version: 66.03
glider: 126
mission: 7
dive: 391
start: 5 14 108 2 22 48
data:
$ID,126
$MISSION,7
$DIVE,391
$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,-626852.69
$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,27
$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
$GPS1,021531,1250.831,12024.873,38,1.1,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.92
$_SM_ANGLEo,-53.3
$GPS2,022215,1250.885,12024.908,12,2.0,12,-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,91.4,32218,-19.3,-12.000
$D_GRID,1152
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-82.65,0.000,6,0.000,0.000,414,2382,3623
$GC,118,-2.34,-194.7,3.4,-31.7,17,135,10.12,1.77,0.00,0.000,4,0.166,0.038,2217,3409,3624
$GC,221,-2.16,-194.7,28.3,-16.4,35,227,0.22,1.75,0.00,0.000,6,0.112,0.023,2260,2314,3624
$GC,566,-2.09,-194.7,75.0,-12.7,96,572,0.00,1.90,0.00,0.000,4,0.000,0.038,2261,3406,3626
$GC,699,-2.01,-194.7,92.5,-13.7,119,705,0.15,1.90,0.00,0.000,6,0.113,0.023,2289,2229,3626
$GC,1044,-2.09,-194.7,130.2,-10.7,180,1051,0.00,1.55,0.00,0.000,4,0.000,0.034,2289,1300,3628
$GC,1161,-2.16,-194.7,141.6,-9.3,200,1168,0.10,1.55,0.00,0.000,6,0.044,0.023,2249,2254,3629
$GC,1506,-2.16,-194.7,175.0,-10.1,261,1512,0.00,1.60,0.00,0.000,4,0.000,0.034,2249,1297,3629
$GC,1598,-2.16,-194.7,184.4,-10.4,277,1604,0.00,1.42,0.00,0.000,6,0.000,0.024,2249,2177,3629
$GC,1943,-2.21,-194.7,218.7,-9.6,338,1949,0.00,1.50,0.00,0.000,4,0.000,0.037,2249,1303,3629
$GC,2040,-2.25,-194.7,228.5,-9.7,355,2046,0.00,1.27,0.00,0.000,6,0.000,0.025,2249,2093,3629
$GC,2380,-2.30,-194.7,261.2,-9.5,405,2384,0.00,2.25,0.00,0.000,4,0.000,0.041,2249,3411,3629
$GC,2454,-2.30,-194.7,268.6,-10.5,411,2458,0.00,2.30,0.00,0.000,6,0.000,0.027,2249,2033,3629
$GC,2782,-2.37,-194.7,300.3,-10.3,441,2787,0.17,2.38,0.00,0.000,4,0.051,0.042,2192,3400,3627
$GC,2823,-2.30,-194.7,304.8,-10.8,444,2828,0.17,2.30,0.00,0.000,6,0.096,0.028,2227,2028,3627
$GC,3148,-2.36,-194.7,337.4,-10.0,474,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2028,3625
$GC,3470,-2.40,-194.7,368.1,-9.8,504,3473,0.00,1.25,0.00,0.000,4,0.000,0.046,2227,1307,3623
$GC,3532,-2.40,-194.7,374.6,-10.0,509,3537,0.00,1.27,0.00,0.000,6,0.000,0.027,2227,2082,3623
$GC,3860,-2.45,-194.7,406.9,-10.4,540,3864,0.15,1.38,0.00,0.000,4,0.060,0.043,2181,1309,3620
$GC,3895,-2.40,-194.7,410.6,-10.8,543,3899,0.08,1.45,0.00,0.000,6,0.099,0.028,2200,2176,3620
$GC,4226,-2.40,-194.7,444.0,-9.9,574,4229,0.00,1.52,0.00,0.000,4,0.000,0.046,2200,1319,3619
$GC,4306,-2.40,-194.7,451.9,-10.0,581,4309,0.00,1.60,0.00,0.000,6,0.000,0.031,2200,2275,3618
$GC,4639,-2.40,-194.7,484.5,-9.9,612,4643,0.00,1.73,0.00,0.000,4,0.000,0.051,2200,1317,3615
$GC,4663,-2.40,-194.7,487.0,-9.4,614,4666,0.00,1.42,0.00,0.000,6,0.000,0.031,2200,2152,3615
$GC,4990,-2.40,-194.7,518.6,-9.8,636,4994,0.00,2.20,0.00,0.000,4,0.000,0.051,2200,3403,3612
$GC,5054,-2.36,-194.7,524.9,-9.9,639,5057,0.00,2.00,0.00,0.000,6,0.000,0.032,2200,2234,3612
$GC,5387,-2.36,-194.7,558.3,-10.1,655,5390,0.00,2.10,0.00,0.000,4,0.000,0.057,2200,3397,3609
$GC,5438,-2.33,-194.7,563.4,-9.9,657,5442,0.12,2.15,0.00,0.000,6,0.110,0.035,2224,2153,3609
$GC,5762,-2.38,-194.7,592.9,-9.1,673,5766,0.00,2.28,0.00,0.000,4,0.000,0.064,2225,3395,3607
$GC,5857,-2.38,-194.7,602.4,-9.3,677,5861,0.00,2.30,0.00,0.000,6,0.000,0.043,2224,2090,3606
$GC,6176,-2.44,-194.7,632.6,-9.5,692,6178,0.12,0.00,0.00,0.000,6,0.066,0.000,2189,2089,3604
$GC,6482,-2.44,-194.7,663.3,-9.9,707,6486,0.00,2.35,0.00,0.000,4,0.000,0.056,2190,3396,3602
$GC,6590,-2.40,-194.7,674.2,-10.7,712,6594,0.00,2.15,0.00,0.000,6,0.000,0.035,2190,2153,3601
$GC,6919,-2.40,-194.7,706.3,-9.9,728,6923,0.00,2.22,0.00,0.000,4,0.000,0.054,2190,3393,3599
$GC,6999,-2.35,-194.7,714.6,-10.6,731,7004,0.15,2.30,0.00,0.000,6,0.107,0.035,2218,2066,3599
$GC,7318,-2.41,-194.7,744.8,-9.7,746,7322,0.00,2.38,0.00,0.000,4,0.000,0.051,2218,3396,3598
$GC,7419,-2.41,-194.7,755.1,-9.9,750,7425,0.00,2.40,0.00,0.000,6,0.000,0.036,2218,2012,3597
$GC,7735,-2.46,-194.7,786.7,-10.1,766,7739,0.12,1.25,0.00,0.000,4,0.068,0.058,2185,1319,3596
$GC,7832,-2.46,-194.7,796.8,-10.0,770,7835,0.00,1.35,0.00,0.000,6,0.000,0.033,2185,2110,3596
$GC,8159,-2.46,-194.7,829.0,-9.5,786,8163,0.00,1.42,0.00,0.000,4,0.000,0.049,2185,1315,3594
$GC,8193,-2.42,-194.7,832.3,-9.6,787,8197,0.00,1.55,0.00,0.000,6,0.000,0.031,2185,2226,3594
$GC,8515,-2.42,-194.7,863.5,-10.1,803,8519,0.00,1.60,0.00,0.000,4,0.000,0.049,2185,1316,3593
$GC,8588,-2.39,-194.7,871.2,-10.2,806,8593,0.08,1.40,0.00,0.000,6,0.104,0.032,2203,2137,3593
$GC,8918,-2.39,-194.7,904.2,-10.1,822,8922,0.00,1.48,0.00,0.000,4,0.000,0.050,2203,1317,3591
$GC,8942,-2.39,-194.7,906.8,-9.6,823,8946,0.00,1.65,0.00,0.000,6,0.000,0.034,2203,2274,3591
$GC,9276,-2.39,-194.7,939.5,-10.0,839,9280,0.00,1.70,0.00,0.000,4,0.000,0.048,2203,1303,3590
$GC,9398,-2.39,-194.7,951.6,-9.8,844,9402,0.00,1.48,0.00,0.000,6,0.000,0.032,2203,2168,3590
$GC,9722,-2.39,-194.7,981.1,-9.3,860,9725,0.00,1.52,0.00,0.000,4,0.000,0.050,2203,1318,3588
$GC,9812,-2.39,-194.7,989.7,-9.5,864,9817,0.00,1.60,0.00,0.000,6,0.000,0.034,2203,2262,3588
$STATE,9820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9820,begin apogee
$GC,9827,-0.52,0.0,990.8,9.1,864,9999,1.92,0.00,167.27,1.427,6,0.095,0.000,2610,2058,2825
$STATE,9999,end apogee,CONTROL_FINISHED_OK
$STATE,10000,begin climb
$GC,10003,2.34,194.7,999.1,0.0,873,10186,2.80,0.00,173.65,1.381,6,0.055,0.000,3245,2058,2031
$GC,10497,2.29,240.9,962.9,9.7,897,10551,0.00,1.98,44.28,1.288,4,0.000,0.051,3245,3104,1842
$GC,10704,2.16,242.6,939.7,11.9,906,10708,0.22,1.73,0.00,0.000,6,0.103,0.035,3201,2111,1839
$GC,11026,2.15,278.0,906.4,10.3,922,11067,0.00,1.88,34.17,1.326,4,0.000,0.050,3201,3105,1691
$GC,11161,2.10,297.6,891.5,11.0,928,11185,0.00,1.65,19.25,1.272,6,0.000,0.035,3201,2160,1611
$GC,11517,2.09,322.0,851.6,10.8,945,11556,0.00,0.00,27.33,1.135,6,0.000,0.000,3202,2160,1512
$GC,11864,2.09,343.5,813.1,10.9,962,11889,0.00,1.75,20.88,1.264,4,0.000,0.049,3201,3109,1423
$GC,12010,2.06,357.4,796.2,11.3,968,12037,0.12,1.67,15.77,1.085,6,0.120,0.043,3179,2153,1368
$GC,12348,2.11,386.1,760.3,10.6,985,12382,0.00,1.83,27.73,1.250,4,0.000,0.049,3179,3112,1250
$GC,12414,2.12,392.2,752.8,11.7,988,12427,0.00,1.60,7.50,1.053,6,0.000,0.035,3178,2198,1225
$GC,12744,2.14,403.8,714.6,11.4,1004,12765,0.00,0.00,13.88,1.021,6,0.000,0.000,3179,2198,1178
$GC,13074,2.24,419.9,677.1,11.2,1020,13097,0.15,1.67,16.17,1.178,4,0.064,0.049,3224,3107,1112
$GC,13160,2.20,419.9,666.1,12.7,1023,13166,0.00,1.58,0.00,0.000,6,0.000,0.037,3224,2204,1110
$GC,13477,2.20,419.9,627.1,12.1,1039,13480,0.00,2.12,0.00,0.000,4,0.000,0.058,3224,1017,1110
$GC,13538,2.16,419.9,618.9,13.2,1041,13545,0.12,2.00,0.00,0.000,6,0.107,0.031,3200,2191,1109
$GC,13855,2.21,420.7,580.7,12.0,1057,13858,0.00,2.10,0.00,0.000,4,0.000,0.054,3200,1021,1109
$GC,13883,2.26,420.7,577.1,12.2,1058,13887,0.00,1.77,0.00,0.000,6,0.000,0.031,3199,2071,1109
$GC,14213,2.36,433.0,539.1,11.4,1074,14234,0.15,1.95,12.88,1.091,4,0.065,0.048,3246,3126,1059
$GC,14285,2.31,433.0,529.8,12.1,1077,14289,0.00,2.08,0.00,0.000,6,0.000,0.037,3246,1941,1058
$GC,14605,2.35,437.9,492.1,11.8,1095,14617,0.00,1.67,6.25,0.926,4,0.000,0.058,3246,1016,1038
$GC,14652,2.35,441.1,486.3,11.8,1099,14663,0.00,1.35,4.90,0.828,6,0.000,0.030,3246,1816,1026
$GC,14982,2.40,441.1,447.3,12.0,1130,14986,0.00,1.45,0.00,0.000,4,0.000,0.058,3246,1028,1024
$GC,15072,2.40,441.1,436.3,12.3,1138,15076,0.00,1.62,0.00,0.000,6,0.000,0.030,3246,1998,1024
$GC,15406,2.44,441.1,396.7,12.1,1169,15409,0.00,1.75,0.00,0.000,4,0.000,0.054,3246,1024,1024
$GC,15497,2.45,447.8,385.0,11.7,1177,15508,0.00,1.65,7.18,0.904,6,0.000,0.030,3246,2009,999
$GC,15827,2.52,450.0,344.5,11.9,1208,15839,0.15,2.00,3.65,0.634,4,0.064,0.046,3288,3121,990
$GC,15890,2.46,450.0,336.3,12.8,1213,15896,0.12,1.70,0.00,0.000,6,0.107,0.043,3264,2134,990
$GC,16215,2.49,450.0,297.6,12.1,1244,16219,0.00,1.98,0.00,0.000,4,0.000,0.054,3264,1019,990
$GC,16277,2.49,450.0,290.1,12.4,1249,16282,0.00,1.62,0.00,0.000,6,0.000,0.028,3264,1998,990
$GC,16605,2.57,472.2,253.0,10.9,1280,16632,0.10,1.85,21.38,0.925,4,0.077,0.051,3294,1019,898
$GC,16731,2.50,472.2,237.8,13.4,1299,16736,0.00,1.38,0.00,0.000,6,0.000,0.028,3293,1853,898
$GC,17075,2.50,472.2,196.1,13.1,1360,17081,0.00,1.50,0.00,0.000,4,0.000,0.051,3294,1025,896
$GC,17172,2.44,472.2,183.9,13.0,1377,17179,0.15,1.70,0.00,0.000,6,0.089,0.028,3259,2040,896
$GC,17520,2.56,500.2,143.7,10.6,1438,17554,0.12,1.90,24.95,0.827,4,0.064,0.041,3296,3100,785
$GC,17617,2.64,549.8,132.6,9.6,1455,17665,0.00,2.08,43.05,0.807,6,0.000,0.030,3296,1890,587
$GC,18008,2.82,586.8,90.0,10.2,1524,18015,0.17,1.52,0.00,0.000,4,0.051,0.048,3354,1027,581
$GC,18112,2.86,611.1,78.5,10.8,1542,18118,0.00,1.50,0.00,0.000,6,0.000,0.025,3354,1947,580
$GC,18458,2.95,628.3,42.6,11.2,1603,18464,0.00,1.98,0.00,0.000,4,0.000,0.036,3354,3119,580
$GC,18499,3.00,657.6,38.2,10.6,1610,18506,0.10,1.83,0.00,0.000,6,0.045,0.025,3395,2031,580
$STATE,18838,end climb,SURFACE_DEPTH_REACHED
$STATE,18838,begin surface coast
$FINISH,-0.1,1.020704
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18941,0.00,0.000,0,0,580,550.94
$SM_GC,-6.82,12.93,0.00,0.00,0.049,0.000,0.000,418,2375,580,-10.58,0.20,550.94
$IRIDIUM_FIX,1245.46,12024.46,070897,202055
$TT8_MAMPS,0.026078
$HUMID,2037
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.20
$XPDR_PINGS,431
$24V_AH,22.6,67.800
$10V_AH,10.1,46.804
$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,31.125,146.175,692.100,0.000,0.000,27.853,31.914,190.684,120.250,0.000,0.000,14.369,2772.525,11914.033,786.887,3127.490,740.209,0.000,2373.108,0.000,3063.222,0.000,91.492
$DEVICE_MAMPS,166.439,63.661,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.385,397.169,628.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91470,1673
$CAP_FILE_SIZE,196217,0
$CFSIZE,260165632,222019584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,140508,073938,1250.875,12025.593,32,1.6,32,-0.8