version: 66.03
glider: 126
mission: 7
dive: 392
start: 5 14 108 7 47 1
data:
$ID,126
$MISSION,7
$DIVE,392
$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,-626870.56
$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,49
$R_STBD_OVSHOOT,54
$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
$GPS1,073938,1250.875,12025.593,32,1.6,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-7.00
$_SM_ANGLEo,-56.8
$GPS2,074627,1250.929,12025.618,15,1.5,15,-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,91.6,30937,-19.3,-12.000
$D_GRID,1235
$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,-2.34,-194.7,0.0,0.0,0,109,0.00,0.00,-82.97,0.000,6,0.000,0.000,419,2380,3622
$GC,112,-2.34,-194.7,1.7,-26.7,16,130,10.00,1.77,0.00,0.000,4,0.163,0.036,2216,3409,3623
$GC,199,-2.17,-194.7,23.2,-17.4,31,206,0.20,1.73,0.00,0.000,6,0.115,0.023,2255,2330,3624
$GC,546,-2.12,-194.7,70.4,-13.2,92,552,0.00,1.88,0.00,0.000,4,0.000,0.038,2255,3409,3625
$GC,617,-2.03,-194.7,79.6,-13.9,104,623,0.12,1.88,0.00,0.000,6,0.100,0.023,2290,2246,3625
$GC,963,-2.10,-194.7,119.0,-10.3,165,969,0.00,1.50,0.00,0.000,4,0.000,0.031,2291,1349,3627
$GC,1039,-2.14,-194.7,126.8,-10.3,178,1045,0.10,1.38,0.00,0.000,6,0.044,0.022,2251,2208,3627
$GC,1384,-2.18,-194.7,162.0,-10.7,239,1390,0.00,1.45,0.00,0.000,4,0.000,0.032,2250,1348,3629
$GC,1426,-2.18,-194.7,166.4,-10.6,246,1431,0.00,1.38,0.00,0.000,6,0.000,0.023,2250,2200,3629
$GC,1770,-2.23,-194.7,200.1,-9.6,307,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2200,3629
$GC,2114,-2.29,-194.7,234.3,-9.9,368,2120,0.00,2.05,0.00,0.000,4,0.000,0.041,2250,3399,3629
$GC,2172,-2.29,-194.7,240.3,-10.2,378,2178,0.00,2.12,0.00,0.000,6,0.000,0.025,2250,2107,3629
$GC,2503,-2.34,-194.7,273.4,-9.9,417,2508,0.15,2.22,0.00,0.000,4,0.054,0.040,2204,3403,3629
$GC,2576,-2.27,-194.7,281.4,-10.6,423,2582,0.15,1.90,0.00,0.000,6,0.098,0.027,2234,2235,3628
$GC,2902,-2.32,-194.7,314.4,-10.1,454,2906,0.00,2.03,0.00,0.000,4,0.000,0.043,2234,3397,3627
$GC,2964,-2.32,-194.7,320.8,-9.7,459,2970,0.00,2.05,0.00,0.000,6,0.000,0.027,2233,2159,3627
$GC,3292,-2.38,-194.7,352.2,-9.6,490,3297,0.10,2.17,0.00,0.000,4,0.069,0.042,2202,3405,3624
$GC,3378,-2.34,-194.7,361.2,-10.5,497,3382,0.00,2.20,0.00,0.000,6,0.000,0.028,2202,2094,3623
$GC,3705,-2.34,-194.7,393.7,-10.0,527,3709,0.00,1.27,0.00,0.000,4,0.000,0.045,2202,1356,3621
$GC,3785,-2.34,-194.7,401.9,-10.3,534,3789,0.00,1.15,0.00,0.000,6,0.000,0.027,2202,2053,3621
$GC,4118,-2.34,-194.7,434.3,-9.8,565,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2053,3619
$GC,4435,-2.34,-194.7,466.3,-10.2,595,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2053,3616
$GC,4753,-2.34,-194.7,499.3,-10.4,625,4757,0.00,1.27,0.00,0.000,4,0.000,0.058,2202,1360,3615
$GC,4810,-2.34,-194.7,505.2,-10.3,628,4813,0.00,1.35,0.00,0.000,6,0.000,0.036,2202,2146,3614
$GC,5131,-2.34,-194.7,537.4,-10.1,644,5135,0.00,1.40,0.00,0.000,4,0.000,0.046,2202,1357,3612
$GC,5195,-2.34,-194.7,543.7,-9.9,646,5201,0.00,1.20,0.00,0.000,6,0.000,0.029,2202,2073,3611
$GC,5511,-2.34,-194.7,575.0,-9.9,662,5515,0.00,2.35,0.00,0.000,4,0.000,0.054,2202,3401,3609
$GC,5562,-2.34,-194.7,580.1,-10.3,664,5565,0.00,1.95,0.00,0.000,6,0.000,0.031,2202,2260,3609
$GC,5886,-2.34,-194.7,612.5,-10.2,680,5890,0.00,2.08,0.00,0.000,4,0.000,0.061,2202,3396,3607
$GC,5937,-2.30,-194.7,618.0,-10.0,682,5941,0.12,2.12,0.00,0.000,6,0.107,0.037,2226,2176,3606
$GC,6261,-2.36,-194.7,650.7,-10.4,698,6265,0.00,2.22,0.00,0.000,4,0.000,0.058,2226,3401,3603
$GC,6364,-2.36,-194.7,661.6,-10.4,702,6368,0.00,2.22,0.00,0.000,6,0.000,0.036,2226,2116,3602
$GC,6686,-2.43,-194.7,691.8,-9.5,717,6691,0.12,2.30,0.00,0.000,4,0.067,0.054,2192,3392,3601
$GC,6781,-2.37,-194.7,702.0,-9.7,721,6786,0.12,2.33,0.00,0.000,6,0.110,0.036,2215,2052,3600
$GC,7100,-2.42,-194.7,732.6,-9.8,736,7104,0.00,1.23,0.00,0.000,4,0.000,0.058,2215,1365,3599
$GC,7151,-2.42,-194.7,737.9,-9.9,738,7154,0.00,1.30,0.00,0.000,6,0.000,0.035,2215,2124,3599
$GC,7481,-2.46,-194.7,768.8,-9.3,754,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2125,3597
$GC,7787,-2.50,-194.7,799.3,-9.9,769,7791,0.15,1.38,0.00,0.000,4,0.062,0.049,2170,1362,3595
$GC,7811,-2.50,-194.7,801.7,-10.1,770,7814,0.00,1.52,0.00,0.000,6,0.000,0.033,2169,2249,3596
$GC,8145,-2.50,-194.7,835.2,-9.7,786,8148,0.00,1.58,0.00,0.000,4,0.000,0.048,2170,1350,3594
$GC,8264,-2.45,-194.7,847.2,-10.2,791,8268,0.10,1.38,0.00,0.000,6,0.100,0.032,2193,2157,3594
$GC,8595,-2.45,-194.7,877.6,-9.3,807,8598,0.00,1.42,0.00,0.000,4,0.000,0.049,2193,1361,3592
$GC,8620,-2.45,-194.7,880.0,-9.3,808,8624,0.00,1.58,0.00,0.000,6,0.000,0.034,2193,2275,3592
$GC,8954,-2.45,-194.7,912.3,-9.6,824,8958,0.00,1.60,0.00,0.000,4,0.000,0.047,2193,1360,3591
$GC,9022,-2.45,-194.7,918.7,-9.5,827,9026,0.00,1.42,0.00,0.000,6,0.000,0.033,2193,2192,3591
$GC,9358,-2.45,-194.7,952.1,-10.5,843,9362,0.00,2.15,0.00,0.000,4,0.000,0.054,2193,3404,3589
$GC,9435,-2.40,-194.7,961.1,-12.0,846,9441,0.00,1.98,0.00,0.000,6,0.000,0.034,2193,2256,3589
$STATE,9708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9708,begin apogee
$GC,9715,-0.52,0.0,990.7,10.7,860,9890,2.00,0.00,167.50,1.429,6,0.093,0.000,2615,2096,2824
$STATE,9891,end apogee,CONTROL_FINISHED_OK
$STATE,9891,begin climb
$GC,9894,2.34,194.7,1001.5,0.0,869,10077,2.75,0.00,173.30,1.391,6,0.054,0.000,3241,2096,2030
$GC,10388,2.30,246.1,967.9,9.5,893,10441,0.00,1.92,47.05,1.345,4,0.000,0.050,3241,3104,1820
$GC,10546,2.23,277.5,951.2,10.5,900,10583,0.15,1.75,29.55,1.314,6,0.106,0.035,3213,2104,1693
$GC,10895,2.20,301.3,913.1,10.8,917,10924,0.00,1.90,22.45,1.299,4,0.000,0.049,3213,3102,1596
$GC,10982,2.13,314.7,902.6,11.3,921,11004,0.00,1.75,13.82,1.235,6,0.000,0.037,3212,2125,1542
$GC,11315,2.10,328.3,864.8,11.3,937,11337,0.12,1.85,13.52,1.240,4,0.111,0.049,3189,3106,1486
$GC,11416,2.05,328.3,852.5,12.1,941,11419,0.00,1.62,0.00,0.000,6,0.000,0.035,3189,2178,1485
$GC,11740,2.07,339.1,816.0,11.5,957,11753,0.00,0.00,11.25,1.205,6,0.000,0.000,3189,2178,1442
$GC,12071,2.09,349.6,776.9,11.5,973,12093,0.00,1.75,11.93,1.111,4,0.000,0.049,3189,3107,1399
$GC,12173,2.06,349.6,764.3,12.7,977,12176,0.00,1.60,0.00,0.000,6,0.000,0.035,3189,2187,1399
$GC,12495,2.09,369.8,727.8,11.0,993,12517,0.00,0.00,20.23,1.235,6,0.000,0.000,3189,2187,1317
$GC,12823,2.13,392.1,691.3,10.9,1009,12849,0.00,1.70,21.80,1.217,4,0.000,0.048,3189,3109,1225
$GC,12930,2.16,409.1,679.5,11.2,1014,12959,0.00,1.60,18.95,1.081,6,0.000,0.035,3189,2196,1156
$GC,13285,2.18,422.3,639.8,11.4,1031,13306,0.00,2.20,13.32,1.142,4,0.000,0.060,3189,1026,1103
$GC,13341,2.20,434.7,633.0,11.4,1033,13360,0.00,2.00,13.25,1.118,6,0.000,0.031,3189,2190,1051
$GC,13685,2.29,442.5,593.1,11.6,1050,13700,0.17,1.70,8.20,1.039,4,0.061,0.050,3236,3107,1020
$GC,13730,2.24,442.5,586.9,12.8,1052,13734,0.00,1.92,0.00,0.000,6,0.000,0.035,3236,2014,1020
$GC,14064,2.21,442.5,542.0,13.3,1068,14068,0.12,1.77,0.00,0.000,4,0.108,0.058,3212,1024,1019
$GC,14158,2.21,442.5,529.6,13.2,1072,14162,0.00,1.88,0.00,0.000,6,0.000,0.031,3212,2129,1019
$GC,14477,2.21,443.5,491.8,11.9,1090,14481,0.00,1.73,0.00,0.000,4,0.000,0.049,3212,3112,1019
$GC,14550,2.21,443.5,482.6,12.4,1096,14556,0.00,1.67,0.00,0.000,6,0.000,0.035,3212,2157,1018
$GC,14878,2.33,466.0,446.1,10.9,1127,14910,0.10,2.15,22.15,1.071,4,0.076,0.056,3241,1015,925
$GC,14992,2.33,468.4,432.2,11.9,1137,15003,0.00,1.62,3.88,0.693,6,0.000,0.029,3242,1978,915
$GC,15322,2.40,468.4,391.5,12.3,1168,15326,0.00,1.98,0.00,0.000,4,0.000,0.047,3242,3107,913
$GC,15339,2.45,472.3,389.3,11.8,1169,15348,0.00,1.65,5.03,0.795,6,0.000,0.034,3241,2148,899
$GC,15675,2.52,472.3,347.6,12.2,1201,15679,0.15,1.70,0.00,0.000,4,0.061,0.045,3289,3106,899
$GC,15726,2.46,472.3,340.7,12.8,1205,15732,0.12,1.90,0.00,0.000,6,0.107,0.035,3265,2008,899
$GC,16051,2.52,478.8,301.6,11.7,1236,16063,0.00,1.83,7.12,0.848,4,0.000,0.055,3265,1022,873
$GC,16103,2.53,484.0,295.3,11.7,1240,16113,0.00,1.42,6.80,0.826,6,0.000,0.028,3265,1873,851
$GC,16433,2.57,484.4,255.8,12.0,1271,16438,0.10,2.15,0.00,0.000,4,0.076,0.042,3295,3107,850
$GC,16546,2.53,484.4,241.5,12.4,1286,16552,0.00,1.83,0.00,0.000,6,0.000,0.032,3295,2048,850
$GC,16891,2.57,486.4,199.9,11.9,1347,16897,0.00,1.80,0.00,0.000,4,0.000,0.053,3295,1025,850
$GC,16927,2.54,489.4,195.4,11.9,1353,16939,0.00,2.00,6.15,0.737,6,0.000,0.028,3295,2222,829
$GC,17276,2.57,509.7,153.0,11.0,1415,17303,0.00,1.60,19.23,0.832,4,0.000,0.044,3295,3101,746
$GC,17322,2.61,532.9,147.9,10.9,1423,17349,0.00,1.83,21.58,0.809,6,0.000,0.028,3295,2040,652
$GC,17692,2.78,568.4,106.7,10.3,1488,17714,0.15,1.92,14.52,0.765,4,0.056,0.039,3345,3104,587
$GC,17818,2.81,588.1,92.5,11.0,1510,17825,0.00,1.77,0.00,0.000,6,0.000,0.027,3344,2066,585
$GC,18165,2.90,610.9,55.5,10.9,1571,18170,0.00,1.77,0.00,0.000,4,0.000,0.044,3345,1028,585
$GC,18203,2.98,639.3,51.6,10.6,1577,18209,0.10,1.55,0.00,0.000,6,0.031,0.024,3392,1988,584
$GC,18547,3.04,673.6,14.8,10.3,1638,18554,0.00,1.67,0.00,0.000,4,0.000,0.041,3393,1030,585
$GC,18579,3.11,717.4,11.7,9.9,1643,18585,0.00,1.65,0.00,0.000,6,0.000,0.023,3392,2061,585
$STATE,18667,end climb,SURFACE_DEPTH_REACHED
$STATE,18667,begin surface coast
$FINISH,0.2,1.020723
$STATE,18685,end surface coast,CONTROL_FINISHED_OK
$STATE,18685,begin surface
$SM_CCo,18770,0.00,0.000,0,0,584,549.47
$SM_GC,-6.76,13.00,0.00,0.00,0.052,0.000,0.000,415,2362,584,-10.59,-0.17,549.47
$IRIDIUM_FIX,1245.46,12026.36,080897,020243
$TT8_MAMPS,0.025311
$HUMID,2032
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.80
$XPDR_PINGS,438
$24V_AH,22.6,68.074
$10V_AH,10.1,46.915
$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,30.500,142.275,692.575,0.000,0.000,28.637,32.630,192.789,122.000,0.000,0.000,17.272,2763.666,11799.570,783.405,3059.711,770.298,0.000,2340.595,0.000,3007.391,0.000,91.479
$DEVICE_MAMPS,162.604,60.593,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.685,396.969,626.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91438,1662
$CAP_FILE_SIZE,193287,0
$CFSIZE,260165632,221925376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140508,130107,1251.001,12026.439,39,1.4,39,-0.8