version: 66.03
glider: 126
mission: 7
dive: 399
start: 5 15 108 21 14 48
data:
$ID,126
$MISSION,7
$DIVE,399
$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,-627019.94
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,210402,1252.874,12029.332,43,1.3,43,-0.8
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,1
$_SM_DEPTHo,-6.86
$_SM_ANGLEo,-51.6
$GPS2,211415,1252.968,12029.376,14,1.2,14,-0.8
$SPEED_LIMITS,0.208,0.231
$TGT_NAME,EAST_S
$TGT_LATLONG,1244.000,12043.000
$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,124.8,29691,-19.3,-12.000
$D_GRID,1779
$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,25,-2.34,-194.7,0.0,0.0,0,115,0.00,0.00,-83.93,0.000,6,0.000,0.000,417,2378,3621
$GC,119,-2.34,-194.7,2.2,-28.1,17,136,10.07,1.77,0.00,0.000,4,0.165,0.035,2218,3416,3623
$GC,205,-2.16,-194.7,22.2,-16.2,32,212,0.15,1.77,0.00,0.000,6,0.097,0.023,2253,2321,3623
$GC,553,-2.10,-194.7,71.3,-14.1,93,558,0.00,1.88,0.00,0.000,4,0.000,0.037,2253,3419,3623
$GC,593,-2.01,-194.7,77.1,-13.4,100,600,0.15,1.73,0.00,0.000,6,0.091,0.023,2287,2339,3623
$GC,940,-2.08,-194.7,118.6,-11.8,161,945,0.00,1.83,0.00,0.000,4,0.000,0.038,2287,3417,3625
$GC,1003,-2.08,-194.7,126.0,-10.9,172,1009,0.00,1.83,0.00,0.000,6,0.000,0.023,2287,2282,3625
$GC,1349,-2.17,-194.7,160.5,-9.0,233,1355,0.15,1.52,0.00,0.000,4,0.053,0.030,2234,1355,3626
$GC,1437,-2.17,-194.7,169.4,-10.4,248,1443,0.08,1.48,0.00,0.000,6,0.091,0.023,2255,2265,3626
$GC,1782,-2.22,-194.7,202.9,-8.4,309,1788,0.00,1.52,0.00,0.000,4,0.000,0.033,2254,1367,3626
$GC,1863,-2.27,-194.7,210.3,-8.6,323,1868,0.00,1.48,0.00,0.000,6,0.000,0.024,2254,2269,3627
$GC,2207,-2.34,-194.7,242.0,-9.7,384,2214,0.15,1.98,0.00,0.000,4,0.054,0.041,2204,3419,3626
$GC,2316,-2.29,-194.7,253.6,-10.3,400,2322,0.15,2.03,0.00,0.000,6,0.097,0.025,2234,2182,3626
$GC,2641,-2.34,-194.7,285.6,-10.1,431,2645,0.00,2.15,0.00,0.000,4,0.000,0.042,2234,3419,3625
$GC,2663,-2.34,-194.7,288.0,-10.3,432,2669,0.00,2.03,0.00,0.000,6,0.000,0.026,2234,2187,3625
$GC,2992,-2.40,-194.7,319.7,-9.7,463,2997,0.12,2.15,0.00,0.000,4,0.061,0.041,2196,3417,3622
$GC,3082,-2.35,-194.7,329.5,-10.5,470,3089,0.10,2.12,0.00,0.000,6,0.108,0.028,2215,2138,3622
$GC,3408,-2.40,-194.7,361.6,-10.3,501,3412,0.00,2.22,0.00,0.000,4,0.000,0.044,2214,3409,3619
$GC,3515,-2.40,-194.7,373.2,-10.6,510,3519,0.00,2.22,0.00,0.000,6,0.000,0.029,2215,2091,3618
$GC,3844,-2.44,-194.7,407.5,-10.5,540,3847,0.00,1.25,0.00,0.000,4,0.000,0.046,2215,1374,3616
$GC,3894,-2.44,-194.7,413.2,-10.4,544,3900,0.00,1.08,0.00,0.000,6,0.000,0.027,2214,2029,3616
$GC,4222,-2.49,-194.7,445.4,-9.9,575,4227,0.12,2.42,0.00,0.000,4,0.063,0.046,2178,3420,3613
$GC,4319,-2.43,-194.7,455.8,-10.3,583,4324,0.12,2.25,0.00,0.000,6,0.109,0.031,2201,2100,3612
$GC,4644,-2.46,-194.7,486.9,-9.5,613,4648,0.00,1.27,0.00,0.000,4,0.000,0.055,2201,1383,3610
$GC,4729,-2.46,-194.7,495.0,-9.4,620,4734,0.00,1.35,0.00,0.000,6,0.000,0.035,2201,2173,3610
$GC,5060,-2.50,-194.7,526.7,-9.9,639,5064,0.00,1.42,0.00,0.000,4,0.000,0.055,2201,1387,3607
$GC,5110,-2.50,-194.7,532.1,-10.0,641,5114,0.00,1.25,0.00,0.000,6,0.000,0.040,2201,2098,3607
$GC,5441,-2.54,-194.7,564.3,-9.9,657,5443,0.12,0.00,0.00,0.000,6,0.064,0.000,2165,2099,3604
$GC,5747,-2.54,-194.7,595.9,-10.1,672,5750,0.00,1.27,0.00,0.000,4,0.000,0.044,2165,1379,3601
$GC,5773,-2.49,-194.7,598.2,-10.3,673,5777,0.08,1.45,0.00,0.000,6,0.102,0.030,2184,2236,3601
$GC,6108,-2.49,-194.7,630.7,-9.5,689,6112,0.00,2.08,0.00,0.000,4,0.000,0.051,2184,3417,3599
$GC,6159,-2.44,-194.7,636.0,-9.5,691,6163,0.00,2.00,0.00,0.000,6,0.000,0.032,2184,2241,3598
$GC,6487,-2.44,-194.7,667.7,-9.8,707,6491,0.00,2.08,0.00,0.000,4,0.000,0.051,2184,3410,3597
$GC,6556,-2.40,-194.7,674.8,-10.3,710,6561,0.12,2.15,0.00,0.000,6,0.110,0.034,2208,2160,3596
$GC,6886,-2.45,-194.7,706.0,-9.6,726,6890,0.00,2.22,0.00,0.000,4,0.000,0.052,2208,3405,3595
$GC,6936,-2.45,-194.7,711.2,-9.7,728,6940,0.00,1.98,0.00,0.000,6,0.000,0.034,2208,2277,3595
$GC,7263,-2.50,-194.7,741.4,-9.4,744,7267,0.00,2.05,0.00,0.000,4,0.000,0.054,2208,3417,3593
$GC,7314,-2.50,-194.7,746.9,-9.5,746,7318,0.00,2.12,0.00,0.000,6,0.000,0.035,2208,2185,3593
$GC,7639,-2.54,-194.7,777.0,-9.4,762,7643,0.15,2.20,0.00,0.000,4,0.061,0.052,2163,3412,3591
$GC,7724,-2.46,-194.7,786.0,-10.4,766,7728,0.15,2.25,0.00,0.000,6,0.111,0.035,2191,2112,3590
$GC,8053,-2.46,-194.7,818.1,-9.8,782,8057,0.00,1.30,0.00,0.000,4,0.000,0.056,2191,1381,3590
$GC,8115,-2.46,-194.7,824.8,-10.4,784,8121,0.00,1.35,0.00,0.000,6,0.000,0.034,2191,2171,3589
$GC,8431,-2.46,-194.7,856.9,-10.2,800,8435,0.00,1.42,0.00,0.000,4,0.000,0.048,2191,1374,3588
$GC,8488,-2.46,-194.7,863.0,-10.7,802,8491,0.00,1.23,0.00,0.000,6,0.000,0.032,2191,2095,3587
$GC,8810,-2.46,-194.7,896.9,-10.7,818,8813,0.00,1.27,0.00,0.000,4,0.000,0.046,2191,1380,3586
$GC,8849,-2.46,-194.7,901.2,-10.3,819,8855,0.00,1.38,0.00,0.000,6,0.000,0.031,2191,2192,3586
$GC,9165,-2.46,-194.7,933.2,-9.8,835,9169,0.00,1.45,0.00,0.000,4,0.000,0.048,2191,1379,3585
$GC,9236,-2.46,-194.7,940.0,-10.7,838,9240,0.00,1.55,0.00,0.000,6,0.000,0.032,2191,2281,3585
$GC,9571,-2.46,-194.7,971.9,-9.3,854,9575,0.00,1.58,0.00,0.000,4,0.000,0.046,2191,1380,3584
$GC,9650,-2.43,-194.7,979.4,-9.2,857,9654,0.00,1.42,0.00,0.000,6,0.000,0.033,2191,2213,3583
$STATE,9763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9763,begin apogee
$GC,9771,-0.52,0.0,990.2,9.4,863,9945,2.00,0.00,166.70,1.430,6,0.095,0.000,2612,2110,2824
$STATE,9946,end apogee,CONTROL_FINISHED_OK
$STATE,9946,begin climb
$GC,9949,2.34,194.7,998.3,0.0,872,10136,2.78,0.00,173.10,1.391,6,0.053,0.000,3248,2110,2030
$GC,10443,2.26,232.7,960.0,10.1,896,10492,0.12,1.92,36.92,1.275,4,0.114,0.050,3224,3121,1876
$GC,10575,2.16,246.9,945.6,11.3,902,10601,0.12,1.80,16.27,1.118,6,0.113,0.036,3201,2095,1818
$GC,10926,2.13,281.0,908.4,10.3,919,10971,0.00,1.92,33.92,1.259,4,0.000,0.049,3201,3115,1679
$GC,11091,2.08,301.4,889.9,11.0,926,11123,0.00,1.70,21.70,1.185,6,0.000,0.036,3201,2140,1596
$GC,11434,2.05,320.7,852.5,11.1,943,11465,0.12,1.80,20.92,1.177,4,0.114,0.048,3178,3126,1517
$GC,11587,2.04,338.8,835.3,11.1,950,11609,0.00,1.60,17.90,1.255,6,0.000,0.041,3178,2204,1443
$GC,11918,2.06,354.5,798.3,11.2,966,11947,0.00,2.22,17.70,1.124,4,0.000,0.057,3178,1019,1378
$GC,11971,2.08,366.6,792.0,11.4,968,11990,0.00,2.08,12.52,1.184,6,0.000,0.032,3178,2222,1330
$GC,12312,2.12,387.9,753.2,11.0,985,12335,0.00,0.00,21.25,1.238,6,0.000,0.000,3178,2222,1243
$GC,12642,2.14,402.1,715.5,11.3,1001,12664,0.00,2.25,14.43,1.187,4,0.000,0.054,3178,1013,1185
$GC,12737,2.16,413.4,703.7,11.4,1005,12754,0.00,2.00,12.05,1.145,6,0.000,0.031,3178,2177,1139
$GC,13063,2.16,413.4,664.3,12.4,1021,13066,0.00,2.08,0.00,0.000,4,0.000,0.052,3178,1022,1136
$GC,13086,2.16,413.4,661.3,12.7,1022,13090,0.00,1.92,0.00,0.000,6,0.000,0.031,3178,2148,1136
$GC,13419,2.17,417.1,621.3,11.8,1038,13429,0.10,2.05,4.40,0.828,4,0.077,0.052,3207,1026,1124
$GC,13480,2.13,417.1,613.3,13.6,1040,13486,0.00,1.80,0.00,0.000,6,0.000,0.030,3207,2086,1124
$GC,13797,2.19,419.1,574.7,11.9,1056,13800,0.00,1.92,0.00,0.000,4,0.000,0.053,3208,1014,1123
$GC,13836,2.20,422.5,569.7,11.8,1057,13847,0.00,2.05,6.75,0.980,6,0.000,0.031,3207,2216,1102
$GC,14172,2.26,433.8,530.8,11.4,1074,14190,0.00,2.25,12.10,1.078,4,0.000,0.051,3208,1019,1055
$GC,14223,2.27,435.3,524.2,11.9,1076,14227,0.00,1.73,0.00,0.000,6,0.000,0.030,3208,2035,1055
$GC,14551,2.36,444.6,486.7,11.5,1097,14567,0.15,1.95,11.05,1.033,4,0.063,0.046,3251,3125,1012
$GC,14654,2.29,444.6,473.3,12.3,1105,14660,0.12,1.65,0.00,0.000,6,0.104,0.033,3227,2171,1011
$GC,14979,2.35,449.8,434.1,11.7,1136,14991,0.00,2.08,6.38,0.897,4,0.000,0.053,3226,1015,990
$GC,15064,2.36,459.9,423.9,11.5,1143,15081,0.00,1.67,10.65,0.983,6,0.000,0.028,3226,2013,950
$GC,15400,2.43,459.9,384.1,12.2,1175,15404,0.15,1.95,0.00,0.000,4,0.062,0.046,3276,3126,948
$GC,15495,2.37,459.9,371.3,13.0,1183,15501,0.15,1.65,0.00,0.000,6,0.103,0.032,3246,2164,948
$GC,15821,2.42,466.9,331.8,11.7,1214,15833,0.00,2.12,7.68,0.876,4,0.000,0.055,3246,1018,921
$GC,15917,2.42,467.6,319.9,12.0,1222,15923,0.00,1.67,0.00,0.000,6,0.000,0.028,3246,2020,921
$GC,16245,2.48,467.6,281.4,12.0,1253,16249,0.10,1.92,0.00,0.000,4,0.075,0.044,3278,3126,920
$GC,16318,2.44,467.6,271.9,12.2,1259,16323,0.00,1.62,0.00,0.000,6,0.000,0.031,3278,2172,919
$GC,16651,2.44,467.6,230.6,12.4,1304,16657,0.00,2.03,0.00,0.000,4,0.000,0.051,3278,1015,919
$GC,16720,2.41,487.3,222.2,11.0,1316,16748,0.12,1.67,19.48,0.891,6,0.103,0.028,3254,2028,837
$GC,17089,2.51,490.3,179.4,11.9,1381,17100,0.00,1.85,3.83,0.570,4,0.000,0.048,3254,1014,826
$GC,17158,2.62,509.1,170.8,11.1,1393,17185,0.20,1.65,18.40,0.837,6,0.051,0.027,3311,2013,749
$GC,17526,2.66,513.9,128.6,11.8,1458,17538,0.00,1.92,5.20,0.637,4,0.000,0.041,3311,3115,728
$GC,17624,2.67,518.7,117.4,11.8,1475,17636,0.00,2.03,5.90,0.658,6,0.000,0.028,3311,1918,709
$GC,17976,2.81,551.9,80.3,10.4,1537,18009,0.12,1.60,27.20,0.748,4,0.059,0.045,3355,1009,586
$GC,18050,2.85,578.0,72.1,10.7,1550,18057,0.00,1.77,0.00,0.000,6,0.000,0.025,3356,2073,585
$GC,18397,2.89,600.4,37.7,10.9,1611,18402,0.00,1.83,0.00,0.000,4,0.000,0.039,3356,1009,584
$GC,18516,2.96,641.9,24.8,10.0,1632,18522,0.00,1.73,0.00,0.000,6,0.000,0.023,3356,2067,584
$STATE,18739,end climb,SURFACE_DEPTH_REACHED
$STATE,18739,begin surface coast
$FINISH,-0.7,1.020970
$STATE,18763,end surface coast,CONTROL_FINISHED_OK
$STATE,18763,begin surface
$SM_CCo,18847,0.00,0.000,0,0,584,549.72
$SM_GC,-6.76,12.80,0.00,0.00,0.051,0.000,0.000,417,2365,584,-10.58,-0.08,549.72
$IRIDIUM_FIX,1247.67,12027.48,090897,151549
$TT8_MAMPS,0.025311
$HUMID,1977
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.70
$XPDR_PINGS,469
$24V_AH,22.6,70.019
$10V_AH,10.1,47.707
$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,31.175,155.875,704.400,0.000,0.000,22.295,32.254,401.569,129.750,0.000,0.000,14.986,2778.447,11782.044,807.606,3124.613,963.450,0.000,2403.488,0.000,3056.749,0.000,91.478
$DEVICE_MAMPS,164.905,56.758,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.164,399.309,630.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91715,1676
$CAP_FILE_SIZE,203883,0
$CFSIZE,260165632,221257728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,160508,023007,1253.092,12029.715,35,1.2,35,-0.8