,0.000,0.048,3172,3131,1640
$GC,16005,2.04,290.4,625.5,10.3,1220,16011,0.00,1.98,0.00,0.000,6,0.000,0.035,3172,1988,1640
$GC,16321,2.09,290.4,592.8,9.7,1236,16325,0.00,2.00,0.00,0.000,4,0.000,0.047,3172,3121,1639
$GC,16434,2.09,290.4,582.1,10.6,1241,16438,0.00,2.10,0.00,0.000,6,0.000,0.037,3172,1911,1639
$GC,16769,2.14,292.2,553.0,8.9,1257,16773,0.10,1.60,0.00,0.000,4,0.078,0.060,3202,1016,1639
$GC,16886,2.10,292.2,542.0,9.1,1262,16890,0.00,1.45,0.00,0.000,6,0.000,0.031,3203,1870,1639
$GC,17215,2.10,292.2,510.8,10.0,1278,17218,0.00,1.55,0.00,0.000,4,0.000,0.056,3203,1024,1639
$GC,17322,2.07,292.2,500.0,11.0,1282,17328,0.08,1.48,0.00,0.000,6,0.097,0.031,3183,1893,1639
$GC,17647,2.11,293.6,470.5,8.9,1313,17658,0.00,1.62,4.55,0.789,4,0.000,0.055,3183,1019,1627
$GC,17693,2.13,306.9,466.3,8.2,1317,17714,0.00,1.65,13.45,1.050,6,0.000,0.031,3183,1994,1573
$GC,18034,2.21,315.2,437.3,8.5,1349,18048,0.12,1.83,9.05,0.978,4,0.069,0.053,3221,1019,1539
$GC,18140,2.17,315.2,427.1,10.8,1358,18146,0.00,1.75,0.00,0.000,6,0.000,0.030,3221,2057,1539
$GC,18467,2.17,315.2,392.9,11.0,1389,18471,0.00,1.85,0.00,0.000,4,0.000,0.051,3221,1021,1538
$GC,18535,2.14,315.2,385.1,11.2,1395,18540,0.12,1.90,0.00,0.000,6,0.103,0.031,3196,2124,1538
$GC,18865,2.18,315.2,351.6,9.2,1426,18869,0.00,1.73,0.00,0.000,4,0.000,0.049,3196,3120,1538
$GC,18915,2.18,315.2,346.7,9.7,1430,18921,0.00,1.73,0.00,0.000,6,0.000,0.033,3196,2122,1538
$GC,19243,2.23,315.2,317.0,9.7,1461,19246,0.00,1.75,0.00,0.000,4,0.000,0.046,3196,3123,1538
$GC,19333,2.23,315.2,308.1,9.5,1469,19336,0.00,1.83,0.00,0.000,6,0.000,0.033,3196,2055,1538
$GC,19663,2.29,315.2,276.4,9.2,1500,19667,0.15,1.83,0.00,0.000,4,0.060,0.053,3241,1019,1538
$GC,19770,2.23,315.2,265.8,10.5,1509,19776,0.10,1.70,0.00,0.000,6,0.089,0.029,3217,2018,1538
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$GC,20522,2.27,322.0,197.6,10.5,1628,20528,0.00,1.92,0.00,0.000,4,0.000,0.048,3217,1023,1512
$GC,20688,2.28,325.4,182.3,8.8,1657,20700,0.00,1.65,4.90,0.664,6,0.000,0.028,3217,2019,1497
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$GC,21676,2.46,400.4,99.3,8.7,1831,21688,0.00,1.67,6.20,0.645,6,0.000,0.027,3284,2102,1192
$GC,22030,2.55,420.7,71.3,7.8,1893,22053,0.00,1.85,18.17,0.719,4,0.000,0.038,3284,3126,1110
$GC,22246,2.67,453.0,55.2,7.0,1931,22280,0.12,1.73,28.17,0.700,6,0.057,0.025,3328,2075,977
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$STATE,22877,end climb,SURFACE_DEPTH_REACHED
$STATE,22877,begin surface coast
$FINISH,-0.1,1.020915
$STATE,22899,end surface coast,CONTROL_FINISHED_OK
$STATE,22899,begin surface
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$HUMID,1927
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$TCM_TEMP,24.20
$XPDR_PINGS,512
$24V_AH,22.8,56.294
$10V_AH,10.1,40.133
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$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110304,2046
$CAP_FILE_SIZE,232643,0
$CFSIZE,260165632,227299328
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$GPS,010508,011238,1250.820,12014.021,36,0.8,36,-0.8