version: 66.03
glider: 126
mission: 7
dive: 416
start: 5 19 108 15 47 48
data:
$ID,126
$MISSION,7
$DIVE,416
$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,-627356.56
$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,26
$R_STBD_OVSHOOT,45
$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
$GPS1,154007,1257.604,12034.084,34,1.9,34,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.49
$_SM_ANGLEo,-57.7
$GPS2,154714,1257.574,12034.105,15,1.6,33,-0.9
$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,141.5,25329,-19.3,-12.000
$D_GRID,1049
$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,-83.50,0.000,6,0.000,0.000,416,2380,3622
$GC,117,-2.34,-194.7,3.4,-29.8,17,129,10.10,0.00,0.00,0.000,6,0.166,0.000,2215,2380,3623
$GC,470,-2.20,-194.7,62.7,-12.9,79,476,0.15,1.77,0.00,0.000,4,0.116,0.038,2247,3420,3624
$GC,545,-2.08,-194.7,72.7,-13.3,92,552,0.10,1.80,0.00,0.000,6,0.106,0.023,2271,2318,3624
$GC,892,-2.12,-194.7,114.0,-11.1,153,898,0.00,1.88,0.00,0.000,4,0.000,0.039,2271,3411,3626
$GC,994,-2.12,-194.7,124.9,-9.8,171,1000,0.00,1.75,0.00,0.000,6,0.000,0.023,2271,2305,3626
$GC,1339,-2.16,-194.7,160.5,-8.5,232,1345,0.00,1.60,0.00,0.000,4,0.000,0.035,2271,1342,3627
$GC,1442,-2.22,-194.7,170.1,-9.4,250,1449,0.12,1.62,0.00,0.000,6,0.058,0.024,2231,2352,3627
$GC,1789,-2.25,-194.7,202.3,-9.2,311,1795,0.00,1.70,0.00,0.000,4,0.000,0.036,2231,1344,3628
$GC,1903,-2.25,-194.7,213.4,-10.2,331,1909,0.00,1.48,0.00,0.000,6,0.000,0.025,2230,2244,3628
$GC,2248,-2.30,-194.7,247.1,-9.4,392,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2245,3628
$GC,2582,-2.36,-194.7,277.9,-9.3,426,2586,0.00,2.00,0.00,0.000,4,0.000,0.044,2231,3403,3628
$GC,2685,-2.36,-194.7,288.1,-9.8,435,2689,0.00,2.03,0.00,0.000,6,0.000,0.026,2231,2183,3628
$GC,3019,-2.42,-194.7,319.2,-9.3,466,3023,0.12,2.15,0.00,0.000,4,0.060,0.042,2192,3416,3626
$GC,3127,-2.37,-194.7,330.1,-9.9,475,3131,0.00,2.12,0.00,0.000,6,0.000,0.028,2192,2142,3626
$GC,3460,-2.37,-194.7,362.8,-10.0,506,3463,0.00,1.38,0.00,0.000,4,0.000,0.051,2192,1360,3624
$GC,3574,-2.37,-194.7,374.2,-9.7,516,3577,0.00,1.17,0.00,0.000,6,0.000,0.028,2192,2067,3623
$GC,3907,-2.37,-194.7,407.3,-10.2,547,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2068,3621
$GC,4224,-2.37,-194.7,438.8,-9.6,577,4227,0.00,1.30,0.00,0.000,4,0.000,0.055,2192,1357,3618
$GC,4269,-2.37,-194.7,443.2,-9.6,581,4273,0.00,1.38,0.00,0.000,6,0.000,0.031,2192,2168,3618
$GC,4603,-2.37,-194.7,473.0,-8.8,612,4607,0.00,1.48,0.00,0.000,4,0.000,0.056,2192,1360,3616
$GC,4638,-2.37,-194.7,476.5,-8.8,615,4641,0.00,1.58,0.00,0.000,6,0.000,0.037,2192,2273,3616
$GC,4969,-2.37,-194.7,506.7,-9.4,643,4973,0.00,1.65,0.00,0.000,4,0.000,0.060,2192,1357,3613
$GC,5038,-2.37,-194.7,513.6,-10.1,646,5042,0.00,1.42,0.00,0.000,6,0.000,0.040,2192,2171,3612
$GC,5371,-2.37,-194.7,548.8,-10.7,662,5375,0.00,2.22,0.00,0.000,4,0.000,0.064,2192,3400,3611
$GC,5430,-2.37,-194.7,554.9,-11.0,664,5435,0.00,2.03,0.00,0.000,6,0.000,0.041,2192,2249,3610
$GC,5746,-2.37,-194.7,586.6,-9.6,680,5750,0.10,2.15,0.00,0.000,4,0.110,0.074,2211,3392,3609
$GC,5819,-2.37,-194.7,593.7,-9.5,683,5823,0.00,2.20,0.00,0.000,6,0.000,0.056,2211,2174,3608
$GC,6143,-2.42,-194.7,622.0,-8.5,699,6147,0.00,2.35,0.00,0.000,4,0.000,0.087,2211,3392,3606
$GC,6243,-2.42,-194.7,631.1,-8.6,703,6249,0.00,2.42,0.00,0.000,6,0.000,0.071,2211,2105,3605
$GC,6560,-2.46,-194.7,658.8,-9.0,719,6563,0.00,1.35,0.00,0.000,4,0.000,0.068,2212,1367,3602
$GC,6645,-2.49,-194.7,667.1,-10.2,722,6651,0.08,1.38,0.00,0.000,6,0.058,0.034,2183,2172,3602
$GC,6963,-2.49,-194.7,698.5,-10.0,738,6967,0.00,1.48,0.00,0.000,4,0.000,0.060,2183,1370,3600
$GC,7042,-2.49,-194.7,706.8,-10.6,741,7045,0.00,1.52,0.00,0.000,6,0.000,0.036,2183,2254,3599
$GC,7364,-2.49,-194.7,738.9,-10.0,757,7368,0.00,1.62,0.00,0.000,4,0.000,0.063,2183,1360,3598
$GC,7415,-2.49,-194.7,744.2,-10.4,759,7418,0.00,1.40,0.00,0.000,6,0.000,0.038,2183,2171,3597
$GC,7743,-2.49,-194.7,776.5,-9.7,775,7746,0.00,1.50,0.00,0.000,4,0.000,0.064,2183,1363,3597
$GC,7849,-2.49,-194.7,787.0,-9.4,779,7855,0.00,1.48,0.00,0.000,6,0.000,0.038,2183,2217,3596
$GC,8166,-2.49,-194.7,819.3,-11.5,795,8173,0.00,1.55,0.00,0.000,4,0.000,0.058,2183,1369,3594
$GC,8282,-2.46,-194.7,835.6,-13.5,800,8286,0.00,1.60,0.00,0.000,6,0.000,0.038,2183,2305,3594
$GC,8619,-2.42,-194.7,870.3,-9.2,816,8623,0.00,1.70,0.00,0.000,4,0.000,0.054,2182,1368,3593
$GC,8653,-2.37,-194.7,875.2,-13.2,817,8657,0.15,1.60,0.00,0.000,6,0.111,0.038,2211,2308,3592
$GC,8974,-2.37,-194.7,904.0,-7.2,833,8978,0.00,1.70,0.00,0.000,4,0.000,0.055,2211,1358,3591
$GC,9014,-2.37,-194.7,907.7,-9.5,834,9020,0.00,1.60,0.00,0.000,6,0.000,0.038,2211,2294,3592
$STATE,9245,end dive,NO_VERTICAL_VELOCITY
$STATE,9245,begin apogee
$GC,9252,-0.52,0.0,911.0,0.0,846,9427,1.77,0.00,166.73,1.367,6,0.053,0.000,2621,2100,2824
$STATE,9428,end apogee,CONTROL_FINISHED_OK
$STATE,9428,begin climb
$GC,9431,2.34,194.7,910.6,0.0,855,9609,2.75,0.00,171.75,1.322,6,0.048,0.000,3244,2100,2031
$GC,9918,2.25,212.5,873.0,11.1,879,9941,0.12,1.92,16.75,1.233,4,0.109,0.051,3221,3108,1958
$GC,10045,2.14,212.5,856.3,13.9,884,10049,0.12,1.77,0.00,0.000,6,0.112,0.036,3198,2102,1956
$GC,10367,2.08,220.5,823.8,11.6,900,10381,0.00,1.88,8.30,1.110,4,0.000,0.049,3198,3106,1926
$GC,10626,2.10,292.3,803.0,8.5,911,10698,0.00,1.65,65.47,1.280,6,0.000,0.035,3198,2155,1633
$GC,11010,2.09,307.9,761.1,11.2,930,11032,0.00,2.12,14.95,1.192,4,0.000,0.065,3198,1024,1569
$GC,11089,2.04,307.9,751.2,12.3,933,11093,0.12,1.92,0.00,0.000,6,0.116,0.031,3175,2146,1568
$GC,11410,2.06,319.7,714.7,11.4,949,11426,0.00,1.80,11.77,1.151,4,0.000,0.051,3175,3109,1521
$GC,11477,2.09,337.9,707.0,11.1,951,11501,0.00,1.77,17.85,1.179,6,0.000,0.036,3175,2111,1447
$GC,11827,2.18,351.9,667.7,11.3,968,11849,0.12,2.05,14.15,1.151,4,0.067,0.062,3209,1031,1390
$GC,11901,2.15,360.3,658.8,11.6,971,11917,0.00,1.62,9.23,1.068,6,0.000,0.031,3210,1971,1355
$GC,12227,2.24,388.4,622.6,10.6,987,12269,0.00,2.10,28.75,1.108,4,0.000,0.048,3210,3110,1240
$GC,12373,2.29,420.2,606.7,10.4,993,12407,0.00,1.73,30.30,1.151,6,0.000,0.035,3210,2121,1111
$GC,12738,2.38,432.7,565.9,11.4,1011,12759,0.15,2.10,12.07,1.071,4,0.065,0.063,3256,1023,1061
$GC,12846,2.31,432.7,552.2,12.1,1015,12853,0.12,1.60,0.00,0.000,6,0.107,0.039,3232,1968,1060
$GC,13164,2.38,434.2,515.2,11.9,1031,13168,0.00,2.00,0.00,0.000,4,0.000,0.048,3233,3107,1059
$GC,13238,2.39,438.9,506.2,11.8,1034,13249,0.00,1.73,6.95,0.940,6,0.000,0.041,3232,2116,1035
$GC,13567,2.44,441.9,467.6,11.9,1062,13579,0.12,2.00,4.53,0.781,4,0.068,0.062,3268,1029,1023
$GC,13653,2.44,441.9,456.8,13.2,1069,13658,0.00,1.58,0.00,0.000,6,0.000,0.029,3268,1965,1023
$GC,13980,2.45,445.8,417.0,11.8,1100,13991,0.00,2.03,5.28,0.820,4,0.000,0.047,3268,3106,1006
$GC,14088,2.45,445.8,403.8,12.2,1109,14093,0.00,1.70,0.00,0.000,6,0.000,0.035,3268,2127,1006
$GC,14415,2.47,461.2,367.3,11.2,1140,14436,0.00,2.05,14.95,0.983,4,0.000,0.062,3268,1021,945
$GC,14517,2.49,475.0,355.2,11.3,1149,14538,0.00,1.60,14.05,0.959,6,0.000,0.029,3268,1965,887
$GC,14858,2.56,475.0,312.1,12.7,1181,14861,0.00,2.00,0.00,0.000,4,0.000,0.047,3268,3107,885
$GC,14949,2.56,475.0,300.4,12.1,1189,14952,0.00,1.70,0.00,0.000,6,0.000,0.034,3268,2124,885
$GC,15282,2.62,478.2,262.1,11.8,1220,15294,0.15,2.03,4.03,0.628,4,0.058,0.060,3312,1025,875
$GC,15364,2.56,485.6,252.1,11.6,1227,15378,0.12,1.60,8.62,0.838,6,0.106,0.028,3288,1982,844
$GC,15720,2.64,498.5,210.5,11.4,1288,15737,0.00,2.08,12.45,0.846,4,0.000,0.045,3288,3114,792
$GC,15834,2.66,513.7,196.8,11.3,1308,15855,0.00,1.70,15.02,0.841,6,0.000,0.031,3288,2120,730
$GC,16197,2.77,531.5,154.2,11.1,1372,16219,0.17,1.85,16.67,0.810,4,0.054,0.042,3344,3119,658
$GC,16255,2.78,538.8,147.0,11.6,1382,16267,0.00,1.83,7.97,0.719,6,0.000,0.030,3344,2076,628
$GC,16609,2.84,541.1,108.0,11.9,1444,16615,0.00,1.88,0.00,0.000,4,0.000,0.052,3344,1025,625
$GC,16702,2.89,569.8,97.5,10.6,1460,16720,0.00,1.83,9.88,0.713,6,0.000,0.025,3344,2112,586
$GC,17059,3.02,601.8,61.4,10.4,1523,17065,0.15,1.70,0.00,0.000,4,0.054,0.040,3396,3115,585
$GC,17164,3.03,630.2,49.4,10.6,1541,17170,0.00,1.90,0.00,0.000,6,0.000,0.027,3396,1984,585
$GC,17509,3.09,661.4,13.2,10.5,1602,17514,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1984,586
$STATE,17608,end climb,SURFACE_DEPTH_REACHED
$STATE,17608,begin surface coast
$FINISH,-0.1,1.020960
$STATE,17627,end surface coast,CONTROL_FINISHED_OK
$STATE,17627,begin surface
$SM_CCo,17711,0.00,0.000,0,0,586,549.23
$SM_GC,-6.58,12.98,0.00,0.00,0.051,0.000,0.000,416,2369,586,-10.59,0.03,549.23
$IRIDIUM_FIX,1249.88,12032.42,130897,111103
$TT8_MAMPS,0.025311
$HUMID,2039
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.10
$XPDR_PINGS,527
$ALTIM_BOTTOM_PING,881.7,34.5
$24V_AH,22.6,74.693
$10V_AH,10.1,49.627
$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,29.925,131.875,688.475,0.000,0.000,29.788,39.292,188.648,141.750,0.000,0.000,33.957,2680.392,10867.775,769.986,3099.943,719.603,0.000,2313.864,0.000,3012.844,0.000,74.281
$DEVICE_MAMPS,166.439,87.438,1366.794,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.567,396.072,634.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88491,1623
$CAP_FILE_SIZE,183982,0
$CFSIZE,260165632,219701248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190508,204407,1257.679,12034.214,31,1.6,31,-0.9