version: 66.03
glider: 126
mission: 7
dive: 403
start: 5 16 108 18 46 11
data:
$ID,126
$MISSION,7
$DIVE,403
$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,-627087.06
$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,37
$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
$GPS1,183837,1254.381,12030.115,40,1.4,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.80
$_SM_ANGLEo,-52.2
$GPS2,184538,1254.400,12030.149,12,1.3,17,-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,130.5,30164,-19.3,-12.000
$D_GRID,1763
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.34,-194.7,0.0,0.0,0,110,0.00,0.00,-83.32,0.000,6,0.000,0.000,417,2375,3621
$GC,113,-2.34,-194.7,1.6,-26.2,16,130,10.05,1.77,0.00,0.000,4,0.164,0.036,2217,3407,3623
$GC,177,-2.16,-194.7,18.0,-16.2,27,184,0.20,1.73,0.00,0.000,6,0.111,0.023,2256,2323,3624
$GC,524,-2.09,-194.7,65.6,-13.2,88,530,0.00,1.62,0.00,0.000,4,0.000,0.032,2256,1354,3625
$GC,544,-2.02,-194.7,68.5,-13.4,91,550,0.17,1.58,0.00,0.000,6,0.107,0.023,2290,2322,3625
$GC,889,-2.07,-194.7,110.1,-11.2,152,895,0.00,1.65,0.00,0.000,4,0.000,0.032,2290,1347,3626
$GC,931,-2.12,-194.7,114.5,-10.3,159,937,0.00,1.40,0.00,0.000,6,0.000,0.021,2290,2220,3626
$GC,1276,-2.20,-194.7,150.8,-9.3,220,1282,0.15,2.00,0.00,0.000,4,0.052,0.036,2238,3403,3628
$GC,1319,-2.20,-194.7,155.1,-10.1,227,1325,0.00,1.90,0.00,0.000,6,0.000,0.023,2238,2207,3628
$GC,1663,-2.24,-194.7,190.8,-10.0,288,1669,0.00,1.45,0.00,0.000,4,0.000,0.035,2237,1350,3629
$GC,1766,-2.24,-194.7,200.5,-9.5,306,1772,0.00,1.33,0.00,0.000,6,0.000,0.023,2238,2174,3629
$GC,2111,-2.29,-194.7,233.3,-9.4,367,2117,0.00,1.40,0.00,0.000,4,0.000,0.038,2238,1359,3629
$GC,2157,-2.29,-194.7,238.1,-9.8,375,2163,0.00,1.15,0.00,0.000,6,0.000,0.025,2238,2073,3629
$GC,2495,-2.36,-194.7,270.4,-10.2,417,2499,0.00,1.25,0.00,0.000,4,0.000,0.041,2238,1359,3628
$GC,2534,-2.36,-194.7,274.5,-10.3,420,2540,0.00,1.30,0.00,0.000,6,0.000,0.025,2238,2155,3628
$GC,2863,-2.42,-194.7,308.7,-10.0,451,2869,0.15,0.00,0.00,0.000,6,0.056,0.000,2188,2157,3626
$GC,3190,-2.42,-194.7,342.6,-10.5,482,3194,0.00,1.40,0.00,0.000,4,0.000,0.042,2188,1358,3625
$GC,3241,-2.42,-194.7,348.3,-10.2,486,3247,0.00,1.17,0.00,0.000,6,0.000,0.025,2188,2077,3624
$GC,3569,-2.42,-194.7,381.2,-9.7,517,3573,0.00,1.27,0.00,0.000,4,0.000,0.043,2188,1357,3622
$GC,3643,-2.38,-194.7,388.8,-9.8,523,3649,0.08,1.30,0.00,0.000,6,0.095,0.026,2207,2142,3621
$GC,3969,-2.41,-194.7,419.3,-9.2,554,3972,0.00,1.38,0.00,0.000,4,0.000,0.045,2208,1365,3619
$GC,4071,-2.41,-194.7,428.9,-9.3,563,4075,0.00,1.40,0.00,0.000,6,0.000,0.028,2208,2196,3618
$GC,4405,-2.45,-194.7,460.4,-9.6,594,4408,0.00,1.50,0.00,0.000,4,0.000,0.050,2207,1360,3616
$GC,4451,-2.45,-194.7,465.4,-9.6,598,4454,0.00,1.58,0.00,0.000,6,0.000,0.032,2208,2283,3616
$GC,4785,-2.48,-194.7,497.8,-9.6,629,4788,0.00,1.65,0.00,0.000,4,0.000,0.055,2207,1360,3613
$GC,4869,-2.48,-194.7,505.9,-9.3,633,4875,0.00,1.45,0.00,0.000,6,0.000,0.038,2208,2197,3612
$GC,5188,-2.52,-194.7,534.3,-9.2,649,5193,0.12,2.15,0.00,0.000,4,0.064,0.060,2170,3394,3610
$GC,5233,-2.45,-194.7,539.2,-10.1,651,5238,0.12,2.08,0.00,0.000,6,0.110,0.037,2193,2199,3610
$GC,5560,-2.45,-194.7,570.5,-9.9,667,5563,0.00,2.20,0.00,0.000,4,0.000,0.069,2193,3389,3607
$GC,5632,-2.45,-194.7,578.6,-10.4,670,5636,0.00,2.25,0.00,0.000,6,0.000,0.051,2193,2131,3606
$GC,5952,-2.45,-194.7,610.1,-9.9,685,5956,0.00,2.40,0.00,0.000,4,0.000,0.081,2193,3393,3604
$GC,5963,-2.45,-194.7,611.5,-9.6,685,5967,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2266,3604
$GC,6285,-2.45,-194.7,642.5,-9.5,701,6288,0.00,1.73,0.00,0.000,4,0.000,0.109,2193,1373,3601
$GC,6365,-2.45,-194.7,650.2,-9.7,704,6368,0.00,1.35,0.00,0.000,6,0.000,0.080,2194,2071,3601
$GC,6690,-2.48,-194.7,681.1,-9.8,720,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2071,3599
$GC,6998,-2.51,-194.7,710.3,-9.4,735,7002,0.00,1.52,0.00,0.000,4,0.000,0.134,2193,1370,3597
$GC,7026,-2.51,-194.7,713.2,-9.6,736,7029,0.00,1.65,0.00,0.000,6,0.000,0.107,2193,2194,3597
$GC,7353,-2.51,-194.7,743.8,-9.4,752,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2195,3596
$GC,7663,-2.54,-194.7,774.5,-10.1,767,7667,0.00,1.50,0.00,0.000,4,0.000,0.048,2194,1356,3594
$GC,7691,-2.54,-194.7,777.7,-10.6,768,7695,0.00,1.67,0.00,0.000,6,0.000,0.032,2193,2355,3594
$GC,8023,-2.54,-194.7,810.7,-10.1,784,8027,0.00,1.90,0.00,0.000,4,0.000,0.053,2194,3417,3593
$GC,8130,-2.54,-194.7,822.2,-9.9,788,8135,0.00,1.92,0.00,0.000,6,0.000,0.033,2194,2290,3592
$GC,8446,-2.54,-194.7,852.7,-9.4,804,8450,0.00,2.03,0.00,0.000,4,0.000,0.053,2194,3422,3591
$GC,8585,-2.51,-194.7,865.9,-9.2,810,8589,0.00,2.05,0.00,0.000,6,0.000,0.034,2194,2249,3590
$GC,8918,-2.51,-194.7,897.8,-9.5,826,8922,0.00,1.58,0.00,0.000,4,0.000,0.054,2194,1349,3589
$GC,8974,-2.51,-194.7,903.6,-9.6,828,8978,0.00,1.48,0.00,0.000,6,0.000,0.035,2194,2209,3588
$GC,9296,-2.51,-194.7,934.3,-9.9,844,9300,0.00,2.15,0.00,0.000,4,0.000,0.051,2194,3429,3587
$GC,9433,-2.48,-194.7,948.4,-10.7,850,9436,0.00,1.92,0.00,0.000,6,0.000,0.034,2194,2300,3587
$GC,9764,-2.48,-194.7,982.2,-10.0,866,9767,0.00,1.62,0.00,0.000,4,0.000,0.050,2193,1361,3586
$STATE,9835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9835,begin apogee
$GC,9843,-0.52,0.0,990.0,10.5,869,10019,1.98,0.00,167.00,1.428,6,0.094,0.000,2613,2081,2825
$STATE,10020,end apogee,CONTROL_FINISHED_OK
$STATE,10020,begin climb
$GC,10023,2.34,194.7,999.5,0.0,878,10207,2.80,1.95,174.27,1.385,4,0.050,0.051,3245,3119,2031
$GC,10250,2.23,228.5,988.7,10.3,889,10288,0.15,1.77,31.77,1.322,6,0.110,0.035,3218,2108,1893
$GC,10599,2.19,265.2,953.1,10.2,906,10645,0.00,1.95,36.38,1.269,4,0.000,0.050,3218,3128,1742
$GC,10711,2.10,278.2,940.9,11.4,911,10737,0.17,1.80,14.82,1.086,6,0.107,0.036,3184,2104,1690
$GC,11061,2.10,314.7,904.8,10.2,928,11108,0.00,2.00,36.65,1.266,4,0.000,0.062,3184,1029,1541
$GC,11227,2.05,314.7,886.2,12.0,935,11233,0.00,2.03,0.00,0.000,6,0.000,0.033,3184,2204,1539
$GC,11544,2.03,324.3,850.7,11.5,951,11558,0.00,1.70,9.35,1.179,4,0.000,0.051,3184,3121,1503
$GC,11599,1.97,324.3,843.8,12.1,953,11603,0.12,1.67,0.00,0.000,6,0.120,0.036,3162,2163,1502
$GC,11921,2.03,357.6,809.5,10.4,969,11958,0.00,1.83,32.22,1.297,4,0.000,0.050,3162,3120,1366
$GC,12043,2.06,375.5,795.9,11.1,973,12068,0.00,1.58,17.60,1.240,6,0.000,0.035,3162,2215,1294
$GC,12378,2.13,418.8,760.5,9.9,990,12432,0.15,2.22,43.42,1.223,4,0.064,0.059,3202,1019,1116
$GC,12467,2.10,425.1,750.1,11.7,993,12479,0.00,2.10,7.22,1.040,6,0.000,0.032,3202,2233,1091
$GC,12788,2.11,429.5,712.8,11.8,1009,12795,0.00,0.00,5.10,0.927,6,0.000,0.000,3202,2234,1074
$GC,13098,2.11,429.5,675.0,12.3,1024,13102,0.00,2.20,0.00,0.000,4,0.000,0.054,3202,1016,1073
$GC,13148,2.11,429.5,668.3,13.4,1026,13151,0.00,2.05,0.00,0.000,6,0.000,0.031,3202,2218,1072
$GC,13469,2.11,429.5,629.6,12.1,1042,13473,0.00,2.15,0.00,0.000,4,0.000,0.056,3202,1020,1072
$GC,13549,2.07,431.2,619.9,11.9,1045,13552,0.00,1.90,0.00,0.000,6,0.000,0.031,3202,2137,1072
$GC,13870,2.08,434.1,581.5,11.9,1061,13878,0.00,0.00,5.65,0.930,6,0.000,0.000,3202,2137,1055
$GC,14179,2.08,434.8,544.2,12.0,1076,14183,0.00,2.03,0.00,0.000,4,0.000,0.054,3202,1015,1054
$GC,14241,2.08,434.8,536.4,12.1,1078,14247,0.00,1.77,0.00,0.000,6,0.000,0.030,3202,2068,1054
$GC,14559,2.17,434.8,498.9,12.1,1094,14563,0.00,1.85,0.00,0.000,4,0.000,0.047,3202,3127,1054
$GC,14611,2.22,438.5,492.5,11.8,1098,14620,0.00,1.60,5.43,0.876,6,0.000,0.033,3202,2193,1038
$GC,14941,2.30,438.5,453.1,12.0,1129,14945,0.12,2.10,0.00,0.000,4,0.066,0.054,3240,1013,1037
$GC,15030,2.30,438.5,442.1,12.1,1136,15036,0.00,1.73,0.00,0.000,6,0.000,0.029,3240,2044,1037
$GC,15358,2.38,457.4,404.4,11.1,1167,15381,0.00,1.98,18.42,1.034,4,0.000,0.046,3240,3113,960
$GC,15428,2.40,467.6,395.7,11.5,1173,15443,0.00,1.67,10.85,0.963,6,0.000,0.034,3240,2166,918
$GC,15764,2.47,479.7,355.9,11.4,1204,15785,0.12,2.15,11.82,0.959,4,0.065,0.054,3278,1013,869
$GC,15872,2.42,479.7,342.0,12.7,1213,15879,0.12,1.67,0.00,0.000,6,0.102,0.028,3254,2014,869
$GC,16198,2.48,479.7,301.6,12.5,1244,16201,0.00,1.92,0.00,0.000,4,0.000,0.045,3254,3121,868
$GC,16283,2.45,479.7,290.9,12.7,1251,16288,0.00,1.65,0.00,0.000,6,0.000,0.030,3254,2146,868
$GC,16612,2.50,484.4,250.9,11.8,1282,16623,0.00,2.00,5.93,0.762,4,0.000,0.050,3254,1021,850
$GC,16698,2.51,489.2,239.9,11.8,1296,16710,0.00,1.65,5.78,0.751,6,0.000,0.028,3254,2016,830
$GC,17051,2.61,501.6,198.4,11.4,1358,17069,0.15,1.88,12.27,0.841,4,0.060,0.048,3304,1012,780
$GC,17156,2.61,501.6,184.8,14.0,1376,17161,0.00,1.45,0.00,0.000,6,0.000,0.026,3304,1888,780
$GC,17500,2.66,529.4,142.4,10.6,1437,17533,0.00,1.62,25.62,0.824,4,0.000,0.049,3305,1015,666
$GC,17632,2.66,531.2,127.4,11.9,1460,17639,0.00,1.75,0.00,0.000,6,0.000,0.026,3304,2056,664
$GC,17978,2.78,551.1,89.8,11.0,1521,18002,0.12,1.92,17.48,0.748,4,0.058,0.043,3348,1008,586
$GC,18087,2.83,579.0,77.7,10.6,1540,18094,0.00,1.52,0.00,0.000,6,0.000,0.024,3348,1936,585
$GC,18434,2.93,603.5,42.1,10.8,1601,18439,0.00,1.60,0.00,0.000,4,0.000,0.041,3348,1012,585
$GC,18474,3.01,650.1,38.1,9.7,1608,18481,0.12,1.65,0.00,0.000,6,0.039,0.023,3398,2021,585
$STATE,18817,end climb,SURFACE_DEPTH_REACHED
$STATE,18817,begin surface coast
$FINISH,-0.3,1.020998
$STATE,18836,end surface coast,CONTROL_FINISHED_OK
$STATE,18836,begin surface
$SM_CCo,18921,0.00,0.000,0,0,585,549.47
$SM_GC,-6.82,12.95,0.00,0.00,0.050,0.000,0.000,418,2374,585,-10.58,0.20,549.47
$IRIDIUM_FIX,1247.67,12029.39,100897,131347
$TT8_MAMPS,0.025311
$HUMID,2014
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,461
$24V_AH,22.6,71.116
$10V_AH,10.1,48.160
$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,30.150,146.725,695.075,0.000,0.000,25.545,38.127,196.953,127.750,0.000,0.000,19.492,2770.075,11904.123,808.601,3077.554,776.942,0.000,2358.998,0.000,3014.736,0.000,91.483
$DEVICE_MAMPS,164.138,134.225,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.141,400.793,629.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91476,1672
$CAP_FILE_SIZE,193735,0
$CFSIZE,260165632,220889088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,170508,000237,1254.387,12030.647,28,1.1,28,-0.8