version: 66.03
glider: 126
mission: 7
dive: 407
start: 5 17 108 16 26 45
data:
$ID,126
$MISSION,7
$DIVE,407
$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,-627162.62
$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,81
$R_STBD_OVSHOOT,42
$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
$GPS1,161807,1255.094,12031.991,33,1.9,33,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.77
$_SM_ANGLEo,-55.2
$GPS2,162614,1255.104,12032.048,14,1.9,31,-0.8
$SPEED_LIMITS,0.208,0.231
$TGT_NAME,EAST_S_ADJ
$TGT_LATLONG,1247.000,12043.000
$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,128.0,24830,-19.3,-12.000
$D_GRID,1216
$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,23,begin dive
$GC,27,-2.34,-194.7,0.0,0.0,0,117,0.00,0.00,-84.10,0.000,6,0.000,0.000,418,2312,3620
$GC,120,-2.34,-194.7,2.4,-27.9,17,137,10.07,1.90,0.00,0.000,4,0.164,0.037,2217,3413,3622
$GC,219,-2.17,-194.7,24.3,-15.4,34,226,0.15,1.67,0.00,0.000,6,0.106,0.023,2251,2375,3623
$GC,564,-2.17,-194.7,69.3,-12.2,95,570,0.00,1.77,0.00,0.000,4,0.000,0.038,2252,3414,3623
$GC,605,-2.11,-194.7,74.6,-12.5,102,611,0.00,1.90,0.00,0.000,6,0.000,0.023,2251,2240,3624
$GC,950,-2.11,-194.7,116.2,-12.3,163,955,0.00,2.00,0.00,0.000,4,0.000,0.037,2251,3420,3625
$GC,1014,-2.07,-194.7,123.2,-10.9,174,1021,0.15,2.03,0.00,0.000,6,0.107,0.023,2281,2163,3625
$GC,1360,-2.15,-194.7,159.3,-10.2,235,1366,0.00,1.35,0.00,0.000,4,0.000,0.034,2281,1353,3626
$GC,1408,-2.21,-194.7,164.3,-10.7,243,1414,0.10,1.40,0.00,0.000,6,0.044,0.023,2240,2221,3626
$GC,1753,-2.24,-194.7,197.4,-9.0,304,1759,0.00,1.48,0.00,0.000,4,0.000,0.035,2240,1355,3627
$GC,1828,-2.24,-194.7,204.7,-9.4,317,1834,0.00,1.25,0.00,0.000,6,0.000,0.024,2240,2132,3627
$GC,2173,-2.30,-194.7,238.6,-9.8,378,2179,0.00,1.35,0.00,0.000,4,0.000,0.038,2240,1350,3627
$GC,2259,-2.30,-194.7,247.5,-10.5,393,2264,0.00,1.12,0.00,0.000,6,0.000,0.025,2240,2053,3627
$GC,2590,-2.38,-194.7,280.6,-10.2,426,2595,0.12,2.35,0.00,0.000,4,0.059,0.041,2200,3421,3626
$GC,2654,-2.33,-194.7,287.7,-10.4,431,2659,0.12,2.33,0.00,0.000,6,0.100,0.026,2225,2029,3626
$GC,2980,-2.38,-194.7,319.9,-9.5,461,2984,0.00,2.42,0.00,0.000,4,0.000,0.043,2225,3421,3624
$GC,3013,-2.38,-194.7,323.3,-9.7,463,3019,0.00,2.20,0.00,0.000,6,0.000,0.028,2225,2101,3623
$GC,3343,-2.43,-194.7,353.5,-8.9,494,3348,0.12,2.30,0.00,0.000,4,0.061,0.042,2188,3416,3621
$GC,3434,-2.37,-194.7,362.7,-9.9,501,3440,0.12,2.30,0.00,0.000,6,0.105,0.028,2211,2048,3620
$GC,3759,-2.37,-194.7,393.2,-9.7,532,3763,0.00,2.40,0.00,0.000,4,0.000,0.047,2211,3419,3618
$GC,3884,-2.37,-194.7,405.0,-9.2,543,3888,0.00,2.22,0.00,0.000,6,0.000,0.029,2211,2100,3617
$GC,4211,-2.40,-194.7,436.2,-9.4,573,4215,0.00,2.30,0.00,0.000,4,0.000,0.046,2212,3407,3615
$GC,4234,-2.40,-194.7,438.6,-9.1,574,4241,0.00,2.00,0.00,0.000,6,0.000,0.030,2211,2224,3615
$GC,4565,-2.45,-194.7,469.5,-9.7,605,4568,0.00,1.52,0.00,0.000,4,0.000,0.051,2211,1362,3613
$GC,4622,-2.45,-194.7,475.2,-9.0,610,4625,0.00,1.25,0.00,0.000,6,0.000,0.031,2211,2097,3613
$GC,4965,-2.50,-194.7,506.1,-9.3,639,4967,0.12,0.00,0.00,0.000,6,0.063,0.000,2176,2098,3610
$GC,5272,-2.50,-194.7,537.2,-10.0,654,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2098,3608
$GC,5581,-2.50,-194.7,567.5,-9.8,669,5584,0.00,1.38,0.00,0.000,4,0.000,0.071,2176,1369,3605
$GC,5610,-2.50,-194.7,570.4,-10.4,670,5613,0.00,1.48,0.00,0.000,6,0.000,0.052,2176,2190,3605
$GC,5938,-2.50,-194.7,603.2,-10.3,686,5942,0.00,1.58,0.00,0.000,4,0.000,0.079,2176,1366,3602
$GC,6051,-2.47,-194.7,615.1,-10.7,691,6055,0.00,1.35,0.00,0.000,6,0.000,0.066,2176,2085,3601
$GC,6384,-2.47,-194.7,649.3,-10.1,707,6389,0.00,2.55,0.00,0.000,4,0.000,0.099,2176,3396,3599
$GC,6448,-2.41,-194.7,656.0,-10.8,710,6453,0.15,2.08,0.00,0.000,6,0.105,0.077,2205,2267,3599
$GC,6778,-2.44,-194.7,687.5,-9.5,726,6781,0.00,2.05,0.00,0.000,4,0.000,0.050,2205,3416,3597
$GC,6802,-2.44,-194.7,690.0,-9.9,727,6807,0.00,2.15,0.00,0.000,6,0.000,0.033,2205,2163,3597
$GC,7138,-2.48,-194.7,721.7,-9.3,743,7142,0.00,2.20,0.00,0.000,4,0.000,0.050,2205,3407,3596
$GC,7178,-2.48,-194.7,726.0,-9.5,744,7183,0.00,2.30,0.00,0.000,6,0.000,0.037,2205,2073,3595
$GC,7494,-2.53,-194.7,755.9,-9.6,760,7499,0.12,2.40,0.00,0.000,4,0.066,0.049,2170,3416,3594
$GC,7580,-2.46,-194.7,764.5,-9.7,764,7585,0.12,2.35,0.00,0.000,6,0.112,0.034,2193,2061,3593
$GC,7909,-2.46,-194.7,794.7,-9.2,780,7912,0.00,1.25,0.00,0.000,4,0.000,0.057,2193,1360,3593
$GC,7982,-2.46,-194.7,801.7,-8.6,783,7985,0.00,1.33,0.00,0.000,6,0.000,0.031,2193,2138,3592
$GC,8313,-2.49,-194.7,831.3,-9.1,799,8317,0.00,1.38,0.00,0.000,4,0.000,0.044,2193,1363,3590
$GC,8369,-2.49,-194.7,836.8,-9.3,801,8373,0.00,1.15,0.00,0.000,6,0.000,0.029,2193,2050,3590
$GC,8692,-2.49,-194.7,867.6,-10.0,817,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2052,3589
$GC,9000,-2.49,-194.7,899.8,-10.8,832,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2052,3587
$GC,9311,-2.49,-194.7,931.5,-10.0,847,9315,0.00,2.40,0.00,0.000,4,0.000,0.051,2193,3408,3586
$GC,9374,-2.49,-194.7,938.2,-10.5,850,9378,0.00,2.08,0.00,0.000,6,0.000,0.034,2193,2205,3586
$GC,9710,-2.49,-194.7,971.7,-9.8,866,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2204,3585
$STATE,9891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9891,begin apogee
$GC,9899,-0.52,0.0,990.5,10.4,875,10072,2.00,0.00,167.20,1.430,6,0.094,0.000,2614,2099,2825
$STATE,10073,end apogee,CONTROL_FINISHED_OK
$STATE,10073,begin climb
$GC,10076,2.34,194.7,1001.8,0.0,884,10261,2.80,0.00,174.00,1.388,6,0.059,0.000,3243,2099,2030
$GC,10569,2.29,249.2,969.5,9.3,908,10631,0.00,1.95,51.70,1.309,4,0.000,0.049,3243,3119,1809
$GC,10783,2.17,261.2,945.9,11.4,917,10802,0.20,1.83,12.23,1.238,6,0.101,0.035,3204,2073,1760
$GC,11121,2.17,304.7,911.7,9.9,934,11166,0.00,1.92,40.72,1.335,4,0.000,0.047,3204,3116,1582
$GC,11307,2.11,322.1,890.8,11.2,942,11332,0.00,1.73,17.15,1.269,6,0.000,0.035,3204,2125,1510
$GC,11645,2.09,339.2,853.4,11.2,959,11667,0.00,1.83,16.35,1.260,4,0.000,0.048,3204,3119,1442
$GC,11776,2.02,339.2,837.3,12.1,964,11783,0.15,1.65,0.00,0.000,6,0.095,0.035,3170,2186,1440
$GC,12093,2.04,354.6,801.4,11.2,980,12122,0.00,2.20,17.50,1.133,4,0.000,0.061,3170,1021,1379
$GC,12158,2.05,357.2,793.4,11.9,983,12167,0.00,2.00,4.40,0.873,6,0.000,0.031,3169,2183,1367
$GC,12490,2.11,395.4,757.4,10.1,999,12532,0.00,1.75,36.40,1.272,4,0.000,0.050,3170,3111,1212
$GC,12606,2.17,429.9,745.1,10.3,1004,12651,0.15,1.58,34.92,1.190,6,0.065,0.034,3209,2203,1072
$GC,12974,2.17,434.3,702.5,11.8,1022,12980,0.00,0.00,4.97,0.917,6,0.000,0.000,3210,2204,1054
$GC,13283,2.17,434.3,664.9,12.4,1037,13287,0.00,1.65,0.00,0.000,4,0.000,0.048,3210,3123,1053
$GC,13356,2.12,434.3,655.5,12.3,1040,13359,0.00,1.58,0.00,0.000,6,0.000,0.033,3210,2209,1052
$GC,13684,2.12,434.3,615.6,12.2,1056,13687,0.00,2.10,0.00,0.000,4,0.000,0.054,3210,1024,1052
$GC,13752,2.08,434.3,606.8,12.5,1059,13756,0.15,2.03,0.00,0.000,6,0.104,0.031,3181,2215,1052
$GC,14081,2.18,448.2,568.6,11.3,1075,14102,0.10,0.00,14.02,1.119,6,0.079,0.000,3211,2216,997
$GC,14413,2.25,456.9,530.1,11.6,1091,14427,0.00,1.65,9.15,1.035,4,0.000,0.048,3211,3114,962
$GC,14513,2.31,475.3,518.6,11.1,1095,14544,0.00,1.92,19.95,1.018,6,0.000,0.034,3211,2006,887
$GC,14859,2.42,488.2,479.5,11.4,1120,14884,0.17,1.80,15.23,0.939,4,0.058,0.055,3265,1018,833
$GC,14890,2.42,488.2,475.4,12.9,1122,14896,0.00,1.42,0.00,0.000,6,0.000,0.028,3265,1854,834
$GC,15218,2.42,488.2,433.0,13.4,1153,15222,0.00,1.55,0.00,0.000,4,0.000,0.058,3265,1018,832
$GC,15234,2.42,488.2,430.3,13.8,1154,15240,0.00,1.73,0.00,0.000,6,0.000,0.028,3264,2046,832
$GC,15562,2.47,488.2,387.2,12.9,1185,15565,0.00,1.88,0.00,0.000,4,0.000,0.048,3265,3115,831
$GC,15641,2.47,488.2,376.7,12.4,1192,15645,0.00,1.62,0.00,0.000,6,0.000,0.032,3265,2171,831
$GC,15975,2.52,494.1,336.6,11.7,1223,15987,0.00,2.12,6.45,0.840,4,0.000,0.054,3265,1022,810
$GC,16091,2.52,494.6,322.1,12.0,1233,16095,0.00,1.67,0.00,0.000,6,0.000,0.028,3265,2021,809
$GC,16425,2.60,501.1,282.4,11.7,1264,16438,0.15,2.00,7.47,0.840,4,0.061,0.047,3314,3113,782
$GC,16542,2.49,501.1,266.4,13.3,1274,16547,0.17,1.65,0.00,0.000,6,0.091,0.031,3274,2166,782
$GC,16880,2.55,508.5,222.1,11.6,1323,16896,0.00,2.08,8.27,0.813,4,0.000,0.051,3274,1025,752
$GC,16993,2.55,508.7,208.6,12.0,1343,16999,0.00,1.65,0.00,0.000,6,0.000,0.026,3274,2023,752
$GC,17338,2.62,508.7,166.1,12.4,1404,17344,0.12,1.88,0.00,0.000,4,0.065,0.042,3313,3106,751
$GC,17413,2.62,508.7,156.9,12.3,1417,17419,0.00,1.65,0.00,0.000,6,0.000,0.027,3313,2122,751
$GC,17759,2.68,523.9,116.2,11.3,1478,17782,0.00,1.98,14.55,0.780,4,0.000,0.045,3313,1029,689
$GC,17846,2.75,569.1,106.2,9.8,1493,17873,0.00,1.60,23.23,0.776,6,0.000,0.025,3313,2014,587
$GC,18214,2.91,601.0,68.9,10.4,1558,18221,0.17,1.88,0.00,0.000,4,0.050,0.038,3371,3113,583
$GC,18281,2.92,612.3,61.5,11.4,1569,18287,0.00,1.70,0.00,0.000,6,0.000,0.024,3372,2082,583
$GC,18626,3.07,662.8,26.9,9.5,1630,18633,0.12,1.80,0.00,0.000,4,0.058,0.036,3417,3112,584
$GC,18674,3.02,693.4,21.9,10.5,1638,18681,0.12,1.85,0.00,0.000,6,0.086,0.024,3387,2007,584
$STATE,18875,end climb,SURFACE_DEPTH_REACHED
$STATE,18875,begin surface coast
$FINISH,0.0,1.020994
$STATE,18894,end surface coast,CONTROL_FINISHED_OK
$STATE,18894,begin surface
$SM_CCo,18979,0.00,0.000,0,0,584,549.72
$SM_GC,-6.73,12.93,0.00,0.00,0.050,0.000,0.000,414,2371,584,-10.60,0.08,549.72
$IRIDIUM_FIX,1249.88,12030.51,110897,111157
$TT8_MAMPS,0.026078
$HUMID,2005
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,527
$24V_AH,22.5,72.238
$10V_AH,10.1,48.617
$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,31.025,143.825,695.875,0.000,0.000,28.429,31.195,254.711,144.250,0.000,0.000,31.150,2764.596,11968.192,777.206,3138.182,811.631,0.000,2364.712,0.000,3049.891,0.000,91.490
$DEVICE_MAMPS,164.138,98.943,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.393,404.203,627.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91574,1677
$CAP_FILE_SIZE,194912,0
$CFSIZE,260165632,220508160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,170508,214407,1255.114,12032.572,26,1.3,26,-0.8