version: 66.03
glider: 126
mission: 7
dive: 400
start: 5 16 108 2 38 0
data:
$ID,126
$MISSION,7
$DIVE,400
$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,-627036.25
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,023007,1253.092,12029.715,35,1.2,35,-0.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.82
$_SM_ANGLEo,-53.3
$GPS2,023727,1253.168,12029.712,15,1.8,15,-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,126.1,29403,-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,23,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-85.93,0.000,6,0.000,0.000,417,2371,3621
$GC,117,-2.34,-194.7,1.0,-24.6,17,135,10.10,1.77,0.00,0.000,4,0.165,0.036,2216,3404,3623
$GC,170,-2.17,-194.7,14.6,-16.3,26,177,0.15,1.77,0.00,0.000,6,0.104,0.023,2251,2311,3623
$GC,516,-2.10,-194.7,64.8,-12.7,87,522,0.10,1.88,0.00,0.000,4,0.122,0.036,2269,3414,3624
$GC,602,-2.03,-194.7,76.2,-12.6,102,608,0.00,1.98,0.00,0.000,6,0.000,0.023,2269,2192,3624
$GC,949,-2.03,-194.7,117.4,-12.2,163,954,0.00,1.50,0.00,0.000,4,0.000,0.033,2269,1299,3625
$GC,1035,-2.03,-194.7,127.4,-11.4,178,1041,0.00,1.45,0.00,0.000,6,0.000,0.022,2269,2202,3626
$GC,1379,-2.09,-194.7,163.6,-10.0,239,1385,0.00,1.52,0.00,0.000,4,0.000,0.032,2269,1301,3628
$GC,1410,-2.14,-194.7,166.6,-10.3,244,1416,0.00,1.40,0.00,0.000,6,0.000,0.023,2269,2170,3628
$GC,1755,-2.23,-194.7,198.3,-9.6,305,1761,0.12,1.45,0.00,0.000,4,0.058,0.033,2228,1302,3629
$GC,1796,-2.23,-194.7,202.6,-9.8,312,1802,0.00,1.30,0.00,0.000,6,0.000,0.024,2228,2113,3629
$GC,2141,-2.26,-194.7,235.7,-9.2,373,2147,0.00,1.38,0.00,0.000,4,0.000,0.037,2228,1312,3629
$GC,2216,-2.26,-194.7,242.8,-9.0,386,2222,0.00,1.17,0.00,0.000,6,0.000,0.025,2227,2045,3629
$GC,2551,-2.31,-194.7,275.9,-10.0,424,2555,0.00,1.27,0.00,0.000,4,0.000,0.039,2228,1309,3628
$GC,2568,-2.35,-194.7,277.8,-10.2,425,2574,0.00,1.40,0.00,0.000,6,0.000,0.025,2228,2162,3627
$GC,2897,-2.40,-194.7,309.9,-10.1,456,2900,0.00,1.48,0.00,0.000,4,0.000,0.039,2228,1314,3625
$GC,2988,-2.44,-194.7,319.7,-11.3,464,2992,0.10,1.25,0.00,0.000,6,0.047,0.025,2191,2074,3625
$GC,3318,-2.44,-194.7,354.5,-10.4,495,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2075,3622
$GC,3639,-2.44,-194.7,386.1,-9.7,525,3642,0.00,1.35,0.00,0.000,4,0.000,0.043,2190,1308,3619
$GC,3667,-2.44,-194.7,389.0,-9.8,527,3673,0.00,1.48,0.00,0.000,6,0.000,0.028,2190,2191,3620
$GC,3995,-2.44,-194.7,419.8,-9.6,558,3998,0.00,1.55,0.00,0.000,4,0.000,0.044,2190,1310,3617
$GC,4053,-2.44,-194.7,425.6,-10.2,563,4057,0.00,1.35,0.00,0.000,6,0.000,0.027,2190,2119,3617
$GC,4389,-2.44,-194.7,457.5,-9.7,594,4393,0.00,2.22,0.00,0.000,4,0.000,0.047,2191,3410,3614
$GC,4429,-2.39,-194.7,462.0,-9.8,597,4433,0.00,2.28,0.00,0.000,6,0.000,0.031,2191,2076,3614
$GC,4759,-2.39,-194.7,493.0,-9.3,627,4763,0.00,1.35,0.00,0.000,4,0.000,0.058,2190,1322,3611
$GC,4851,-2.39,-194.7,501.8,-9.1,635,4854,0.00,1.52,0.00,0.000,6,0.000,0.035,2191,2207,3611
$GC,5185,-2.39,-194.7,533.3,-9.3,651,5188,0.00,2.12,0.00,0.000,4,0.000,0.059,2191,3394,3609
$GC,5281,-2.36,-194.7,542.4,-9.3,655,5285,0.12,2.00,0.00,0.000,6,0.106,0.036,2214,2243,3607
$GC,5611,-2.41,-194.7,572.5,-9.7,671,5615,0.00,2.12,0.00,0.000,4,0.000,0.069,2214,3390,3605
$GC,5695,-2.41,-194.7,581.3,-10.1,674,5701,0.00,2.17,0.00,0.000,6,0.000,0.049,2214,2173,3604
$GC,6012,-2.46,-194.7,612.3,-10.0,690,6017,0.00,2.33,0.00,0.000,4,0.000,0.081,2214,3396,3602
$GC,6135,-2.46,-194.7,625.1,-10.1,695,6142,0.00,2.05,0.00,0.000,6,0.000,0.065,2214,2290,3601
$GC,6453,-2.51,-194.7,655.9,-9.6,711,6457,0.15,2.17,0.00,0.000,4,0.059,0.098,2168,3386,3599
$GC,6508,-2.44,-194.7,661.9,-10.4,713,6515,0.15,2.30,0.00,0.000,6,0.105,0.082,2197,2190,3598
$GC,6827,-2.44,-194.7,692.8,-9.9,729,6831,0.00,2.45,0.00,0.000,4,0.000,0.114,2197,3385,3597
$GC,6894,-2.44,-194.7,699.8,-10.1,732,6900,0.00,2.58,0.00,0.000,6,0.000,0.100,2197,2095,3597
$GC,7225,-2.44,-194.7,731.4,-10.1,748,7229,0.00,2.33,0.00,0.000,4,0.000,0.048,2197,3406,3596
$GC,7315,-2.44,-194.7,740.7,-9.6,752,7319,0.00,2.40,0.00,0.000,6,0.000,0.033,2197,2007,3595
$GC,7637,-2.44,-194.7,770.9,-9.4,768,7640,0.00,1.23,0.00,0.000,4,0.000,0.052,2197,1314,3593
$GC,7688,-2.44,-194.7,776.0,-9.7,770,7691,0.00,1.40,0.00,0.000,6,0.000,0.030,2197,2141,3593
$GC,8015,-2.44,-194.7,808.2,-9.8,786,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2141,3592
$GC,8325,-2.44,-194.7,838.2,-9.8,801,8328,0.00,1.48,0.00,0.000,4,0.000,0.050,2197,1322,3591
$GC,8358,-2.44,-194.7,841.5,-9.9,802,8362,0.00,1.60,0.00,0.000,6,0.000,0.032,2197,2274,3591
$GC,8683,-2.47,-194.7,873.6,-10.2,818,8687,0.00,1.70,0.00,0.000,4,0.000,0.048,2197,1310,3590
$GC,8712,-2.47,-194.7,876.8,-11.3,819,8715,0.00,1.50,0.00,0.000,6,0.000,0.034,2197,2181,3590
$GC,9043,-2.51,-194.7,910.3,-10.3,835,9046,0.00,2.15,0.00,0.000,4,0.000,0.053,2196,3397,3588
$GC,9099,-2.51,-194.7,916.6,-10.9,837,9103,0.00,2.25,0.00,0.000,6,0.000,0.035,2197,2095,3588
$GC,9417,-2.51,-194.7,949.1,-10.4,852,9421,0.00,2.33,0.00,0.000,4,0.000,0.052,2197,3393,3587
$GC,9485,-2.47,-194.7,956.7,-11.0,855,9489,0.00,2.17,0.00,0.000,6,0.000,0.035,2197,2133,3587
$GC,9807,-2.47,-194.7,988.2,-9.4,871,9811,0.00,2.28,0.00,0.000,4,0.000,0.053,2197,3402,3586
$STATE,9823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9823,begin apogee
$GC,9832,-0.52,0.0,990.0,9.6,872,10006,1.98,0.00,167.75,1.430,6,0.092,0.000,2614,2064,2825
$STATE,10007,end apogee,CONTROL_FINISHED_OK
$STATE,10007,begin climb
$GC,10010,2.34,194.7,999.2,0.0,881,10195,2.75,0.00,174.10,1.388,6,0.052,0.000,3240,2064,2030
$GC,10503,2.27,236.8,961.9,9.9,905,10554,0.00,1.92,41.10,1.285,4,0.000,0.048,3241,3105,1858
$GC,10678,2.15,245.9,942.7,11.6,913,10695,0.22,1.83,9.40,1.174,6,0.098,0.036,3196,2065,1822
$GC,11007,2.15,292.3,909.6,9.7,929,11062,0.00,1.92,45.20,1.287,4,0.000,0.048,3196,3106,1632
$GC,11166,2.08,294.4,891.7,11.9,936,11170,0.00,1.75,0.00,0.000,6,0.000,0.036,3196,2108,1630
$GC,11494,2.07,321.3,857.0,10.7,952,11528,0.00,1.90,27.35,1.299,4,0.000,0.049,3196,3106,1514
$GC,11628,2.04,342.6,842.3,11.0,958,11654,0.12,1.65,20.73,1.265,6,0.110,0.035,3173,2165,1428
$GC,11978,2.09,372.3,805.7,10.6,975,12016,0.00,0.00,30.42,1.213,6,0.000,0.000,3173,2165,1307
$GC,12325,2.12,394.5,767.1,10.9,992,12359,0.00,1.77,23.60,1.164,4,0.000,0.049,3173,3105,1216
$GC,12394,2.13,399.1,759.0,11.8,995,12404,0.00,1.60,6.10,0.996,6,0.000,0.043,3173,2194,1196
$GC,12715,2.15,413.1,723.0,11.3,1010,12737,0.12,1.73,13.88,1.184,4,0.071,0.050,3208,3105,1141
$GC,12836,2.11,413.1,708.0,12.2,1015,12839,0.00,1.48,0.00,0.000,6,0.000,0.034,3208,2273,1139
$GC,13162,2.11,413.1,666.8,12.8,1031,13166,0.00,2.25,0.00,0.000,4,0.000,0.059,3208,1023,1139
$GC,13230,2.07,413.1,657.7,13.3,1034,13234,0.15,2.10,0.00,0.000,6,0.102,0.031,3179,2251,1139
$GC,13552,2.13,417.3,619.6,11.8,1050,13561,0.00,1.52,5.35,0.920,4,0.000,0.051,3179,3102,1123
$GC,13584,2.16,432.3,615.4,11.3,1051,13604,0.00,1.77,15.48,1.140,6,0.000,0.035,3179,2085,1062
$GC,13929,2.28,445.6,575.7,11.4,1068,13951,0.17,2.00,13.70,1.108,4,0.059,0.058,3232,1024,1008
$GC,14030,2.23,445.6,562.5,12.2,1072,14033,0.00,1.55,0.00,0.000,6,0.000,0.029,3231,1926,1007
$GC,14352,2.28,445.6,523.4,12.3,1088,14356,0.00,2.05,0.00,0.000,4,0.000,0.046,3232,3107,1005
$GC,14453,2.29,451.0,510.6,11.7,1092,14465,0.00,1.73,6.15,0.921,6,0.000,0.035,3232,2111,985
$GC,14784,2.34,451.0,470.1,12.2,1119,14788,0.00,1.98,0.00,0.000,4,0.000,0.057,3232,1021,985
$GC,14863,2.34,451.0,459.8,12.6,1126,14867,0.00,1.58,0.00,0.000,6,0.000,0.029,3232,1944,985
$GC,15196,2.40,451.0,419.5,12.2,1157,15200,0.00,2.03,0.00,0.000,4,0.000,0.045,3232,3108,985
$GC,15231,2.40,452.1,414.9,11.9,1160,15235,0.00,1.70,0.00,0.000,6,0.000,0.034,3232,2122,984
$GC,15563,2.45,452.4,374.4,12.0,1191,15567,0.15,1.75,0.00,0.000,4,0.061,0.044,3280,3108,984
$GC,15620,2.37,452.4,366.9,13.5,1196,15625,0.17,1.98,0.00,0.000,6,0.099,0.038,3245,1968,984
$GC,15946,2.42,454.7,327.9,11.9,1226,15957,0.00,1.70,4.80,0.740,4,0.000,0.057,3245,1027,971
$GC,15971,2.46,454.7,325.0,12.2,1228,15974,0.00,1.92,0.00,0.000,6,0.000,0.029,3245,2163,971
$GC,16305,2.51,459.8,286.3,11.8,1259,16318,0.15,1.67,6.22,0.802,4,0.062,0.047,3294,3111,950
$GC,16330,2.51,459.8,282.8,12.6,1261,16334,0.00,1.92,0.00,0.000,6,0.000,0.033,3294,2000,949
$GC,16659,2.54,472.9,242.1,11.4,1297,16675,0.00,0.00,13.10,0.883,6,0.000,0.000,3294,1997,897
$GC,17013,2.54,477.1,199.8,11.8,1360,17025,0.00,1.98,5.22,0.690,4,0.000,0.041,3294,3115,879
$GC,17123,2.49,488.1,186.9,11.5,1379,17140,0.12,1.62,11.25,0.817,6,0.104,0.029,3270,2154,835
$GC,17481,2.59,508.0,147.1,11.0,1442,17510,0.10,2.10,18.92,0.814,4,0.072,0.049,3303,1013,753
$GC,17597,2.59,509.0,134.3,12.0,1462,17604,0.00,1.70,0.00,0.000,6,0.000,0.026,3303,2028,752
$GC,17944,2.69,525.6,97.3,11.2,1523,17966,0.00,1.88,15.98,0.750,4,0.000,0.038,3303,3112,682
$GC,18026,2.82,574.2,88.9,9.6,1537,18054,0.17,1.65,21.55,0.740,6,0.051,0.025,3356,2120,587
$GC,18397,2.90,598.6,50.4,10.8,1602,18403,0.00,1.88,0.00,0.000,4,0.000,0.042,3356,1036,584
$GC,18489,2.94,623.0,39.8,10.8,1618,18495,0.00,1.60,0.00,0.000,6,0.000,0.023,3356,2018,583
$GC,18834,3.08,674.7,2.9,9.5,1679,18841,0.15,1.70,0.00,0.000,4,0.051,0.039,3413,1027,584
$STATE,18845,end climb,SURFACE_DEPTH_REACHED
$STATE,18845,begin surface coast
$FINISH,1.0,1.020970
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18944,0.00,0.000,0,0,584,549.96
$SM_GC,-6.72,13.07,0.00,0.00,0.051,0.000,0.000,414,2357,584,-10.60,-0.31,549.96
$IRIDIUM_FIX,1247.67,12029.39,090897,212110
$TT8_MAMPS,0.025311
$HUMID,1990
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,379
$24V_AH,22.5,70.292
$10V_AH,10.1,47.821
$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,30.625,155.625,697.350,0.000,0.000,23.399,33.239,223.309,107.250,0.000,0.000,15.670,2793.977,11891.248,778.320,3126.013,789.265,0.000,2375.146,0.000,3062.613,0.000,91.483
$DEVICE_MAMPS,164.905,114.283,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1138.253,397.513,633.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91391,1683
$CAP_FILE_SIZE,197680,0
$CFSIZE,260165632,221167616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,160508,075502,1253.737,12029.737,41,1.4,41,-0.8