version: 66.03
glider: 126
mission: 7
dive: 390
start: 5 13 108 21 1 22
data:
$ID,126
$MISSION,7
$DIVE,390
$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,-626837.69
$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,41
$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
$GPS1,204522,1250.736,12024.077,38,3.7,57,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.87
$_SM_ANGLEo,-54.0
$GPS2,210050,1250.772,12024.072,14,1.2,31,-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,91.0,33726,-19.3,-12.000
$D_GRID,1118
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.34,-194.7,0.0,0.0,0,111,0.00,0.00,-81.32,0.000,6,0.000,0.000,419,2390,3623
$GC,114,-2.34,-194.7,1.9,-27.0,16,131,10.05,1.75,0.00,0.000,4,0.164,0.037,2218,3409,3624
$GC,189,-2.16,-194.7,21.1,-16.6,29,195,0.20,1.73,0.00,0.000,6,0.115,0.023,2256,2326,3624
$GC,534,-2.09,-194.7,68.6,-13.0,90,540,0.00,1.62,0.00,0.000,4,0.000,0.031,2256,1350,3624
$GC,626,-2.03,-194.7,81.0,-13.6,106,633,0.12,1.60,0.00,0.000,6,0.098,0.023,2285,2331,3625
$GC,972,-2.09,-194.7,120.0,-11.1,167,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2331,3626
$GC,1316,-2.15,-194.7,154.8,-9.5,228,1322,0.12,1.65,0.00,0.000,4,0.058,0.031,2244,1339,3626
$GC,1336,-2.20,-194.7,156.8,-9.6,231,1342,0.00,1.65,0.00,0.000,6,0.000,0.024,2244,2364,3626
$GC,1681,-2.23,-194.7,190.8,-9.9,292,1687,0.00,1.77,0.00,0.000,4,0.000,0.041,2243,3413,3627
$GC,1733,-2.23,-194.7,196.2,-10.7,301,1739,0.00,1.80,0.00,0.000,6,0.000,0.025,2243,2277,3627
$GC,2079,-2.28,-194.7,230.6,-9.9,362,2085,0.00,1.95,0.00,0.000,4,0.000,0.041,2243,3414,3627
$GC,2160,-2.31,-194.7,238.8,-10.1,376,2166,0.00,1.88,0.00,0.000,6,0.000,0.025,2243,2246,3627
$GC,2492,-2.36,-194.7,270.7,-9.6,417,2496,0.12,2.00,0.00,0.000,4,0.059,0.041,2203,3405,3626
$GC,2594,-2.30,-194.7,281.1,-9.8,426,2598,0.12,1.98,0.00,0.000,6,0.102,0.026,2228,2203,3625
$GC,2925,-2.34,-194.7,311.8,-9.3,457,2928,0.00,2.10,0.00,0.000,4,0.000,0.042,2228,3410,3623
$GC,3004,-2.34,-194.7,319.4,-9.3,464,3008,0.00,1.85,0.00,0.000,6,0.000,0.027,2228,2282,3621
$GC,3338,-2.39,-194.7,352.5,-10.1,495,3342,0.00,1.98,0.00,0.000,4,0.000,0.045,2228,3408,3619
$GC,3406,-2.39,-194.7,359.7,-10.3,501,3410,0.00,2.00,0.00,0.000,6,0.000,0.028,2228,2203,3619
$GC,3740,-2.43,-194.7,392.1,-9.4,532,3744,0.12,1.45,0.00,0.000,4,0.064,0.041,2192,1349,3616
$GC,3835,-2.43,-194.7,401.8,-9.9,540,3841,0.00,1.40,0.00,0.000,6,0.000,0.028,2192,2192,3615
$GC,4163,-2.43,-194.7,434.6,-9.9,571,4166,0.00,1.48,0.00,0.000,4,0.000,0.044,2192,1354,3613
$GC,4254,-2.43,-194.7,443.8,-10.1,579,4257,0.00,1.27,0.00,0.000,6,0.000,0.028,2192,2116,3611
$GC,4587,-2.43,-194.7,476.7,-10.0,610,4591,0.00,1.35,0.00,0.000,4,0.000,0.050,2193,1365,3608
$GC,4644,-2.43,-194.7,482.9,-10.1,615,4648,0.00,1.42,0.00,0.000,6,0.000,0.031,2192,2199,3608
$GC,4984,-2.43,-194.7,517.9,-10.6,639,4987,0.00,1.48,0.00,0.000,4,0.000,0.043,2192,1361,3604
$GC,5062,-2.43,-194.7,526.8,-10.6,642,5065,0.00,1.35,0.00,0.000,6,0.000,0.029,2192,2163,3604
$GC,5387,-2.43,-194.7,560.2,-10.1,658,5391,0.00,1.42,0.00,0.000,4,0.000,0.050,2192,1366,3601
$GC,5427,-2.43,-194.7,564.6,-9.6,659,5432,0.00,1.23,0.00,0.000,6,0.000,0.034,2192,2086,3601
$GC,5743,-2.43,-194.7,595.8,-9.7,675,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2086,3599
$GC,6052,-2.43,-194.7,625.3,-9.5,690,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2086,3598
$GC,6361,-2.43,-194.7,654.8,-9.4,705,6364,0.00,1.33,0.00,0.000,4,0.000,0.059,2192,1367,3595
$GC,6423,-2.43,-194.7,661.0,-10.2,707,6428,0.00,1.45,0.00,0.000,6,0.000,0.038,2192,2205,3595
$GC,6739,-2.43,-194.7,692.5,-10.2,723,6743,0.00,1.52,0.00,0.000,4,0.000,0.052,2192,1359,3593
$GC,6767,-2.43,-194.7,695.4,-10.0,724,6771,0.00,1.65,0.00,0.000,6,0.000,0.036,2192,2327,3593
$GC,7097,-2.43,-194.7,728.2,-10.1,740,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2327,3592
$GC,7403,-2.43,-194.7,758.6,-9.9,755,7407,0.00,1.95,0.00,0.000,4,0.000,0.057,2192,3427,3590
$GC,7466,-2.38,-194.7,764.9,-10.7,757,7471,0.00,1.92,0.00,0.000,6,0.000,0.032,2192,2294,3589
$GC,7782,-2.38,-194.7,797.7,-10.6,773,7786,0.00,2.03,0.00,0.000,4,0.000,0.053,2192,3429,3588
$GC,7861,-2.33,-194.7,806.4,-10.6,776,7866,0.15,2.08,0.00,0.000,6,0.106,0.034,2221,2211,3587
$GC,8187,-2.40,-194.7,839.3,-10.0,792,8192,0.00,2.15,0.00,0.000,4,0.000,0.051,2221,3422,3586
$GC,8212,-2.40,-194.7,842.1,-10.0,793,8215,0.00,1.92,0.00,0.000,6,0.000,0.033,2221,2294,3585
$GC,8548,-2.44,-194.7,874.2,-9.4,809,8552,0.12,2.03,0.00,0.000,4,0.067,0.052,2188,3425,3585
$GC,8615,-2.38,-194.7,881.3,-10.5,812,8620,0.12,2.10,0.00,0.000,6,0.112,0.034,2211,2205,3585
$GC,8940,-2.38,-194.7,911.8,-9.6,828,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2205,3583
$GC,9248,-2.38,-194.7,941.9,-9.8,843,9252,0.00,2.17,0.00,0.000,4,0.000,0.054,2211,3420,3581
$GC,9304,-2.35,-194.7,947.5,-10.6,845,9310,0.00,2.10,0.00,0.000,6,0.000,0.035,2211,2199,3581
$GC,9621,-2.35,-194.7,977.9,-9.9,861,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2198,3580
$STATE,9741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9742,begin apogee
$GC,9749,-0.52,0.0,990.7,10.3,867,9923,1.90,0.00,165.70,1.430,6,0.094,0.000,2612,2100,2825
$STATE,9923,end apogee,CONTROL_FINISHED_OK
$STATE,9924,begin climb
$GC,9927,2.34,194.7,1000.5,0.0,876,10113,2.78,2.05,173.23,1.388,4,0.057,0.072,3242,1028,2030
$GC,10187,2.31,261.8,989.0,8.7,888,10253,0.00,1.83,61.12,1.348,6,0.000,0.032,3242,2089,1757
$GC,10570,2.25,283.7,947.5,10.9,907,10593,0.12,0.00,20.55,1.295,6,0.110,0.000,3219,2089,1668
$GC,10900,2.23,313.1,911.9,10.6,923,10930,0.00,0.00,28.15,1.315,6,0.000,0.000,3219,2089,1548
$GC,11229,2.20,323.8,874.5,11.5,939,11252,0.00,1.88,12.00,1.124,4,0.000,0.050,3219,3135,1505
$GC,11325,2.14,337.5,863.0,11.3,943,11345,0.12,1.88,14.07,1.239,6,0.116,0.044,3197,2058,1448
$GC,11675,2.17,355.1,824.4,11.1,960,11705,0.00,1.98,19.62,1.160,4,0.000,0.049,3197,3127,1377
$GC,11797,2.12,355.1,809.4,12.4,965,11800,0.00,1.80,0.00,0.000,6,0.000,0.035,3197,2094,1375
$GC,12118,2.16,377.6,773.6,10.9,981,12142,0.00,0.00,21.92,1.258,6,0.000,0.000,3197,2094,1285
$GC,12447,2.17,381.1,735.1,11.8,997,12456,0.00,1.90,4.53,0.890,4,0.000,0.049,3197,3120,1271
$GC,12521,2.13,381.1,726.1,12.3,1000,12524,0.00,1.73,0.00,0.000,6,0.000,0.035,3197,2122,1271
$GC,12848,2.15,389.1,687.7,11.6,1016,12862,0.00,1.88,9.15,1.121,4,0.000,0.048,3197,3126,1238
$GC,12897,2.15,392.7,681.6,11.8,1018,12906,0.00,1.70,5.05,0.921,6,0.000,0.035,3197,2149,1223
$GC,13224,2.17,402.0,644.3,11.5,1034,13238,0.00,1.80,10.15,1.115,4,0.000,0.048,3197,3133,1185
$GC,13261,2.19,415.7,639.5,11.3,1035,13281,0.00,1.65,14.27,1.138,6,0.000,0.034,3197,2184,1130
$GC,13598,2.20,421.2,599.8,11.7,1052,13607,0.00,0.00,6.70,0.995,6,0.000,0.000,3197,2184,1107
$GC,13908,2.28,426.3,563.6,11.8,1067,13919,0.12,2.10,6.18,0.956,4,0.068,0.057,3231,1027,1087
$GC,14004,2.23,426.3,550.8,13.2,1071,14008,0.00,1.67,0.00,0.000,6,0.000,0.031,3231,2015,1086
$GC,14327,2.23,426.3,510.8,12.2,1087,14331,0.00,1.77,0.00,0.000,4,0.000,0.054,3231,1028,1085
$GC,14422,2.19,426.3,498.5,12.5,1091,14429,0.12,1.80,0.00,0.000,6,0.105,0.031,3208,2096,1085
$GC,14748,2.30,447.3,461.7,11.0,1122,14773,0.00,1.85,20.75,1.078,4,0.000,0.048,3207,3122,1001
$GC,14797,2.39,468.6,455.9,11.0,1126,14823,0.20,1.92,20.50,1.045,6,0.058,0.035,3260,2028,914
$GC,15143,2.35,468.6,411.6,13.1,1158,15146,0.00,1.80,0.00,0.000,4,0.000,0.058,3260,1019,910
$GC,15212,2.28,468.6,402.4,13.0,1164,15216,0.12,1.95,0.00,0.000,6,0.092,0.030,3223,2150,910
$GC,15542,2.39,476.0,363.5,11.6,1195,15555,0.12,1.77,7.32,0.887,4,0.067,0.048,3258,3114,884
$GC,15595,2.36,476.0,357.1,12.8,1199,15601,0.00,1.98,0.00,0.000,6,0.000,0.035,3258,1976,883
$GC,15922,2.41,476.0,316.1,12.4,1230,15926,0.00,1.70,0.00,0.000,4,0.000,0.058,3258,1022,883
$GC,15961,2.41,476.0,310.7,12.5,1233,15967,0.00,1.92,0.00,0.000,6,0.000,0.030,3258,2163,883
$GC,16289,2.47,486.5,270.9,11.5,1264,16305,0.00,1.70,11.05,0.897,4,0.000,0.048,3258,3113,840
$GC,16333,2.48,494.3,265.3,11.6,1267,16349,0.00,1.95,8.65,0.843,6,0.000,0.038,3258,1985,809
$GC,16679,2.56,494.3,225.4,12.3,1317,16686,0.12,1.73,0.00,0.000,4,0.064,0.054,3295,1009,806
$GC,16721,2.58,503.6,220.1,11.5,1324,16738,0.00,1.42,9.38,0.828,6,0.000,0.028,3295,1863,771
$GC,17079,2.63,503.6,175.8,12.3,1387,17084,0.00,1.52,0.00,0.000,4,0.000,0.051,3295,1020,770
$GC,17159,2.63,504.8,165.8,11.9,1401,17164,0.00,1.70,0.00,0.000,6,0.000,0.027,3295,2050,770
$GC,17503,2.77,552.4,126.6,9.7,1462,17552,0.15,1.90,40.25,0.813,4,0.056,0.041,3344,3104,587
$GC,17565,2.77,552.4,118.9,12.6,1473,17571,0.00,2.03,0.00,0.000,6,0.000,0.029,3345,1926,586
$GC,17912,2.89,584.1,79.2,10.4,1534,17918,0.00,2.05,0.00,0.000,4,0.000,0.038,3344,3107,582
$GC,18016,2.94,616.2,67.8,10.4,1552,18022,0.12,2.12,0.00,0.000,6,0.062,0.027,3383,1845,581
$GC,18362,2.99,624.4,31.3,11.6,1613,18368,0.00,2.17,0.00,0.000,4,0.000,0.035,3383,3120,582
$GC,18448,2.98,644.5,21.8,11.0,1628,18455,0.00,1.85,0.00,0.000,6,0.000,0.025,3383,2017,582
$STATE,18662,end climb,SURFACE_DEPTH_REACHED
$STATE,18662,begin surface coast
$FINISH,-0.2,1.020656
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
$SM_CCo,18774,0.00,0.000,0,0,581,550.45
$SM_GC,-6.77,12.90,0.00,0.00,0.050,0.000,0.000,414,2376,581,-10.60,0.23,550.45
$IRIDIUM_FIX,1243.25,12024.46,070897,151554
$TT8_MAMPS,0.025311
$HUMID,2039
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,418
$24V_AH,22.6,67.530
$10V_AH,10.1,46.692
$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,30.200,136.725,690.300,0.000,0.000,32.985,43.855,675.487,117.000,0.000,0.000,31.407,2755.922,11905.214,767.298,3037.304,1230.699,0.000,2295.499,0.000,2957.629,0.000,91.492
$DEVICE_MAMPS,164.138,72.098,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.189,400.417,628.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91295,1671
$CAP_FILE_SIZE,199238,0
$CFSIZE,260165632,222109696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140508,021531,1250.831,12024.873,38,1.1,38,-0.8