version: 66.03
glider: 126
mission: 7
dive: 420
start: 5 20 108 11 25 25
data:
$ID,126
$MISSION,7
$DIVE,420
$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,-627419.19
$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,36
$R_STBD_OVSHOOT,48
$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
$GPS1,111737,1257.836,12034.346,38,1.3,43,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.69
$_SM_ANGLEo,-58.4
$GPS2,112450,1257.800,12034.344,12,1.5,17,-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,142.9,25387,-19.3,-12.000
$D_GRID,1052
$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,24,-2.34,-194.7,0.0,0.0,0,109,0.00,0.00,-82.80,0.000,6,0.000,0.000,416,2369,3620
$GC,113,-2.34,-194.7,1.4,-24.1,16,130,10.12,1.80,0.00,0.000,4,0.166,0.038,2216,3405,3623
$GC,227,-2.15,-194.7,26.5,-16.7,36,234,0.17,1.75,0.00,0.000,6,0.104,0.024,2255,2350,3623
$GC,574,-2.15,-194.7,71.7,-13.2,97,580,0.00,1.83,0.00,0.000,4,0.000,0.039,2255,3407,3624
$GC,610,-2.10,-194.7,76.9,-14.2,103,616,0.00,1.92,0.00,0.000,6,0.000,0.023,2255,2228,3624
$GC,954,-2.10,-194.7,116.4,-11.0,164,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2227,3625
$GC,1298,-2.14,-194.7,153.7,-8.0,225,1304,0.00,2.03,0.00,0.000,4,0.000,0.038,2255,3407,3627
$GC,1317,-2.14,-194.7,155.2,-8.3,228,1322,0.00,1.92,0.00,0.000,6,0.000,0.024,2255,2226,3627
$GC,1662,-2.21,-194.7,188.1,-9.7,289,1668,0.00,1.50,0.00,0.000,4,0.000,0.038,2255,1341,3628
$GC,1743,-2.26,-194.7,195.5,-9.1,303,1748,0.00,1.38,0.00,0.000,6,0.000,0.024,2255,2184,3628
$GC,2088,-2.35,-194.7,226.8,-9.4,364,2093,0.15,0.00,0.00,0.000,6,0.055,0.000,2205,2184,3628
$GC,2426,-2.35,-194.7,261.3,-10.3,415,2429,0.00,2.12,0.00,0.000,4,0.000,0.043,2205,3411,3628
$GC,2540,-2.35,-194.7,273.0,-9.7,425,2544,0.00,2.12,0.00,0.000,6,0.000,0.027,2205,2143,3628
$GC,2867,-2.35,-194.7,303.7,-8.9,455,2871,0.00,1.40,0.00,0.000,4,0.000,0.047,2204,1341,3627
$GC,2964,-2.35,-194.7,312.7,-8.8,463,2969,0.00,1.23,0.00,0.000,6,0.000,0.027,2205,2086,3626
$GC,3292,-2.35,-194.7,343.6,-9.6,494,3295,0.00,1.33,0.00,0.000,4,0.000,0.047,2205,1344,3624
$GC,3309,-2.35,-194.7,345.7,-9.7,495,3314,0.00,1.45,0.00,0.000,6,0.000,0.029,2204,2210,3624
$GC,3638,-2.35,-194.7,376.9,-10.1,526,3642,0.00,1.55,0.00,0.000,4,0.000,0.047,2204,1339,3621
$GC,3729,-2.35,-194.7,387.0,-10.5,534,3733,0.00,1.60,0.00,0.000,6,0.000,0.031,2205,2297,3621
$GC,4065,-2.38,-194.7,421.3,-10.1,565,4069,0.00,1.67,0.00,0.000,4,0.000,0.048,2204,1343,3619
$GC,4172,-2.38,-194.7,432.3,-9.7,574,4177,0.00,1.48,0.00,0.000,6,0.000,0.032,2205,2204,3618
$GC,4500,-2.42,-194.7,462.3,-9.0,605,4504,0.00,2.12,0.00,0.000,4,0.000,0.052,2205,3406,3616
$GC,4614,-2.42,-194.7,473.0,-9.4,615,4618,0.00,2.05,0.00,0.000,6,0.000,0.032,2205,2210,3615
$GC,4947,-2.46,-194.7,502.2,-8.7,645,4951,0.00,2.15,0.00,0.000,4,0.000,0.056,2205,3401,3613
$GC,5060,-2.46,-194.7,512.9,-9.5,650,5063,0.00,2.12,0.00,0.000,6,0.000,0.036,2205,2170,3612
$GC,5390,-2.50,-194.7,543.1,-9.8,666,5394,0.00,1.55,0.00,0.000,4,0.000,0.081,2204,1347,3610
$GC,5497,-2.50,-194.7,554.3,-10.4,670,5503,0.00,1.58,0.00,0.000,6,0.000,0.053,2205,2236,3609
$GC,5816,-2.54,-194.7,585.4,-9.8,686,5818,0.12,0.00,0.00,0.000,6,0.064,0.000,2169,2236,3607
$GC,6122,-2.54,-194.7,614.7,-9.2,701,6126,0.00,2.22,0.00,0.000,4,0.000,0.091,2169,3395,3605
$GC,6190,-2.48,-194.7,621.0,-9.0,704,6195,0.10,2.22,0.00,0.000,6,0.115,0.069,2187,2212,3604
$GC,6514,-2.48,-194.7,651.3,-9.7,720,6518,0.00,2.12,0.00,0.000,4,0.000,0.050,2188,3402,3601
$GC,6576,-2.43,-194.7,658.0,-10.1,722,6583,0.00,2.25,0.00,0.000,6,0.000,0.034,2188,2093,3601
$GC,6893,-2.43,-194.7,688.2,-9.8,738,6897,0.00,2.33,0.00,0.000,4,0.000,0.051,2188,3404,3600
$GC,7006,-2.43,-194.7,699.9,-10.2,743,7011,0.00,2.35,0.00,0.000,6,0.000,0.035,2188,2049,3598
$GC,7341,-2.43,-194.7,734.0,-10.3,759,7345,0.00,2.42,0.00,0.000,4,0.000,0.053,2188,3402,3597
$GC,7430,-2.43,-194.7,743.6,-10.7,763,7435,0.00,2.38,0.00,0.000,6,0.000,0.035,2188,2033,3597
$GC,7753,-2.43,-194.7,773.2,-9.0,779,7756,0.00,1.25,0.00,0.000,4,0.000,0.063,2188,1346,3595
$GC,7792,-2.43,-194.7,776.9,-8.8,780,7798,0.00,1.15,0.00,0.000,6,0.000,0.036,2188,2014,3595
$GC,8109,-2.43,-194.7,806.2,-9.8,796,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2014,3594
$GC,8417,-2.43,-194.7,836.1,-10.0,811,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2013,3593
$GC,8727,-2.43,-194.7,867.9,-10.9,826,8731,0.00,2.47,0.00,0.000,4,0.000,0.054,2188,3409,3592
$GC,8767,-2.40,-194.7,872.4,-10.9,828,8771,0.00,2.15,0.00,0.000,6,0.000,0.036,2188,2172,3591
$GC,9094,-2.85,-194.7,900.1,-1.1,844,9099,0.32,2.22,0.00,0.000,4,0.058,0.054,2105,3402,3590
$STATE,9221,end dive,NO_VERTICAL_VELOCITY
$STATE,9224,begin apogee
$GC,9233,-0.52,0.0,900.1,0.0,850,9404,2.22,0.00,166.43,1.354,6,0.052,0.000,2618,2095,2825
$STATE,9405,end apogee,CONTROL_FINISHED_OK
$STATE,9405,begin climb
$GC,9408,2.34,194.7,899.7,0.0,859,9593,2.70,0.00,171.75,1.306,6,0.044,0.000,3241,2095,2031
$GC,9902,2.33,266.3,869.7,8.5,883,9971,0.00,1.92,64.62,1.278,4,0.000,0.052,3241,3117,1739
$GC,10119,2.25,284.4,846.6,11.1,893,10141,0.12,1.85,17.00,1.213,6,0.110,0.038,3218,2074,1665
$GC,10453,2.23,319.8,811.8,10.3,909,10494,0.00,2.03,33.20,1.254,4,0.000,0.069,3218,1028,1521
$GC,10593,2.20,350.8,796.5,10.5,915,10630,0.00,1.95,29.17,1.235,6,0.000,0.032,3218,2164,1396
$GC,10942,2.18,371.8,758.1,11.0,932,10966,0.00,1.73,20.20,1.209,4,0.000,0.051,3218,3110,1309
$GC,10996,2.13,377.7,751.6,11.7,934,11009,0.12,1.70,6.82,1.001,6,0.117,0.036,3196,2148,1285
$GC,11317,2.16,394.0,715.9,11.2,950,11339,0.00,2.15,16.42,1.179,4,0.000,0.061,3195,1023,1218
$GC,11436,2.21,423.8,702.3,10.5,955,11472,0.00,2.12,29.08,1.192,6,0.000,0.032,3195,2258,1096
$GC,11784,2.30,436.4,663.3,11.4,972,11806,0.15,2.35,12.65,1.124,4,0.062,0.055,3243,1017,1044
$GC,11871,2.23,436.4,652.3,13.3,975,11877,0.15,1.80,0.00,0.000,6,0.103,0.031,3214,2072,1044
$GC,12187,2.32,438.5,614.8,11.9,991,12191,0.00,1.85,0.00,0.000,4,0.000,0.049,3214,3119,1042
$GC,12267,2.36,442.6,605.2,11.8,994,12279,0.12,1.58,6.78,0.981,6,0.069,0.035,3250,2213,1020
$GC,12587,2.36,442.6,565.9,12.2,1010,12591,0.00,2.15,0.00,0.000,4,0.000,0.058,3250,1014,1019
$GC,12694,2.36,442.6,552.7,12.1,1014,12700,0.00,1.77,0.00,0.000,6,0.000,0.031,3250,2062,1019
$GC,13011,2.42,451.3,516.7,11.6,1030,13025,0.00,1.95,9.12,1.017,4,0.000,0.049,3250,3120,985
$GC,13100,2.44,463.7,506.1,11.4,1034,13121,0.00,1.60,12.88,1.049,6,0.000,0.035,3250,2206,934
$GC,13439,2.52,474.8,466.0,11.5,1063,13456,0.12,2.25,11.40,1.013,4,0.066,0.058,3287,1014,889
$GC,13550,2.51,489.7,453.2,11.3,1072,13571,0.00,1.80,15.30,1.025,6,0.000,0.031,3287,2050,828
$GC,13890,2.54,489.7,410.6,13.1,1104,13894,0.00,1.90,0.00,0.000,4,0.000,0.048,3287,3129,826
$GC,13986,2.50,489.7,397.4,13.5,1112,13992,0.00,1.60,0.00,0.000,6,0.000,0.036,3287,2210,825
$GC,14314,2.50,489.7,353.2,13.0,1143,14317,0.00,2.12,0.00,0.000,4,0.000,0.058,3286,1021,825
$GC,14393,2.50,489.7,342.6,12.4,1150,14396,0.00,1.75,0.00,0.000,6,0.000,0.030,3287,2057,825
$GC,14729,2.56,506.0,303.2,11.2,1181,14750,0.00,1.92,15.62,0.935,4,0.000,0.054,3287,1018,761
$GC,14756,2.56,506.0,299.1,12.1,1183,14762,0.00,1.52,0.00,0.000,6,0.000,0.028,3287,1898,761
$GC,15084,2.61,506.0,260.5,12.1,1214,15088,0.00,1.60,0.00,0.000,4,0.000,0.056,3287,1012,760
$GC,15135,2.62,511.2,253.8,11.7,1218,15145,0.00,1.80,5.82,0.752,6,0.000,0.028,3287,2085,740
$GC,15483,2.70,526.5,212.8,11.2,1277,15506,0.12,1.88,15.23,0.860,4,0.063,0.046,3325,3128,678
$GC,15542,2.66,526.5,205.6,12.0,1287,15548,0.00,2.15,0.00,0.000,6,0.000,0.035,3326,1901,677
$GC,15887,2.71,526.5,162.3,12.1,1348,15892,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1900,675
$GC,16230,2.76,526.5,122.9,12.5,1409,16236,0.00,1.58,0.00,0.000,4,0.000,0.055,3326,1004,675
$GC,16268,2.79,546.0,118.7,11.0,1415,16291,0.00,1.70,17.90,0.789,6,0.000,0.026,3326,2037,599
$GC,16632,2.91,561.0,82.0,11.3,1479,16645,0.15,1.90,3.80,0.495,4,0.056,0.041,3377,3108,588
$GC,16708,2.92,568.2,72.7,11.6,1492,16715,0.00,1.92,0.05,0.137,6,0.000,0.028,3377,1989,587
$GC,17054,3.03,634.1,35.6,8.8,1553,17060,0.00,1.95,0.00,0.000,4,0.000,0.038,3377,3119,587
$GC,17152,3.11,686.4,26.1,9.4,1570,17160,0.10,1.70,0.05,0.133,6,0.045,0.026,3419,2114,587
$STATE,17394,end climb,SURFACE_DEPTH_REACHED
$STATE,17394,begin surface coast
$FINISH,-0.2,1.020821
$STATE,17412,end surface coast,CONTROL_FINISHED_OK
$STATE,17412,begin surface
$SM_CCo,17497,0.00,0.000,0,0,587,548.98
$SM_GC,-6.56,13.10,0.00,0.00,0.051,0.000,0.000,416,2380,587,-10.59,0.34,548.98
$IRIDIUM_FIX,1252.10,12035.45,140897,060659
$TT8_MAMPS,0.025311
$HUMID,2044
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,489
$ALTIM_BOTTOM_PING,870.6,29.5
$24V_AH,22.6,75.742
$10V_AH,10.1,50.064
$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,30.200,135.500,681.300,0.000,0.000,27.555,45.680,198.133,132.250,0.000,0.000,17.477,2659.434,10719.126,750.174,3047.821,752.814,0.000,2282.371,0.000,2983.635,0.000,75.334
$DEVICE_MAMPS,166.439,91.273,1353.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.221,401.272,633.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88342,1616
$CAP_FILE_SIZE,181281,0
$CFSIZE,260165632,219340800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,161808,1257.929,12034.578,29,1.1,29,-0.9