version: 66.03
glider: 126
mission: 7
dive: 401
start: 5 16 108 8 2 30
data:
$ID,126
$MISSION,7
$DIVE,401
$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,-627051.81
$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,51
$R_STBD_OVSHOOT,47
$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
$GPS1,075502,1253.737,12029.737,41,1.4,41,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.88
$_SM_ANGLEo,-53.1
$GPS2,080156,1253.791,12029.759,12,1.4,12,-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,128.0,30016,-19.3,-12.000
$D_GRID,1914
$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,-194.7,0.0,0.0,0,113,0.00,0.00,-84.47,0.000,6,0.000,0.000,414,2362,3621
$GC,117,-2.34,-194.7,1.8,-27.2,17,134,10.15,1.80,0.00,0.000,4,0.166,0.036,2219,3409,3622
$GC,188,-2.17,-194.7,19.2,-16.2,29,194,0.20,1.70,0.00,0.000,6,0.113,0.023,2257,2338,3623
$GC,532,-2.17,-194.7,67.0,-12.8,90,538,0.00,1.88,0.00,0.000,4,0.000,0.038,2257,3417,3624
$GC,585,-2.09,-194.7,74.0,-13.2,99,591,0.00,1.85,0.00,0.000,6,0.000,0.022,2257,2260,3624
$GC,931,-2.12,-194.7,117.3,-11.3,160,938,0.00,1.98,0.00,0.000,4,0.000,0.037,2258,3406,3625
$GC,1019,-2.08,-194.7,127.4,-11.6,175,1025,0.00,2.00,0.00,0.000,6,0.000,0.023,2257,2166,3626
$GC,1365,-2.14,-194.7,163.7,-10.7,236,1370,0.00,2.12,0.00,0.000,4,0.000,0.038,2257,3409,3627
$GC,1396,-2.14,-194.7,167.1,-11.5,241,1401,0.00,1.98,0.00,0.000,6,0.000,0.024,2257,2186,3627
$GC,1740,-2.20,-194.7,201.3,-9.6,302,1746,0.00,1.40,0.00,0.000,4,0.000,0.036,2257,1352,3628
$GC,1832,-2.25,-194.7,210.0,-9.1,318,1838,0.00,1.40,0.00,0.000,6,0.000,0.024,2257,2213,3628
$GC,2177,-2.33,-194.7,244.6,-10.4,379,2183,0.15,2.05,0.00,0.000,4,0.054,0.041,2207,3406,3628
$GC,2203,-2.33,-194.7,247.4,-10.7,383,2209,0.00,2.03,0.00,0.000,6,0.000,0.026,2206,2172,3628
$GC,2539,-2.33,-194.7,281.2,-10.1,416,2543,0.00,2.15,0.00,0.000,4,0.000,0.042,2206,3407,3627
$GC,2653,-2.33,-194.7,294.0,-10.4,426,2657,0.00,2.15,0.00,0.000,6,0.000,0.027,2207,2115,3626
$GC,2982,-2.33,-194.7,329.5,-10.6,456,2985,0.00,1.30,0.00,0.000,4,0.000,0.042,2206,1357,3624
$GC,3054,-2.33,-194.7,337.4,-9.9,462,3060,0.00,1.42,0.00,0.000,6,0.000,0.026,2206,2221,3624
$GC,3383,-2.33,-194.7,368.7,-9.8,493,3386,0.00,1.50,0.00,0.000,4,0.000,0.040,2206,1358,3621
$GC,3473,-2.33,-194.7,377.6,-10.1,501,3477,0.00,1.30,0.00,0.000,6,0.000,0.027,2206,2142,3621
$GC,3807,-2.37,-194.7,408.8,-9.7,532,3811,0.00,2.20,0.00,0.000,4,0.000,0.045,2206,3407,3618
$GC,3915,-2.37,-194.7,420.1,-10.3,541,3919,0.00,2.10,0.00,0.000,6,0.000,0.030,2206,2169,3617
$GC,4250,-2.40,-194.7,452.7,-9.6,572,4254,0.00,2.20,0.00,0.000,4,0.000,0.048,2207,3412,3615
$GC,4335,-2.40,-194.7,461.5,-9.8,579,4339,0.00,2.22,0.00,0.000,6,0.000,0.032,2206,2111,3615
$GC,4663,-2.45,-194.7,492.0,-9.2,609,4666,0.00,1.33,0.00,0.000,4,0.000,0.058,2206,1370,3612
$GC,4737,-2.45,-194.7,499.5,-9.9,615,4744,0.00,1.40,0.00,0.000,6,0.000,0.036,2206,2184,3612
$GC,5056,-2.48,-194.7,530.0,-9.8,631,5061,0.00,1.50,0.00,0.000,4,0.000,0.058,2207,1364,3610
$GC,5141,-2.48,-194.7,538.6,-9.3,634,5147,0.00,1.25,0.00,0.000,6,0.000,0.041,2206,2078,3609
$GC,5458,-2.53,-194.7,569.5,-9.7,650,5463,0.12,1.33,0.00,0.000,4,0.064,0.067,2171,1374,3606
$GC,5475,-2.53,-194.7,571.4,-9.9,650,5481,0.00,1.48,0.00,0.000,6,0.000,0.051,2171,2196,3606
$GC,5791,-2.53,-194.7,602.5,-9.5,666,5795,0.00,1.58,0.00,0.000,4,0.000,0.078,2171,1351,3604
$GC,5848,-2.49,-194.7,608.1,-10.1,668,5851,0.00,1.38,0.00,0.000,6,0.000,0.062,2171,2096,3603
$GC,6170,-2.49,-194.7,637.3,-9.0,684,6174,0.00,2.30,0.00,0.000,4,0.000,0.048,2172,3414,3601
$GC,6227,-2.43,-194.7,642.7,-9.2,686,6234,0.15,1.88,0.00,0.000,6,0.109,0.032,2200,2306,3600
$GC,6547,-2.43,-194.7,670.6,-8.8,702,6551,0.00,1.98,0.00,0.000,4,0.000,0.051,2200,3414,3599
$GC,6603,-2.43,-194.7,676.4,-10.4,704,6607,0.00,2.05,0.00,0.000,6,0.000,0.032,2200,2220,3598
$GC,6928,-2.47,-194.7,706.2,-9.7,720,6932,0.00,2.12,0.00,0.000,4,0.000,0.052,2200,3407,3597
$GC,7000,-2.47,-194.7,713.5,-9.6,723,7004,0.00,2.17,0.00,0.000,6,0.000,0.034,2200,2143,3596
$GC,7325,-2.51,-194.7,743.6,-9.3,739,7329,0.00,2.25,0.00,0.000,4,0.000,0.053,2200,3400,3595
$GC,7404,-2.51,-194.7,751.5,-9.9,742,7410,0.00,2.30,0.00,0.000,6,0.000,0.037,2200,2074,3595
$GC,7721,-2.54,-194.7,781.2,-9.5,758,7725,0.00,1.30,0.00,0.000,4,0.000,0.078,2200,1377,3593
$GC,7772,-2.54,-194.7,786.3,-9.3,760,7776,0.00,1.35,0.00,0.000,6,0.000,0.036,2200,2162,3593
$GC,8102,-2.57,-194.7,818.3,-10.0,776,8104,0.15,0.00,0.00,0.000,6,0.064,0.000,2161,2161,3591
$GC,8411,-2.57,-194.7,850.6,-10.2,791,8414,0.00,2.20,0.00,0.000,4,0.000,0.054,2161,3407,3590
$GC,8490,-2.49,-194.7,859.4,-10.7,794,8494,0.12,1.83,0.00,0.000,6,0.117,0.033,2184,2342,3590
$GC,8816,-2.49,-194.7,891.4,-9.9,810,8820,0.00,1.80,0.00,0.000,4,0.000,0.059,2184,1331,3589
$GC,8939,-2.46,-194.7,904.3,-9.3,815,8943,0.00,1.58,0.00,0.000,6,0.000,0.035,2184,2261,3588
$GC,9262,-2.46,-194.7,936.4,-10.2,831,9265,0.00,1.67,0.00,0.000,4,0.000,0.064,2184,1326,3587
$GC,9335,-2.42,-194.7,944.0,-11.2,834,9338,0.00,1.50,0.00,0.000,6,0.000,0.035,2184,2199,3587
$GC,9662,-2.42,-194.7,976.9,-10.0,850,9666,0.00,1.58,0.00,0.000,4,0.000,0.054,2184,1318,3586
$GC,9765,-2.39,-194.7,987.3,-10.9,854,9769,0.12,1.65,0.00,0.000,6,0.117,0.035,2207,2294,3586
$STATE,9795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9795,begin apogee
$GC,9802,-0.52,0.0,990.5,9.8,856,9977,1.92,0.00,167.80,1.429,6,0.092,0.000,2615,2067,2825
$STATE,9979,end apogee,CONTROL_FINISHED_OK
$STATE,9979,begin climb
$GC,9982,2.34,194.7,999.9,0.0,865,10168,2.75,2.00,174.43,1.384,4,0.051,0.051,3247,3106,2031
$GC,10207,2.24,233.7,989.6,10.1,875,10249,0.15,1.83,36.55,1.325,6,0.110,0.041,3220,2072,1872
$GC,10562,2.18,260.8,952.2,10.7,892,10603,0.00,1.98,27.65,1.233,4,0.000,0.050,3219,3106,1760
$GC,10750,2.10,278.2,930.7,11.2,900,10772,0.15,1.70,16.88,1.268,6,0.107,0.046,3191,2130,1690
$GC,11091,2.10,310.9,894.8,10.4,917,11126,0.00,1.80,31.27,1.314,4,0.000,0.048,3190,3112,1557
$GC,11263,2.04,319.1,875.3,11.6,924,11277,0.00,1.60,8.88,1.154,6,0.000,0.035,3191,2193,1523
$GC,11594,2.06,346.9,839.0,10.6,940,11625,0.00,1.77,26.62,1.287,4,0.000,0.050,3190,3120,1410
$GC,11690,2.00,346.9,828.0,12.1,944,11694,0.12,1.58,0.00,0.000,6,0.110,0.034,3167,2214,1408
$GC,12011,2.07,388.6,795.4,10.0,960,12063,0.00,2.28,41.42,1.236,4,0.000,0.059,3167,1022,1240
$GC,12164,2.07,388.6,777.6,12.4,967,12167,0.00,2.00,0.00,0.000,6,0.000,0.031,3167,2191,1238
$GC,12491,2.08,392.6,739.5,11.8,983,12500,0.00,2.15,4.72,0.900,4,0.000,0.055,3167,1021,1224
$GC,12540,2.08,392.6,733.2,13.2,985,12544,0.00,1.90,0.00,0.000,6,0.000,0.040,3167,2134,1224
$GC,12868,2.16,413.9,696.2,11.0,1001,12903,0.15,1.80,23.10,1.133,4,0.062,0.050,3208,3104,1137
$GC,12969,2.12,418.3,684.0,11.8,1005,12980,0.00,1.67,5.60,0.953,6,0.000,0.035,3208,2139,1119
$GC,13290,2.13,424.8,645.7,11.7,1021,13304,0.00,1.83,7.50,1.042,4,0.000,0.047,3208,3112,1093
$GC,13373,2.09,424.8,635.4,12.7,1024,13379,0.12,1.58,0.00,0.000,6,0.105,0.033,3185,2199,1092
$GC,13690,2.21,443.0,600.4,11.1,1040,13714,0.12,1.73,18.08,1.145,4,0.066,0.048,3221,3108,1019
$GC,13732,2.21,443.0,594.9,12.2,1042,13736,0.00,1.85,0.00,0.000,6,0.000,0.034,3221,2058,1018
$GC,14068,2.26,446.5,555.0,11.8,1058,14077,0.00,1.90,4.82,0.846,4,0.000,0.060,3221,1019,1004
$GC,14135,2.27,451.4,546.5,11.8,1061,14145,0.00,1.48,6.10,0.930,6,0.000,0.029,3221,1888,984
$GC,14462,2.34,451.4,507.6,12.1,1077,14465,0.00,1.58,0.00,0.000,4,0.000,0.058,3221,1021,983
$GC,14546,2.34,451.4,497.1,12.0,1081,14552,0.00,1.77,0.00,0.000,6,0.000,0.030,3221,2079,983
$GC,14873,2.41,451.4,456.8,12.3,1112,14877,0.15,1.83,0.00,0.000,4,0.059,0.045,3264,3122,983
$GC,14958,2.38,451.4,445.4,12.2,1119,14964,0.00,1.55,0.00,0.000,6,0.000,0.033,3264,2240,981
$GC,15285,2.38,451.4,404.4,12.7,1150,15289,0.00,2.17,0.00,0.000,4,0.000,0.055,3264,1019,982
$GC,15348,2.30,451.4,396.0,12.3,1155,15354,0.17,1.80,0.00,0.000,6,0.100,0.029,3229,2093,982
$GC,15673,2.38,460.8,357.2,11.5,1186,15687,0.00,1.85,9.65,0.937,4,0.000,0.048,3229,3125,946
$GC,15753,2.43,469.0,347.9,11.6,1193,15767,0.12,1.60,9.18,0.914,6,0.067,0.041,3266,2198,912
$GC,16093,2.46,483.5,307.7,11.3,1225,16114,0.00,2.15,14.35,0.936,4,0.000,0.057,3266,1023,854
$GC,16217,2.46,483.5,293.0,12.2,1236,16221,0.00,1.77,0.00,0.000,6,0.000,0.028,3266,2060,853
$GC,16551,2.52,483.5,253.0,12.2,1267,16554,0.00,1.85,0.00,0.000,4,0.000,0.046,3266,3121,852
$GC,16619,2.52,483.5,244.6,12.4,1277,16624,0.00,1.62,0.00,0.000,6,0.000,0.031,3266,2168,852
$GC,16963,2.59,490.5,203.1,11.7,1338,16976,0.12,2.10,7.57,0.772,4,0.062,0.051,3305,1023,825
$GC,17070,2.52,492.0,190.1,11.9,1356,17076,0.15,1.70,0.00,0.000,6,0.097,0.027,3275,2051,824
$GC,17417,2.60,502.4,151.2,11.5,1417,17434,0.00,1.92,11.75,0.787,4,0.000,0.047,3275,1011,777
$GC,17526,2.72,552.9,139.6,9.5,1436,17577,0.17,1.75,41.83,0.810,6,0.041,0.025,3334,2057,586
$GC,17917,2.84,590.9,94.8,10.1,1505,17922,0.00,1.80,0.00,0.000,4,0.000,0.039,3334,3112,581
$GC,17957,2.90,626.5,90.1,10.3,1512,17964,0.12,2.05,0.00,0.000,6,0.059,0.026,3375,1895,581
$GC,18303,2.95,661.6,50.1,10.3,1573,18309,0.00,1.52,0.00,0.000,4,0.000,0.047,3375,1022,580
$GC,18374,2.95,681.4,42.6,11.0,1585,18380,0.00,1.70,0.00,0.000,6,0.000,0.023,3375,2077,580
$GC,18720,3.09,761.9,12.2,8.1,1646,18726,0.12,1.75,0.00,0.000,4,0.057,0.036,3418,3099,581
$STATE,18797,end climb,SURFACE_DEPTH_REACHED
$STATE,18797,begin surface coast
$FINISH,-0.0,1.020982
$STATE,18816,end surface coast,CONTROL_FINISHED_OK
$STATE,18816,begin surface
$SM_CCo,18901,0.00,0.000,0,0,581,550.45
$SM_GC,-6.77,13.12,0.00,0.00,0.053,0.000,0.000,414,2308,581,-10.59,-1.70,550.45
$IRIDIUM_FIX,1247.67,12030.51,100897,020218
$TT8_MAMPS,0.026078
$HUMID,1979
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.80
$XPDR_PINGS,456
$24V_AH,22.5,70.567
$10V_AH,10.1,47.934
$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,30.950,161.375,695.750,0.000,0.000,23.877,36.323,196.071,126.500,0.000,0.000,14.917,2793.052,11794.724,784.794,3182.024,757.920,0.000,2404.941,0.000,3112.093,0.000,91.500
$DEVICE_MAMPS,166.439,78.234,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.321,394.123,620.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91509,1663
$CAP_FILE_SIZE,200010,0
$CFSIZE,260165632,221069312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,160508,131838,1253.971,12030.087,30,1.3,30,-0.8