version: 66.03
glider: 126
mission: 7
dive: 72
start: 3 2 108 13 25 12
data:
$ID,126
$MISSION,7
$DIVE,72
$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,413
$T_MISSION,496
$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,150
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,-620867.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,131726,1320.336,12019.854,38,1.5,39,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.72
$_SM_ANGLEo,-56.9
$GPS2,132420,1320.372,12019.802,11,1.9,16,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,TUBILE_SB
$TGT_LATLONG,1312.400,12024.730
$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,149.9,17232,-22.0,-7.990
$D_GRID,812
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-67.45,0.000,6,0.000,0.000,414,2350,3101
$GC,92,-2.33,-67.0,2.1,-16.9,13,110,10.10,1.85,0.00,0.000,4,0.173,0.034,2199,1263,3102
$GC,138,-2.09,-67.0,19.0,-30.8,21,145,0.28,1.73,0.00,0.000,6,0.118,0.028,2251,2315,3103
$GC,482,-2.04,-67.0,78.7,-14.2,82,488,0.00,1.80,0.00,0.000,4,0.000,0.035,2251,1261,3104
$GC,539,-2.00,-67.0,88.1,-16.7,92,546,0.08,1.73,0.00,0.000,6,0.111,0.026,2270,2303,3104
$GC,882,-2.00,-67.0,140.4,-14.0,153,888,0.00,1.80,0.00,0.000,4,0.000,0.043,2270,3369,3105
$GC,939,-2.00,-67.0,148.2,-13.2,163,944,0.00,1.77,0.00,0.000,6,0.000,0.025,2270,2257,3105
$GC,1282,-2.04,-70.0,184.9,-7.7,224,1288,0.00,1.92,0.00,0.000,4,0.000,0.041,2270,3369,3105
$GC,1541,-2.07,-70.0,210.6,-10.4,270,1547,0.00,1.70,0.00,0.000,6,0.000,0.026,2270,2320,3106
$GC,1886,-2.10,-70.0,246.3,-11.1,331,1892,0.00,1.80,0.00,0.000,4,0.000,0.045,2270,3364,3106
$GC,2146,-2.14,-70.0,271.8,-9.4,357,2150,0.12,1.60,0.00,0.000,6,0.066,0.028,2234,2366,3106
$GC,2474,-2.14,-70.0,306.8,-11.0,388,2478,0.00,1.75,0.00,0.000,4,0.000,0.048,2234,3373,3104
$GC,2568,-2.14,-70.0,317.9,-12.2,396,2575,0.00,1.62,0.00,0.000,6,0.000,0.029,2234,2381,3103
$GC,2894,-2.14,-70.0,354.6,-11.3,427,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2374,3102
$GC,3212,-2.14,-70.0,389.7,-10.9,457,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2374,3100
$GC,3532,-2.44,-146.0,414.4,-0.2,487,3536,0.22,1.85,0.00,0.000,4,0.055,0.048,2170,1309,3098
$STATE,3597,end dive,NO_VERTICAL_VELOCITY
$STATE,3597,begin apogee
$GC,3602,-0.51,0.0,414.3,0.0,493,3661,1.95,0.00,54.10,0.950,6,0.084,0.000,2596,1976,2825
$STATE,3661,end apogee,CONTROL_FINISHED_OK
$STATE,3661,begin climb
$GC,3663,2.47,146.0,414.3,0.0,499,3789,2.85,1.83,116.32,0.931,4,0.058,0.045,3253,2998,2228
$GC,3923,2.43,146.0,397.4,10.4,523,3929,0.00,1.73,0.00,0.000,6,0.000,0.035,3253,2005,2226
$GC,4248,2.40,146.0,362.6,11.0,554,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2006,2223
$GC,4567,2.37,146.0,328.8,10.5,584,4569,0.15,0.00,0.00,0.000,6,0.108,0.000,3225,2005,2221
$GC,4885,2.37,146.0,300.6,8.5,614,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2006,2219
$GC,5203,2.37,146.0,272.2,9.1,644,5206,0.00,1.73,0.00,0.000,4,0.000,0.047,3224,2996,2218
$GC,5292,2.37,146.0,264.1,8.9,652,5296,0.00,1.77,0.00,0.000,6,0.000,0.035,3224,1947,2217
$GC,5625,2.38,147.7,235.8,7.8,697,5631,0.00,1.83,0.00,0.000,4,0.000,0.060,3224,914,2216
$GC,5743,2.38,147.7,225.4,8.8,718,5749,0.00,1.73,0.00,0.000,6,0.000,0.031,3224,1935,2216
$GC,6086,2.38,149.5,198.8,7.8,779,6092,0.00,1.83,0.00,0.000,4,0.000,0.054,3224,905,2215
$GC,6199,2.38,149.5,189.7,8.1,799,6205,0.00,1.65,0.00,0.000,6,0.000,0.031,3224,1908,2215
$GC,6542,2.51,213.2,177.3,2.0,860,6602,0.15,1.95,51.75,0.819,4,0.067,0.044,3270,3004,1956
$GC,6764,2.51,213.2,161.9,8.2,900,6771,0.00,1.90,0.00,0.000,6,0.000,0.032,3270,1895,1953
$GC,7108,2.53,229.0,135.5,6.5,961,7126,0.00,2.00,13.65,0.738,4,0.000,0.040,3270,3012,1890
$GC,7188,2.55,237.3,129.7,7.2,975,7201,0.00,1.80,8.30,0.677,6,0.000,0.030,3270,1937,1857
$GC,7539,2.59,247.0,104.0,7.1,1037,7555,0.00,1.83,9.45,0.675,4,0.000,0.051,3270,918,1816
$GC,7808,2.59,247.0,82.2,8.7,1085,7814,0.00,1.73,0.00,0.000,6,0.000,0.027,3270,1979,1816
$GC,8152,2.65,262.4,56.0,6.5,1146,8169,0.00,1.92,13.73,0.663,4,0.000,0.046,3270,920,1755
$GC,8423,2.74,294.7,39.3,4.9,1194,8457,0.12,1.73,26.92,0.664,6,0.046,0.026,3316,1977,1623
$GC,8797,2.79,303.1,10.4,7.2,1260,8808,0.00,0.00,7.97,0.568,6,0.000,0.000,3316,1977,1588
$STATE,8891,end climb,SURFACE_DEPTH_REACHED
$STATE,8891,begin surface coast
$FINISH,0.1,1.021755
$STATE,8915,end surface coast,CONTROL_FINISHED_OK
$STATE,8915,begin surface
$SM_CCo,8935,115.62,0.624,0,0,786,500.17
$SM_GC,-3.54,0.00,0.00,115.62,0.000,0.000,0.624,416,2317,786,-10.55,-0.23,500.17
$IRIDIUM_FIX,1314.23,12020.97,270597,131337
$TT8_MAMPS,0.026078
$HUMID,1743
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.20
$XPDR_PINGS,553
$24V_AH,23.5,10.645
$10V_AH,10.2,8.524
$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,28.625,53.500,302.200,115.625,0.000,50.577,47.933,153.383,138.250,0.000,0.000,16.129,1979.210,4433.295,480.708,2176.295,427.172,0.000,1474.664,0.000,2187.483,0.000,0.925
$DEVICE_MAMPS,173.342,59.826,950.313,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,861.503,818.893,666.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72786,1281
$CAP_FILE_SIZE,103820,0
$CFSIZE,260165632,251457536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020308,155708,1319.864,12019.999,30,1.5,31,-0.9