version: 66.03
glider: 126
mission: 7
dive: 405
start: 5 17 108 5 34 1
data:
$ID,126
$MISSION,7
$DIVE,405
$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,-627120
$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,52
$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
$GPS1,052637,1254.694,12030.866,34,1.2,34,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.89
$_SM_ANGLEo,-52.1
$GPS2,053327,1254.714,12030.927,15,1.3,15,-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,133.1,29485,-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,-85.45,0.000,6,0.000,0.000,416,2371,3620
$GC,118,-2.34,-194.7,1.7,-26.9,17,135,10.02,1.77,0.00,0.000,4,0.163,0.035,2217,3407,3621
$GC,221,-2.18,-194.7,24.5,-17.1,35,227,0.17,1.73,0.00,0.000,6,0.104,0.022,2252,2326,3621
$GC,566,-2.13,-194.7,73.2,-12.4,96,572,0.00,1.88,0.00,0.000,4,0.000,0.038,2252,3405,3623
$GC,597,-2.06,-194.7,76.9,-13.1,101,603,0.15,1.85,0.00,0.000,6,0.103,0.022,2282,2238,3623
$GC,943,-2.10,-194.7,116.1,-11.1,162,949,0.00,2.00,0.00,0.000,4,0.000,0.038,2282,3418,3624
$GC,1043,-2.14,-194.7,127.1,-11.2,179,1049,0.00,2.03,0.00,0.000,6,0.000,0.022,2282,2155,3625
$GC,1387,-2.22,-194.7,163.3,-9.5,240,1394,0.15,1.35,0.00,0.000,4,0.054,0.032,2231,1349,3626
$GC,1430,-2.22,-194.7,167.5,-10.3,247,1436,0.00,1.42,0.00,0.000,6,0.000,0.023,2230,2228,3626
$GC,1774,-2.22,-194.7,201.4,-10.7,308,1780,0.00,2.00,0.00,0.000,4,0.000,0.040,2231,3403,3626
$GC,1900,-2.22,-194.7,214.4,-9.8,330,1905,0.00,2.08,0.00,0.000,6,0.000,0.025,2231,2131,3626
$GC,2244,-2.27,-194.7,247.9,-9.7,391,2250,0.00,1.33,0.00,0.000,4,0.000,0.038,2230,1350,3626
$GC,2363,-2.27,-194.7,259.2,-9.4,403,2368,0.00,1.20,0.00,0.000,6,0.000,0.025,2231,2096,3626
$GC,2691,-2.33,-194.7,290.2,-10.0,434,2695,0.00,1.30,0.00,0.000,4,0.000,0.038,2230,1351,3625
$GC,2782,-2.37,-194.7,299.8,-10.1,442,2786,0.00,1.10,0.00,0.000,6,0.000,0.025,2230,2033,3624
$GC,3116,-2.41,-194.7,333.5,-10.5,473,3122,0.12,0.00,0.00,0.000,6,0.060,0.000,2191,2033,3622
$GC,3444,-2.41,-194.7,367.6,-10.2,504,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2033,3621
$GC,3771,-2.41,-194.7,402.4,-10.8,535,3775,0.00,2.38,0.00,0.000,4,0.000,0.044,2192,3405,3617
$GC,3834,-2.36,-194.7,409.5,-11.0,540,3838,0.12,2.08,0.00,0.000,6,0.104,0.028,2216,2171,3617
$GC,4159,-2.41,-194.7,442.5,-9.8,570,4163,0.00,1.42,0.00,0.000,4,0.000,0.049,2216,1362,3615
$GC,4205,-2.41,-194.7,447.0,-10.0,574,4209,0.00,1.35,0.00,0.000,6,0.000,0.030,2216,2157,3615
$GC,4539,-2.46,-194.7,479.3,-9.5,605,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2157,3613
$GC,4865,-2.51,-194.7,510.9,-9.9,631,4869,0.15,1.45,0.00,0.000,4,0.060,0.060,2174,1360,3611
$GC,4960,-2.47,-194.7,520.9,-10.4,635,4963,0.00,1.58,0.00,0.000,6,0.000,0.041,2174,2277,3610
$GC,5287,-2.47,-194.7,552.1,-9.4,651,5291,0.00,2.05,0.00,0.000,4,0.000,0.068,2174,3402,3607
$GC,5304,-2.47,-194.7,553.9,-9.3,651,5310,0.00,2.00,0.00,0.000,6,0.000,0.042,2175,2266,3607
$GC,5621,-2.47,-194.7,584.8,-10.0,667,5624,0.00,2.12,0.00,0.000,4,0.000,0.076,2174,3393,3605
$GC,5695,-2.42,-194.7,592.6,-10.5,670,5700,0.15,2.20,0.00,0.000,6,0.104,0.056,2203,2180,3604
$GC,6018,-2.45,-194.7,625.0,-9.9,686,6023,0.00,2.35,0.00,0.000,4,0.000,0.089,2203,3393,3602
$GC,6127,-2.45,-194.7,636.3,-10.2,691,6131,0.00,2.42,0.00,0.000,6,0.000,0.074,2203,2104,3601
$GC,6462,-2.49,-194.7,669.9,-10.1,707,6466,0.00,1.30,0.00,0.000,4,0.000,0.046,2203,1357,3598
$GC,6507,-2.49,-194.7,675.0,-10.0,709,6510,0.00,1.40,0.00,0.000,6,0.000,0.029,2203,2184,3598
$GC,6843,-2.53,-194.7,708.2,-9.9,725,6845,0.12,0.00,0.00,0.000,6,0.066,0.000,2169,2183,3597
$GC,7149,-2.53,-194.7,739.5,-10.1,740,7157,0.00,1.48,0.00,0.000,4,0.000,0.047,2169,1354,3595
$GC,7192,-2.49,-194.7,743.8,-10.2,741,7198,0.00,1.62,0.00,0.000,6,0.000,0.031,2169,2306,3594
$GC,7509,-2.49,-194.7,774.9,-9.8,757,7513,0.00,1.67,0.00,0.000,4,0.000,0.046,2169,1362,3593
$GC,7565,-2.43,-194.7,780.6,-9.8,759,7569,0.10,1.45,0.00,0.000,6,0.101,0.031,2199,2212,3593
$GC,7891,-2.47,-194.7,811.4,-9.4,775,7894,0.00,1.52,0.00,0.000,4,0.000,0.048,2199,1356,3592
$GC,7924,-2.47,-194.7,815.0,-9.5,776,7928,0.00,1.62,0.00,0.000,6,0.000,0.033,2199,2321,3591
$GC,8249,-2.50,-194.7,845.4,-9.5,792,8253,0.00,1.70,0.00,0.000,4,0.000,0.046,2199,1347,3590
$GC,8295,-2.50,-194.7,850.0,-9.5,794,8303,0.00,1.58,0.00,0.000,6,0.000,0.033,2199,2262,3590
$GC,8633,-2.54,-194.7,882.4,-9.6,810,8637,0.00,1.60,0.00,0.000,4,0.000,0.047,2199,1348,3588
$GC,8729,-2.54,-194.7,892.0,-9.4,814,8732,0.00,1.40,0.00,0.000,6,0.000,0.031,2199,2166,3588
$GC,9059,-2.57,-194.7,924.5,-10.0,830,9063,0.15,1.42,0.00,0.000,4,0.063,0.047,2154,1355,3587
$GC,9106,-2.51,-194.7,929.6,-11.0,832,9114,0.15,1.58,0.00,0.000,6,0.114,0.033,2183,2268,3587
$GC,9444,-2.51,-194.7,964.2,-10.5,848,9448,0.00,1.60,0.00,0.000,4,0.000,0.047,2183,1353,3586
$GC,9558,-2.47,-194.7,976.6,-9.7,853,9562,0.00,1.40,0.00,0.000,6,0.000,0.033,2183,2166,3585
$STATE,9703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9703,begin apogee
$GC,9711,-0.52,0.0,992.2,10.7,860,9885,2.05,0.00,167.02,1.430,6,0.094,0.000,2614,2083,2825
$STATE,9886,end apogee,CONTROL_FINISHED_OK
$STATE,9886,begin climb
$GC,9889,2.34,194.7,1003.0,0.0,869,10074,2.78,0.00,173.38,1.389,6,0.054,0.000,3247,2082,2030
$GC,10383,2.30,258.0,970.5,8.9,893,10452,0.00,1.95,59.42,1.318,4,0.000,0.051,3247,3127,1773
$GC,10536,2.21,284.8,954.3,10.7,900,10577,0.20,1.75,27.08,1.226,6,0.105,0.035,3209,2128,1664
$GC,10889,2.14,291.1,914.2,11.7,917,10902,0.00,1.88,7.05,1.099,4,0.000,0.049,3209,3126,1638
$GC,11041,2.05,295.9,895.3,11.8,923,11052,0.17,1.65,6.15,1.054,6,0.113,0.035,3176,2173,1618
$GC,11377,2.06,320.5,858.1,10.8,940,11406,0.00,1.80,23.83,1.301,4,0.000,0.050,3176,3126,1518
$GC,11475,2.02,320.5,846.6,12.3,944,11479,0.00,1.58,0.00,0.000,6,0.000,0.035,3176,2219,1516
$GC,11797,2.07,354.8,812.8,10.3,960,11838,0.00,2.25,32.55,1.295,4,0.000,0.058,3176,1032,1377
$GC,11889,2.11,374.1,802.4,11.1,964,11913,0.00,2.08,19.02,1.240,6,0.000,0.031,3176,2236,1299
$GC,12237,2.12,384.5,762.7,11.5,981,12253,0.00,2.22,10.62,1.168,4,0.000,0.052,3176,1031,1257
$GC,12368,2.14,392.6,747.3,11.6,986,12382,0.00,1.92,9.18,1.127,6,0.000,0.031,3175,2139,1223
$GC,12701,2.16,403.8,708.3,11.5,1002,12717,0.10,1.85,11.68,1.161,4,0.077,0.048,3204,3133,1178
$GC,12791,2.11,403.8,696.7,13.4,1005,12794,0.00,1.73,0.00,0.000,6,0.000,0.035,3204,2140,1177
$GC,13119,2.11,407.1,657.6,11.8,1021,13128,0.00,1.83,4.62,0.873,4,0.000,0.048,3204,3141,1165
$GC,13209,2.07,407.1,646.2,12.3,1025,13213,0.12,1.60,0.00,0.000,6,0.104,0.038,3181,2218,1165
$GC,13543,2.09,417.5,608.3,11.5,1041,13558,0.00,1.67,11.07,1.111,4,0.000,0.048,3181,3133,1122
$GC,13586,2.12,434.5,603.0,11.2,1042,13615,0.00,1.77,19.17,1.048,6,0.000,0.035,3180,2117,1052
$GC,13936,2.23,443.9,562.6,11.5,1059,13951,0.15,2.00,9.80,1.058,4,0.065,0.056,3227,1029,1015
$GC,14050,2.20,443.9,548.1,12.8,1064,14053,0.00,1.60,0.00,0.000,6,0.000,0.029,3227,1981,1014
$GC,14383,2.25,443.9,506.8,12.3,1080,14386,0.00,2.00,0.00,0.000,4,0.000,0.045,3227,3127,1013
$GC,14474,2.25,443.9,495.4,12.3,1085,14477,0.00,1.77,0.00,0.000,6,0.000,0.034,3227,2101,1012
$GC,14809,2.30,443.9,455.1,12.2,1116,14812,0.00,1.92,0.00,0.000,4,0.000,0.057,3227,1020,1013
$GC,14905,2.35,451.7,442.8,11.6,1124,14921,0.00,1.60,8.27,0.962,6,0.000,0.028,3227,1977,983
$GC,15241,2.44,451.7,401.8,12.5,1156,15246,0.15,2.00,0.00,0.000,4,0.063,0.044,3275,3126,982
$GC,15309,2.38,451.7,392.9,13.5,1161,15315,0.15,1.80,0.00,0.000,6,0.103,0.038,3246,2078,981
$GC,15635,2.43,456.8,353.6,11.8,1192,15647,0.00,1.90,6.25,0.844,4,0.000,0.054,3246,1018,962
$GC,15708,2.43,456.8,344.4,12.8,1198,15714,0.00,1.55,0.00,0.000,6,0.000,0.028,3246,1930,961
$GC,16038,2.49,456.8,305.4,12.1,1229,16042,0.12,1.62,0.00,0.000,4,0.067,0.051,3283,1022,961
$GC,16106,2.44,459.3,296.2,11.9,1235,16118,0.08,1.27,4.03,0.653,6,0.097,0.028,3263,1803,951
$GC,16437,2.49,461.0,258.0,11.9,1266,16441,0.00,2.30,0.00,0.000,4,0.000,0.041,3264,3133,951
$GC,16449,2.53,461.1,256.4,12.0,1266,16455,0.00,2.03,0.00,0.000,6,0.000,0.033,3264,1953,951
$GC,16790,2.62,478.2,216.9,11.2,1322,16817,0.15,2.15,18.00,0.881,4,0.061,0.042,3312,3126,875
$GC,16899,2.53,478.2,203.5,12.2,1341,16906,0.15,2.22,0.00,0.000,6,0.101,0.034,3283,1836,873
$GC,17245,2.59,489.5,161.1,11.4,1402,17261,0.00,2.30,11.23,0.797,4,0.000,0.040,3283,3127,828
$GC,17303,2.66,534.2,154.6,9.8,1412,17350,0.12,1.92,39.97,0.825,6,0.066,0.028,3320,2000,647
$GC,17689,2.78,566.6,112.2,10.4,1481,17712,0.00,2.05,13.35,0.752,4,0.000,0.038,3321,3127,586
$GC,17764,2.84,568.7,103.8,11.9,1494,17771,0.12,2.00,0.00,0.000,6,0.061,0.027,3360,1961,585
$GC,18110,2.93,602.7,64.7,10.3,1555,18116,0.00,1.62,0.00,0.000,4,0.000,0.046,3360,1016,584
$GC,18174,2.97,629.8,58.3,10.7,1566,18180,0.00,1.67,0.00,0.000,6,0.000,0.024,3361,2037,584
$GC,18519,3.05,650.8,21.5,11.0,1627,18525,0.15,1.75,0.00,0.000,4,0.051,0.039,3411,1020,584
$GC,18612,3.06,708.8,11.9,9.2,1643,18618,0.00,1.67,0.00,0.000,6,0.000,0.022,3411,2063,584
$STATE,18701,end climb,SURFACE_DEPTH_REACHED
$STATE,18701,begin surface coast
$FINISH,0.1,1.020960
$STATE,18719,end surface coast,CONTROL_FINISHED_OK
$STATE,18719,begin surface
$SM_CCo,18804,0.00,0.000,0,0,584,549.72
$SM_GC,-6.79,13.02,0.00,0.00,0.050,0.000,0.000,416,2360,584,-10.59,-0.23,549.72
$IRIDIUM_FIX,1249.88,12032.42,110897,000057
$TT8_MAMPS,0.026078
$HUMID,1992
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.60
$XPDR_PINGS,457
$24V_AH,22.5,71.666
$10V_AH,10.1,48.386
$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,31.375,145.625,692.750,0.000,0.000,23.505,33.627,191.327,126.750,0.000,0.000,15.992,2767.591,11746.334,784.062,3150.923,763.394,0.000,2391.871,0.000,3081.897,0.000,91.521
$DEVICE_MAMPS,162.604,88.972,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1123.510,394.047,625.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91499,1662
$CAP_FILE_SIZE,197611,0
$CFSIZE,260165632,220692480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170508,104838,1254.957,12031.277,36,1.3,36,-0.8