version: 66.03
glider: 126
mission: 7
dive: 412
start: 5 18 108 19 36 39
data:
$ID,126
$MISSION,7
$DIVE,412
$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,-627257.56
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,192127,1256.323,12033.860,29,2.2,48,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.86
$_SM_ANGLEo,-53.4
$GPS2,193607,1256.340,12033.971,13,1.9,29,-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,137.5,23774,-19.3,-12.000
$D_GRID,1049
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.34,-194.7,0.0,0.0,0,116,0.00,0.00,-84.62,0.000,6,0.000,0.000,415,2377,3620
$GC,119,-2.34,-194.7,1.5,-25.7,17,137,10.12,1.77,0.00,0.000,4,0.166,0.038,2219,3405,3622
$GC,195,-2.16,-194.7,19.5,-16.1,30,202,0.15,1.75,0.00,0.000,6,0.105,0.023,2252,2324,3622
$GC,541,-2.12,-194.7,67.9,-12.5,91,547,0.00,1.85,0.00,0.000,4,0.000,0.037,2252,3408,3622
$GC,621,-2.05,-194.7,78.4,-12.7,105,628,0.15,1.85,0.00,0.000,6,0.108,0.022,2282,2245,3622
$GC,966,-2.10,-194.7,119.9,-11.2,166,973,0.00,2.00,0.00,0.000,4,0.000,0.038,2282,3425,3623
$GC,1064,-2.10,-194.7,131.5,-11.2,183,1070,0.00,2.03,0.00,0.000,6,0.000,0.023,2282,2162,3624
$GC,1409,-2.20,-194.7,166.1,-10.1,244,1415,0.15,1.35,0.00,0.000,4,0.054,0.032,2231,1353,3624
$GC,1452,-2.20,-194.7,170.3,-9.4,251,1458,0.00,1.33,0.00,0.000,6,0.000,0.023,2231,2179,3624
$GC,1797,-2.24,-194.7,204.1,-10.0,312,1803,0.00,2.10,0.00,0.000,4,0.000,0.040,2231,3409,3624
$GC,1838,-2.24,-194.7,208.5,-10.8,319,1844,0.00,2.08,0.00,0.000,6,0.000,0.025,2231,2139,3624
$GC,2183,-2.28,-194.7,242.3,-9.9,380,2188,0.00,1.33,0.00,0.000,4,0.000,0.038,2231,1356,3624
$GC,2279,-2.32,-194.7,252.3,-10.3,395,2285,0.00,1.27,0.00,0.000,6,0.000,0.024,2231,2145,3624
$GC,2608,-2.38,-194.7,284.5,-9.5,426,2612,0.00,2.17,0.00,0.000,4,0.000,0.042,2231,3412,3622
$GC,2659,-2.38,-194.7,290.0,-9.9,430,2663,0.00,2.20,0.00,0.000,6,0.000,0.027,2231,2088,3621
$GC,2993,-2.44,-194.7,321.4,-10.0,461,2997,0.15,1.25,0.00,0.000,4,0.056,0.040,2181,1359,3619
$GC,3083,-2.39,-194.7,330.8,-9.7,469,3087,0.10,1.12,0.00,0.000,6,0.092,0.025,2205,2054,3619
$GC,3415,-2.43,-194.7,365.1,-10.3,500,3419,0.00,2.35,0.00,0.000,4,0.000,0.043,2205,3412,3616
$GC,3455,-2.43,-194.7,369.3,-10.7,503,3458,0.00,2.05,0.00,0.000,6,0.000,0.028,2205,2187,3616
$GC,3789,-2.47,-194.7,404.0,-10.8,534,3792,0.00,2.15,0.00,0.000,4,0.000,0.045,2205,3410,3613
$GC,3828,-2.47,-194.7,408.6,-10.7,537,3834,0.00,1.88,0.00,0.000,6,0.000,0.029,2205,2289,3613
$GC,4156,-2.50,-194.7,441.7,-9.7,568,4159,0.00,1.60,0.00,0.000,4,0.000,0.047,2205,1358,3611
$GC,4263,-2.50,-194.7,452.4,-9.6,577,4269,0.00,1.48,0.00,0.000,6,0.000,0.031,2205,2230,3610
$GC,4591,-2.50,-194.7,482.8,-9.1,608,4594,0.00,1.55,0.00,0.000,4,0.000,0.050,2205,1365,3608
$GC,4660,-2.50,-194.7,489.3,-8.5,614,4664,0.00,1.35,0.00,0.000,6,0.000,0.034,2205,2152,3607
$GC,4987,-2.54,-194.7,519.7,-9.1,635,4989,0.12,0.00,0.00,0.000,6,0.064,0.000,2170,2152,3604
$GC,5296,-2.54,-194.7,550.2,-10.4,650,5299,0.00,1.48,0.00,0.000,4,0.000,0.067,2170,1363,3601
$GC,5313,-2.51,-194.7,552.1,-10.2,650,5318,0.00,1.58,0.00,0.000,6,0.000,0.048,2170,2264,3601
$GC,5629,-2.51,-194.7,584.7,-10.7,666,5632,0.00,1.67,0.00,0.000,4,0.000,0.074,2169,1364,3599
$GC,5700,-2.47,-194.7,592.0,-10.6,669,5704,0.12,1.75,0.00,0.000,6,0.109,0.061,2193,2330,3598
$GC,6034,-2.47,-194.7,625.4,-9.9,685,6038,0.00,2.12,0.00,0.000,4,0.000,0.094,2193,3434,3596
$GC,6130,-2.47,-194.7,635.2,-9.5,689,6134,0.00,2.12,0.00,0.000,6,0.000,0.071,2193,2305,3596
$GC,6452,-2.47,-194.7,666.9,-9.8,705,6456,0.00,2.25,0.00,0.000,4,0.000,0.107,2193,3425,3594
$GC,6503,-2.47,-194.7,671.8,-9.4,707,6507,0.00,2.35,0.00,0.000,6,0.000,0.087,2193,2218,3593
$GC,6824,-2.47,-194.7,702.0,-9.1,723,6829,0.00,2.50,0.00,0.000,4,0.000,0.121,2193,3419,3592
$GC,6898,-2.47,-194.7,708.9,-9.5,726,6903,0.00,2.45,0.00,0.000,6,0.000,0.073,2193,2101,3591
$GC,7215,-2.47,-194.7,737.6,-9.1,741,7219,0.00,2.38,0.00,0.000,4,0.000,0.050,2193,3435,3590
$GC,7326,-2.47,-194.7,748.3,-9.2,746,7330,0.00,2.40,0.00,0.000,6,0.000,0.035,2193,2054,3590
$GC,7649,-2.47,-194.7,777.7,-9.5,762,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2054,3588
$GC,7957,-2.50,-194.7,807.7,-9.9,777,7961,0.00,1.27,0.00,0.000,4,0.000,0.076,2193,1370,3586
$GC,7971,-2.50,-194.7,809.1,-10.1,777,7974,0.00,1.25,0.00,0.000,6,0.000,0.035,2193,2095,3586
$GC,8296,-2.53,-194.7,841.3,-9.7,793,8300,0.00,1.35,0.00,0.000,4,0.000,0.062,2193,1371,3585
$GC,8313,-2.53,-194.7,843.3,-9.3,793,8318,0.00,1.45,0.00,0.000,6,0.000,0.036,2193,2209,3585
$GC,8630,-2.53,-194.7,873.1,-9.7,809,8633,0.00,1.55,0.00,0.000,4,0.000,0.060,2193,1368,3583
$GC,8675,-2.53,-194.7,877.5,-10.1,811,8679,0.00,1.30,0.00,0.000,6,0.000,0.035,2193,2118,3583
$GC,9012,-2.57,-194.7,906.3,-8.3,827,9015,0.00,1.40,0.00,0.000,4,0.000,0.061,2193,1364,3582
$GC,9051,-2.57,-194.7,909.9,-8.3,828,9058,0.08,1.48,0.00,0.000,6,0.060,0.037,2158,2215,3581
$GC,9370,-2.52,-194.7,937.7,-9.0,844,9372,0.12,0.00,0.00,0.000,6,0.115,0.000,2181,2215,3581
$GC,9676,-2.49,-194.7,968.2,-10.3,859,9680,0.00,1.58,0.00,0.000,4,0.000,0.061,2181,1350,3580
$GC,9790,-2.44,-194.7,979.9,-10.6,864,9795,0.00,1.42,0.00,0.000,6,0.000,0.038,2181,2165,3579
$STATE,9896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9896,begin apogee
$GC,9904,-0.52,0.0,990.5,10.0,869,10077,2.05,0.00,166.38,1.427,6,0.094,0.000,2613,2105,2824
$STATE,10078,end apogee,CONTROL_FINISHED_OK
$STATE,10078,begin climb
$GC,10081,2.34,194.7,999.9,0.0,878,10268,2.75,2.15,174.05,1.384,4,0.052,0.080,3241,1035,2030
$GC,10332,2.22,218.4,985.7,10.8,889,10360,0.15,1.85,22.65,1.302,6,0.109,0.039,3213,2087,1935
$GC,10671,2.17,250.5,951.3,10.4,906,10713,0.00,1.98,31.98,1.256,4,0.000,0.054,3213,3134,1803
$GC,10854,2.08,267.2,930.7,11.2,914,10884,0.15,1.80,18.65,1.158,6,0.109,0.038,3185,2110,1735
$GC,11204,2.12,318.6,897.2,9.5,931,11258,0.00,1.95,47.80,1.328,4,0.000,0.052,3185,3123,1526
$GC,11363,2.14,367.0,880.5,9.6,938,11413,0.00,1.73,45.35,1.309,6,0.000,0.038,3185,2161,1328
$GC,11727,2.18,390.4,840.8,10.9,955,11755,0.00,1.85,22.40,1.272,4,0.000,0.051,3185,3123,1233
$GC,11796,2.14,390.4,832.0,12.5,958,11800,0.00,1.67,0.00,0.000,6,0.000,0.037,3185,2175,1231
$GC,12124,2.14,390.4,792.3,12.4,974,12127,0.00,1.70,0.00,0.000,4,0.000,0.051,3185,3129,1229
$GC,12208,2.11,390.4,781.4,12.7,977,12214,0.00,1.58,0.00,0.000,6,0.000,0.035,3185,2225,1229
$GC,12525,2.12,395.4,743.3,11.8,993,12535,0.00,2.22,5.50,0.978,4,0.000,0.062,3184,1016,1213
$GC,12647,2.13,402.6,728.3,11.6,998,12661,0.00,2.03,8.65,1.120,6,0.000,0.032,3184,2197,1183
$GC,12985,2.14,406.3,688.7,11.8,1015,12995,0.00,2.17,4.93,0.920,4,0.000,0.058,3184,1021,1168
$GC,13079,2.14,406.3,677.1,12.5,1019,13083,0.00,1.83,0.00,0.000,6,0.000,0.031,3184,2090,1168
$GC,13403,2.20,406.4,638.7,12.0,1035,13407,0.10,1.83,0.00,0.000,4,0.077,0.049,3213,3127,1168
$GC,13448,2.20,406.4,632.6,12.4,1037,13452,0.00,2.15,0.00,0.000,6,0.000,0.042,3213,1913,1167
$GC,13776,2.26,418.9,594.0,11.4,1053,13797,0.00,1.73,12.80,1.126,4,0.000,0.066,3213,1019,1117
$GC,13844,2.26,418.9,585.8,12.0,1056,13847,0.00,1.30,0.00,0.000,6,0.000,0.029,3213,1781,1117
$GC,14177,2.33,431.6,548.0,11.4,1072,14199,0.12,1.50,13.35,1.100,4,0.068,0.064,3249,1019,1065
$GC,14263,2.26,431.6,537.5,12.3,1075,14270,0.12,1.62,0.00,0.000,6,0.107,0.030,3226,1976,1064
$GC,14580,2.32,431.6,499.4,12.2,1091,14583,0.00,2.03,0.00,0.000,4,0.000,0.047,3225,3133,1063
$GC,14675,2.32,433.3,487.4,11.9,1099,14681,0.00,1.75,0.00,0.000,6,0.000,0.037,3225,2126,1063
$GC,15003,2.38,433.3,447.4,12.4,1130,15008,0.10,2.00,0.00,0.000,4,0.077,0.061,3254,1018,1063
$GC,15066,2.36,436.1,439.3,11.9,1135,15077,0.00,1.67,5.18,0.834,6,0.000,0.030,3254,1994,1047
$GC,15396,2.38,447.5,399.7,11.4,1166,15417,0.00,2.08,12.30,1.001,4,0.000,0.046,3255,3121,1000
$GC,15501,2.41,466.0,387.0,11.1,1175,15527,0.00,1.73,17.88,1.008,6,0.000,0.035,3255,2133,925
$GC,15846,2.45,466.0,344.2,12.8,1208,15850,0.00,2.00,0.00,0.000,4,0.000,0.061,3254,1025,923
$GC,15919,2.45,466.0,335.1,12.4,1214,15925,0.00,1.65,0.00,0.000,6,0.000,0.028,3254,2012,923
$GC,16249,2.53,467.4,296.1,11.9,1245,16253,0.12,1.92,0.00,0.000,4,0.068,0.043,3293,3121,922
$GC,16289,2.49,470.0,290.6,11.9,1248,16298,0.00,1.73,4.75,0.713,6,0.000,0.034,3292,2119,909
$GC,16625,2.50,472.8,249.5,11.9,1280,16636,0.00,2.00,4.43,0.670,4,0.000,0.056,3292,1026,897
$GC,16705,2.44,472.8,239.6,12.3,1294,16712,0.17,1.62,0.00,0.000,6,0.100,0.027,3258,2005,897
$GC,17050,2.50,472.8,198.5,12.8,1355,17056,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2004,897
$GC,17394,2.61,484.0,159.3,11.5,1416,17411,0.15,2.03,11.40,0.804,4,0.058,0.043,3308,3122,851
$GC,17430,2.61,484.0,155.0,12.4,1422,17436,0.00,1.80,0.00,0.000,6,0.000,0.031,3308,2076,851
$GC,17776,2.64,502.8,119.3,11.1,1483,17799,0.00,1.88,17.30,0.789,4,0.000,0.040,3308,3130,775
$GC,17868,2.66,514.7,109.2,11.4,1499,17885,0.00,1.90,11.75,0.744,6,0.000,0.028,3307,2011,726
$GC,18227,2.81,564.4,72.9,9.6,1562,18265,0.15,1.80,30.50,0.736,4,0.054,0.048,3364,1025,587
$GC,18360,2.84,582.5,58.5,11.1,1585,18366,0.00,1.70,0.00,0.000,6,0.000,0.024,3364,2067,585
$GC,18705,2.91,603.7,20.5,11.0,1646,18711,0.00,1.85,0.00,0.000,4,0.000,0.042,3365,1017,585
$GC,18802,2.99,648.8,10.2,9.8,1663,18808,0.00,1.48,0.00,0.000,6,0.000,0.023,3364,1928,584
$STATE,18885,end climb,SURFACE_DEPTH_REACHED
$STATE,18885,begin surface coast
$FINISH,-0.6,1.020978
$STATE,18909,end surface coast,CONTROL_FINISHED_OK
$STATE,18909,begin surface
$SM_CCo,18994,0.00,0.000,0,0,584,549.96
$SM_GC,-6.64,12.82,0.00,0.00,0.050,0.000,0.000,418,2359,584,-10.58,-0.25,549.96
$IRIDIUM_FIX,1249.88,12032.42,120897,191941
$TT8_MAMPS,0.026078
$HUMID,2015
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,411
$ALTIM_BOTTOM_PING,990.5,37.6
$24V_AH,22.5,73.644
$10V_AH,10.1,49.191
$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,30.250,154.950,689.950,0.000,0.000,76.147,100.240,399.534,115.500,0.000,0.000,29.882,2797.665,12032.146,773.824,3171.422,1094.492,0.000,2386.022,0.000,3088.308,0.000,94.215
$DEVICE_MAMPS,165.672,121.186,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.059,402.680,630.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91447,1682
$CAP_FILE_SIZE,201823,0
$CFSIZE,260165632,220028928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190508,005432,1256.378,12034.295,42,1.5,42,-0.8