version: 66.03
glider: 126
mission: 7
dive: 396
start: 5 15 108 5 7 9
data:
$ID,126
$MISSION,7
$DIVE,396
$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,-626967.44
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,045908,1251.851,12028.076,33,1.2,33,-0.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.91
$_SM_ANGLEo,-51.6
$GPS2,050638,1251.963,12028.085,15,1.2,32,-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,95.8,26581,-19.3,-12.000
$D_GRID,1601
$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,-84.53,0.000,6,0.000,0.000,414,2372,3621
$GC,118,-2.34,-194.7,2.3,-28.0,17,135,10.07,1.80,0.00,0.000,4,0.165,0.037,2217,3410,3623
$GC,198,-2.16,-194.7,22.8,-18.1,31,205,0.20,1.75,0.00,0.000,6,0.103,0.023,2257,2320,3623
$GC,544,-2.10,-194.7,70.8,-12.7,92,550,0.00,1.62,0.00,0.000,4,0.000,0.031,2257,1347,3624
$GC,637,-2.06,-194.7,81.4,-12.2,108,644,0.08,1.52,0.00,0.000,6,0.094,0.023,2277,2285,3625
$GC,983,-2.12,-194.7,121.4,-11.6,169,989,0.00,1.90,0.00,0.000,4,0.000,0.038,2277,3410,3626
$GC,1103,-2.12,-194.7,134.6,-10.9,190,1109,0.00,2.03,0.00,0.000,6,0.000,0.023,2277,2153,3626
$GC,1448,-2.20,-194.7,167.6,-9.7,251,1454,0.12,2.15,0.00,0.000,4,0.058,0.037,2234,3407,3628
$GC,1462,-2.25,-194.7,169.2,-9.7,253,1468,0.00,2.08,0.00,0.000,6,0.000,0.024,2234,2135,3627
$GC,1807,-2.28,-194.7,204.1,-9.2,314,1813,0.00,2.20,0.00,0.000,4,0.000,0.039,2234,3413,3628
$GC,1848,-2.28,-194.7,208.5,-9.8,321,1854,0.00,2.22,0.00,0.000,6,0.000,0.025,2234,2061,3627
$GC,2193,-2.32,-194.7,242.9,-9.8,382,2198,0.00,1.20,0.00,0.000,4,0.000,0.038,2234,1350,3628
$GC,2277,-2.32,-194.7,251.8,-10.2,395,2283,0.00,1.12,0.00,0.000,6,0.000,0.025,2233,2055,3628
$GC,2606,-2.37,-194.7,284.8,-10.0,426,2609,0.00,1.23,0.00,0.000,4,0.000,0.039,2234,1349,3627
$GC,2701,-2.37,-194.7,294.9,-10.3,434,2707,0.00,1.30,0.00,0.000,6,0.000,0.026,2234,2140,3627
$GC,3030,-2.41,-194.7,328.9,-10.2,465,3035,0.12,0.00,0.00,0.000,6,0.061,0.000,2195,2141,3624
$GC,3358,-2.41,-194.7,362.5,-9.8,496,3362,0.00,2.20,0.00,0.000,4,0.000,0.044,2195,3411,3622
$GC,3432,-2.35,-194.7,370.3,-10.0,502,3437,0.10,2.10,0.00,0.000,6,0.110,0.029,2214,2156,3622
$GC,3764,-2.39,-194.7,402.6,-10.0,533,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2156,3619
$GC,4083,-2.43,-194.7,434.3,-10.0,563,4087,0.00,1.40,0.00,0.000,4,0.000,0.048,2214,1356,3617
$GC,4129,-2.43,-194.7,439.0,-10.2,567,4133,0.00,1.45,0.00,0.000,6,0.000,0.031,2214,2214,3617
$GC,4463,-2.46,-194.7,472.2,-9.8,598,4467,0.00,1.52,0.00,0.000,4,0.000,0.047,2214,1355,3615
$GC,4581,-2.46,-194.7,484.2,-9.6,608,4587,0.00,1.30,0.00,0.000,6,0.000,0.033,2214,2119,3614
$GC,4915,-2.51,-194.7,516.0,-9.6,632,4919,0.15,1.38,0.00,0.000,4,0.058,0.054,2166,1366,3611
$GC,4989,-2.45,-194.7,524.0,-10.6,635,4993,0.10,1.12,0.00,0.000,6,0.097,0.038,2190,2018,3611
$GC,5319,-2.45,-194.7,557.6,-10.2,651,5322,0.00,1.17,0.00,0.000,4,0.000,0.048,2190,1358,3608
$GC,5347,-2.45,-194.7,561.0,-10.4,652,5350,0.00,1.33,0.00,0.000,6,0.000,0.031,2191,2135,3608
$GC,5675,-2.45,-194.7,593.1,-9.8,668,5678,0.00,1.40,0.00,0.000,4,0.000,0.051,2191,1360,3605
$GC,5781,-2.45,-194.7,603.6,-9.4,672,5787,0.00,1.42,0.00,0.000,6,0.000,0.035,2191,2189,3605
$GC,6098,-2.45,-194.7,634.8,-9.9,688,6101,0.00,1.50,0.00,0.000,4,0.000,0.054,2190,1362,3602
$GC,6193,-2.45,-194.7,644.8,-10.2,692,6197,0.00,1.27,0.00,0.000,6,0.000,0.038,2191,2093,3602
$GC,6521,-2.45,-194.7,677.2,-9.9,708,6524,0.00,1.33,0.00,0.000,4,0.000,0.052,2191,1361,3600
$GC,6577,-2.45,-194.7,682.7,-9.7,710,6581,0.00,1.42,0.00,0.000,6,0.000,0.037,2191,2187,3599
$GC,6899,-2.45,-194.7,713.1,-9.6,726,6902,0.00,1.48,0.00,0.000,4,0.000,0.050,2191,1361,3598
$GC,7017,-2.45,-194.7,724.3,-9.0,731,7021,0.00,1.25,0.00,0.000,6,0.000,0.035,2191,2088,3597
$GC,7345,-2.45,-194.7,756.2,-9.9,747,7349,0.00,1.33,0.00,0.000,4,0.000,0.051,2191,1353,3596
$GC,7373,-2.45,-194.7,759.2,-11.1,748,7376,0.00,1.45,0.00,0.000,6,0.000,0.035,2191,2196,3595
$GC,7704,-2.45,-194.7,792.0,-10.0,764,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2197,3593
$GC,8008,-2.45,-194.7,823.4,-10.2,779,8012,0.00,2.15,0.00,0.000,4,0.000,0.056,2191,3405,3592
$GC,8094,-2.42,-194.7,832.1,-10.8,782,8100,0.00,2.10,0.00,0.000,6,0.000,0.035,2191,2187,3592
$GC,8410,-2.42,-194.7,864.2,-10.0,798,8414,0.00,2.17,0.00,0.000,4,0.000,0.054,2191,3398,3591
$GC,8506,-2.36,-194.7,874.3,-10.8,802,8511,0.12,1.98,0.00,0.000,6,0.115,0.035,2214,2253,3590
$GC,8824,-2.36,-194.7,905.4,-9.8,817,8828,0.00,1.60,0.00,0.000,4,0.000,0.053,2214,1337,3589
$GC,8931,-2.36,-194.7,916.4,-10.1,821,8937,0.00,1.42,0.00,0.000,6,0.000,0.035,2214,2168,3589
$GC,9250,-2.40,-194.7,948.1,-10.0,837,9253,0.00,1.45,0.00,0.000,4,0.000,0.051,2214,1360,3588
$GC,9290,-2.40,-194.7,952.4,-9.5,838,9295,0.00,1.60,0.00,0.000,6,0.000,0.035,2214,2300,3588
$GC,9608,-2.43,-194.7,983.2,-9.8,854,9612,0.00,1.67,0.00,0.000,4,0.000,0.049,2214,1347,3587
$GC,9664,-2.43,-194.7,989.1,-9.6,856,9668,0.00,1.45,0.00,0.000,6,0.000,0.035,2214,2192,3586
$STATE,9674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9674,begin apogee
$GC,9682,-0.52,0.0,990.1,9.4,857,9856,1.90,0.00,167.12,1.430,6,0.094,0.000,2615,2098,2824
$STATE,9857,end apogee,CONTROL_FINISHED_OK
$STATE,9857,begin climb
$GC,9860,2.34,194.7,999.6,0.0,866,10047,2.75,1.98,173.45,1.392,4,0.053,0.058,3242,1035,2030
$GC,10111,2.27,241.5,987.5,9.7,877,10159,0.00,1.77,43.12,1.342,6,0.000,0.033,3242,2069,1840
$GC,10470,2.22,277.2,951.1,10.3,895,10512,0.15,1.95,32.97,1.330,4,0.106,0.051,3209,3116,1694
$GC,10594,2.21,321.0,938.4,9.9,900,10639,0.00,1.80,40.88,1.328,6,0.000,0.042,3209,2090,1516
$GC,10953,2.19,337.6,899.4,11.2,917,10975,0.00,1.92,15.95,1.269,4,0.000,0.049,3209,3128,1447
$GC,11082,2.13,337.6,883.4,12.2,922,11087,0.00,1.75,0.00,0.000,6,0.000,0.036,3209,2125,1445
$GC,11399,2.09,337.6,846.4,12.0,938,11400,0.12,0.00,0.00,0.000,6,0.108,0.000,3185,2126,1445
$GC,11707,2.12,357.3,811.8,11.0,953,11738,0.00,1.85,21.00,1.182,4,0.000,0.050,3185,3123,1367
$GC,11847,2.15,370.0,795.4,11.4,959,11871,0.00,1.70,14.98,1.083,6,0.000,0.039,3185,2150,1316
$GC,12188,2.18,390.1,756.6,11.0,976,12213,0.00,1.80,19.95,1.246,4,0.000,0.050,3185,3122,1234
$GC,12328,2.20,400.1,740.4,11.5,982,12345,0.00,1.60,10.90,1.163,6,0.000,0.037,3185,2225,1193
$GC,12655,2.21,407.4,702.7,11.6,998,12669,0.12,2.22,8.18,1.097,4,0.068,0.056,3219,1029,1164
$GC,12715,2.16,407.4,694.8,12.7,1000,12721,0.00,2.12,0.00,0.000,6,0.000,0.033,3219,2262,1163
$GC,13031,2.13,407.4,655.8,12.3,1016,13036,0.15,2.22,0.00,0.000,4,0.102,0.051,3186,1024,1162
$GC,13066,2.15,422.7,651.7,11.3,1017,13086,0.00,2.10,15.38,1.172,6,0.000,0.033,3186,2249,1101
$GC,13400,2.21,439.4,613.9,11.2,1033,13422,0.12,1.65,16.65,1.154,4,0.067,0.051,3221,3126,1033
$GC,13469,2.17,439.4,604.9,12.4,1036,13472,0.00,1.80,0.00,0.000,6,0.000,0.044,3221,2102,1032
$GC,13801,2.17,439.4,563.8,12.3,1052,13805,0.00,1.83,0.00,0.000,4,0.000,0.048,3221,3122,1031
$GC,13852,2.13,439.4,557.3,12.5,1054,13856,0.12,1.65,0.00,0.000,6,0.104,0.038,3197,2171,1031
$GC,14180,2.23,440.8,518.5,11.9,1070,14183,0.00,2.05,0.00,0.000,4,0.000,0.056,3197,1018,1030
$GC,14259,2.28,441.5,508.9,12.0,1073,14263,0.15,1.67,0.00,0.000,6,0.064,0.031,3239,2017,1030
$GC,14590,2.35,444.1,468.9,11.9,1100,14602,0.00,1.98,5.55,0.879,4,0.000,0.047,3238,3128,1014
$GC,14675,2.35,444.1,457.8,12.4,1107,14681,0.00,1.70,0.00,0.000,6,0.000,0.042,3238,2147,1013
$GC,15003,2.39,447.9,418.6,11.8,1138,15014,0.00,2.03,5.15,0.828,4,0.000,0.054,3238,1015,999
$GC,15095,2.40,453.1,407.1,11.7,1146,15106,0.00,1.65,6.47,0.892,6,0.000,0.031,3238,1997,977
$GC,15425,2.50,471.4,368.2,11.1,1177,15448,0.15,2.08,17.70,1.005,4,0.061,0.047,3286,3122,903
$GC,15533,2.45,471.4,354.1,13.2,1186,15540,0.12,1.70,0.00,0.000,6,0.104,0.040,3262,2140,901
$GC,15858,2.45,471.4,313.6,12.7,1217,15862,0.00,1.98,0.00,0.000,4,0.000,0.054,3262,1022,900
$GC,15932,2.40,475.1,304.7,11.8,1223,15941,0.00,1.62,4.65,0.720,6,0.000,0.029,3262,2000,887
$GC,16267,2.40,475.1,264.4,12.0,1255,16271,0.00,1.95,0.00,0.000,4,0.000,0.044,3262,3121,886
$GC,16314,2.36,478.5,258.9,11.8,1259,16325,0.00,1.75,4.68,0.697,6,0.000,0.033,3262,2103,874
$GC,16660,2.43,490.5,216.3,11.4,1314,16677,0.00,2.00,12.20,0.862,4,0.000,0.053,3262,1022,825
$GC,16739,2.43,490.5,206.1,13.3,1328,16745,0.00,1.60,0.00,0.000,6,0.000,0.028,3262,1982,824
$GC,17084,2.55,516.7,166.0,10.7,1389,17116,0.00,1.77,24.25,0.848,4,0.000,0.049,3263,1028,718
$GC,17185,2.60,548.7,154.4,10.4,1407,17222,0.15,1.62,29.20,0.826,6,0.061,0.028,3305,2009,588
$GC,17565,2.71,567.9,110.4,11.1,1474,17571,0.00,1.77,0.00,0.000,4,0.000,0.047,3305,1017,582
$GC,17579,2.80,577.3,108.5,11.5,1476,17586,0.10,1.50,0.00,0.000,6,0.045,0.028,3350,1917,582
$GC,17925,2.94,631.1,71.5,9.4,1537,17931,0.00,2.08,0.00,0.000,4,0.000,0.038,3350,3129,581
$GC,18040,2.97,651.5,57.9,11.0,1557,18046,0.12,1.88,0.00,0.000,6,0.056,0.025,3391,2005,581
$GC,18385,2.95,672.9,21.7,11.0,1618,18391,0.00,1.95,0.00,0.000,4,0.000,0.037,3391,3126,581
$GC,18404,2.89,672.9,19.5,12.5,1621,18410,0.15,1.85,0.00,0.000,6,0.093,0.025,3360,2005,581
$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18572,begin surface coast
$FINISH,-0.7,1.020832
$STATE,18608,end surface coast,CONTROL_FINISHED_OK
$STATE,18608,begin surface
$SM_CCo,18692,0.00,0.000,0,0,581,550.45
$SM_GC,-6.69,12.80,0.00,0.00,0.050,0.000,0.000,414,2391,581,-10.60,0.65,550.45
$IRIDIUM_FIX,1247.67,12024.46,080897,232348
$TT8_MAMPS,0.026845
$HUMID,2030
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.90
$XPDR_PINGS,384
$24V_AH,22.6,69.178
$10V_AH,10.1,47.365
$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,30.275,145.225,690.375,0.000,0.000,29.088,36.411,207.982,108.500,0.000,0.000,32.200,2751.710,11680.889,772.879,3157.088,773.920,0.000,2366.195,0.000,3074.489,0.000,91.476
$DEVICE_MAMPS,164.905,57.525,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1119.948,399.095,625.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91423,1657
$CAP_FILE_SIZE,196156,0
$CFSIZE,260165632,221548544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150508,101956,1252.172,12028.643,38,1.6,38,-0.8