version: 66.03
glider: 126
mission: 7
dive: 406
start: 5 17 108 11 2 16
data:
$ID,126
$MISSION,7
$DIVE,406
$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,-627130.88
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,104838,1254.957,12031.277,36,1.3,36,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.89
$_SM_ANGLEo,-52.8
$GPS2,110145,1254.945,12031.394,10,1.8,10,-0.8
$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,125.9,25611,-19.3,-12.000
$D_GRID,1372
$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,27,-2.34,-194.7,0.0,0.0,0,117,0.00,0.00,-83.47,0.000,6,0.000,0.000,416,2365,3621
$GC,120,-2.34,-194.7,2.8,-30.2,17,137,10.15,1.80,0.00,0.000,4,0.167,0.037,2217,3407,3623
$GC,229,-2.18,-194.7,27.5,-16.6,36,236,0.15,1.75,0.00,0.000,6,0.097,0.022,2251,2320,3623
$GC,575,-2.18,-194.7,74.0,-13.3,97,581,0.00,1.85,0.00,0.000,4,0.000,0.038,2251,3409,3623
$GC,623,-2.07,-194.7,80.4,-14.2,105,629,0.12,1.90,0.00,0.000,6,0.114,0.022,2276,2213,3623
$GC,968,-2.11,-194.7,119.9,-12.4,166,974,0.00,2.03,0.00,0.000,4,0.000,0.037,2276,3408,3624
$GC,1071,-2.11,-194.7,131.8,-9.9,184,1077,0.00,2.05,0.00,0.000,6,0.000,0.023,2275,2138,3625
$GC,1417,-2.19,-194.7,165.5,-11.3,245,1422,0.00,1.30,0.00,0.000,4,0.000,0.034,2275,1359,3626
$GC,1453,-2.25,-194.7,169.5,-11.5,251,1459,0.12,1.23,0.00,0.000,6,0.041,0.022,2229,2129,3625
$GC,1797,-2.25,-194.7,202.8,-9.5,312,1803,0.00,1.33,0.00,0.000,4,0.000,0.036,2229,1356,3626
$GC,1923,-2.25,-194.7,214.8,-10.0,334,1929,0.00,1.10,0.00,0.000,6,0.000,0.023,2229,2046,3626
$GC,2267,-2.29,-194.7,250.5,-10.5,395,2271,0.00,1.20,0.00,0.000,4,0.000,0.038,2229,1354,3626
$GC,2370,-2.32,-194.7,261.2,-10.5,404,2374,0.00,1.27,0.00,0.000,6,0.000,0.025,2229,2136,3625
$GC,2704,-2.38,-194.7,294.3,-9.3,435,2707,0.00,1.35,0.00,0.000,4,0.000,0.039,2229,1359,3623
$GC,2790,-2.43,-194.7,302.6,-10.1,442,2796,0.10,1.17,0.00,0.000,6,0.047,0.025,2192,2078,3623
$GC,3115,-2.43,-194.7,334.2,-9.8,473,3119,0.00,2.28,0.00,0.000,4,0.000,0.042,2192,3408,3620
$GC,3184,-2.37,-194.7,341.2,-10.8,479,3188,0.10,2.20,0.00,0.000,6,0.109,0.027,2211,2092,3619
$GC,3509,-2.42,-194.7,374.2,-9.9,509,3513,0.00,1.25,0.00,0.000,4,0.000,0.044,2211,1371,3617
$GC,3540,-2.42,-194.7,377.0,-9.8,511,3545,0.00,1.23,0.00,0.000,6,0.000,0.027,2211,2112,3616
$GC,3868,-2.46,-194.7,406.5,-8.8,542,3872,0.00,2.22,0.00,0.000,4,0.000,0.046,2211,3401,3614
$GC,3948,-2.46,-194.7,414.3,-9.8,549,3952,0.00,2.20,0.00,0.000,6,0.000,0.030,2211,2104,3614
$GC,4276,-2.50,-194.7,446.5,-9.9,579,4280,0.12,1.30,0.00,0.000,4,0.064,0.050,2176,1370,3611
$GC,4304,-2.50,-194.7,449.5,-10.1,581,4310,0.00,1.08,0.00,0.000,6,0.000,0.030,2176,2012,3611
$GC,4631,-2.50,-194.7,482.3,-9.6,612,4635,0.00,1.17,0.00,0.000,4,0.000,0.054,2176,1365,3609
$GC,4700,-2.45,-194.7,488.9,-9.4,618,4703,0.00,1.35,0.00,0.000,6,0.000,0.035,2176,2147,3608
$GC,5028,-2.45,-194.7,518.8,-8.8,639,5031,0.00,1.40,0.00,0.000,4,0.000,0.051,2176,1370,3605
$GC,5107,-2.42,-194.7,526.7,-9.9,642,5111,0.10,1.15,0.00,0.000,6,0.094,0.034,2200,2046,3604
$GC,5432,-2.42,-194.7,557.4,-9.8,658,5436,0.00,2.42,0.00,0.000,4,0.000,0.061,2200,3397,3601
$GC,5472,-2.42,-194.7,561.7,-10.0,660,5475,0.00,2.03,0.00,0.000,6,0.000,0.038,2200,2236,3601
$GC,5806,-2.42,-194.7,593.8,-9.6,676,5810,0.00,2.15,0.00,0.000,4,0.000,0.071,2200,3392,3599
$GC,5856,-2.42,-194.7,599.0,-10.1,678,5860,0.00,2.20,0.00,0.000,6,0.000,0.048,2200,2159,3598
$GC,6176,-2.46,-194.7,630.3,-10.2,693,6180,0.00,2.20,0.00,0.000,4,0.000,0.047,2200,3405,3597
$GC,6255,-2.46,-194.7,639.0,-10.1,696,6259,0.00,2.30,0.00,0.000,6,0.000,0.031,2200,2056,3596
$GC,6574,-2.49,-194.7,670.2,-9.8,711,6578,0.00,2.38,0.00,0.000,4,0.000,0.048,2200,3397,3594
$GC,6670,-2.49,-194.7,679.7,-9.1,715,6678,0.00,2.30,0.00,0.000,6,0.000,0.032,2199,2060,3593
$GC,7003,-2.53,-194.7,709.6,-9.1,731,7008,0.00,2.38,0.00,0.000,4,0.000,0.049,2200,3404,3592
$GC,7088,-2.53,-194.7,718.1,-9.1,734,7094,0.00,2.33,0.00,0.000,6,0.000,0.033,2200,2056,3592
$GC,7404,-2.57,-194.7,749.0,-10.0,750,7409,0.12,2.40,0.00,0.000,4,0.069,0.049,2167,3400,3590
$GC,7508,-2.50,-194.7,759.5,-9.5,754,7515,0.00,2.33,0.00,0.000,6,0.000,0.035,2167,2053,3590
$GC,7827,-2.50,-194.7,790.9,-9.7,770,7831,0.00,2.40,0.00,0.000,4,0.000,0.051,2167,3399,3588
$GC,7945,-2.42,-194.7,802.9,-10.0,775,7950,0.17,2.33,0.00,0.000,6,0.107,0.035,2200,2055,3587
$GC,8263,-2.46,-194.7,833.1,-9.8,790,8267,0.00,1.23,0.00,0.000,4,0.000,0.057,2200,1367,3586
$GC,8337,-2.46,-194.7,840.8,-10.8,793,8340,0.00,1.27,0.00,0.000,6,0.000,0.034,2200,2117,3586
$GC,8667,-2.49,-194.7,872.5,-9.4,809,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2118,3584
$GC,8974,-2.52,-194.7,902.1,-9.6,824,8978,0.00,1.35,0.00,0.000,4,0.000,0.050,2200,1366,3584
$GC,8998,-2.52,-194.7,904.6,-9.8,825,9002,0.00,1.52,0.00,0.000,6,0.000,0.034,2200,2250,3584
$GC,9333,-2.56,-194.7,937.0,-9.7,841,9338,0.12,2.05,0.00,0.000,4,0.071,0.054,2168,3405,3582
$GC,9401,-2.49,-194.7,944.3,-10.2,844,9405,0.00,1.90,0.00,0.000,6,0.000,0.034,2168,2296,3582
$GC,9731,-2.44,-194.7,979.2,-10.6,860,9733,0.15,0.00,0.00,0.000,6,0.110,0.000,2196,2288,3580
$STATE,9852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9852,begin apogee
$GC,9860,-0.52,0.0,990.9,9.3,866,10032,1.98,0.00,165.77,1.430,6,0.094,0.000,2612,2095,2825
$STATE,10033,end apogee,CONTROL_FINISHED_OK
$STATE,10033,begin climb
$GC,10036,2.34,194.7,1000.1,0.0,875,10220,2.88,1.92,174.30,1.386,4,0.061,0.049,3244,3104,2031
$GC,10245,2.25,238.2,990.6,9.9,885,10290,0.12,1.80,40.55,1.335,6,0.112,0.035,3222,2082,1853
$GC,10601,2.19,262.9,951.8,10.8,902,10630,0.00,1.95,22.83,1.302,4,0.000,0.048,3222,3107,1752
$GC,10753,2.09,268.6,934.7,11.7,908,10765,0.20,1.73,6.78,1.079,6,0.100,0.035,3183,2115,1729
$GC,11089,2.12,312.1,901.4,9.9,925,11135,0.00,2.03,40.92,1.331,4,0.000,0.058,3182,1023,1551
$GC,11242,2.10,328.0,884.4,11.2,932,11270,0.00,2.03,17.23,1.131,6,0.000,0.031,3182,2212,1488
$GC,11589,2.11,333.1,844.5,11.7,949,11600,0.00,2.17,6.22,1.054,4,0.000,0.051,3182,1026,1465
$GC,11703,2.07,336.1,830.4,11.9,954,11713,0.00,1.88,4.38,0.887,6,0.000,0.031,3182,2126,1453
$GC,12031,2.10,350.3,791.5,11.3,970,12054,0.00,0.00,16.55,1.114,6,0.000,0.000,3182,2126,1396
$GC,12362,2.14,378.7,754.8,10.6,986,12395,0.00,2.10,27.25,1.259,4,0.000,0.053,3182,1026,1281
$GC,12426,2.18,401.5,747.2,10.9,989,12455,0.00,1.88,22.77,1.220,6,0.000,0.030,3182,2115,1188
$GC,12780,2.18,401.5,705.6,12.3,1006,12784,0.10,1.98,0.00,0.000,4,0.081,0.051,3211,1022,1185
$GC,12876,2.14,401.5,692.7,13.5,1010,12879,0.00,2.00,0.00,0.000,6,0.000,0.031,3211,2198,1185
$GC,13205,2.14,401.5,652.7,12.3,1026,13208,0.00,2.10,0.00,0.000,4,0.000,0.051,3211,1024,1183
$GC,13255,2.10,401.5,645.9,12.8,1028,13259,0.12,1.85,0.00,0.000,6,0.105,0.030,3187,2119,1183
$GC,13582,2.17,401.5,606.7,12.2,1044,13586,0.00,1.95,0.00,0.000,4,0.000,0.052,3187,1020,1183
$GC,13683,2.25,412.8,594.5,11.4,1048,13699,0.10,1.58,10.80,1.098,6,0.054,0.028,3223,1947,1142
$GC,14023,2.30,412.8,553.7,12.0,1065,14027,0.00,2.05,0.00,0.000,4,0.000,0.045,3223,3122,1140
$GC,14108,2.32,424.3,543.2,11.4,1068,14124,0.00,1.77,11.88,1.081,6,0.000,0.033,3224,2089,1095
$GC,14443,2.37,433.6,504.4,11.5,1085,14457,0.00,1.95,9.93,1.029,4,0.000,0.055,3223,1022,1057
$GC,14544,2.38,437.3,492.0,11.8,1092,14556,0.10,1.58,5.20,0.850,6,0.074,0.029,3254,1945,1042
$GC,14874,2.41,437.3,450.5,12.1,1123,14878,0.00,2.05,0.00,0.000,4,0.000,0.044,3254,3121,1042
$GC,14965,2.41,437.3,439.3,12.6,1131,14969,0.00,1.75,0.00,0.000,6,0.000,0.034,3254,2106,1041
$GC,15298,2.42,443.9,401.0,11.7,1162,15310,0.00,2.00,7.38,0.912,4,0.000,0.055,3254,1029,1015
$GC,15390,2.43,446.7,390.3,11.9,1170,15401,0.00,1.58,4.62,0.756,6,0.000,0.028,3254,1952,1002
$GC,15720,2.48,451.9,352.1,11.7,1201,15732,0.00,2.05,6.10,0.834,4,0.000,0.044,3254,3112,981
$GC,15806,2.48,451.9,341.4,12.7,1208,15811,0.00,1.73,0.00,0.000,6,0.000,0.043,3254,2107,981
$GC,16133,2.52,451.9,302.0,12.7,1239,16137,0.12,1.92,0.00,0.000,4,0.067,0.054,3292,1022,981
$GC,16190,2.44,451.9,294.2,13.9,1244,16194,0.15,1.60,0.00,0.000,6,0.104,0.028,3263,1983,981
$GC,16521,2.49,451.9,252.8,12.3,1275,16525,0.00,1.98,0.00,0.000,4,0.000,0.048,3262,3112,981
$GC,16590,2.46,451.9,244.5,12.6,1284,16596,0.00,1.75,0.00,0.000,6,0.000,0.030,3263,2083,980
$GC,16935,2.50,456.9,204.6,11.8,1345,16947,0.00,1.88,6.05,0.729,4,0.000,0.051,3263,1027,961
$GC,17010,2.54,478.7,195.4,10.9,1358,17036,0.00,1.58,20.45,0.863,6,0.000,0.027,3263,1961,873
$GC,17377,2.63,478.7,152.7,12.4,1423,17384,0.15,2.00,0.00,0.000,4,0.060,0.042,3312,3113,871
$GC,17477,2.64,489.1,141.3,11.5,1440,17495,0.00,1.77,10.32,0.767,6,0.000,0.027,3312,2075,830
$GC,17838,2.76,531.4,104.3,9.9,1503,17882,0.00,1.85,37.38,0.779,4,0.000,0.044,3312,1030,658
$GC,17934,2.89,571.4,93.9,10.0,1520,17957,0.15,1.60,16.17,0.731,6,0.040,0.025,3366,1999,587
$GC,18300,2.94,582.0,53.7,11.5,1584,18306,0.00,1.92,0.00,0.000,4,0.000,0.038,3366,3114,584
$GC,18409,2.94,582.0,40.3,12.5,1603,18415,0.00,1.90,0.00,0.000,6,0.000,0.025,3366,1965,584
$GC,18754,3.02,614.0,4.5,10.4,1664,18761,0.00,2.00,0.00,0.000,4,0.000,0.036,3366,3142,584
$STATE,18776,end climb,SURFACE_DEPTH_REACHED
$STATE,18776,begin surface coast
$FINISH,0.2,1.020978
$STATE,18796,end surface coast,CONTROL_FINISHED_OK
$STATE,18796,begin surface
$SM_CCo,18881,0.00,0.000,0,0,583,549.96
$SM_GC,-6.71,12.85,0.00,0.00,0.051,0.000,0.000,417,2316,583,-10.58,-1.47,549.96
$IRIDIUM_FIX,1247.67,12030.51,110897,111150
$TT8_MAMPS,0.025311
$HUMID,2001
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.30
$XPDR_PINGS,461
$24V_AH,22.6,71.955
$10V_AH,10.1,48.503
$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,30.575,156.400,691.825,0.000,0.000,47.169,68.816,450.191,127.750,0.000,0.000,10.244,2791.521,11856.838,796.278,3126.030,1091.860,0.000,2372.747,0.000,3064.499,0.000,91.504
$DEVICE_MAMPS,167.206,70.564,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.132,400.950,629.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91580,1671
$CAP_FILE_SIZE,203556,0
$CFSIZE,260165632,220594176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170508,161807,1255.094,12031.991,33,1.9,33,-0.8