version: 66.03
glider: 126
mission: 7
dive: 421
start: 5 20 108 16 25 20
data:
$ID,126
$MISSION,7
$DIVE,421
$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,-627430.88
$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,43
$R_STBD_OVSHOOT,51
$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
$GPS1,161808,1257.929,12034.578,29,1.1,29,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.64
$_SM_ANGLEo,-57.2
$GPS2,162445,1257.917,12034.577,11,1.1,11,-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,143.9,25303,-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,24,-2.34,-194.7,0.0,0.0,0,109,0.00,0.00,-82.80,0.000,6,0.000,0.000,416,2380,3621
$GC,113,-2.34,-194.7,1.7,-25.7,16,130,10.05,1.77,0.00,0.000,4,0.163,0.038,2217,3404,3623
$GC,193,-2.14,-194.7,21.0,-16.9,30,200,0.20,1.75,0.00,0.000,6,0.109,0.024,2260,2351,3623
$GC,540,-2.14,-194.7,65.9,-11.4,91,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2344,3624
$GC,883,-2.14,-194.7,107.6,-11.6,152,889,0.00,1.70,0.00,0.000,4,0.000,0.035,2260,1344,3626
$GC,936,-2.14,-194.7,113.2,-10.6,161,942,0.00,1.48,0.00,0.000,6,0.000,0.023,2260,2254,3626
$GC,1281,-2.18,-194.7,150.1,-9.3,222,1286,0.00,1.98,0.00,0.000,4,0.000,0.038,2260,3415,3628
$GC,1333,-2.18,-194.7,155.2,-8.9,231,1338,0.00,1.88,0.00,0.000,6,0.000,0.024,2260,2253,3628
$GC,1678,-2.26,-194.7,185.8,-9.5,292,1684,0.00,1.55,0.00,0.000,4,0.000,0.037,2260,1337,3629
$GC,1725,-2.32,-194.7,190.3,-10.0,300,1732,0.12,1.48,0.00,0.000,6,0.041,0.025,2213,2239,3629
$GC,2071,-2.32,-194.7,224.6,-9.9,361,2076,0.00,1.55,0.00,0.000,4,0.000,0.039,2213,1347,3629
$GC,2140,-2.32,-194.7,231.3,-9.5,373,2146,0.00,1.35,0.00,0.000,6,0.000,0.025,2213,2169,3629
$GC,2477,-2.35,-194.7,263.0,-9.2,421,2480,0.00,1.45,0.00,0.000,4,0.000,0.042,2213,1344,3629
$GC,2573,-2.35,-194.7,272.1,-9.3,429,2579,0.00,1.45,0.00,0.000,6,0.000,0.026,2213,2220,3629
$GC,2901,-2.39,-194.7,302.3,-9.4,460,2904,0.00,2.05,0.00,0.000,4,0.000,0.044,2213,3402,3627
$GC,2975,-2.39,-194.7,309.8,-9.8,466,2980,0.00,1.85,0.00,0.000,6,0.000,0.027,2213,2280,3627
$GC,3303,-2.42,-194.7,341.8,-10.5,497,3306,0.00,1.98,0.00,0.000,4,0.000,0.045,2213,3400,3625
$GC,3372,-2.42,-194.7,349.1,-9.9,503,3375,0.00,2.03,0.00,0.000,6,0.000,0.028,2213,2199,3625
$GC,3707,-2.47,-194.7,382.4,-9.8,534,3711,0.00,1.50,0.00,0.000,4,0.000,0.050,2213,1350,3622
$GC,3788,-2.50,-194.7,390.7,-9.4,541,3792,0.10,1.40,0.00,0.000,6,0.048,0.029,2176,2182,3621
$GC,4118,-2.50,-194.7,422.1,-8.7,572,4122,0.00,1.50,0.00,0.000,4,0.000,0.051,2176,1347,3620
$GC,4159,-2.46,-194.7,425.7,-9.0,575,4164,0.00,1.30,0.00,0.000,6,0.000,0.031,2176,2119,3619
$GC,4486,-2.46,-194.7,456.2,-9.7,606,4490,0.00,1.40,0.00,0.000,4,0.000,0.054,2176,1350,3617
$GC,4544,-2.42,-194.7,462.0,-9.5,611,4549,0.10,1.48,0.00,0.000,6,0.094,0.035,2200,2206,3616
$GC,4875,-2.46,-194.7,493.7,-9.3,642,4878,0.00,2.12,0.00,0.000,4,0.000,0.054,2200,3404,3615
$GC,4960,-2.46,-194.7,502.0,-9.3,648,4966,0.00,2.00,0.00,0.000,6,0.000,0.033,2200,2243,3614
$GC,5276,-2.49,-194.7,532.7,-9.8,664,5280,0.00,2.12,0.00,0.000,4,0.000,0.061,2200,3402,3612
$GC,5361,-2.49,-194.7,541.0,-9.9,667,5366,0.00,2.17,0.00,0.000,6,0.000,0.040,2200,2162,3611
$GC,5678,-2.49,-194.7,570.5,-9.3,683,5682,0.00,2.30,0.00,0.000,4,0.000,0.071,2200,3393,3610
$GC,5768,-2.49,-194.7,579.4,-9.6,687,5772,0.00,2.35,0.00,0.000,6,0.000,0.053,2200,2092,3609
$GC,6093,-2.53,-194.7,609.7,-9.8,703,6101,0.00,1.45,0.00,0.000,4,0.000,0.101,2200,1357,3606
$GC,6209,-2.53,-194.7,621.3,-10.2,708,6213,0.00,1.20,0.00,0.000,6,0.000,0.072,2200,1983,3606
$GC,6546,-2.57,-194.7,652.9,-9.5,724,6551,0.15,2.75,0.00,0.000,4,0.062,0.101,2156,3392,3603
$GC,6596,-2.48,-194.7,658.5,-10.3,726,6601,0.17,2.33,0.00,0.000,6,0.105,0.084,2189,2193,3604
$GC,6916,-2.48,-194.7,689.1,-9.9,741,6923,0.00,2.47,0.00,0.000,4,0.000,0.117,2190,3390,3601
$GC,6987,-2.48,-194.7,696.7,-10.6,744,6991,0.00,2.58,0.00,0.000,6,0.000,0.102,2189,2114,3601
$GC,7319,-2.48,-194.7,730.4,-10.2,760,7324,0.00,2.75,0.00,0.000,4,0.000,0.137,2189,3390,3599
$GC,7397,-2.48,-194.7,739.0,-10.4,763,7404,0.00,2.80,0.00,0.000,6,0.000,0.123,2189,2066,3598
$GC,7714,-2.48,-194.7,768.9,-9.4,779,7718,0.00,2.38,0.00,0.000,4,0.000,0.049,2190,3396,3597
$GC,7793,-2.48,-194.7,776.4,-9.4,782,7799,0.00,2.35,0.00,0.000,6,0.000,0.035,2190,2039,3597
$GC,8109,-2.48,-194.7,804.3,-8.6,798,8112,0.00,1.25,0.00,0.000,4,0.000,0.067,2190,1356,3595
$GC,8179,-2.48,-194.7,810.3,-9.3,801,8183,0.00,1.33,0.00,0.000,6,0.000,0.036,2190,2122,3595
$GC,8512,-2.48,-194.7,839.5,-9.0,817,8517,0.00,2.25,0.00,0.000,4,0.000,0.053,2190,3398,3594
$GC,8591,-2.48,-194.7,846.9,-9.0,820,8595,0.00,2.15,0.00,0.000,6,0.000,0.035,2190,2159,3594
$GC,8907,-2.48,-194.7,874.1,-8.6,835,8911,0.00,2.22,0.00,0.000,4,0.000,0.053,2190,3396,3593
$GC,8992,-2.48,-194.7,882.3,-10.3,839,8996,0.00,2.30,0.00,0.000,6,0.000,0.036,2190,2078,3593
$GC,9320,-2.34,-194.7,887.7,0.0,855,9325,0.15,2.38,0.00,0.000,4,0.120,0.052,2221,3398,3591
$STATE,9335,end dive,NO_VERTICAL_VELOCITY
$STATE,9335,begin apogee
$GC,9344,-0.52,0.0,887.6,0.0,856,9518,1.92,0.00,166.60,1.347,6,0.110,0.000,2611,2105,2825
$STATE,9518,end apogee,CONTROL_FINISHED_OK
$STATE,9518,begin climb
$GC,9522,2.34,194.7,887.1,0.0,865,9708,2.95,2.17,171.62,1.300,4,0.085,0.091,3236,1024,2031
$GC,9748,2.35,289.2,877.1,7.4,875,9838,0.00,1.83,84.75,1.270,6,0.000,0.041,3235,2061,1646
$GC,10168,2.31,312.6,831.9,10.9,896,10194,0.00,2.05,21.62,1.214,4,0.000,0.067,3235,1026,1550
$GC,10288,2.22,327.7,818.9,11.3,901,10308,0.12,1.92,14.98,1.173,6,0.110,0.035,3213,2139,1489
$GC,10627,2.19,338.8,780.8,11.5,918,10642,0.00,1.85,11.45,1.145,4,0.000,0.051,3213,3126,1442
$GC,10739,2.12,338.8,767.1,12.2,922,10742,0.00,1.65,0.00,0.000,6,0.000,0.035,3213,2184,1441
$GC,11067,2.14,371.2,731.5,10.4,938,11102,0.00,2.17,30.98,1.215,4,0.000,0.063,3212,1024,1310
$GC,11172,2.14,404.5,720.2,10.4,942,11213,0.00,2.03,31.80,1.193,6,0.000,0.034,3212,2195,1174
$GC,11525,2.17,419.2,681.1,11.3,959,11546,0.00,1.75,13.98,1.137,4,0.000,0.052,3212,3128,1116
$GC,11580,2.18,425.5,674.1,11.7,961,11592,0.00,1.98,7.72,1.011,6,0.000,0.038,3212,2020,1090
$GC,11902,2.24,425.5,635.0,12.5,977,11905,0.00,1.83,0.00,0.000,4,0.000,0.066,3212,1017,1088
$GC,11964,2.28,425.5,626.8,13.6,979,11969,0.00,1.48,0.00,0.000,6,0.000,0.031,3212,1871,1088
$GC,12282,2.37,425.5,586.8,12.4,995,12287,0.15,2.22,0.00,0.000,4,0.062,0.047,3254,3128,1086
$GC,12367,2.32,425.5,575.4,12.3,999,12371,0.00,1.98,0.00,0.000,6,0.000,0.047,3254,2004,1086
$GC,12701,2.33,435.8,536.0,11.5,1015,12715,0.00,1.83,10.38,1.043,4,0.000,0.064,3254,1021,1047
$GC,12784,2.36,451.1,526.2,11.3,1018,12805,0.00,1.48,15.55,1.074,6,0.000,0.031,3254,1871,985
$GC,13121,2.42,454.4,485.8,11.8,1039,13133,0.00,2.25,4.22,0.752,4,0.000,0.048,3254,3130,972
$GC,13236,2.42,454.4,471.4,12.1,1049,13240,0.00,1.95,0.00,0.000,6,0.000,0.038,3254,2024,972
$GC,13570,2.47,461.2,431.8,11.7,1080,13582,0.00,1.90,7.80,0.934,4,0.000,0.062,3254,1020,944
$GC,13640,2.49,476.0,423.5,11.3,1086,13661,0.00,1.50,14.93,1.008,6,0.000,0.029,3254,1890,884
$GC,13981,2.57,481.5,384.7,11.7,1118,13994,0.15,2.28,6.35,0.852,4,0.063,0.047,3302,3134,862
$GC,14103,2.51,481.5,369.1,12.6,1128,14110,0.12,1.88,0.00,0.000,6,0.110,0.035,3278,2059,861
$GC,14429,2.55,481.5,328.4,12.4,1159,14433,0.00,1.90,0.00,0.000,4,0.000,0.061,3277,1015,861
$GC,14508,2.55,484.0,318.6,11.9,1166,14520,0.00,1.52,3.88,0.636,6,0.000,0.028,3277,1906,851
$GC,14839,2.64,503.2,281.0,11.1,1197,14864,0.12,2.22,18.62,0.926,4,0.067,0.045,3314,3126,773
$GC,14945,2.61,503.2,268.4,12.1,1206,14951,0.00,1.90,0.00,0.000,6,0.000,0.034,3314,2034,772
$GC,15280,2.61,503.2,224.9,13.7,1253,15286,0.00,1.80,0.00,0.000,4,0.000,0.058,3314,1017,771
$GC,15349,2.55,503.2,216.0,12.3,1265,15355,0.10,1.50,0.00,0.000,6,0.091,0.028,3283,1906,771
$GC,15696,2.65,507.3,176.0,11.8,1326,15707,0.10,0.00,5.15,0.666,6,0.074,0.000,3313,1908,756
$GC,16046,2.76,541.6,135.2,10.3,1388,16085,0.00,2.22,31.05,0.813,4,0.000,0.042,3313,3133,617
$GC,16127,2.84,563.4,126.6,10.9,1402,16145,0.15,2.28,7.97,0.705,6,0.057,0.031,3357,1814,587
$GC,16489,2.96,605.9,86.2,9.9,1465,16494,0.00,1.42,0.00,0.000,4,0.000,0.051,3357,1011,584
$GC,16547,3.07,669.5,80.0,8.9,1475,16553,0.17,1.65,0.00,0.000,6,0.050,0.025,3411,2026,584
$GC,16894,3.15,720.1,42.8,9.5,1536,16900,0.00,1.85,0.00,0.000,4,0.000,0.038,3411,3096,584
$GC,16966,3.22,789.5,35.9,8.6,1548,16972,0.00,2.00,0.00,0.000,6,0.000,0.027,3411,1920,583
$STATE,17285,end climb,SURFACE_DEPTH_REACHED
$STATE,17285,begin surface coast
$FINISH,0.2,1.020835
$STATE,17303,end surface coast,CONTROL_FINISHED_OK
$STATE,17303,begin surface
$SM_CCo,17388,0.00,0.000,0,0,583,549.96
$SM_GC,-6.53,13.05,0.00,0.00,0.051,0.000,0.000,418,2365,583,-10.58,-0.08,549.96
$IRIDIUM_FIX,1249.88,12037.35,140897,111157
$TT8_MAMPS,0.025311
$HUMID,2060
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.40
$XPDR_PINGS,455
$24V_AH,22.6,76.002
$10V_AH,10.1,50.173
$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,30.175,153.100,681.400,0.000,0.000,25.285,31.195,186.690,123.500,0.000,0.000,11.068,2661.813,10590.443,762.820,3032.529,737.255,0.000,2309.684,0.000,2980.878,0.000,71.581
$DEVICE_MAMPS,163.371,136.526,1346.852,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1086.476,401.251,636.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88394,1608
$CAP_FILE_SIZE,185734,0
$CFSIZE,260165632,219246592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200508,211625,1257.799,12034.701,40,1.1,40,-0.9