version: 66.03
glider: 126
mission: 7
dive: 418
start: 5 20 108 1 46 56
data:
$ID,126
$MISSION,7
$DIVE,418
$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,-627385.56
$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,26
$R_STBD_OVSHOOT,44
$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
$GPS1,013937,1257.410,12034.414,36,1.4,41,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.40
$_SM_ANGLEo,-58.1
$GPS2,014621,1257.397,12034.416,15,1.4,15,-0.9
$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,142.1,24721,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-83.62,0.000,6,0.000,0.000,414,2373,3621
$GC,118,-2.34,-194.7,3.0,-27.9,17,135,10.05,1.80,0.00,0.000,4,0.163,0.038,2216,3412,3622
$GC,221,-2.15,-194.7,25.6,-15.6,35,228,0.22,1.75,0.00,0.000,6,0.104,0.023,2261,2332,3623
$GC,566,-2.15,-194.7,70.0,-13.0,96,572,0.00,1.90,0.00,0.000,4,0.000,0.039,2261,3418,3624
$GC,597,-2.12,-194.7,73.9,-14.0,101,603,0.00,1.92,0.00,0.000,6,0.000,0.022,2261,2234,3624
$GC,943,-2.12,-194.7,115.6,-10.7,162,950,0.00,2.03,0.00,0.000,4,0.000,0.038,2261,3415,3625
$GC,1042,-2.12,-194.7,126.1,-10.2,179,1048,0.00,2.00,0.00,0.000,6,0.000,0.023,2261,2185,3625
$GC,1387,-2.19,-194.7,161.5,-8.9,240,1393,0.00,1.42,0.00,0.000,4,0.000,0.037,2261,1339,3627
$GC,1441,-2.23,-194.7,166.3,-9.3,249,1447,0.00,1.35,0.00,0.000,6,0.000,0.023,2261,2177,3627
$GC,1786,-2.32,-194.7,198.9,-9.9,310,1792,0.15,2.12,0.00,0.000,4,0.054,0.039,2211,3419,3628
$GC,1822,-2.32,-194.7,202.6,-10.1,316,1828,0.00,2.17,0.00,0.000,6,0.000,0.025,2211,2099,3628
$GC,2167,-2.35,-194.7,235.0,-10.0,377,2173,0.00,1.30,0.00,0.000,4,0.000,0.043,2210,1345,3628
$GC,2213,-2.35,-194.7,239.5,-9.9,385,2219,0.00,1.23,0.00,0.000,6,0.000,0.025,2211,2096,3628
$GC,2550,-2.39,-194.7,271.6,-9.3,426,2554,0.00,1.33,0.00,0.000,4,0.000,0.044,2211,1346,3628
$GC,2669,-2.39,-194.7,283.1,-9.6,436,2674,0.00,1.25,0.00,0.000,6,0.000,0.026,2211,2109,3627
$GC,2997,-2.42,-194.7,315.1,-9.9,467,3001,0.00,2.25,0.00,0.000,4,0.000,0.044,2211,3412,3626
$GC,3059,-2.42,-194.7,322.0,-10.3,472,3065,0.00,2.08,0.00,0.000,6,0.000,0.028,2211,2168,3626
$GC,3390,-2.45,-194.7,354.2,-9.6,503,3393,0.00,2.17,0.00,0.000,4,0.000,0.044,2211,3408,3623
$GC,3497,-2.45,-194.7,364.9,-9.4,512,3501,0.00,2.20,0.00,0.000,6,0.000,0.029,2211,2106,3622
$GC,3826,-2.49,-194.7,395.2,-9.7,542,3829,0.00,1.33,0.00,0.000,4,0.000,0.053,2211,1355,3621
$GC,3883,-2.49,-194.7,400.9,-9.1,547,3887,0.00,1.17,0.00,0.000,6,0.000,0.029,2210,2056,3620
$GC,4218,-2.53,-194.7,434.5,-10.5,578,4223,0.15,2.38,0.00,0.000,4,0.058,0.047,2168,3415,3618
$GC,4315,-2.46,-194.7,445.9,-11.1,586,4319,0.12,2.22,0.00,0.000,6,0.108,0.032,2191,2118,3617
$GC,4640,-2.46,-194.7,478.9,-9.9,616,4643,0.00,1.40,0.00,0.000,4,0.000,0.068,2192,1358,3615
$GC,4690,-2.46,-194.7,483.9,-9.9,620,4696,0.00,1.27,0.00,0.000,6,0.000,0.038,2192,2089,3615
$GC,5013,-2.46,-194.7,514.4,-9.2,644,5017,0.00,2.35,0.00,0.000,4,0.000,0.058,2192,3403,3612
$GC,5080,-2.42,-194.7,520.4,-9.1,647,5084,0.00,2.30,0.00,0.000,6,0.000,0.036,2192,2084,3612
$GC,5411,-2.45,-194.7,551.7,-9.5,663,5414,0.00,1.38,0.00,0.000,4,0.000,0.083,2192,1360,3611
$GC,5513,-2.45,-194.7,561.9,-10.0,667,5516,0.00,1.42,0.00,0.000,6,0.000,0.054,2192,2142,3609
$GC,5834,-2.45,-194.7,593.4,-10.0,683,5838,0.00,1.52,0.00,0.000,4,0.000,0.087,2191,1361,3606
$GC,5858,-2.45,-194.7,595.8,-10.4,684,5862,0.00,1.65,0.00,0.000,6,0.000,0.064,2192,2265,3606
$GC,6192,-2.45,-194.7,629.3,-9.9,700,6195,0.00,1.77,0.00,0.000,4,0.000,0.096,2192,1354,3605
$GC,6260,-2.45,-194.7,636.1,-9.5,703,6263,0.00,1.55,0.00,0.000,6,0.000,0.077,2192,2163,3603
$GC,6596,-2.48,-194.7,667.4,-9.5,719,6600,0.00,1.50,0.00,0.000,4,0.000,0.065,2192,1357,3601
$GC,6654,-2.48,-194.7,673.0,-9.2,721,6657,0.00,1.58,0.00,0.000,6,0.000,0.036,2192,2289,3601
$GC,6979,-2.48,-194.7,700.0,-8.5,737,6982,0.00,1.98,0.00,0.000,4,0.000,0.054,2192,3403,3598
$GC,7093,-2.45,-194.7,711.1,-10.4,742,7096,0.00,2.08,0.00,0.000,6,0.000,0.035,2192,2207,3598
$GC,7426,-2.45,-194.7,743.8,-9.8,758,7430,0.00,2.17,0.00,0.000,4,0.000,0.054,2192,3413,3597
$GC,7500,-2.41,-194.7,751.1,-9.8,761,7504,0.00,2.22,0.00,0.000,6,0.000,0.037,2192,2122,3595
$GC,7818,-2.41,-194.7,781.1,-8.7,776,7821,0.00,1.42,0.00,0.000,4,0.000,0.076,2192,1357,3595
$GC,7896,-2.41,-194.7,788.5,-9.1,779,7900,0.00,1.48,0.00,0.000,6,0.000,0.039,2192,2208,3594
$GC,8220,-2.91,-194.7,808.7,0.0,795,8225,0.40,2.15,0.00,0.000,4,0.053,0.055,2092,3410,3593
$STATE,8312,end dive,NO_VERTICAL_VELOCITY
$STATE,8313,begin apogee
$GC,8321,-0.52,0.0,808.7,0.0,799,8493,2.28,0.00,165.05,1.290,6,0.059,0.000,2616,2102,2825
$STATE,8494,end apogee,CONTROL_FINISHED_OK
$STATE,8494,begin climb
$GC,8497,2.34,194.7,808.2,0.0,808,8678,2.75,1.95,169.20,1.244,4,0.053,0.052,3241,3119,2030
$GC,8797,2.33,257.5,792.3,8.9,821,8857,0.00,1.88,55.85,1.210,6,0.000,0.038,3241,2073,1775
$GC,9180,2.35,317.2,757.3,9.1,840,9241,0.00,1.98,53.58,1.206,4,0.000,0.051,3241,3112,1531
$GC,9366,2.29,329.8,735.9,11.4,848,9382,0.00,1.67,12.07,1.104,6,0.000,0.035,3241,2154,1480
$GC,9707,2.24,343.0,697.2,11.4,865,9729,0.12,1.80,13.15,1.121,4,0.107,0.049,3217,3107,1425
$GC,9793,2.19,357.3,686.8,11.3,868,9812,0.00,1.55,14.50,1.118,6,0.000,0.035,3217,2240,1367
$GC,10130,2.28,407.9,652.0,9.5,885,10182,0.00,1.70,47.00,1.172,4,0.000,0.051,3217,3122,1161
$GC,10199,2.29,450.0,644.7,9.9,888,10243,0.00,1.77,39.30,1.136,6,0.000,0.041,3217,2121,989
$GC,10564,2.40,455.7,603.3,11.7,906,10574,0.15,1.83,5.43,0.878,4,0.064,0.048,3259,3122,967
$GC,10654,2.34,460.4,591.6,11.8,910,10664,0.00,1.60,5.97,0.909,6,0.000,0.035,3259,2210,948
$GC,10975,2.35,465.3,552.9,11.8,925,10986,0.00,2.22,6.03,0.907,4,0.000,0.071,3260,1024,928
$GC,11050,2.30,475.0,544.1,11.5,928,11065,0.15,1.73,10.27,1.027,6,0.101,0.031,3230,2036,888
$GC,11391,2.41,492.9,506.8,11.1,945,11420,0.10,1.92,19.60,0.987,4,0.076,0.064,3261,1027,815
$GC,11483,2.41,492.9,495.3,12.3,950,11489,0.00,1.48,0.00,0.000,6,0.000,0.029,3261,1883,814
$GC,11811,2.48,492.9,454.1,13.5,981,11815,0.00,2.17,0.00,0.000,4,0.000,0.047,3261,3119,812
$GC,11839,2.52,492.9,449.7,13.7,983,11845,0.00,1.85,0.00,0.000,6,0.000,0.040,3261,2063,812
$GC,12167,2.58,492.9,407.4,12.7,1014,12171,0.15,1.90,0.00,0.000,4,0.062,0.047,3308,3126,811
$GC,12207,2.52,492.9,401.5,13.1,1017,12213,0.17,2.15,0.00,0.000,6,0.102,0.037,3274,1902,811
$GC,12532,2.58,505.3,362.2,11.4,1048,12550,0.00,0.00,12.02,0.963,6,0.000,0.000,3274,1902,765
$GC,12872,2.65,505.3,321.8,12.2,1080,12877,0.15,2.17,0.00,0.000,4,0.064,0.045,3321,3126,763
$GC,12891,2.69,505.3,319.2,12.5,1081,12896,0.00,2.38,0.00,0.000,6,0.000,0.045,3321,1777,763
$GC,13218,2.69,505.3,277.5,12.6,1111,13222,0.00,2.38,0.00,0.000,4,0.000,0.044,3320,3123,763
$GC,13298,2.70,514.6,267.7,11.5,1117,13314,0.00,2.00,9.40,0.863,6,0.000,0.035,3321,1970,726
$GC,13643,2.70,514.6,225.7,12.3,1166,13649,0.00,1.73,0.00,0.000,4,0.000,0.064,3321,1013,725
$GC,13684,2.66,514.6,220.6,12.4,1173,13690,0.00,1.95,0.00,0.000,6,0.000,0.028,3320,2177,725
$GC,14029,2.66,515.3,175.1,12.0,1234,14035,0.00,2.08,0.00,0.000,4,0.000,0.053,3320,1015,725
$GC,14121,2.62,521.9,164.0,11.7,1250,14137,0.00,1.65,8.10,0.761,6,0.000,0.028,3320,2011,696
$GC,14479,2.75,561.3,124.4,10.1,1313,14511,0.00,1.85,24.83,0.805,4,0.000,0.051,3320,1022,586
$GC,14564,2.84,597.1,115.4,10.3,1328,14570,0.08,1.62,0.00,0.000,6,0.053,0.026,3354,1985,586
$GC,14910,2.97,632.5,77.9,10.3,1389,14916,0.00,1.73,0.00,0.000,4,0.000,0.051,3354,1018,583
$GC,15035,3.06,687.3,64.9,9.3,1411,15042,0.17,1.60,0.00,0.000,6,0.051,0.025,3406,1998,583
$GC,15380,3.11,718.1,27.2,10.5,1472,15386,0.00,1.77,0.00,0.000,4,0.000,0.051,3406,1014,584
$GC,15433,3.16,744.8,21.5,10.7,1481,15439,0.00,1.42,0.00,0.000,6,0.000,0.023,3406,1884,584
$STATE,15620,end climb,SURFACE_DEPTH_REACHED
$STATE,15620,begin surface coast
$FINISH,-0.1,1.020895
$STATE,15637,end surface coast,CONTROL_FINISHED_OK
$STATE,15637,begin surface
$SM_CCo,15722,0.00,0.000,0,0,584,549.72
$SM_GC,-6.34,13.02,0.00,0.00,0.051,0.000,0.000,415,2374,584,-10.59,0.17,549.72
$IRIDIUM_FIX,1252.10,12035.45,130897,212133
$TT8_MAMPS,0.026078
$HUMID,2041
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,22.90
$XPDR_PINGS,485
$ALTIM_BOTTOM_PING,801.2,8.9
$24V_AH,22.7,75.212
$10V_AH,10.1,49.843
$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,30.400,135.175,671.350,0.000,0.000,27.929,33.656,185.755,129.500,0.000,0.000,15.241,2491.637,9358.666,736.503,2835.428,703.439,0.000,2176.908,0.000,2781.684,0.000,62.545
$DEVICE_MAMPS,163.371,95.875,1290.094,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.610,401.112,626.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82060,1517
$CAP_FILE_SIZE,171395,0
$CFSIZE,260165632,219537408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200508,061008,1257.470,12034.332,33,1.5,33,-0.9