version: 66.03
glider: 126
mission: 7
dive: 397
start: 5 15 108 10 27 35
data:
$ID,126
$MISSION,7
$DIVE,397
$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,-626978
$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,33
$R_STBD_OVSHOOT,48
$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
$GPS1,101956,1252.172,12028.643,38,1.6,38,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.91
$_SM_ANGLEo,-51.4
$GPS2,102702,1252.303,12028.675,9,1.8,9,-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,97.4,25586,-19.3,-12.000
$D_GRID,1640
$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,-194.7,0.0,0.0,0,114,0.00,0.00,-86.07,0.000,6,0.000,0.000,414,2396,3621
$GC,118,-2.34,-194.7,2.2,-31.5,17,135,10.02,1.75,0.00,0.000,4,0.163,0.036,2218,3414,3623
$GC,260,-2.15,-194.7,31.1,-15.5,42,267,0.17,1.77,0.00,0.000,6,0.106,0.024,2257,2306,3623
$GC,606,-2.15,-194.7,78.8,-11.5,103,612,0.00,1.65,0.00,0.000,4,0.000,0.031,2257,1306,3624
$GC,625,-2.15,-194.7,81.0,-11.7,106,632,0.00,1.50,0.00,0.000,6,0.000,0.023,2257,2233,3624
$GC,971,-2.15,-194.7,123.9,-10.3,167,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2234,3626
$GC,1314,-2.15,-194.7,160.9,-9.7,228,1320,0.00,1.58,0.00,0.000,4,0.000,0.033,2257,1303,3628
$GC,1327,-2.15,-194.7,162.0,-9.6,230,1332,0.00,1.38,0.00,0.000,6,0.000,0.023,2257,2163,3628
$GC,1672,-2.19,-194.7,194.9,-9.9,291,1678,0.00,1.45,0.00,0.000,4,0.000,0.035,2257,1309,3628
$GC,1702,-2.23,-194.7,197.8,-9.9,296,1708,0.00,1.30,0.00,0.000,6,0.000,0.023,2257,2121,3628
$GC,2047,-2.30,-194.7,231.3,-9.1,357,2053,0.12,2.20,0.00,0.000,4,0.058,0.039,2218,3409,3628
$GC,2128,-2.27,-194.7,239.2,-10.5,371,2135,0.00,2.33,0.00,0.000,6,0.000,0.026,2218,1996,3628
$GC,2461,-2.27,-194.7,272.6,-10.8,412,2465,0.00,1.17,0.00,0.000,4,0.000,0.040,2217,1306,3628
$GC,2563,-2.27,-194.7,283.5,-10.9,421,2567,0.00,1.17,0.00,0.000,6,0.000,0.025,2218,2034,3627
$GC,2896,-2.27,-194.7,316.0,-9.6,452,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2034,3626
$GC,3215,-2.31,-194.7,347.1,-10.2,482,3219,0.00,1.25,0.00,0.000,4,0.000,0.041,2217,1320,3623
$GC,3288,-2.31,-194.7,355.0,-10.6,488,3294,0.00,1.35,0.00,0.000,6,0.000,0.027,2218,2139,3623
$GC,3617,-2.34,-194.7,389.1,-10.4,519,3621,0.00,1.45,0.00,0.000,4,0.000,0.043,2218,1318,3621
$GC,3674,-2.34,-194.7,395.5,-10.4,524,3677,0.00,1.23,0.00,0.000,6,0.000,0.027,2218,2058,3620
$GC,4010,-2.38,-194.7,429.7,-10.4,555,4013,0.00,1.33,0.00,0.000,4,0.000,0.046,2217,1313,3618
$GC,4037,-2.38,-194.7,433.2,-10.1,557,4043,0.00,1.23,0.00,0.000,6,0.000,0.028,2218,2051,3618
$GC,4366,-2.42,-194.7,465.6,-9.8,588,4370,0.00,2.38,0.00,0.000,4,0.000,0.048,2218,3412,3615
$GC,4478,-2.42,-194.7,477.1,-10.2,597,4484,0.00,2.17,0.00,0.000,6,0.000,0.033,2217,2139,3614
$GC,4804,-2.46,-194.7,508.3,-9.9,624,4808,0.00,2.28,0.00,0.000,4,0.000,0.054,2218,3406,3612
$GC,4893,-2.46,-194.7,517.9,-10.4,628,4897,0.00,2.30,0.00,0.000,6,0.000,0.036,2218,2081,3611
$GC,5218,-2.50,-194.7,551.0,-10.4,644,5223,0.15,2.42,0.00,0.000,4,0.061,0.064,2174,3404,3609
$GC,5339,-2.42,-194.7,564.8,-11.9,649,5344,0.15,2.40,0.00,0.000,6,0.107,0.035,2202,2014,3607
$GC,5663,-2.45,-194.7,597.5,-10.0,665,5667,0.00,1.23,0.00,0.000,4,0.000,0.053,2202,1323,3605
$GC,5725,-2.45,-194.7,604.0,-9.8,667,5731,0.00,1.38,0.00,0.000,6,0.000,0.031,2202,2136,3605
$GC,6041,-2.45,-194.7,634.6,-9.7,683,6045,0.00,1.48,0.00,0.000,4,0.000,0.049,2202,1316,3603
$GC,6137,-2.45,-194.7,644.1,-9.9,687,6141,0.00,1.25,0.00,0.000,6,0.000,0.031,2202,2053,3602
$GC,6464,-2.45,-194.7,675.9,-9.9,703,6469,0.00,2.40,0.00,0.000,4,0.000,0.053,2203,3410,3600
$GC,6516,-2.42,-194.7,681.1,-10.1,705,6520,0.00,2.05,0.00,0.000,6,0.000,0.035,2202,2214,3599
$GC,6838,-2.42,-194.7,712.7,-9.9,721,6842,0.00,2.15,0.00,0.000,4,0.000,0.054,2202,3411,3598
$GC,6924,-2.38,-194.7,721.4,-10.3,725,6928,0.00,2.22,0.00,0.000,6,0.000,0.036,2202,2129,3598
$GC,7253,-2.38,-194.7,753.3,-9.5,741,7257,0.00,2.30,0.00,0.000,4,0.000,0.053,2202,3411,3596
$GC,7377,-2.38,-194.7,765.9,-9.5,746,7383,0.00,2.38,0.00,0.000,6,0.000,0.037,2202,2045,3595
$GC,7693,-2.41,-194.7,795.9,-9.7,762,7697,0.00,1.30,0.00,0.000,4,0.000,0.060,2203,1320,3593
$GC,7786,-2.41,-194.7,804.9,-10.1,766,7789,0.00,1.42,0.00,0.000,6,0.000,0.035,2202,2146,3593
$GC,8122,-2.44,-194.7,838.4,-10.2,782,8125,0.00,1.48,0.00,0.000,4,0.000,0.051,2202,1326,3592
$GC,8172,-2.44,-194.7,844.1,-10.8,784,8176,0.00,1.27,0.00,0.000,6,0.000,0.033,2202,2069,3592
$GC,8502,-2.44,-194.7,878.8,-10.8,800,8505,0.00,1.35,0.00,0.000,4,0.000,0.051,2202,1324,3591
$GC,8536,-2.44,-194.7,882.8,-10.7,801,8539,0.00,1.45,0.00,0.000,6,0.000,0.034,2202,2172,3591
$GC,8860,-2.44,-194.7,916.5,-10.3,817,8864,0.00,1.52,0.00,0.000,4,0.000,0.050,2202,1322,3589
$GC,8906,-2.44,-194.7,921.6,-10.1,819,8910,0.00,1.33,0.00,0.000,6,0.000,0.033,2202,2094,3589
$GC,9239,-2.44,-194.7,956.0,-10.2,835,9243,0.00,1.40,0.00,0.000,4,0.000,0.051,2202,1321,3588
$GC,9273,-2.44,-194.7,959.5,-10.3,836,9277,0.00,1.52,0.00,0.000,6,0.000,0.034,2202,2207,3588
$STATE,9595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9595,begin apogee
$GC,9604,-0.52,0.0,992.1,10.3,852,9776,1.95,0.00,167.75,1.431,6,0.091,0.000,2616,2063,2825
$STATE,9777,end apogee,CONTROL_FINISHED_OK
$STATE,9777,begin climb
$GC,9780,2.34,194.7,1002.9,0.0,861,9966,2.75,1.95,173.23,1.394,4,0.054,0.064,3244,1028,2030
$GC,10138,2.28,250.6,981.5,9.3,877,10194,0.00,1.80,50.90,1.348,6,0.000,0.034,3244,2060,1803
$GC,10517,2.23,287.2,942.6,10.2,896,10563,0.15,1.95,35.90,1.275,4,0.104,0.051,3211,3127,1653
$GC,10639,2.16,295.6,929.6,11.6,901,10653,0.00,1.80,9.00,1.167,6,0.000,0.038,3211,2103,1619
$GC,10979,2.14,325.6,894.1,10.5,918,11013,0.00,1.92,28.80,1.318,4,0.000,0.051,3211,3119,1496
$GC,11094,2.09,338.8,880.6,11.4,923,11114,0.15,1.70,13.27,1.234,6,0.105,0.038,3182,2150,1442
$GC,11444,2.11,352.4,841.2,11.3,940,11469,0.00,1.80,15.70,1.111,4,0.000,0.050,3182,3124,1387
$GC,11520,2.13,366.3,831.7,11.3,943,11539,0.00,1.65,14.32,1.231,6,0.000,0.037,3182,2184,1330
$GC,11856,2.17,388.8,794.4,10.9,960,11880,0.00,0.00,22.08,1.265,6,0.000,0.000,3182,2184,1240
$GC,12186,2.18,393.0,756.3,11.8,976,12196,0.00,1.73,5.47,0.983,4,0.000,0.049,3182,3126,1222
$GC,12230,2.18,394.9,750.8,11.9,978,12233,0.00,1.60,0.00,0.000,6,0.000,0.036,3182,2208,1221
$GC,12558,2.19,403.3,712.8,11.6,994,12573,0.10,1.70,11.07,1.165,4,0.080,0.050,3211,3128,1179
$GC,12590,2.14,403.3,708.5,12.3,994,12596,0.00,1.58,0.00,0.000,6,0.000,0.035,3210,2229,1179
$GC,12906,2.14,404.7,670.4,11.9,1010,12910,0.00,2.15,0.00,0.000,4,0.000,0.057,3211,1017,1178
$GC,12946,2.10,404.7,665.5,13.1,1011,12953,0.12,2.17,0.00,0.000,6,0.107,0.033,3187,2289,1178
$GC,13262,2.13,420.4,629.7,11.2,1027,13291,0.00,2.38,18.48,1.075,4,0.000,0.054,3187,1023,1111
$GC,13373,2.13,424.2,616.4,11.8,1032,13383,0.00,2.05,5.43,0.926,6,0.000,0.038,3187,2213,1095
$GC,13702,2.25,439.5,579.4,11.3,1048,13724,0.15,2.20,15.48,1.131,4,0.061,0.061,3233,1023,1032
$GC,13775,2.20,439.5,569.9,12.7,1051,13779,0.12,1.73,0.00,0.000,6,0.107,0.031,3210,2037,1032
$GC,14103,2.30,442.7,531.5,11.8,1067,14112,0.00,1.95,4.50,0.816,4,0.000,0.049,3210,3126,1020
$GC,14186,2.34,442.7,521.0,12.1,1070,14192,0.12,1.62,0.00,0.000,6,0.071,0.035,3245,2187,1019
$GC,14506,2.34,442.7,482.3,12.1,1092,14510,0.00,2.08,0.00,0.000,4,0.000,0.057,3246,1020,1019
$GC,14590,2.34,442.7,472.0,12.1,1099,14596,0.00,1.70,0.00,0.000,6,0.000,0.031,3245,2031,1019
$GC,14918,2.39,445.2,433.4,11.9,1130,14929,0.00,1.95,3.90,0.707,4,0.000,0.048,3246,3113,1010
$GC,14998,2.40,450.5,423.6,11.7,1137,15010,0.00,1.62,6.53,0.900,6,0.000,0.035,3246,2175,988
$GC,15329,2.46,460.3,385.5,11.5,1168,15344,0.00,2.10,10.48,0.973,4,0.000,0.056,3246,1017,947
$GC,15435,2.47,469.0,372.8,11.6,1177,15449,0.00,1.73,9.40,0.937,6,0.000,0.031,3245,2035,912
$GC,15776,2.55,475.2,332.7,11.7,1209,15788,0.15,1.98,6.80,0.853,4,0.062,0.048,3294,3109,887
$GC,15839,2.51,476.4,324.6,11.9,1214,15845,0.00,2.17,0.00,0.000,6,0.000,0.037,3294,1863,886
$GC,16167,2.51,476.4,283.1,13.1,1245,16170,0.00,1.52,0.00,0.000,4,0.000,0.059,3294,1020,886
$GC,16206,2.51,476.4,277.3,13.4,1248,16211,0.00,1.20,0.00,0.000,6,0.000,0.029,3294,1754,886
$GC,16537,2.51,476.4,235.4,12.5,1289,16543,0.00,1.35,0.00,0.000,4,0.000,0.056,3294,1015,886
$GC,16600,2.45,476.4,227.6,12.2,1300,16606,0.15,1.58,0.00,0.000,6,0.100,0.028,3265,1949,886
$GC,16945,2.58,511.1,186.3,10.3,1361,16983,0.12,1.75,32.80,0.874,4,0.066,0.050,3303,1023,741
$GC,17030,2.58,511.1,175.9,12.4,1376,17036,0.00,1.67,0.00,0.000,6,0.000,0.028,3303,2026,739
$GC,17375,2.64,517.3,136.6,11.7,1437,17388,0.00,1.80,6.32,0.687,4,0.000,0.045,3303,1017,715
$GC,17462,2.72,561.8,127.3,9.8,1452,17495,0.00,1.75,28.75,0.799,6,0.000,0.027,3303,2058,587
$GC,17837,2.86,580.3,87.9,11.1,1518,17844,0.17,1.83,0.00,0.000,4,0.049,0.041,3366,1013,582
$GC,17936,2.89,599.8,77.0,11.0,1535,17942,0.00,1.52,0.00,0.000,6,0.000,0.025,3366,1945,582
$GC,18283,3.03,656.2,40.7,9.2,1596,18289,0.00,2.00,0.00,0.000,4,0.000,0.036,3367,3135,582
$GC,18340,3.15,726.8,35.5,8.6,1606,18347,0.15,1.88,0.00,0.000,6,0.037,0.025,3431,2015,583
$STATE,18649,end climb,SURFACE_DEPTH_REACHED
$STATE,18649,begin surface coast
$FINISH,-1.0,1.020950
$STATE,18673,end surface coast,CONTROL_FINISHED_OK
$STATE,18673,begin surface
$SM_CCo,18758,0.00,0.000,0,0,583,549.96
$SM_GC,-6.80,13.12,0.00,0.00,0.051,0.000,0.000,414,2379,583,-10.60,0.28,549.96
$IRIDIUM_FIX,1247.67,12029.39,090897,050524
$TT8_MAMPS,0.025311
$HUMID,1998
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.20
$XPDR_PINGS,441
$24V_AH,22.5,69.454
$10V_AH,10.1,47.478
$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,30.125,147.325,696.350,0.000,0.000,28.392,38.910,207.076,122.750,0.000,0.000,9.919,2769.232,11722.392,771.327,3145.949,772.026,0.000,2369.440,0.000,3076.260,0.000,91.483
$DEVICE_MAMPS,162.604,63.661,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.642,394.082,625.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91449,1665
$CAP_FILE_SIZE,195264,0
$CFSIZE,260165632,221454336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150508,154131,1252.569,12028.949,35,1.1,41,-0.8