version: 66.03
glider: 126
mission: 7
dive: 115
start: 3 12 108 2 44 12
data:
$ID,126
$MISSION,7
$DIVE,115
$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,-621701.44
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,023725,1249.543,12043.375,40,1.6,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.26
$_SM_ANGLEo,-56.7
$GPS2,024321,1249.528,12043.391,13,1.6,13,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,333.0,2476,-24.2,-7.990
$D_GRID,838
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.54,-56.0,0.0,0.0,0,91,0.00,0.00,-66.82,0.000,6,0.000,0.000,417,2323,3056
$GC,93,-2.54,-56.0,1.0,-14.7,13,111,9.80,1.80,0.00,0.000,4,0.172,0.035,2153,1266,3057
$GC,330,-2.43,-56.0,62.1,-21.2,55,337,0.15,1.75,0.00,0.000,6,0.137,0.028,2179,2330,3058
$GC,675,-2.39,-56.0,125.8,-15.2,116,681,0.00,1.80,0.00,0.000,4,0.000,0.046,2179,3373,3060
$GC,817,-2.35,-56.0,146.2,-13.5,141,823,0.00,1.70,0.00,0.000,6,0.000,0.024,2179,2302,3060
$GC,1160,-2.35,-56.0,186.7,-11.8,202,1166,0.00,1.88,0.00,0.000,4,0.000,0.044,2178,3376,3061
$GC,1273,-2.35,-56.0,199.2,-11.7,222,1279,0.00,1.70,0.00,0.000,6,0.000,0.025,2179,2328,3062
$GC,1617,-2.35,-56.0,235.7,-11.3,283,1623,0.00,1.73,0.00,0.000,4,0.000,0.037,2178,1290,3062
$GC,1656,-2.35,-56.0,240.1,-11.2,290,1663,0.00,1.75,0.00,0.000,6,0.000,0.028,2178,2339,3062
$GC,1985,-2.35,-56.0,277.9,-11.1,328,1989,0.00,1.77,0.00,0.000,4,0.000,0.051,2179,3369,3061
$GC,2079,-2.35,-56.0,289.2,-12.4,336,2086,0.00,1.67,0.00,0.000,6,0.000,0.027,2179,2350,3060
$GC,2407,-2.35,-56.0,325.4,-11.0,367,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2348,3058
$GC,2722,-2.35,-56.0,361.0,-10.6,397,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2347,3057
$GC,3041,-2.35,-56.0,394.5,-9.1,427,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2348,3055
$GC,3359,-2.35,-56.0,426.8,-10.5,457,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2347,3052
$STATE,3538,end dive,NO_VERTICAL_VELOCITY
$STATE,3538,begin apogee
$GC,3543,-0.51,0.0,427.6,0.0,474,3593,1.85,0.00,45.78,0.967,6,0.067,0.000,2597,1981,2824
$STATE,3594,end apogee,CONTROL_FINISHED_OK
$STATE,3594,begin climb
$GC,3596,2.54,56.0,427.5,0.0,479,3652,2.90,0.00,46.38,0.942,6,0.051,0.000,3270,1981,2596
$GC,3970,2.60,105.1,418.7,2.7,515,4012,0.00,0.00,40.22,0.953,6,0.000,0.000,3270,1981,2396
$GC,4329,2.62,116.5,394.2,6.8,549,4344,0.00,1.85,10.43,0.871,4,0.000,0.051,3270,3011,2349
$GC,4480,2.59,116.5,382.1,9.3,562,4484,0.00,1.83,0.00,0.000,6,0.000,0.041,3270,1956,2348
$GC,4810,2.59,116.5,353.1,8.1,593,4814,0.00,1.85,0.00,0.000,4,0.000,0.051,3271,3006,2346
$GC,4916,2.61,125.7,344.6,7.0,602,4933,0.00,1.77,8.38,0.834,6,0.000,0.039,3270,1987,2312
$GC,5250,2.62,130.5,319.6,7.5,634,5261,0.00,0.00,5.43,0.728,6,0.000,0.000,3270,1986,2292
$GC,5580,2.63,137.2,293.4,7.3,665,5593,0.00,1.85,6.80,0.779,4,0.000,0.050,3270,3005,2265
$GC,5701,2.63,140.4,284.1,7.6,676,5712,0.00,1.73,4.38,0.645,6,0.000,0.038,3270,2000,2252
$GC,6030,2.65,146.9,259.9,7.3,707,6040,0.00,0.00,6.60,0.755,6,0.000,0.000,3270,2000,2225
$GC,6369,2.65,152.3,234.6,7.4,756,6381,0.00,0.00,6.22,0.727,6,0.000,0.000,3270,2000,2202
$GC,6718,2.67,161.4,208.7,7.0,818,6729,0.00,0.00,8.52,0.769,6,0.000,0.000,3270,2000,2167
$GC,7068,2.70,166.2,181.7,7.5,880,7081,0.12,1.95,5.68,0.671,4,0.070,0.056,3306,907,2146
$GC,7126,2.70,166.2,176.5,8.8,890,7132,0.00,1.90,0.00,0.000,6,0.000,0.029,3305,2025,2146
$GC,7471,2.71,169.4,150.2,7.7,951,7483,0.00,1.73,4.25,0.562,4,0.000,0.048,3305,3003,2134
$GC,7500,2.71,169.5,147.8,8.0,956,7507,0.00,1.67,0.00,0.000,6,0.000,0.035,3305,2030,2134
$GC,7846,2.77,204.7,129.9,4.2,1017,7884,0.00,1.77,29.52,0.779,4,0.000,0.044,3306,3002,1989
$GC,8138,2.83,231.3,115.0,5.1,1069,8165,0.00,1.60,22.17,0.747,6,0.000,0.031,3305,2038,1882
$GC,8506,2.90,247.3,90.6,6.3,1134,8525,0.15,1.75,14.07,0.701,4,0.060,0.041,3352,3009,1817
$GC,8777,2.93,262.4,72.3,6.4,1182,8795,0.00,1.70,13.75,0.677,6,0.000,0.028,3352,1994,1754
$GC,9135,2.99,277.5,49.3,6.4,1245,9157,0.00,1.80,13.60,0.650,4,0.000,0.038,3352,3007,1692
$GC,9259,3.02,277.5,39.2,8.4,1267,9265,0.00,1.60,0.00,0.000,6,0.000,0.027,3352,2029,1692
$GC,9603,3.07,282.0,14.4,7.5,1328,9616,0.12,1.90,5.30,0.505,4,0.063,0.044,3391,921,1675
$STATE,9766,end climb,SURFACE_DEPTH_REACHED
$STATE,9766,begin surface coast
$FINISH,0.2,1.021530
$STATE,9790,end surface coast,CONTROL_FINISHED_OK
$STATE,9790,begin surface
$SM_CCo,9813,127.32,0.622,0,0,786,500.17
$SM_GC,-4.21,0.00,0.00,127.32,0.000,0.000,0.622,416,2341,786,-10.55,0.45,500.17
$IRIDIUM_FIX,1243.25,12042.28,050697,232332
$TT8_MAMPS,0.025311
$HUMID,1749
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,23.70
$XPDR_PINGS,489
$24V_AH,23.5,17.288
$10V_AH,10.2,13.888
$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,28.050,50.800,297.475,127.325,0.000,23.963,32.096,198.899,122.250,0.000,0.000,13.625,2096.670,5008.037,514.997,2254.942,451.642,0.000,1539.247,0.000,2266.826,0.000,0.926
$DEVICE_MAMPS,171.808,55.991,967.187,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,916.424,816.248,707.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75842,1361
$CAP_FILE_SIZE,108696,0
$CFSIZE,260165632,247705600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120308,053107,1249.710,12043.371,38,0.9,39,-0.8