version: 66.03
glider: 126
mission: 7
dive: 422
start: 5 20 108 21 25 6
data:
$ID,126
$MISSION,7
$DIVE,422
$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,-627445.94
$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,37
$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
$GPS1,211625,1257.799,12034.701,40,1.1,40,-0.9
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.66
$_SM_ANGLEo,-58.1
$GPS2,212433,1257.769,12034.724,14,1.4,14,-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,144.0,24924,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.34,-194.7,0.0,0.0,0,116,0.00,0.00,-82.82,0.000,6,0.000,0.000,418,2371,3622
$GC,119,-2.34,-194.7,3.3,-29.8,17,137,10.05,1.83,0.00,0.000,4,0.163,0.038,2219,3417,3624
$GC,155,-1.95,-194.7,15.1,-22.8,23,162,0.43,1.77,0.00,0.000,6,0.101,0.023,2304,2325,3624
$GC,503,-1.98,-194.7,60.3,-11.9,84,509,0.00,1.92,0.00,0.000,4,0.000,0.039,2305,3424,3624
$GC,556,-1.98,-194.7,66.6,-11.6,93,561,0.00,1.88,0.00,0.000,6,0.000,0.023,2305,2271,3624
$GC,901,-2.06,-194.7,107.2,-11.3,154,907,0.00,1.55,0.00,0.000,4,0.000,0.035,2305,1344,3625
$GC,983,-2.12,-194.7,116.0,-9.9,168,989,0.12,1.48,0.00,0.000,6,0.039,0.023,2255,2253,3626
$GC,1328,-2.16,-194.7,152.4,-9.8,229,1334,0.00,1.55,0.00,0.000,4,0.000,0.034,2255,1341,3627
$GC,1454,-2.23,-194.7,165.3,-9.5,251,1460,0.00,1.38,0.00,0.000,6,0.000,0.023,2255,2194,3628
$GC,1799,-2.30,-194.7,197.9,-9.8,312,1805,0.12,1.42,0.00,0.000,4,0.058,0.034,2213,1342,3628
$GC,1846,-2.30,-194.7,202.5,-9.8,320,1852,0.00,1.30,0.00,0.000,6,0.000,0.024,2212,2148,3628
$GC,2190,-2.30,-194.7,237.7,-9.7,381,2196,0.00,1.40,0.00,0.000,4,0.000,0.039,2213,1339,3628
$GC,2249,-2.30,-194.7,243.3,-9.7,391,2254,0.00,1.20,0.00,0.000,6,0.000,0.025,2214,2080,3628
$GC,2583,-2.33,-194.7,277.1,-10.3,428,2587,0.00,1.27,0.00,0.000,4,0.000,0.041,2213,1349,3628
$GC,2698,-2.33,-194.7,288.3,-9.5,438,2701,0.00,1.25,0.00,0.000,6,0.000,0.025,2213,2108,3628
$GC,3033,-2.37,-194.7,319.3,-9.7,469,3037,0.00,2.28,0.00,0.000,4,0.000,0.043,2213,3427,3626
$GC,3100,-2.37,-194.7,326.4,-9.8,474,3106,0.00,2.30,0.00,0.000,6,0.000,0.028,2213,2058,3625
$GC,3428,-2.41,-194.7,358.5,-10.0,505,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2058,3623
$GC,3757,-2.45,-194.7,389.3,-8.5,536,3761,0.00,1.25,0.00,0.000,4,0.000,0.050,2213,1345,3621
$GC,3863,-2.45,-194.7,398.3,-8.1,545,3869,0.00,1.15,0.00,0.000,6,0.000,0.028,2213,2036,3620
$GC,4193,-2.50,-194.7,426.4,-9.6,576,4197,0.12,1.23,0.00,0.000,4,0.061,0.048,2176,1354,3618
$GC,4218,-2.50,-194.7,429.2,-9.8,578,4221,0.00,1.33,0.00,0.000,6,0.000,0.031,2176,2135,3617
$GC,4552,-2.50,-194.7,463.2,-10.0,609,4555,0.00,1.42,0.00,0.000,4,0.000,0.052,2176,1347,3615
$GC,4631,-2.50,-194.7,471.8,-10.3,616,4635,0.00,1.45,0.00,0.000,6,0.000,0.035,2176,2188,3615
$GC,4961,-2.50,-194.7,504.5,-10.1,645,4965,0.00,2.20,0.00,0.000,4,0.000,0.057,2176,3418,3612
$GC,5007,-2.43,-194.7,509.2,-10.1,647,5012,0.12,2.15,0.00,0.000,6,0.107,0.035,2200,2176,3612
$GC,5332,-2.43,-194.7,540.7,-9.8,663,5335,0.00,1.52,0.00,0.000,4,0.000,0.074,2200,1357,3610
$GC,5360,-2.43,-194.7,544.2,-10.8,664,5364,0.00,1.48,0.00,0.000,6,0.000,0.048,2200,2185,3610
$GC,5688,-2.43,-194.7,577.5,-10.2,680,5691,0.00,1.58,0.00,0.000,4,0.000,0.077,2200,1346,3607
$GC,5721,-2.43,-194.7,580.7,-9.2,681,5725,0.00,1.40,0.00,0.000,6,0.000,0.058,2200,2110,3606
$GC,6047,-2.47,-194.7,610.4,-9.0,697,6051,0.00,1.48,0.00,0.000,4,0.000,0.090,2200,1361,3604
$GC,6081,-2.47,-194.7,613.7,-8.6,698,6084,0.00,1.58,0.00,0.000,6,0.000,0.070,2200,2217,3604
$GC,6407,-2.50,-194.7,640.9,-8.3,714,6411,0.00,1.70,0.00,0.000,4,0.000,0.100,2200,1352,3602
$GC,6491,-2.50,-194.7,648.1,-8.2,717,6497,0.00,1.48,0.00,0.000,6,0.000,0.082,2200,2115,3601
$GC,6808,-2.50,-194.7,673.9,-8.3,733,6812,0.00,1.58,0.00,0.000,4,0.000,0.115,2200,1346,3599
$GC,6831,-2.50,-194.7,675.9,-8.1,734,6835,0.00,1.75,0.00,0.000,6,0.000,0.094,2200,2241,3599
$GC,7167,-2.54,-194.7,705.6,-9.1,750,7171,0.00,1.85,0.00,0.000,4,0.000,0.128,2200,1357,3597
$GC,7259,-2.54,-194.7,714.1,-9.6,754,7262,0.00,1.62,0.00,0.000,6,0.000,0.110,2200,2159,3597
$GC,7596,-2.57,-194.7,745.9,-9.5,770,7600,0.15,1.77,0.00,0.000,4,0.064,0.150,2156,1348,3595
$GC,7647,-2.50,-194.7,751.3,-9.4,772,7651,0.15,1.58,0.00,0.000,6,0.108,0.031,2184,2288,3595
$GC,7977,-2.45,-194.7,782.7,-9.1,788,7981,0.00,1.67,0.00,0.000,4,0.000,0.046,2185,1346,3593
$GC,8040,-2.39,-194.7,788.0,-7.7,790,8046,0.08,1.48,0.00,0.000,6,0.110,0.031,2209,2214,3593
$GC,8359,-2.43,-194.7,816.3,-9.4,806,8362,0.00,1.55,0.00,0.000,4,0.000,0.048,2209,1348,3593
$GC,8405,-2.43,-194.7,820.7,-9.1,808,8408,0.00,1.42,0.00,0.000,6,0.000,0.032,2210,2180,3592
$STATE,8734,end dive,NO_VERTICAL_VELOCITY
$STATE,8735,begin apogee
$GC,8743,-0.52,0.0,831.7,0.0,824,8916,1.83,0.00,165.40,1.302,6,0.064,0.000,2620,2086,2825
$STATE,8917,end apogee,CONTROL_FINISHED_OK
$STATE,8917,begin climb
$GC,8920,2.34,194.7,831.2,0.0,833,9106,2.75,1.95,170.23,1.258,4,0.057,0.051,3242,3113,2031
$GC,9214,2.25,227.6,814.6,10.4,846,9249,0.12,1.80,30.27,1.200,6,0.110,0.036,3220,2086,1897
$GC,9569,2.30,311.9,781.9,7.9,864,9651,0.00,2.00,75.30,1.224,4,0.000,0.064,3220,1028,1553
$GC,9693,2.30,356.0,771.0,9.8,869,9740,0.00,1.70,40.67,1.193,6,0.000,0.033,3219,2013,1373
$GC,10052,2.30,379.3,728.0,10.9,887,10079,0.00,1.92,21.70,1.162,4,0.000,0.059,3220,1025,1278
$GC,10107,2.25,379.3,720.7,12.8,889,10113,0.00,1.90,0.00,0.000,6,0.000,0.031,3220,2131,1277
$GC,10426,2.31,397.9,684.9,11.1,905,10455,0.00,1.80,20.00,1.056,4,0.000,0.049,3220,3122,1202
$GC,10540,2.29,403.3,670.7,11.7,910,10551,0.00,2.05,6.50,0.962,6,0.000,0.038,3220,1958,1180
$GC,10862,2.36,403.3,632.0,12.2,925,10866,0.10,1.70,0.00,0.000,4,0.077,0.062,3250,1021,1178
$GC,10885,2.36,403.3,628.8,13.3,926,10889,0.00,1.90,0.00,0.000,6,0.000,0.031,3250,2133,1178
$GC,11218,2.36,403.3,586.1,12.9,942,11221,0.00,1.75,0.00,0.000,4,0.000,0.051,3250,3126,1177
$GC,11280,2.30,403.3,578.0,13.4,944,11286,0.00,2.05,0.00,0.000,6,0.000,0.038,3251,1959,1177
$GC,11596,2.30,404.2,540.3,12.0,960,11600,0.00,1.70,0.00,0.000,4,0.000,0.063,3250,1015,1177
$GC,11646,2.30,404.2,534.0,12.2,962,11650,0.00,1.38,0.00,0.000,6,0.000,0.030,3250,1827,1177
$GC,11964,2.30,405.4,496.2,11.9,978,11968,0.00,2.28,0.00,0.000,4,0.000,0.047,3250,3128,1176
$GC,12066,2.31,407.9,483.9,11.9,987,12078,0.00,2.00,5.07,0.833,6,0.000,0.038,3250,1988,1162
$GC,12397,2.31,408.1,444.7,12.0,1018,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1988,1161
$GC,12718,2.37,425.8,408.8,11.1,1048,12739,0.00,0.00,17.75,1.032,6,0.000,0.000,3251,1988,1088
$GC,13058,2.43,425.8,368.8,12.1,1080,13062,0.00,2.03,0.00,0.000,4,0.000,0.047,3250,3128,1086
$GC,13082,2.47,425.8,365.9,12.4,1082,13086,0.00,2.22,0.00,0.000,6,0.000,0.037,3250,1858,1086
$GC,13407,2.56,446.0,328.5,11.0,1112,13432,0.17,2.30,19.12,0.971,4,0.057,0.044,3302,3120,1006
$GC,13513,2.52,446.0,316.0,12.0,1121,13520,0.12,2.00,0.00,0.000,6,0.107,0.035,3278,1974,1004
$GC,13839,2.60,466.1,278.6,11.0,1152,13860,0.00,0.00,18.90,0.927,6,0.000,0.000,3278,1974,924
$GC,14185,2.65,466.1,239.0,12.3,1192,14191,0.12,2.05,0.00,0.000,4,0.065,0.042,3315,3133,922
$GC,14227,2.62,471.3,233.6,11.7,1199,14238,0.00,2.22,5.85,0.740,6,0.000,0.042,3315,1853,903
$GC,14576,2.64,482.1,190.4,11.5,1261,14593,0.00,1.52,11.30,0.824,4,0.000,0.064,3315,1011,858
$GC,14628,2.69,510.9,184.2,10.6,1270,14660,0.00,1.77,26.35,0.841,6,0.000,0.028,3315,2048,742
$GC,15003,2.80,538.5,141.4,10.7,1336,15036,0.10,1.92,24.98,0.808,4,0.069,0.058,3348,1016,628
$GC,15056,2.84,544.8,134.9,11.7,1345,15068,0.00,1.65,6.90,0.673,6,0.000,0.027,3348,1989,604
$GC,15411,2.97,583.3,96.8,10.1,1407,15423,0.12,1.77,4.68,0.571,4,0.060,0.047,3389,1012,586
$GC,15528,2.93,591.8,84.3,11.6,1427,15534,0.00,1.58,0.00,0.000,6,0.000,0.025,3389,1968,586
$GC,15873,3.01,636.5,44.5,9.8,1488,15879,0.00,1.67,0.00,0.000,4,0.000,0.044,3389,1019,586
$GC,15948,3.09,688.4,36.8,9.5,1501,15955,0.00,1.67,0.00,0.000,6,0.000,0.024,3389,2039,586
$STATE,16278,end climb,SURFACE_DEPTH_REACHED
$STATE,16278,begin surface coast
$FINISH,-0.4,1.020826
$STATE,16302,end surface coast,CONTROL_FINISHED_OK
$STATE,16305,begin surface
$SM_CCo,16390,0.00,0.000,0,0,586,549.47
$SM_GC,-6.24,12.95,0.00,0.00,0.050,0.000,0.000,414,2362,586,-10.59,-0.14,549.47
$IRIDIUM_FIX,1252.10,12035.45,140897,161620
$TT8_MAMPS,0.025311
$HUMID,2058
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.20
$XPDR_PINGS,483
$24V_AH,22.6,76.255
$10V_AH,10.1,50.279
$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,29.750,123.350,670.975,0.000,0.000,25.759,34.078,270.553,129.250,0.000,0.000,14.440,2535.460,9986.736,729.288,2816.182,808.103,0.000,2165.110,0.000,2767.184,0.000,62.507
$DEVICE_MAMPS,163.371,149.565,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.725,400.928,637.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85192,1564
$CAP_FILE_SIZE,173883,0
$CFSIZE,260165632,219181056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210508,015932,1257.478,12035.008,40,2.0,40,-0.9