version: 66.03
glider: 126
mission: 7
dive: 389
start: 5 13 108 15 33 35
data:
$ID,126
$MISSION,7
$DIVE,389
$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,275
$T_MISSION,330
$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,200
$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,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,-626805.62
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,151538,1250.816,12023.316,43,1.1,43,-0.8
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,-6.99
$_SM_ANGLEo,-56.4
$GPS2,153302,1250.798,12023.401,12,1.5,17,-0.8
$SPEED_LIMITS,0.208,0.231
$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,91.1,34938,-19.3,-12.000
$D_GRID,1083
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.34,-194.7,0.0,0.0,0,110,0.00,0.00,-80.75,0.000,6,0.000,0.000,416,2367,3621
$GC,113,-2.34,-194.7,1.9,-27.4,16,130,10.12,1.80,0.00,0.000,4,0.166,0.034,2217,1310,3623
$GC,166,-2.19,-194.7,17.4,-17.3,25,172,0.17,1.73,0.00,0.000,6,0.106,0.025,2252,2370,3623
$GC,511,-2.09,-194.7,66.5,-13.1,86,518,0.12,1.80,0.00,0.000,4,0.113,0.039,2275,3411,3623
$GC,622,-2.02,-194.7,80.7,-12.2,105,628,0.00,1.92,0.00,0.000,6,0.000,0.022,2275,2218,3623
$GC,966,-2.02,-194.7,119.4,-10.5,166,972,0.00,1.52,0.00,0.000,4,0.000,0.033,2276,1302,3624
$GC,1019,-2.02,-194.7,125.2,-11.1,175,1025,0.00,1.65,0.00,0.000,6,0.000,0.023,2276,2333,3624
$GC,1364,-2.08,-194.7,160.2,-9.5,236,1369,0.00,1.83,0.00,0.000,4,0.000,0.040,2276,3412,3624
$GC,1479,-2.14,-194.7,171.4,-9.6,256,1485,0.00,2.00,0.00,0.000,6,0.000,0.024,2276,2175,3624
$GC,1824,-2.24,-194.7,203.7,-9.3,317,1830,0.15,1.42,0.00,0.000,4,0.054,0.035,2223,1311,3625
$GC,1843,-2.29,-194.7,205.5,-9.4,320,1849,0.00,1.65,0.00,0.000,6,0.000,0.025,2223,2333,3625
$GC,2188,-2.29,-194.7,240.2,-10.5,381,2193,0.00,1.73,0.00,0.000,4,0.000,0.035,2223,1311,3624
$GC,2239,-2.29,-194.7,245.5,-10.0,390,2245,0.00,1.50,0.00,0.000,6,0.000,0.025,2223,2222,3624
$GC,2572,-2.29,-194.7,278.1,-9.7,425,2576,0.00,1.58,0.00,0.000,4,0.000,0.038,2223,1291,3622
$GC,2630,-2.29,-194.7,283.8,-10.0,430,2633,0.00,1.40,0.00,0.000,6,0.000,0.025,2223,2142,3622
$GC,2964,-2.29,-194.7,317.3,-10.3,461,2968,0.00,1.45,0.00,0.000,4,0.000,0.041,2223,1309,3619
$GC,2988,-2.29,-194.7,320.1,-10.0,463,2991,0.00,1.55,0.00,0.000,6,0.000,0.026,2223,2242,3619
$GC,3323,-2.33,-194.7,353.4,-9.7,494,3326,0.00,1.60,0.00,0.000,4,0.000,0.040,2223,1306,3617
$GC,3374,-2.33,-194.7,358.8,-10.2,498,3379,0.00,1.42,0.00,0.000,6,0.000,0.026,2223,2164,3616
$GC,3703,-2.37,-194.7,389.9,-9.3,529,3707,0.00,1.50,0.00,0.000,4,0.000,0.043,2223,1313,3615
$GC,3738,-2.37,-194.7,393.4,-9.0,532,3742,0.00,1.60,0.00,0.000,6,0.000,0.028,2223,2264,3614
$GC,4072,-2.42,-194.7,424.5,-9.9,563,4075,0.00,1.65,0.00,0.000,4,0.000,0.046,2223,1317,3610
$GC,4122,-2.42,-194.7,429.8,-9.8,567,4128,0.00,1.45,0.00,0.000,6,0.000,0.028,2223,2180,3610
$GC,4451,-2.46,-194.7,462.2,-9.7,598,4455,0.15,2.15,0.00,0.000,4,0.058,0.048,2181,3409,3608
$GC,4502,-2.39,-194.7,467.7,-10.2,602,4507,0.15,2.20,0.00,0.000,6,0.104,0.031,2210,2117,3607
$GC,4836,-2.43,-194.7,500.5,-10.0,633,4840,0.00,2.30,0.00,0.000,4,0.000,0.052,2211,3406,3605
$GC,4864,-2.43,-194.7,503.8,-10.5,634,4868,0.00,2.03,0.00,0.000,6,0.000,0.032,2210,2220,3604
$GC,5190,-2.46,-194.7,537.1,-10.0,650,5194,0.00,1.58,0.00,0.000,4,0.000,0.051,2211,1311,3602
$GC,5240,-2.46,-194.7,542.8,-10.5,652,5243,0.00,1.38,0.00,0.000,6,0.000,0.031,2211,2123,3602
$GC,5571,-2.49,-194.7,575.3,-9.7,668,5574,0.00,1.45,0.00,0.000,4,0.000,0.055,2211,1327,3599
$GC,5594,-2.49,-194.7,577.9,-9.9,669,5597,0.00,1.60,0.00,0.000,6,0.000,0.036,2211,2269,3599
$GC,5929,-2.52,-194.7,609.1,-9.3,685,5933,0.15,1.70,0.00,0.000,4,0.062,0.058,2166,1327,3597
$GC,6037,-2.47,-194.7,620.0,-10.0,689,6045,0.10,1.42,0.00,0.000,6,0.097,0.041,2189,2142,3596
$GC,6358,-2.47,-194.7,651.3,-10.3,705,6362,0.00,2.25,0.00,0.000,4,0.000,0.058,2190,3403,3593
$GC,6460,-2.43,-194.7,662.6,-10.8,709,6466,0.00,2.10,0.00,0.000,6,0.000,0.033,2189,2184,3593
$GC,6776,-2.43,-194.7,695.6,-10.7,725,6780,0.00,2.17,0.00,0.000,4,0.000,0.054,2189,3396,3591
$GC,6872,-2.40,-194.7,706.5,-11.5,729,6876,0.00,2.22,0.00,0.000,6,0.000,0.034,2189,2102,3591
$GC,7191,-2.40,-194.7,740.1,-10.3,744,7195,0.00,2.33,0.00,0.000,4,0.000,0.052,2190,3405,3589
$GC,7299,-2.36,-194.7,751.9,-10.9,748,7306,0.12,2.38,0.00,0.000,6,0.115,0.034,2213,2027,3588
$GC,7618,-2.40,-194.7,782.6,-9.7,764,7621,0.00,1.27,0.00,0.000,4,0.000,0.058,2212,1319,3587
$GC,7714,-2.40,-194.7,792.6,-10.4,768,7717,0.00,1.40,0.00,0.000,6,0.000,0.029,2213,2152,3586
$GC,8044,-2.44,-194.7,823.9,-9.8,784,8047,0.00,2.20,0.00,0.000,4,0.000,0.051,2213,3405,3584
$GC,8123,-2.44,-194.7,831.9,-9.7,787,8129,0.00,2.20,0.00,0.000,6,0.000,0.034,2213,2126,3583
$GC,8439,-2.48,-194.7,862.2,-9.8,803,8443,0.10,1.42,0.00,0.000,4,0.074,0.056,2185,1324,3582
$GC,8556,-2.48,-194.7,874.8,-10.6,808,8560,0.00,1.30,0.00,0.000,6,0.000,0.031,2185,2089,3582
$GC,8887,-2.45,-194.7,909.6,-10.9,824,8891,0.00,1.38,0.00,0.000,4,0.000,0.051,2185,1326,3580
$GC,8994,-2.40,-194.7,921.7,-11.0,828,9000,0.08,1.42,0.00,0.000,6,0.106,0.033,2203,2160,3580
$GC,9312,-2.40,-194.7,954.8,-10.9,844,9316,0.00,2.20,0.00,0.000,4,0.000,0.054,2203,3402,3579
$GC,9385,-2.37,-194.7,963.1,-11.9,847,9389,0.00,2.10,0.00,0.000,6,0.000,0.035,2203,2182,3579
$STATE,9659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9659,begin apogee
$GC,9666,-0.52,0.0,991.0,9.8,860,9840,1.95,0.00,164.90,1.422,6,0.097,0.000,2611,2069,2825
$STATE,9841,end apogee,CONTROL_FINISHED_OK
$STATE,9841,begin climb
$GC,9844,2.34,194.7,999.3,0.0,869,10030,2.78,1.98,172.75,1.384,4,0.058,0.069,3242,1029,2030
$GC,10122,2.25,234.8,982.9,10.0,882,10165,0.12,1.77,36.92,1.329,6,0.113,0.033,3220,2059,1867
$GC,10477,2.23,273.8,946.7,10.1,899,10527,0.00,1.98,38.12,1.269,4,0.000,0.051,3220,3121,1707
$GC,10580,2.18,297.1,935.1,10.9,903,10607,0.00,1.80,22.33,1.282,6,0.000,0.035,3220,2089,1613
$GC,10918,2.14,316.0,897.2,11.1,920,10943,0.12,1.95,18.45,1.275,4,0.110,0.050,3196,3127,1535
$GC,11036,2.13,340.8,884.1,10.8,925,11065,0.00,1.75,23.75,1.283,6,0.000,0.040,3196,2121,1435
$GC,11383,2.13,340.8,844.1,12.0,942,11386,0.00,1.80,0.00,0.000,4,0.000,0.048,3196,3127,1432
$GC,11451,2.08,340.8,835.3,13.3,945,11454,0.00,1.70,0.00,0.000,6,0.000,0.035,3196,2150,1432
$GC,11784,2.08,340.8,795.2,12.1,961,11788,0.00,2.03,0.00,0.000,4,0.000,0.058,3196,1017,1430
$GC,11835,2.04,340.8,788.7,12.1,963,11839,0.12,1.95,0.00,0.000,6,0.114,0.031,3173,2156,1431
$GC,12162,2.08,362.2,752.4,11.0,979,12194,0.00,1.83,21.92,1.164,4,0.000,0.051,3173,3133,1348
$GC,12257,2.12,386.1,741.7,10.8,983,12301,0.00,1.70,27.55,1.094,6,0.000,0.035,3173,2155,1250
$GC,12620,2.16,410.3,702.7,10.8,1001,12650,0.12,1.83,23.38,1.218,4,0.073,0.049,3206,3122,1152
$GC,12737,2.12,410.3,688.0,12.9,1006,12741,0.00,1.58,0.00,0.000,6,0.000,0.035,3206,2214,1149
$GC,13064,2.12,410.3,648.0,12.3,1022,13067,0.00,1.65,0.00,0.000,4,0.000,0.049,3206,3134,1148
$GC,13098,2.12,410.3,643.6,13.5,1023,13101,0.00,1.55,0.00,0.000,6,0.000,0.042,3206,2250,1148
$GC,13419,2.15,428.4,606.5,11.1,1039,13441,0.00,2.30,17.25,1.153,4,0.000,0.056,3206,1028,1078
$GC,13498,2.16,432.4,597.0,11.8,1042,13510,0.00,2.08,5.43,0.907,6,0.000,0.031,3206,2246,1062
$GC,13819,2.19,451.6,560.6,11.1,1058,13844,0.00,1.62,18.77,1.125,4,0.000,0.051,3206,3119,984
$GC,13923,2.22,466.7,548.2,11.3,1062,13942,0.00,1.77,15.23,1.090,6,0.000,0.043,3207,2097,922
$GC,14255,2.31,466.7,509.0,12.1,1078,14259,0.12,1.92,0.00,0.000,4,0.069,0.056,3242,1021,919
$GC,14351,2.31,466.7,496.5,12.9,1082,14356,0.00,1.58,0.00,0.000,6,0.000,0.030,3242,1963,919
$GC,14679,2.39,466.7,455.0,12.7,1113,14682,0.00,2.03,0.00,0.000,4,0.000,0.050,3242,3131,919
$GC,14780,2.39,466.7,441.6,13.6,1122,14784,0.00,1.75,0.00,0.000,6,0.000,0.035,3242,2119,918
$GC,15114,2.45,469.0,401.4,11.9,1153,15118,0.00,1.92,0.00,0.000,4,0.000,0.056,3242,1027,918
$GC,15216,2.49,469.0,388.2,12.8,1162,15220,0.12,1.60,0.00,0.000,6,0.067,0.028,3278,1984,918
$GC,15546,2.53,469.0,345.0,13.4,1193,15550,0.00,1.98,0.00,0.000,4,0.000,0.045,3278,3126,918
$GC,15608,2.49,469.0,336.5,12.7,1198,15614,0.00,1.77,0.00,0.000,6,0.000,0.034,3278,2094,917
$GC,15936,2.49,469.0,294.2,12.7,1229,15940,0.00,1.90,0.00,0.000,4,0.000,0.058,3278,1020,918
$GC,15998,2.43,469.0,285.7,12.2,1234,16004,0.00,1.55,0.00,0.000,6,0.000,0.028,3278,1936,918
$GC,16325,2.49,480.5,246.8,11.4,1267,16346,0.00,2.15,12.93,0.893,4,0.000,0.045,3278,3126,865
$GC,16451,2.45,480.5,231.3,12.4,1289,16457,0.00,1.75,0.00,0.000,6,0.000,0.031,3278,2100,864
$GC,16795,2.48,480.5,189.3,12.7,1350,16801,0.00,1.90,0.00,0.000,4,0.000,0.052,3278,1019,864
$GC,16859,2.51,496.6,181.7,11.2,1361,16881,0.00,1.60,15.38,0.850,6,0.000,0.028,3278,1992,800
$GC,17222,2.65,525.9,140.8,10.6,1425,17256,0.12,2.00,26.98,0.825,4,0.061,0.041,3316,3126,679
$GC,17330,2.73,575.4,128.2,9.6,1444,17359,0.00,1.77,20.83,0.792,6,0.000,0.028,3316,2095,586
$GC,17701,2.88,615.4,86.4,10.0,1509,17707,0.15,1.80,0.00,0.000,4,0.057,0.038,3366,3133,583
$GC,17749,2.90,624.8,80.6,11.5,1517,17755,0.00,1.83,0.00,0.000,6,0.000,0.026,3366,2046,583
$GC,18093,2.96,659.1,43.7,10.3,1578,18099,0.00,1.77,0.00,0.000,4,0.000,0.044,3366,1026,582
$GC,18147,3.01,694.4,38.2,10.3,1587,18152,0.00,1.48,0.00,0.000,6,0.000,0.024,3366,1946,582
$GC,18491,3.10,718.8,3.7,10.8,1648,18498,0.17,1.60,0.00,0.000,4,0.049,0.039,3425,1030,582
$STATE,18508,end climb,SURFACE_DEPTH_REACHED
$STATE,18508,begin surface coast
$FINISH,-0.0,1.020630
$STATE,18525,end surface coast,CONTROL_FINISHED_OK
$STATE,18525,begin surface
$SM_CCo,18612,0.00,0.000,0,0,582,550.21
$SM_GC,-6.69,13.12,0.00,0.00,0.051,0.000,0.000,418,2383,582,-10.58,0.42,550.21
$IRIDIUM_FIX,1247.67,12024.46,070897,090955
$TT8_MAMPS,0.025311
$HUMID,2032
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.60
$XPDR_PINGS,475
$24V_AH,22.7,67.227
$10V_AH,10.1,46.574
$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,30.475,160.600,682.850,0.000,0.000,28.232,37.134,816.344,131.250,0.000,0.000,17.416,2760.825,11581.507,768.496,3158.194,1379.584,0.000,2380.062,0.000,3081.776,0.000,91.509
$DEVICE_MAMPS,166.439,69.030,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.487,395.699,624.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88375,1654
$CAP_FILE_SIZE,208342,0
$CFSIZE,260165632,222203904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,130508,204522,1250.736,12024.077,38,3.7,57,-0.8