version: 66.03
glider: 126
mission: 7
dive: 419
start: 5 20 108 6 20 2
data:
$ID,126
$MISSION,7
$DIVE,419
$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,-627401.06
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,061008,1257.470,12034.332,33,1.5,33,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.52
$_SM_ANGLEo,-57.1
$GPS2,061927,1257.464,12034.384,14,1.5,14,-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,142.1,24853,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.34,-194.7,0.0,0.0,0,114,0.00,0.00,-83.57,0.000,6,0.000,0.000,416,2375,3620
$GC,118,-2.34,-194.7,2.5,-27.1,17,135,10.05,1.80,0.00,0.000,4,0.163,0.037,2215,3418,3622
$GC,226,-2.14,-194.7,25.7,-15.5,36,233,0.17,1.80,0.00,0.000,6,0.103,0.024,2262,2335,3622
$GC,573,-2.14,-194.7,71.2,-12.9,97,579,0.00,1.88,0.00,0.000,4,0.000,0.039,2262,3422,3623
$GC,621,-2.08,-194.7,77.2,-12.6,105,627,0.00,1.92,0.00,0.000,6,0.000,0.023,2262,2241,3623
$GC,965,-2.11,-194.7,117.0,-10.8,166,971,0.00,1.52,0.00,0.000,4,0.000,0.036,2262,1337,3624
$GC,1057,-2.11,-194.7,127.7,-11.2,182,1063,0.00,1.50,0.00,0.000,6,0.000,0.024,2262,2257,3624
$GC,1402,-2.18,-194.7,161.1,-10.4,243,1408,0.00,1.98,0.00,0.000,4,0.000,0.039,2262,3417,3625
$GC,1495,-2.23,-194.7,170.9,-11.2,259,1501,0.00,1.95,0.00,0.000,6,0.000,0.024,2262,2217,3626
$GC,1840,-2.32,-194.7,203.2,-9.0,320,1846,0.15,0.00,0.00,0.000,6,0.054,0.000,2211,2215,3626
$GC,2184,-2.32,-194.7,235.1,-9.5,381,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2216,3625
$GC,2523,-2.32,-194.7,269.1,-10.6,426,2527,0.00,2.10,0.00,0.000,4,0.000,0.044,2211,3418,3625
$GC,2607,-2.32,-194.7,278.1,-10.9,433,2613,0.00,1.90,0.00,0.000,6,0.000,0.027,2211,2273,3625
$GC,2936,-2.35,-194.7,311.5,-10.7,464,2939,0.00,2.03,0.00,0.000,4,0.000,0.045,2211,3424,3623
$GC,3031,-2.35,-194.7,322.1,-11.3,472,3037,0.00,2.03,0.00,0.000,6,0.000,0.028,2211,2217,3623
$GC,3360,-2.35,-194.7,355.5,-10.1,503,3363,0.00,2.12,0.00,0.000,4,0.000,0.046,2211,3422,3621
$GC,3439,-2.35,-194.7,363.6,-9.8,510,3443,0.00,2.17,0.00,0.000,6,0.000,0.030,2211,2140,3620
$GC,3767,-2.40,-194.7,394.2,-10.0,540,3771,0.00,2.25,0.00,0.000,4,0.000,0.047,2211,3423,3618
$GC,3807,-2.40,-194.7,398.6,-10.7,543,3813,0.00,2.05,0.00,0.000,6,0.000,0.031,2211,2215,3617
$GC,4136,-2.45,-194.7,431.5,-9.9,574,4139,0.00,2.15,0.00,0.000,4,0.000,0.050,2211,3420,3615
$GC,4238,-2.45,-194.7,441.8,-9.8,583,4242,0.00,2.15,0.00,0.000,6,0.000,0.032,2212,2171,3615
$GC,4572,-2.50,-194.7,474.3,-10.1,614,4577,0.12,2.22,0.00,0.000,4,0.062,0.052,2176,3412,3613
$GC,4682,-2.45,-194.7,485.5,-10.0,623,4686,0.10,1.95,0.00,0.000,6,0.111,0.034,2194,2286,3612
$GC,5020,-2.45,-194.7,517.9,-9.5,646,5023,0.00,2.05,0.00,0.000,4,0.000,0.061,2194,3407,3609
$GC,5089,-2.41,-194.7,524.4,-9.2,649,5093,0.00,2.12,0.00,0.000,6,0.000,0.039,2194,2201,3609
$GC,5422,-2.41,-194.7,553.4,-8.6,665,5426,0.00,2.25,0.00,0.000,4,0.000,0.070,2194,3409,3606
$GC,5523,-2.41,-194.7,562.7,-9.3,669,5529,0.00,2.30,0.00,0.000,6,0.000,0.048,2194,2124,3605
$GC,5842,-2.44,-194.7,593.2,-9.9,685,5845,0.00,1.50,0.00,0.000,4,0.000,0.099,2194,1355,3603
$GC,5938,-2.44,-194.7,603.1,-9.9,689,5941,0.00,1.52,0.00,0.000,6,0.000,0.068,2194,2172,3602
$GC,6265,-2.44,-194.7,634.9,-9.5,705,6269,0.00,1.65,0.00,0.000,4,0.000,0.102,2194,1355,3600
$GC,6368,-2.44,-194.7,644.4,-9.3,709,6371,0.00,1.62,0.00,0.000,6,0.000,0.083,2194,2208,3599
$GC,6690,-2.44,-194.7,674.7,-9.7,725,6693,0.00,1.75,0.00,0.000,4,0.000,0.117,2194,1350,3597
$GC,6791,-2.44,-194.7,684.4,-9.8,729,6794,0.00,1.35,0.00,0.000,6,0.000,0.031,2194,2146,3597
$GC,7113,-2.44,-194.7,713.4,-8.4,745,7117,0.00,2.25,0.00,0.000,4,0.000,0.052,2194,3420,3595
$GC,7169,-2.44,-194.7,718.4,-9.2,747,7175,0.00,2.22,0.00,0.000,6,0.000,0.035,2194,2129,3594
$GC,7487,-2.44,-194.7,745.3,-8.8,763,7491,0.00,1.40,0.00,0.000,4,0.000,0.058,2194,1346,3593
$GC,7544,-2.44,-194.7,750.8,-9.5,765,7547,0.00,1.35,0.00,0.000,6,0.000,0.035,2194,2130,3593
$GC,7865,-2.44,-194.7,783.4,-10.2,781,7869,0.00,1.42,0.00,0.000,4,0.000,0.050,2194,1340,3592
$GC,7883,-2.44,-194.7,785.3,-10.2,781,7889,0.00,1.55,0.00,0.000,6,0.000,0.034,2195,2240,3591
$GC,8199,-2.44,-194.7,816.3,-9.6,797,8203,0.00,1.60,0.00,0.000,4,0.000,0.052,2195,1348,3590
$GC,8226,-2.44,-194.7,819.2,-10.4,798,8230,0.00,1.73,0.00,0.000,6,0.000,0.036,2194,2364,3590
$GC,8558,-2.44,-194.7,852.3,-10.2,814,8561,0.00,1.90,0.00,0.000,4,0.000,0.057,2195,3428,3589
$GC,8655,-2.40,-194.7,863.0,-10.7,818,8658,0.00,2.03,0.00,0.000,6,0.000,0.041,2194,2260,3588
$GC,8983,-2.40,-194.7,896.1,-10.0,834,8986,0.00,1.60,0.00,0.000,4,0.000,0.055,2194,1347,3587
$GC,9119,-2.40,-194.7,909.1,-9.8,840,9122,0.00,1.48,0.00,0.000,6,0.000,0.037,2194,2198,3587
$STATE,9386,end dive,NO_VERTICAL_VELOCITY
$STATE,9386,begin apogee
$GC,9395,-0.52,0.0,915.5,0.0,853,9569,1.88,0.00,165.85,1.368,6,0.061,0.000,2619,2085,2825
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9573,2.34,194.7,915.1,0.0,862,9758,2.72,0.00,171.68,1.320,6,0.051,0.000,3241,2085,2031
$GC,10065,2.28,241.1,877.2,9.7,886,10120,0.00,1.98,44.38,1.232,4,0.000,0.052,3241,3122,1842
$GC,10272,2.15,241.1,853.8,12.2,895,10276,0.22,1.70,0.00,0.000,6,0.100,0.037,3197,2154,1838
$GC,10594,2.19,300.8,822.2,9.1,911,10656,0.00,1.85,53.85,1.272,4,0.000,0.051,3198,3126,1598
$GC,10744,2.17,330.3,807.6,10.6,917,10778,0.00,1.65,27.55,1.234,6,0.000,0.037,3198,2189,1478
$GC,11103,2.13,330.3,765.2,13.3,935,11106,0.00,1.70,0.00,0.000,4,0.000,0.050,3198,3132,1474
$GC,11172,2.07,330.3,756.3,12.5,938,11176,0.00,1.55,0.00,0.000,6,0.000,0.046,3198,2266,1473
$GC,11505,2.18,398.5,724.1,8.7,954,11574,0.00,2.35,62.55,1.235,4,0.000,0.061,3197,1028,1200
$GC,11677,2.23,424.3,707.0,10.7,962,11707,0.00,2.10,24.50,1.183,6,0.000,0.034,3197,2242,1095
$GC,12032,2.30,432.4,667.1,11.6,979,12047,0.15,2.30,8.35,1.065,4,0.063,0.058,3244,1026,1062
$GC,12127,2.22,432.4,654.3,13.6,983,12131,0.15,1.75,0.00,0.000,6,0.104,0.031,3215,2052,1062
$GC,12456,2.31,437.7,615.3,11.7,999,12467,0.00,2.00,6.40,0.976,4,0.000,0.050,3215,3131,1039
$GC,12507,2.32,441.8,609.1,11.8,1001,12518,0.00,1.65,5.72,0.926,6,0.000,0.045,3215,2188,1023
$GC,12828,2.41,455.8,572.3,11.3,1017,12850,0.15,2.17,13.98,1.103,4,0.061,0.059,3263,1031,966
$GC,12938,2.35,458.9,559.1,11.9,1021,12948,0.12,1.70,4.30,0.787,6,0.107,0.031,3239,2025,953
$GC,13278,2.41,460.9,518.7,11.9,1038,13282,0.00,1.95,0.00,0.000,4,0.000,0.049,3239,3130,952
$GC,13379,2.41,460.9,505.4,12.3,1042,13382,0.00,1.65,0.00,0.000,6,0.000,0.035,3239,2182,952
$GC,13713,2.47,460.9,465.2,12.2,1071,13717,0.12,2.08,0.00,0.000,4,0.067,0.058,3275,1024,952
$GC,13808,2.47,460.9,452.0,13.7,1079,13812,0.00,1.70,0.00,0.000,6,0.000,0.031,3276,2027,951
$GC,14145,2.50,460.9,409.7,12.4,1110,14149,0.00,1.92,0.00,0.000,4,0.000,0.048,3276,3121,951
$GC,14218,2.48,466.8,399.8,11.7,1116,14235,0.00,1.62,8.30,0.940,6,0.000,0.036,3276,2186,922
$GC,14554,2.50,473.9,359.8,11.7,1148,14568,0.00,2.17,7.80,0.902,4,0.000,0.058,3275,1024,893
$GC,14655,2.50,473.9,347.2,12.3,1157,14658,0.00,1.70,0.00,0.000,6,0.000,0.030,3275,2027,893
$GC,14985,2.55,473.9,307.4,12.0,1188,14989,0.00,1.92,0.00,0.000,4,0.000,0.048,3276,3126,892
$GC,15031,2.55,476.7,301.8,11.9,1192,15043,0.00,1.70,4.47,0.700,6,0.000,0.035,3275,2149,880
$GC,15362,2.59,476.7,262.5,12.3,1223,15365,0.00,2.00,0.00,0.000,4,0.000,0.058,3275,1024,880
$GC,15432,2.59,476.7,254.3,12.3,1229,15435,0.00,1.65,0.00,0.000,6,0.000,0.029,3276,2010,880
$GC,15774,2.66,486.6,214.7,11.5,1286,15791,0.15,1.98,10.48,0.841,4,0.058,0.046,3324,3126,840
$GC,15861,2.61,490.6,204.2,11.8,1301,15873,0.15,2.20,4.85,0.668,6,0.101,0.035,3295,1866,825
$GC,16215,2.71,512.4,162.7,10.9,1363,16242,0.10,2.28,20.77,0.835,4,0.072,0.041,3326,3128,735
$GC,16294,2.74,530.6,153.0,11.1,1377,16316,0.00,1.92,17.45,0.801,6,0.000,0.030,3326,2013,661
$GC,16660,2.90,582.2,112.4,9.5,1441,16684,0.15,2.00,16.73,0.768,4,0.058,0.040,3371,3128,586
$GC,16692,2.94,604.9,108.6,10.9,1446,16698,0.00,1.92,0.00,0.000,6,0.000,0.035,3372,2031,586
$GC,17038,3.05,649.1,69.4,9.8,1507,17044,0.00,1.92,0.00,0.000,4,0.000,0.039,3371,3141,584
$GC,17124,3.09,676.6,60.5,10.7,1522,17131,0.08,1.92,0.00,0.000,6,0.051,0.028,3415,2020,584
$GC,17471,3.12,692.4,23.4,11.2,1583,17477,0.00,1.73,0.00,0.000,4,0.000,0.048,3415,1022,584
$GC,17568,3.13,734.6,12.8,9.9,1600,17574,0.00,1.70,0.00,0.000,6,0.000,0.024,3415,2056,584
$STATE,17668,end climb,SURFACE_DEPTH_REACHED
$STATE,17668,begin surface coast
$FINISH,-0.0,1.020858
$STATE,17690,end surface coast,CONTROL_FINISHED_OK
$STATE,17690,begin surface
$SM_CCo,17775,0.00,0.000,0,0,584,549.72
$SM_GC,-6.55,13.07,0.00,0.00,0.051,0.000,0.000,415,2364,584,-10.59,-0.11,549.72
$IRIDIUM_FIX,1254.31,12033.54,140897,060609
$TT8_MAMPS,0.025311
$HUMID,2048
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,22.70
$XPDR_PINGS,434
$ALTIM_BOTTOM_PING,881.5,35.7
$24V_AH,22.6,75.477
$10V_AH,10.1,49.954
$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,29.825,146.900,679.950,0.000,0.000,51.572,67.922,223.546,118.750,0.000,0.000,14.858,2689.884,10958.300,741.285,3100.449,846.398,0.000,2313.713,0.000,3042.811,0.000,79.765
$DEVICE_MAMPS,163.371,116.584,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.711,399.560,630.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88409,1621
$CAP_FILE_SIZE,187129,0
$CFSIZE,260165632,219430912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200508,111737,1257.836,12034.346,38,1.3,43,-0.9