version: 66.03
glider: 126
mission: 7
dive: 398
start: 5 15 108 15 50 4
data:
$ID,126
$MISSION,7
$DIVE,398
$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,-627004.31
$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,29
$R_STBD_OVSHOOT,57
$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
$GPS1,154131,1252.569,12028.949,35,1.1,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.91
$_SM_ANGLEo,-52.5
$GPS2,154932,1252.665,12029.006,14,1.2,25,-0.8
$SPEED_LIMITS,0.208,0.231
$TGT_NAME,EAST_S
$TGT_LATLONG,1244.000,12043.000
$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,123.2,29943,-19.3,-12.000
$D_GRID,1779
$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,26,-2.34,-194.7,0.0,0.0,0,115,0.00,0.00,-83.53,0.000,6,0.000,0.000,414,2385,3621
$GC,119,-2.34,-194.7,3.2,-33.5,17,136,10.07,1.75,0.00,0.000,4,0.165,0.037,2218,3397,3623
$GC,205,-2.13,-194.7,24.8,-14.9,32,212,0.20,1.75,0.00,0.000,6,0.102,0.023,2262,2314,3624
$GC,553,-2.07,-194.7,73.6,-13.6,93,558,0.00,1.67,0.00,0.000,4,0.000,0.032,2262,1300,3624
$GC,571,-2.00,-194.7,76.5,-13.6,96,577,0.10,1.60,0.00,0.000,6,0.099,0.024,2286,2283,3624
$GC,917,-2.04,-194.7,116.8,-10.3,157,922,0.00,1.62,0.00,0.000,4,0.000,0.031,2286,1301,3625
$GC,987,-2.07,-194.7,124.9,-11.9,169,993,0.00,1.42,0.00,0.000,6,0.000,0.022,2286,2189,3625
$GC,1332,-2.14,-194.7,161.6,-11.0,230,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2190,3626
$GC,1676,-2.25,-194.7,194.5,-9.5,291,1682,0.17,1.48,0.00,0.000,4,0.050,0.033,2226,1303,3627
$GC,1741,-2.25,-194.7,201.1,-10.4,302,1746,0.00,1.42,0.00,0.000,6,0.000,0.024,2226,2184,3627
$GC,2085,-2.25,-194.7,235.8,-9.7,363,2091,0.00,1.50,0.00,0.000,4,0.000,0.036,2226,1306,3627
$GC,2144,-2.25,-194.7,241.2,-9.6,373,2150,0.00,1.27,0.00,0.000,6,0.000,0.025,2226,2094,3627
$GC,2474,-2.25,-194.7,272.6,-9.5,412,2478,0.00,1.35,0.00,0.000,4,0.000,0.038,2226,1312,3627
$GC,2509,-2.25,-194.7,276.0,-9.4,415,2512,0.00,1.45,0.00,0.000,6,0.000,0.025,2226,2192,3627
$GC,2842,-2.25,-194.7,308.6,-10.1,446,2846,0.00,2.08,0.00,0.000,4,0.000,0.042,2226,3397,3626
$GC,2938,-2.25,-194.7,318.6,-10.2,454,2944,0.00,2.22,0.00,0.000,6,0.000,0.028,2226,2062,3625
$GC,3266,-2.28,-194.7,350.3,-9.5,485,3269,0.00,1.27,0.00,0.000,4,0.000,0.042,2226,1318,3623
$GC,3368,-2.28,-194.7,360.3,-9.8,494,3372,0.00,1.40,0.00,0.000,6,0.000,0.026,2226,2164,3622
$GC,3702,-2.32,-194.7,393.6,-10.1,525,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2164,3619
$GC,4031,-2.37,-194.7,427.5,-10.2,556,4034,0.00,1.50,0.00,0.000,4,0.000,0.045,2225,1316,3617
$GC,4133,-2.37,-194.7,437.9,-9.8,565,4136,0.00,1.45,0.00,0.000,6,0.000,0.028,2226,2179,3616
$GC,4469,-2.42,-194.7,468.7,-9.4,596,4473,0.10,1.52,0.00,0.000,4,0.069,0.047,2195,1307,3614
$GC,4537,-2.42,-194.7,475.9,-10.2,602,4540,0.00,1.30,0.00,0.000,6,0.000,0.031,2195,2074,3613
$GC,4870,-2.42,-194.7,509.1,-10.3,629,4875,0.00,2.33,0.00,0.000,4,0.000,0.054,2195,3393,3611
$GC,4909,-2.38,-194.7,513.8,-10.6,630,4915,0.00,2.03,0.00,0.000,6,0.000,0.034,2195,2214,3611
$GC,5226,-2.38,-194.7,545.0,-9.7,646,5230,0.00,2.15,0.00,0.000,4,0.000,0.061,2195,3393,3609
$GC,5289,-2.33,-194.7,551.3,-10.1,649,5293,0.12,2.22,0.00,0.000,6,0.107,0.041,2219,2122,3609
$GC,5625,-2.38,-194.7,582.7,-9.4,665,5629,0.00,2.35,0.00,0.000,4,0.000,0.072,2219,3385,3605
$GC,5714,-2.38,-194.7,591.6,-9.2,669,5718,0.00,2.40,0.00,0.000,6,0.000,0.054,2219,2055,3605
$GC,6040,-2.43,-194.7,621.8,-9.5,685,6044,0.00,2.55,0.00,0.000,4,0.000,0.084,2219,3390,3603
$GC,6134,-2.43,-194.7,631.5,-9.6,689,6139,0.00,2.55,0.00,0.000,6,0.000,0.070,2219,2025,3602
$GC,6454,-2.48,-194.7,662.5,-10.1,704,6458,0.15,1.40,0.00,0.000,4,0.061,0.110,2178,1330,3599
$GC,6544,-2.48,-194.7,672.3,-10.2,708,6547,0.00,1.27,0.00,0.000,6,0.000,0.086,2178,1975,3599
$GC,6877,-2.48,-194.7,704.8,-9.4,724,6882,0.00,2.85,0.00,0.000,4,0.000,0.120,2178,3386,3597
$GC,6978,-2.41,-194.7,715.3,-10.5,728,6985,0.15,2.10,0.00,0.000,6,0.109,0.034,2207,2162,3596
$GC,7297,-2.45,-194.7,744.9,-9.4,744,7301,0.00,2.20,0.00,0.000,4,0.000,0.050,2207,3399,3595
$GC,7392,-2.45,-194.7,754.5,-9.5,748,7396,0.00,2.28,0.00,0.000,6,0.000,0.036,2206,2079,3594
$GC,7711,-2.49,-194.7,785.0,-9.7,763,7714,0.00,1.35,0.00,0.000,4,0.000,0.054,2206,1318,3593
$GC,7769,-2.49,-194.7,790.8,-10.0,765,7773,0.00,1.50,0.00,0.000,6,0.000,0.031,2206,2202,3593
$GC,8093,-2.53,-194.7,822.0,-9.8,781,8097,0.12,1.58,0.00,0.000,4,0.066,0.051,2172,1307,3592
$GC,8117,-2.53,-194.7,824.6,-10.1,782,8121,0.00,1.75,0.00,0.000,6,0.000,0.033,2173,2323,3592
$GC,8452,-2.53,-194.7,859.1,-10.2,798,8456,0.00,1.95,0.00,0.000,4,0.000,0.054,2172,3429,3590
$GC,8601,-2.45,-194.7,875.4,-10.9,804,8606,0.12,2.03,0.00,0.000,6,0.116,0.034,2195,2252,3589
$GC,8919,-2.45,-194.7,907.4,-9.8,819,8923,0.00,1.62,0.00,0.000,4,0.000,0.051,2195,1315,3588
$GC,8993,-2.45,-194.7,915.4,-10.8,822,8996,0.00,1.58,0.00,0.000,6,0.000,0.033,2195,2251,3588
$GC,9320,-2.45,-194.7,948.6,-10.3,838,9324,0.00,1.65,0.00,0.000,4,0.000,0.049,2195,1314,3587
$GC,9439,-2.45,-194.7,961.3,-10.9,843,9442,0.00,1.42,0.00,0.000,6,0.000,0.032,2195,2150,3586
$STATE,9722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9722,begin apogee
$GC,9730,-0.52,0.0,992.1,10.8,857,9904,1.98,0.00,167.25,1.432,6,0.093,0.000,2612,2060,2824
$STATE,9905,end apogee,CONTROL_FINISHED_OK
$STATE,9905,begin climb
$GC,9908,2.34,194.7,1003.2,0.0,866,10095,2.75,1.98,173.32,1.393,4,0.051,0.050,3246,3126,2030
$GC,10179,2.27,248.3,990.4,9.4,878,10234,0.00,1.85,49.28,1.345,6,0.000,0.037,3246,2072,1812
$GC,10560,2.20,267.6,950.1,11.1,897,10584,0.17,1.98,18.12,1.288,4,0.105,0.049,3209,3126,1734
$GC,10682,2.12,281.6,936.0,11.3,902,10702,0.00,1.75,14.30,1.251,6,0.000,0.035,3209,2121,1676
$GC,11028,2.09,305.3,897.7,10.8,919,11057,0.12,1.92,22.65,1.301,4,0.114,0.049,3185,3135,1580
$GC,11188,2.10,342.2,880.1,10.2,926,11227,0.00,1.65,34.80,1.311,6,0.000,0.035,3185,2186,1430
$GC,11557,2.16,375.3,840.9,10.4,944,11591,0.00,0.00,31.58,1.293,6,0.000,0.000,3185,2186,1294
$GC,11909,2.16,375.3,799.4,12.1,961,11913,0.00,1.70,0.00,0.000,4,0.000,0.049,3185,3134,1290
$GC,11960,2.18,386.5,793.1,11.5,963,11976,0.00,1.65,11.05,1.183,6,0.000,0.035,3185,2184,1249
$GC,12286,2.20,399.2,755.1,11.4,979,12308,0.10,1.77,13.38,1.199,4,0.077,0.049,3214,3122,1197
$GC,12377,2.14,399.2,743.8,12.2,983,12381,0.00,1.55,0.00,0.000,6,0.000,0.035,3214,2253,1196
$GC,12711,2.13,409.3,704.4,11.5,999,12727,0.00,2.25,10.77,1.150,4,0.000,0.057,3214,1027,1155
$GC,12751,2.12,423.6,699.3,11.3,1000,12773,0.12,2.15,14.77,1.172,6,0.104,0.032,3190,2270,1098
$GC,13084,2.12,425.3,659.9,11.9,1016,13088,0.00,2.25,0.00,0.000,4,0.000,0.054,3190,1021,1095
$GC,13170,2.14,435.4,649.7,11.5,1020,13191,0.00,2.00,11.98,1.135,6,0.000,0.031,3190,2200,1050
$GC,13501,2.22,437.8,610.8,11.9,1036,13510,0.10,1.67,3.88,0.761,4,0.078,0.050,3219,3122,1040
$GC,13579,2.19,437.8,601.0,12.4,1039,13582,0.00,1.98,0.00,0.000,6,0.000,0.036,3219,1989,1040
$GC,13901,2.24,437.8,560.9,12.3,1055,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1989,1040
$GC,14211,2.32,438.6,523.3,12.0,1070,14215,0.00,2.03,0.00,0.000,4,0.000,0.046,3219,3135,1039
$GC,14302,2.32,438.6,511.9,12.3,1074,14306,0.00,1.70,0.00,0.000,6,0.000,0.034,3219,2166,1039
$GC,14635,2.40,441.8,473.0,11.8,1100,14648,0.15,2.05,5.47,0.866,4,0.064,0.054,3266,1026,1022
$GC,14717,2.32,441.8,462.2,12.1,1107,14721,0.15,1.73,0.00,0.000,6,0.102,0.029,3237,2047,1022
$GC,15048,2.40,450.9,422.7,11.6,1138,15062,0.00,1.92,9.70,0.983,4,0.000,0.048,3237,3122,986
$GC,15127,2.43,466.0,413.6,11.3,1145,15149,0.00,1.70,15.05,1.016,6,0.000,0.035,3237,2143,925
$GC,15468,2.52,471.0,373.7,11.8,1177,15480,0.15,2.03,6.20,0.851,4,0.064,0.054,3284,1016,904
$GC,15554,2.49,471.0,362.6,13.3,1184,15560,0.00,1.65,0.00,0.000,6,0.000,0.028,3285,2001,903
$GC,15881,2.49,471.0,321.3,12.5,1215,15885,0.00,1.95,0.00,0.000,4,0.000,0.046,3285,3121,902
$GC,15966,2.41,471.0,310.1,12.4,1222,15974,0.15,1.65,0.00,0.000,6,0.102,0.032,3255,2157,902
$GC,16292,2.50,488.8,271.7,11.1,1253,16314,0.00,2.12,16.95,0.923,4,0.000,0.054,3255,1017,832
$GC,16388,2.55,498.7,260.4,11.5,1261,16405,0.12,1.67,10.15,0.859,6,0.068,0.027,3291,2020,792
$GC,16738,2.62,516.1,217.4,11.1,1316,16760,0.00,2.00,16.85,0.871,4,0.000,0.044,3292,3114,719
$GC,16852,2.62,516.1,202.9,13.3,1336,16858,0.00,1.65,0.00,0.000,6,0.000,0.031,3292,2148,719
$GC,17197,2.67,516.1,160.1,12.8,1397,17202,0.00,1.98,0.00,0.000,4,0.000,0.050,3291,1020,718
$GC,17278,2.73,550.9,150.5,10.3,1411,17316,0.15,1.62,29.62,0.831,6,0.060,0.027,3338,2006,586
$GC,17657,2.79,565.0,107.4,11.3,1478,17663,0.00,1.77,0.00,0.000,4,0.000,0.046,3338,1015,582
$GC,17715,2.84,597.3,100.8,10.4,1488,17722,0.00,1.77,0.00,0.000,6,0.000,0.025,3338,2075,582
$GC,18061,2.98,640.2,62.9,9.9,1549,18068,0.15,1.75,0.00,0.000,4,0.054,0.037,3393,3110,581
$GC,18099,3.00,676.0,59.1,10.3,1555,18105,0.00,2.05,0.00,0.000,6,0.000,0.025,3392,1881,581
$GC,18445,3.01,702.9,20.9,10.7,1616,18451,0.00,2.12,0.00,0.000,4,0.000,0.035,3392,3109,582
$GC,18566,3.11,791.5,7.4,7.7,1637,18572,0.00,1.92,0.00,0.000,6,0.000,0.024,3392,1937,582
$STATE,18644,end climb,SURFACE_DEPTH_REACHED
$STATE,18644,begin surface coast
$FINISH,-0.8,1.020976
$STATE,18673,end surface coast,CONTROL_FINISHED_OK
$STATE,18673,begin surface
$SM_CCo,18757,0.00,0.000,0,0,582,550.45
$SM_GC,-6.75,12.95,0.00,0.00,0.051,0.000,0.000,417,2373,582,-10.59,0.14,550.45
$IRIDIUM_FIX,1249.88,12022.55,090897,101012
$TT8_MAMPS,0.026078
$HUMID,2003
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.30
$XPDR_PINGS,427
$24V_AH,22.6,69.732
$10V_AH,10.1,47.592
$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,30.650,149.950,687.125,0.000,0.000,23.908,43.255,247.690,119.250,0.000,0.000,25.680,2769.460,11708.310,753.661,3190.581,812.581,0.000,2365.434,0.000,3104.253,0.000,91.494
$DEVICE_MAMPS,164.905,120.419,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1119.377,392.245,623.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88421,1656
$CAP_FILE_SIZE,197107,0
$CFSIZE,260165632,221360128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150508,210402,1252.874,12029.332,43,1.3,43,-0.8