version: 66.03
glider: 126
mission: 7
dive: 409
start: 5 18 108 3 16 54
data:
$ID,126
$MISSION,7
$DIVE,409
$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,-627195.5
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,030837,1255.049,12033.238,24,1.7,24,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.81
$_SM_ANGLEo,-55.5
$GPS2,031621,1255.063,12033.285,15,1.9,15,-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,131.2,23040,-19.3,-12.000
$D_GRID,1216
$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,26,-2.34,-194.7,0.0,0.0,0,116,0.00,0.00,-84.45,0.000,6,0.000,0.000,412,2386,3621
$GC,119,-2.34,-194.7,1.9,-26.1,17,137,10.12,1.80,0.00,0.000,4,0.165,0.037,2216,3429,3623
$GC,218,-2.16,-194.7,23.8,-16.4,34,225,0.17,1.80,0.00,0.000,6,0.104,0.023,2263,2324,3623
$GC,564,-2.16,-194.7,69.6,-11.7,95,570,0.00,1.88,0.00,0.000,4,0.000,0.038,2263,3421,3624
$GC,605,-2.12,-194.7,74.2,-11.8,102,611,0.00,1.88,0.00,0.000,6,0.000,0.023,2263,2259,3624
$GC,953,-2.16,-194.7,113.1,-10.1,163,958,0.00,1.52,0.00,0.000,4,0.000,0.032,2263,1347,3625
$GC,1028,-2.16,-194.7,121.5,-10.5,176,1034,0.00,1.58,0.00,0.000,6,0.000,0.024,2263,2315,3626
$GC,1373,-2.20,-194.7,158.5,-10.2,237,1378,0.00,1.88,0.00,0.000,4,0.000,0.040,2263,3422,3627
$GC,1493,-2.24,-194.7,170.9,-10.2,258,1499,0.00,1.98,0.00,0.000,6,0.000,0.024,2263,2192,3628
$GC,1838,-2.33,-194.7,203.8,-9.5,319,1844,0.15,1.40,0.00,0.000,4,0.056,0.034,2213,1346,3628
$GC,1952,-2.33,-194.7,214.5,-9.1,339,1958,0.00,1.33,0.00,0.000,6,0.000,0.024,2213,2163,3628
$GC,2297,-2.33,-194.7,246.1,-10.0,400,2302,0.00,1.40,0.00,0.000,4,0.000,0.038,2212,1351,3628
$GC,2424,-2.33,-194.7,258.5,-9.7,415,2427,0.00,1.17,0.00,0.000,6,0.000,0.025,2212,2077,3627
$GC,2757,-2.33,-194.7,290.6,-9.5,446,2761,0.00,1.25,0.00,0.000,4,0.000,0.039,2212,1358,3626
$GC,2830,-2.33,-194.7,297.9,-9.6,452,2836,0.00,1.10,0.00,0.000,6,0.000,0.025,2213,2041,3625
$GC,3158,-2.36,-194.7,330.9,-10.3,483,3162,0.00,2.38,0.00,0.000,4,0.000,0.043,2212,3417,3624
$GC,3198,-2.36,-194.7,335.4,-10.5,486,3201,0.00,2.08,0.00,0.000,6,0.000,0.028,2213,2169,3623
$GC,3532,-2.40,-194.7,369.0,-9.9,517,3536,0.00,2.20,0.00,0.000,4,0.000,0.044,2213,3424,3621
$GC,3628,-2.40,-194.7,378.7,-9.3,525,3632,0.00,2.22,0.00,0.000,6,0.000,0.028,2212,2099,3620
$GC,3958,-2.44,-194.7,410.9,-9.9,555,3962,0.00,1.30,0.00,0.000,4,0.000,0.055,2212,1357,3618
$GC,4071,-2.44,-194.7,423.1,-10.3,565,4075,0.00,1.12,0.00,0.000,6,0.000,0.028,2212,2032,3617
$GC,4406,-2.49,-194.7,456.9,-9.8,596,4409,0.12,1.20,0.00,0.000,4,0.064,0.046,2177,1362,3615
$GC,4434,-2.49,-194.7,460.0,-9.9,598,4439,0.00,1.33,0.00,0.000,6,0.000,0.030,2177,2145,3614
$GC,4763,-2.49,-194.7,490.7,-9.2,629,4767,0.00,2.25,0.00,0.000,4,0.000,0.052,2177,3420,3612
$GC,4864,-2.44,-194.7,500.9,-9.9,637,4870,0.10,2.15,0.00,0.000,6,0.114,0.034,2195,2169,3611
$GC,5184,-2.44,-194.7,531.8,-10.1,653,5188,0.00,2.28,0.00,0.000,4,0.000,0.061,2195,3417,3609
$GC,5273,-2.39,-194.7,541.9,-10.5,657,5278,0.00,2.28,0.00,0.000,6,0.000,0.035,2195,2091,3608
$GC,5598,-2.42,-194.7,576.3,-10.6,673,5602,0.00,1.30,0.00,0.000,4,0.000,0.052,2195,1357,3606
$GC,5671,-2.42,-194.7,584.4,-10.8,676,5675,0.00,1.38,0.00,0.000,6,0.000,0.031,2195,2168,3606
$GC,6000,-2.42,-194.7,616.2,-9.3,692,6003,0.00,1.45,0.00,0.000,4,0.000,0.049,2195,1359,3603
$GC,6095,-2.42,-194.7,625.6,-10.0,696,6099,0.00,1.23,0.00,0.000,6,0.000,0.032,2195,2075,3603
$GC,6423,-2.42,-194.7,657.4,-10.0,712,6427,0.00,2.38,0.00,0.000,4,0.000,0.054,2195,3414,3601
$GC,6464,-2.42,-194.7,661.5,-9.8,714,6467,0.00,2.00,0.00,0.000,6,0.000,0.033,2195,2249,3600
$GC,6798,-2.42,-194.7,694.9,-10.1,730,6802,0.00,2.10,0.00,0.000,4,0.000,0.054,2195,3417,3598
$GC,6867,-2.42,-194.7,701.9,-10.5,733,6871,0.00,2.17,0.00,0.000,6,0.000,0.034,2195,2158,3598
$GC,7197,-2.42,-194.7,734.3,-9.7,749,7201,0.00,1.42,0.00,0.000,4,0.000,0.056,2195,1361,3596
$GC,7270,-2.42,-194.7,741.8,-10.0,752,7274,0.00,1.52,0.00,0.000,6,0.000,0.035,2195,2248,3596
$GC,7598,-2.42,-194.7,773.9,-9.7,768,7601,0.00,1.58,0.00,0.000,4,0.000,0.048,2195,1350,3594
$GC,7637,-2.42,-194.7,778.0,-10.0,769,7643,0.00,1.73,0.00,0.000,6,0.000,0.035,2196,2369,3594
$GC,7954,-2.42,-194.7,809.3,-9.9,785,7957,0.00,1.88,0.00,0.000,4,0.000,0.055,2195,3427,3593
$GC,8066,-2.42,-194.7,820.7,-9.9,790,8070,0.00,1.98,0.00,0.000,6,0.000,0.033,2195,2276,3592
$GC,8403,-2.46,-194.7,855.0,-10.6,806,8406,0.00,2.08,0.00,0.000,4,0.000,0.053,2195,3430,3591
$GC,8450,-2.46,-194.7,860.4,-11.5,808,8454,0.00,2.15,0.00,0.000,6,0.000,0.035,2195,2186,3591
$GC,8780,-2.49,-194.7,895.8,-11.0,824,8784,0.00,2.22,0.00,0.000,4,0.000,0.053,2195,3427,3590
$GC,8887,-2.49,-194.7,907.9,-10.7,828,8893,0.00,2.33,0.00,0.000,6,0.000,0.036,2195,2087,3589
$GC,9204,-2.49,-194.7,940.0,-9.9,844,9209,0.00,1.30,0.00,0.000,4,0.000,0.055,2195,1356,3588
$GC,9282,-2.49,-194.7,947.8,-10.9,847,9286,0.00,1.42,0.00,0.000,6,0.000,0.034,2195,2189,3588
$GC,9609,-2.53,-194.7,977.0,-8.7,863,9612,0.00,1.48,0.00,0.000,4,0.000,0.049,2195,1363,3586
$GC,9687,-2.53,-194.7,984.9,-9.5,866,9691,0.00,1.58,0.00,0.000,6,0.000,0.034,2195,2280,3586
$STATE,9759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9759,begin apogee
$GC,9767,-0.52,0.0,991.8,9.6,870,9941,2.00,0.00,167.70,1.427,6,0.094,0.000,2616,2088,2824
$STATE,9942,end apogee,CONTROL_FINISHED_OK
$STATE,9942,begin climb
$GC,9946,2.34,194.7,1000.5,0.0,879,10132,2.75,2.03,173.90,1.388,4,0.054,0.057,3241,1028,2031
$GC,10167,2.26,241.3,990.0,9.7,889,10219,0.00,1.83,43.50,1.335,6,0.000,0.031,3241,2090,1840
$GC,10531,2.19,274.6,951.9,10.4,907,10568,0.17,1.88,31.00,1.324,4,0.101,0.050,3203,3119,1704
$GC,10714,2.10,279.5,930.6,11.8,914,10725,0.00,1.70,5.57,1.005,6,0.000,0.035,3203,2138,1685
$GC,11035,2.05,288.1,893.5,11.6,930,11050,0.15,1.85,9.27,1.187,4,0.107,0.050,3175,3121,1650
$GC,11096,2.03,310.3,886.3,10.9,932,11124,0.00,1.70,22.17,1.292,6,0.000,0.035,3174,2144,1559
$GC,11432,2.05,317.5,846.8,11.7,949,11446,0.00,1.85,7.72,1.127,4,0.000,0.049,3175,3124,1530
$GC,11575,2.00,317.5,830.1,12.1,955,11578,0.00,1.58,0.00,0.000,6,0.000,0.037,3175,2215,1529
$GC,11902,2.08,363.4,795.8,9.8,971,11950,0.00,2.17,43.78,1.298,4,0.000,0.056,3174,1035,1342
$GC,11973,2.15,406.1,788.2,9.9,974,12020,0.10,2.08,40.83,1.263,6,0.078,0.033,3202,2227,1169
$GC,12333,2.15,406.1,746.6,12.1,992,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2227,1163
$GC,12639,2.17,415.3,710.5,11.5,1007,12653,0.00,2.22,8.68,1.104,4,0.000,0.053,3202,1039,1131
$GC,12688,2.13,415.3,704.5,12.9,1009,12692,0.00,2.03,0.00,0.000,6,0.000,0.031,3202,2219,1131
$GC,13015,2.15,429.7,667.2,11.3,1025,13037,0.00,1.67,14.73,1.174,4,0.000,0.051,3202,3121,1072
$GC,13061,2.12,429.7,661.3,12.8,1027,13064,0.00,1.60,0.00,0.000,6,0.000,0.035,3201,2205,1072
$GC,13394,2.12,432.5,622.4,11.9,1043,13400,0.00,0.00,4.05,0.790,6,0.000,0.000,3202,2205,1061
$GC,13703,2.20,441.7,586.3,11.6,1058,13718,0.00,2.15,10.23,1.087,4,0.000,0.054,3202,1027,1024
$GC,13814,2.20,442.5,573.1,12.0,1062,13818,0.00,1.73,0.00,0.000,6,0.000,0.029,3202,2047,1023
$GC,14142,2.31,456.1,535.8,11.3,1078,14164,0.15,1.95,14.48,1.098,4,0.062,0.048,3245,3121,964
$GC,14258,2.27,456.1,521.7,12.4,1083,14262,0.00,1.58,0.00,0.000,6,0.000,0.034,3245,2227,963
$GC,14585,2.27,456.9,481.8,12.0,1105,14588,0.00,2.12,0.00,0.000,4,0.000,0.054,3245,1033,963
$GC,14692,2.27,456.9,468.4,12.2,1114,14697,0.00,1.67,0.00,0.000,6,0.000,0.030,3245,2032,963
$GC,15019,2.33,456.9,427.0,12.7,1145,15022,0.00,1.90,0.00,0.000,4,0.000,0.047,3245,3121,963
$GC,15110,2.33,456.9,415.3,12.4,1153,15114,0.00,1.62,0.00,0.000,6,0.000,0.034,3245,2175,962
$GC,15443,2.39,466.3,376.2,11.5,1184,15458,0.00,2.05,10.25,0.960,4,0.000,0.054,3245,1032,924
$GC,15566,2.39,466.3,361.1,12.1,1194,15572,0.00,1.67,0.00,0.000,6,0.000,0.029,3245,2031,923
$GC,15895,2.47,469.3,320.5,11.9,1225,15907,0.00,1.92,4.38,0.707,4,0.000,0.046,3245,3107,911
$GC,15987,2.47,469.3,309.1,12.2,1233,15991,0.00,1.60,0.00,0.000,6,0.000,0.042,3245,2174,911
$GC,16320,2.56,493.5,272.7,10.8,1264,16352,0.17,1.77,22.85,0.933,4,0.058,0.045,3298,3120,813
$GC,16440,2.46,493.5,258.0,13.6,1274,16446,0.17,1.90,0.00,0.000,6,0.097,0.031,3263,2018,811
$GC,16780,2.53,493.5,216.7,12.2,1329,16786,0.00,1.73,0.00,0.000,4,0.000,0.053,3263,1036,811
$GC,16843,2.53,493.5,209.2,12.1,1340,16849,0.00,1.40,0.00,0.000,6,0.000,0.028,3263,1882,811
$GC,17188,2.62,493.5,169.2,12.2,1401,17194,0.15,1.50,0.00,0.000,4,0.061,0.048,3311,1033,811
$GC,17274,2.57,493.5,158.8,12.8,1416,17281,0.12,1.67,0.00,0.000,6,0.104,0.027,3287,2053,811
$GC,17620,2.63,493.5,120.8,12.3,1477,17626,0.00,1.80,0.00,0.000,4,0.000,0.045,3287,1026,810
$GC,17760,2.75,533.7,107.2,10.0,1501,17804,0.17,1.73,35.40,0.786,6,0.054,0.025,3339,2083,649
$GC,18144,2.84,568.3,64.1,10.3,1569,18166,0.00,1.80,14.02,0.702,4,0.000,0.038,3339,3095,587
$GC,18263,2.94,624.5,52.1,9.3,1590,18270,0.10,1.92,0.00,0.000,6,0.044,0.025,3382,1959,586
$GC,18610,2.98,649.9,15.2,10.8,1651,18616,0.00,1.98,0.00,0.000,4,0.000,0.036,3382,3114,586
$GC,18640,3.04,685.1,11.9,10.3,1656,18648,0.00,2.12,0.00,0.000,6,0.000,0.025,3382,1827,586
$STATE,18730,end climb,SURFACE_DEPTH_REACHED
$STATE,18730,begin surface coast
$FINISH,-0.3,1.020989
$STATE,18749,end surface coast,CONTROL_FINISHED_OK
$STATE,18749,begin surface
$SM_CCo,18834,0.00,0.000,0,0,585,549.47
$SM_GC,-6.64,12.93,0.00,0.00,0.050,0.000,0.000,415,2366,585,-10.59,-0.06,549.47
$IRIDIUM_FIX,1247.67,12032.42,110897,212116
$TT8_MAMPS,0.025311
$HUMID,2012
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.20
$XPDR_PINGS,408
$24V_AH,22.5,72.791
$10V_AH,10.1,48.844
$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,29.825,154.050,684.500,0.000,0.000,30.290,34.797,239.889,114.500,0.000,0.000,15.379,2791.785,11730.218,766.376,3202.918,803.325,0.000,2385.870,0.000,3126.492,0.000,91.484
$DEVICE_MAMPS,164.905,61.360,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1133.334,400.849,631.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91602,1675
$CAP_FILE_SIZE,196658,0
$CFSIZE,260165632,220315648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180508,083207,1255.720,12033.256,36,1.0,41,-0.8