version: 66.03
glider: 126
mission: 7
dive: 141
start: 3 17 108 5 40 41
data:
$ID,126
$MISSION,7
$DIVE,141
$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,-622158.44
$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,37
$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
$GPS1,053338,1246.888,12023.229,32,1.6,32,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.56
$_SM_ANGLEo,-56.7
$GPS2,053950,1246.872,12023.214,11,1.5,11,-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,79.4,35985,-22.0,-7.990
$D_GRID,726
$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,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-67.07,0.000,6,0.000,0.000,413,2320,3102
$GC,93,-2.33,-67.0,-0.2,-14.6,13,110,10.18,1.80,0.00,0.000,4,0.175,0.031,2195,1255,3104
$GC,346,-2.23,-67.0,59.2,-18.1,58,353,0.10,1.80,0.00,0.000,6,0.117,0.025,2218,2338,3105
$GC,691,-2.16,-67.0,115.6,-16.2,119,697,0.10,1.80,0.00,0.000,4,0.133,0.032,2235,1250,3106
$GC,737,-2.12,-67.0,122.6,-15.5,127,743,0.00,1.75,0.00,0.000,6,0.000,0.025,2236,2329,3108
$GC,1081,-2.12,-67.0,166.5,-11.5,188,1087,0.00,1.77,0.00,0.000,4,0.000,0.042,2236,3363,3108
$GC,1245,-2.12,-67.0,183.8,-10.8,217,1251,0.00,1.67,0.00,0.000,6,0.000,0.024,2235,2304,3108
$GC,1587,-2.12,-67.0,221.1,-10.4,278,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2297,3109
$GC,1928,-2.12,-67.0,254.4,-10.0,335,1932,0.00,1.85,0.00,0.000,4,0.000,0.044,2236,3373,3108
$GC,1966,-2.12,-67.0,258.4,-10.2,338,1972,0.00,1.67,0.00,0.000,6,0.000,0.026,2235,2345,3108
$GC,2291,-2.12,-67.0,290.5,-9.3,369,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2338,3107
$GC,2609,-2.12,-67.0,323.0,-10.2,399,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2338,3104
$GC,2928,-2.12,-67.0,355.4,-10.2,429,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2338,3102
$GC,3249,-2.14,-67.0,386.8,-10.0,459,3253,0.00,1.77,0.00,0.000,4,0.000,0.049,2236,3361,3100
$GC,3321,-2.14,-67.0,394.6,-10.2,465,3328,0.00,1.70,0.00,0.000,6,0.000,0.030,2236,2355,3099
$GC,3648,-2.16,-67.0,424.3,-9.0,496,3651,0.00,1.88,0.00,0.000,4,0.000,0.051,2236,1275,3097
$GC,3726,-2.16,-67.0,431.8,-9.0,503,3729,0.00,1.75,0.00,0.000,6,0.000,0.033,2236,2316,3097
$GC,4057,-2.18,-67.0,461.5,-9.1,534,4061,0.00,1.88,0.00,0.000,4,0.000,0.054,2236,3376,3094
$GC,4173,-2.18,-67.0,472.6,-9.6,544,4180,0.00,1.80,0.00,0.000,6,0.000,0.033,2235,2327,3093
$GC,4501,-2.21,-67.0,500.2,-8.2,575,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2326,3091
$GC,4809,-2.23,-67.0,528.1,-9.0,590,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2326,3089
$GC,5117,-2.26,-67.0,556.6,-9.7,605,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2326,3087
$GC,5426,-2.29,-67.0,584.6,-8.9,620,5430,0.12,1.95,0.00,0.000,4,0.074,0.080,2204,3364,3085
$GC,5481,-2.29,-67.0,590.0,-9.8,622,5490,0.00,1.85,0.00,0.000,6,0.000,0.054,2203,2350,3085
$GC,5805,-2.29,-67.0,619.6,-8.9,638,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2350,3083
$GC,6114,-2.29,-67.0,648.6,-8.9,653,6117,0.00,2.08,0.00,0.000,4,0.000,0.100,2203,1274,3082
$GC,6283,-2.29,-67.0,664.4,-9.8,660,6287,0.00,1.98,0.00,0.000,6,0.000,0.088,2204,2309,3081
$GC,6604,-2.29,-67.0,693.6,-9.0,676,6608,0.00,2.20,0.00,0.000,4,0.000,0.126,2204,3390,3079
$GC,6810,-2.29,-67.0,713.3,-9.4,685,6814,0.00,2.15,0.00,0.000,6,0.000,0.111,2203,2347,3078
$STATE,6943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6943,begin apogee
$GC,6949,-0.51,0.0,726.1,9.6,692,7007,1.88,0.00,53.47,1.236,6,0.099,0.000,2597,1958,2825
$STATE,7007,end apogee,CONTROL_FINISHED_OK
$STATE,7007,begin climb
$GC,7009,2.33,67.0,727.9,0.0,695,7072,2.83,0.00,58.20,1.201,6,0.063,0.000,3221,1958,2551
$GC,7376,2.32,84.1,709.7,6.4,713,7395,0.00,0.00,15.45,1.146,6,0.000,0.000,3221,1958,2482
$GC,7705,2.29,94.4,685.1,7.0,729,7719,0.00,2.17,10.30,1.088,4,0.000,0.104,3221,3023,2440
$GC,7833,2.25,94.4,675.0,8.5,734,7837,0.00,2.12,0.00,0.000,6,0.000,0.094,3221,1943,2439
$GC,8164,2.21,94.4,649.3,8.0,750,8169,0.15,2.08,0.00,0.000,4,0.110,0.086,3189,3023,2437
$GC,8231,2.22,98.9,644.1,7.6,753,8241,0.00,2.05,5.15,0.887,6,0.000,0.077,3189,1944,2421
$GC,8552,2.23,105.3,620.3,7.4,768,8565,0.00,2.10,6.95,0.995,4,0.000,0.095,3189,900,2395
$GC,8686,2.22,110.7,610.0,7.5,774,8696,0.00,1.98,6.32,0.963,6,0.000,0.053,3189,1979,2373
$GC,9012,2.23,118.3,585.0,7.3,790,9026,0.00,1.92,8.10,1.023,4,0.000,0.064,3189,3016,2342
$GC,9115,2.23,118.3,576.3,8.2,794,9122,0.00,1.90,0.00,0.000,6,0.000,0.050,3189,1966,2342
$GC,9433,2.23,119.7,551.0,7.9,810,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1966,2341
$GC,9740,2.23,119.7,526.9,8.1,825,9744,0.00,1.88,0.00,0.000,4,0.000,0.050,3189,3031,2340
$GC,9840,2.23,120.1,518.6,8.0,829,9844,0.00,1.83,0.00,0.000,6,0.000,0.038,3189,1988,2340
$GC,10163,2.24,124.8,494.7,7.5,848,10175,0.00,2.03,6.60,0.933,4,0.000,0.067,3189,915,2316
$GC,10213,2.24,124.8,490.4,8.4,852,10220,0.00,1.92,0.00,0.000,6,0.000,0.031,3189,2033,2316
$GC,10540,2.25,129.3,465.1,7.6,883,10551,0.00,2.05,6.05,0.896,4,0.000,0.057,3189,909,2296
$GC,10681,2.25,131.8,453.9,7.7,895,10690,0.00,1.88,3.60,0.663,6,0.000,0.031,3189,2019,2287
$GC,11015,2.27,140.3,428.6,7.2,927,11029,0.00,1.83,9.05,0.971,4,0.000,0.049,3189,3031,2252
$GC,11153,2.27,140.3,417.5,8.0,939,11160,0.00,1.77,0.00,0.000,6,0.000,0.035,3189,2012,2252
$GC,11479,2.27,140.3,391.2,8.8,970,11483,0.00,1.98,0.00,0.000,4,0.000,0.061,3189,906,2252
$GC,11738,2.27,143.1,369.2,7.7,993,11750,0.00,1.88,3.80,0.653,6,0.000,0.030,3189,2016,2241
$GC,12068,2.28,147.1,344.5,7.6,1024,12079,0.00,1.77,4.95,0.763,4,0.000,0.048,3189,3036,2225
$GC,12118,2.29,152.7,340.8,7.5,1028,12129,0.00,1.83,6.72,0.854,6,0.000,0.035,3189,1986,2202
$GC,12447,2.29,156.0,316.0,7.7,1059,12457,0.00,0.00,4.32,0.694,6,0.000,0.000,3189,1986,2189
$GC,12777,2.31,162.8,291.5,7.3,1090,12787,0.10,0.00,7.30,0.841,6,0.081,0.000,3217,1986,2161
$GC,13104,2.31,162.8,263.3,9.1,1121,13107,0.00,1.90,0.00,0.000,4,0.000,0.056,3217,912,2161
$GC,13187,2.31,162.8,256.0,8.3,1128,13193,0.00,1.90,0.00,0.000,6,0.000,0.030,3217,2029,2161
$GC,13526,2.31,167.6,228.0,7.5,1182,13537,0.00,0.00,6.10,0.756,6,0.000,0.000,3217,2030,2141
$GC,13875,2.33,174.7,199.7,7.3,1244,13887,0.00,2.08,7.50,0.787,4,0.000,0.051,3217,904,2112
$GC,14084,2.33,177.4,183.6,7.7,1281,14095,0.00,1.88,4.05,0.597,6,0.000,0.028,3217,2029,2101
$GC,14434,2.36,195.3,159.9,6.3,1343,14456,0.00,0.00,16.12,0.825,6,0.000,0.000,3217,2029,2028
$GC,14793,2.46,237.7,138.9,4.0,1407,14837,0.12,1.77,35.83,0.808,4,0.067,0.042,3254,3026,1854
$GC,14906,2.46,237.7,131.3,8.0,1427,14912,0.00,1.80,0.00,0.000,6,0.000,0.030,3254,1958,1852
$GC,15251,2.51,249.5,108.9,6.9,1488,15269,0.00,0.00,10.70,0.722,6,0.000,0.000,3254,1958,1806
$GC,15609,2.56,258.9,83.3,7.1,1551,15626,0.00,1.85,9.10,0.676,4,0.000,0.046,3254,919,1769
$GC,15751,2.59,263.1,72.5,7.6,1576,15763,0.00,1.83,5.47,0.579,6,0.000,0.025,3254,2022,1751
$GC,16102,2.68,286.1,48.1,5.8,1638,16131,0.15,1.75,19.73,0.683,4,0.058,0.038,3304,3025,1658
$GC,16384,2.72,297.9,28.4,6.9,1688,16401,0.00,1.65,11.12,0.633,6,0.000,0.025,3304,2031,1610
$GC,16741,2.79,317.8,2.5,6.1,1751,16753,0.00,0.00,10.65,0.601,2,0.000,0.000,3304,2030,1564
$STATE,16754,end climb,SURFACE_DEPTH_REACHED
$STATE,16754,begin surface coast
$FINISH,-0.4,1.021183
$STATE,16787,end surface coast,CONTROL_FINISHED_OK
$STATE,16787,begin surface
$SM_CCo,16808,115.35,0.625,0,0,785,500.17
$SM_GC,-5.48,0.00,0.00,115.35,0.000,0.000,0.625,413,2373,785,-10.57,1.36,500.17
$IRIDIUM_FIX,1241.04,12023.34,110697,000014
$TT8_MAMPS,0.026078
$HUMID,1732
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,391
$24V_AH,23.3,20.934
$10V_AH,10.2,17.004
$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,28.300,95.825,352.725,115.350,0.000,30.258,37.490,185.238,103.500,0.000,0.000,12.940,2830.952,10213.697,595.391,3141.323,534.537,0.000,2048.885,0.000,3125.141,0.000,43.778
$DEVICE_MAMPS,174.876,131.157,1236.404,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.159,821.781,776.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97767,1759
$CAP_FILE_SIZE,165116,0
$CFSIZE,260165632,245469184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170308,102402,1246.847,12024.907,41,1.4,41,-0.8