version: 66.03
glider: 126
mission: 7
dive: 404
start: 5 17 108 0 10 35
data:
$ID,126
$MISSION,7
$DIVE,404
$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,-627103.38
$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,28
$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
$GPS1,000237,1254.387,12030.647,28,1.1,28,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.92
$_SM_ANGLEo,-50.9
$GPS2,001002,1254.411,12030.705,10,1.6,15,-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,131.8,29412,-19.3,-12.000
$D_GRID,1564
$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,-84.75,0.000,6,0.000,0.000,418,2379,3621
$GC,118,-2.34,-194.7,2.0,-28.0,17,135,10.15,1.75,0.00,0.000,4,0.167,0.035,2217,3405,3623
$GC,221,-2.16,-194.7,27.4,-19.0,35,227,0.20,1.73,0.00,0.000,6,0.110,0.022,2257,2312,3623
$GC,566,-2.10,-194.7,75.9,-13.0,96,573,0.00,1.90,0.00,0.000,4,0.000,0.038,2257,3408,3624
$GC,647,-2.03,-194.7,87.0,-13.7,110,654,0.10,1.95,0.00,0.000,6,0.100,0.022,2288,2200,3624
$GC,994,-2.07,-194.7,126.1,-10.3,171,1000,0.00,2.05,0.00,0.000,4,0.000,0.037,2289,3411,3626
$GC,1134,-2.12,-194.7,140.9,-10.6,195,1139,0.00,2.03,0.00,0.000,6,0.000,0.022,2289,2151,3626
$GC,1478,-2.21,-194.7,173.7,-8.9,256,1484,0.15,0.00,0.00,0.000,6,0.053,0.000,2237,2150,3627
$GC,1824,-2.25,-194.7,207.0,-10.6,317,1830,0.00,2.17,0.00,0.000,4,0.000,0.039,2237,3416,3628
$GC,1938,-2.25,-194.7,219.3,-10.8,337,1944,0.00,2.03,0.00,0.000,6,0.000,0.025,2236,2171,3628
$GC,2282,-2.30,-194.7,252.3,-9.1,396,2285,0.00,2.15,0.00,0.000,4,0.000,0.041,2237,3411,3628
$GC,2305,-2.30,-194.7,254.5,-9.2,398,2309,0.00,2.05,0.00,0.000,6,0.000,0.026,2237,2157,3627
$GC,2639,-2.37,-194.7,285.5,-9.4,429,2643,0.10,2.17,0.00,0.000,4,0.067,0.041,2205,3413,3626
$GC,2740,-2.37,-194.7,296.2,-9.8,438,2744,0.00,2.17,0.00,0.000,6,0.000,0.027,2204,2100,3626
$GC,3068,-2.37,-194.7,328.3,-10.1,468,3072,0.00,2.28,0.00,0.000,4,0.000,0.042,2205,3407,3623
$GC,3170,-2.37,-194.7,339.2,-10.5,477,3174,0.00,2.00,0.00,0.000,6,0.000,0.027,2204,2202,3622
$GC,3506,-2.40,-194.7,373.1,-10.2,508,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2201,3620
$GC,3834,-2.44,-194.7,405.4,-9.6,539,3838,0.00,1.55,0.00,0.000,4,0.000,0.046,2204,1315,3617
$GC,3919,-2.44,-194.7,414.0,-10.2,546,3925,0.00,1.50,0.00,0.000,6,0.000,0.028,2204,2210,3617
$GC,4246,-2.44,-194.7,446.7,-10.2,577,4250,0.00,1.58,0.00,0.000,4,0.000,0.048,2204,1314,3615
$GC,4343,-2.44,-194.7,457.1,-10.8,585,4348,0.00,1.35,0.00,0.000,6,0.000,0.030,2204,2116,3614
$GC,4670,-2.44,-194.7,491.8,-11.1,616,4673,0.00,1.45,0.00,0.000,4,0.000,0.057,2204,1326,3612
$GC,4727,-2.44,-194.7,498.3,-10.6,621,4730,0.00,1.48,0.00,0.000,6,0.000,0.036,2204,2176,3612
$GC,5065,-2.48,-194.7,531.5,-9.4,638,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2176,3609
$GC,5369,-2.51,-194.7,559.4,-8.7,653,5374,0.00,1.52,0.00,0.000,4,0.000,0.046,2204,1318,3606
$GC,5420,-2.51,-194.7,564.0,-8.1,655,5424,0.00,1.65,0.00,0.000,6,0.000,0.030,2204,2306,3605
$GC,5750,-2.55,-194.7,593.5,-9.1,671,5754,0.12,1.92,0.00,0.000,4,0.064,0.051,2169,3399,3604
$GC,5866,-2.49,-194.7,604.9,-10.9,676,5870,0.00,2.08,0.00,0.000,6,0.000,0.031,2169,2187,3602
$GC,6199,-2.49,-194.7,638.7,-10.0,692,6203,0.00,2.17,0.00,0.000,4,0.000,0.054,2169,3399,3600
$GC,6272,-2.42,-194.7,646.4,-10.6,695,6277,0.17,2.22,0.00,0.000,6,0.104,0.034,2202,2107,3599
$GC,6598,-2.46,-194.7,677.1,-9.4,711,6601,0.00,1.42,0.00,0.000,4,0.000,0.061,2202,1321,3598
$GC,6659,-2.46,-194.7,683.4,-9.8,713,6665,0.00,1.55,0.00,0.000,6,0.000,0.035,2202,2221,3597
$GC,6978,-2.50,-194.7,713.3,-9.6,729,6981,0.00,1.60,0.00,0.000,4,0.000,0.051,2202,1317,3596
$GC,7028,-2.50,-194.7,718.2,-9.7,731,7032,0.00,1.40,0.00,0.000,6,0.000,0.033,2202,2134,3596
$GC,7359,-2.54,-194.7,748.2,-9.1,747,7363,0.12,2.25,0.00,0.000,4,0.063,0.052,2168,3406,3594
$GC,7409,-2.48,-194.7,753.3,-9.5,749,7413,0.12,1.90,0.00,0.000,6,0.110,0.032,2191,2293,3594
$GC,7739,-2.48,-194.7,784.8,-10.0,765,7743,0.00,2.00,0.00,0.000,4,0.000,0.054,2191,3409,3592
$GC,7791,-2.48,-194.7,790.4,-10.1,767,7795,0.00,2.08,0.00,0.000,6,0.000,0.034,2191,2193,3592
$GC,8121,-2.51,-194.7,823.1,-9.9,783,8125,0.00,2.17,0.00,0.000,4,0.000,0.054,2191,3407,3591
$GC,8212,-2.47,-194.7,832.9,-11.0,787,8216,0.00,2.25,0.00,0.000,6,0.000,0.035,2191,2103,3590
$GC,8534,-2.47,-194.7,863.4,-9.4,803,8538,0.00,1.40,0.00,0.000,4,0.000,0.058,2191,1321,3589
$GC,8605,-2.47,-194.7,870.0,-9.4,806,8609,0.00,1.58,0.00,0.000,6,0.000,0.035,2191,2231,3589
$GC,8939,-2.47,-194.7,901.8,-9.7,822,8943,0.00,1.62,0.00,0.000,4,0.000,0.050,2191,1310,3588
$GC,8956,-2.47,-194.7,903.8,-9.9,822,8962,0.00,1.77,0.00,0.000,6,0.000,0.035,2191,2356,3588
$GC,9272,-2.47,-194.7,933.4,-9.3,838,9276,0.00,1.85,0.00,0.000,4,0.000,0.048,2191,1322,3586
$GC,9397,-2.47,-194.7,945.2,-9.9,843,9400,0.00,1.60,0.00,0.000,6,0.000,0.035,2191,2269,3586
$GC,9718,-2.47,-194.7,976.1,-9.9,859,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2269,3585
$STATE,9862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9862,begin apogee
$GC,9870,-0.52,0.0,990.4,10.0,866,10043,2.00,0.00,166.77,1.434,6,0.094,0.000,2612,2053,2825
$STATE,10043,end apogee,CONTROL_FINISHED_OK
$STATE,10043,begin climb
$GC,10046,2.34,194.7,1000.3,0.0,875,10233,2.78,2.00,173.75,1.389,4,0.053,0.051,3245,3126,2030
$GC,10370,2.25,236.7,980.8,9.9,890,10415,0.12,1.85,38.80,1.341,6,0.114,0.036,3221,2072,1860
$GC,10744,2.18,263.9,941.7,10.7,908,10785,0.00,2.03,27.38,1.239,4,0.000,0.050,3222,3135,1748
$GC,10879,2.06,263.9,926.0,12.4,914,10883,0.22,1.83,0.00,0.000,6,0.100,0.035,3177,2095,1746
$GC,11214,2.08,299.9,890.8,10.2,930,11260,0.00,2.00,35.72,1.269,4,0.000,0.058,3177,1016,1602
$GC,11395,2.06,319.2,870.3,11.1,938,11419,0.00,2.03,18.98,1.278,6,0.000,0.031,3177,2197,1522
$GC,11737,2.11,351.4,833.8,10.4,955,11769,0.00,0.00,30.52,1.299,6,0.000,0.000,3177,2197,1392
$GC,12065,2.16,381.7,799.2,10.5,971,12099,0.10,2.22,28.83,1.278,4,0.078,0.054,3205,1026,1268
$GC,12146,2.13,389.5,789.5,11.6,974,12160,0.00,2.00,9.02,1.125,6,0.000,0.031,3205,2190,1236
$GC,12485,2.09,390.1,749.7,12.0,991,12489,0.00,2.10,0.00,0.000,4,0.000,0.053,3205,1024,1233
$GC,12541,2.04,390.1,742.3,12.4,993,12546,0.17,1.92,0.00,0.000,6,0.100,0.031,3171,2153,1233
$GC,12864,2.14,410.6,707.3,11.0,1009,12898,0.10,1.83,22.12,1.140,4,0.079,0.050,3200,3127,1150
$GC,12921,2.10,410.6,700.1,12.3,1011,12927,0.00,2.05,0.00,0.000,6,0.000,0.036,3200,1963,1150
$GC,13239,2.10,410.6,661.2,12.1,1027,13242,0.00,1.70,0.00,0.000,4,0.000,0.058,3201,1014,1148
$GC,13346,2.06,410.6,647.5,12.2,1031,13352,0.12,1.80,0.00,0.000,6,0.106,0.030,3176,2077,1148
$GC,13663,2.17,429.6,612.2,11.1,1047,13687,0.12,2.00,18.25,1.166,4,0.067,0.054,3212,1022,1073
$GC,13775,2.14,429.6,598.5,12.7,1052,13779,0.00,1.55,0.00,0.000,6,0.000,0.029,3212,1920,1073
$GC,14109,2.23,439.6,559.0,11.5,1068,14124,0.00,2.15,10.45,1.074,4,0.000,0.044,3213,3126,1032
$GC,14215,2.26,460.1,546.3,11.0,1072,14240,0.00,1.83,20.10,1.118,6,0.000,0.034,3212,2076,949
$GC,14571,2.34,463.5,504.6,11.8,1089,14581,0.12,1.92,4.40,0.785,4,0.066,0.055,3250,1013,935
$GC,14603,2.34,463.5,500.0,13.1,1090,14607,0.00,1.58,0.00,0.000,6,0.000,0.030,3250,1950,935
$GC,14937,2.39,463.5,458.1,13.2,1121,14940,0.00,1.67,0.00,0.000,4,0.000,0.054,3250,1024,935
$GC,14971,2.39,463.5,453.2,13.2,1124,14975,0.00,1.83,0.00,0.000,6,0.000,0.030,3250,2102,934
$GC,15302,2.43,463.5,410.1,12.6,1155,15306,0.00,1.80,0.00,0.000,4,0.000,0.047,3250,3120,934
$GC,15342,2.43,463.5,404.8,12.5,1158,15348,0.00,1.95,0.00,0.000,6,0.000,0.035,3250,1987,933
$GC,15670,2.50,476.9,365.6,11.3,1189,15692,0.10,1.80,13.70,0.988,4,0.073,0.058,3281,1023,880
$GC,15739,2.44,476.9,356.6,12.0,1195,15742,0.00,1.42,0.00,0.000,6,0.000,0.029,3281,1863,879
$GC,16071,2.44,476.9,314.2,12.7,1226,16075,0.00,1.55,0.00,0.000,4,0.000,0.055,3281,1020,878
$GC,16145,2.38,476.9,304.3,12.4,1232,16151,0.17,1.73,0.00,0.000,6,0.098,0.028,3246,2055,878
$GC,16470,2.48,492.5,266.7,11.2,1263,16492,0.00,1.90,14.88,0.914,4,0.000,0.044,3246,3116,817
$GC,16555,2.56,521.6,257.1,10.6,1270,16591,0.17,2.10,27.17,0.919,6,0.057,0.033,3296,1902,698
$GC,16930,2.60,521.6,209.9,12.7,1331,16936,0.00,1.58,0.00,0.000,4,0.000,0.066,3296,1012,695
$GC,16988,2.60,521.6,201.8,12.5,1341,16993,0.00,1.30,0.00,0.000,6,0.000,0.028,3295,1808,695
$GC,17332,2.64,521.6,159.3,13.1,1402,17338,0.00,1.42,0.00,0.000,4,0.000,0.051,3296,1020,693
$GC,17412,2.64,521.6,149.4,12.2,1416,17418,0.00,1.58,0.00,0.000,6,0.000,0.026,3296,1971,694
$GC,17757,2.78,552.3,112.6,10.5,1477,17791,0.15,1.75,24.17,0.785,4,0.054,0.045,3348,1021,586
$GC,17865,2.78,552.3,100.1,13.0,1496,17872,0.00,1.62,0.00,0.000,6,0.000,0.025,3348,2000,585
$GC,18212,2.89,584.0,61.5,10.4,1557,18218,0.00,1.90,0.00,0.000,4,0.000,0.038,3348,3121,583
$GC,18292,2.94,613.8,52.5,10.5,1571,18298,0.00,2.03,0.00,0.000,6,0.000,0.025,3348,1903,583
$GC,18637,3.09,681.0,17.7,8.7,1632,18644,0.20,1.55,0.00,0.000,4,0.045,0.044,3415,1013,584
$GC,18736,3.04,705.9,6.6,10.8,1649,18743,0.12,1.75,0.00,0.000,6,0.098,0.023,3390,2097,584
$STATE,18786,end climb,SURFACE_DEPTH_REACHED
$STATE,18786,begin surface coast
$FINISH,-0.8,1.020959
$STATE,18806,end surface coast,CONTROL_FINISHED_OK
$STATE,18806,begin surface
$SM_CCo,18891,0.00,0.000,0,0,584,549.72
$SM_GC,-6.78,12.93,0.00,0.00,0.050,0.000,0.000,416,2365,584,-10.59,-0.08,549.72
$IRIDIUM_FIX,1247.67,12029.39,100897,181852
$TT8_MAMPS,0.025311
$HUMID,1996
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.40
$XPDR_PINGS,461
$24V_AH,22.5,71.393
$10V_AH,10.1,48.273
$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,30.975,150.725,685.025,0.000,0.000,31.160,31.013,218.672,127.750,0.000,0.000,15.683,2771.486,11845.155,767.129,3159.087,789.669,0.000,2368.829,0.000,3087.453,0.000,91.484
$DEVICE_MAMPS,167.206,65.962,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.043,394.048,619.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91624,1661
$CAP_FILE_SIZE,195399,0
$CFSIZE,260165632,220794880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170508,052637,1254.694,12030.866,34,1.2,34,-0.8