version: 66.03
glider: 126
mission: 7
dive: 143
start: 3 17 108 14 53 12
data:
$ID,126
$MISSION,7
$DIVE,143
$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,-622184.44
$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,46
$R_STBD_OVSHOOT,56
$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
$GPS1,144555,1247.139,12026.220,24,1.2,41,-0.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,-5.17
$_SM_ANGLEo,-57.9
$GPS2,145221,1247.103,12026.163,12,1.5,12,-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,78.2,30686,-22.0,-7.990
$D_GRID,645
$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,-65.93,0.000,6,0.000,0.000,412,2341,3103
$GC,92,-2.33,-67.0,1.3,-17.6,13,110,10.15,1.80,0.00,0.000,4,0.174,0.033,2198,1279,3104
$GC,307,-2.23,-67.0,51.9,-17.7,51,313,0.12,1.70,0.00,0.000,6,0.136,0.025,2219,2326,3105
$GC,652,-2.17,-67.0,110.0,-16.4,112,659,0.00,1.77,0.00,0.000,4,0.000,0.041,2219,3367,3107
$GC,855,-2.10,-67.0,141.8,-14.9,148,862,0.12,1.73,0.00,0.000,6,0.113,0.024,2248,2306,3107
$GC,1200,-2.10,-67.0,182.4,-12.3,209,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2306,3108
$GC,1542,-2.10,-67.0,218.0,-10.2,270,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2305,3108
$GC,1888,-2.10,-67.0,252.6,-10.7,330,1892,0.00,1.85,0.00,0.000,4,0.000,0.046,2248,3376,3108
$GC,2028,-2.10,-67.0,266.4,-10.3,342,2034,0.00,1.73,0.00,0.000,6,0.000,0.027,2248,2336,3108
$GC,2354,-2.13,-67.0,298.0,-9.4,373,2357,0.00,1.80,0.00,0.000,4,0.000,0.047,2248,3372,3107
$GC,2425,-2.13,-67.0,305.3,-10.3,379,2432,0.00,1.73,0.00,0.000,6,0.000,0.028,2248,2336,3106
$GC,2751,-2.15,-67.0,337.1,-10.0,410,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2336,3104
$GC,3069,-2.18,-67.0,368.5,-10.0,440,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2336,3102
$GC,3387,-2.21,-67.0,398.1,-8.5,470,3391,0.00,1.80,0.00,0.000,4,0.000,0.051,2248,3364,3099
$GC,3482,-2.24,-67.0,406.8,-9.2,478,3489,0.08,1.67,0.00,0.000,6,0.060,0.031,2220,2377,3098
$GC,3807,-2.24,-67.0,437.5,-9.0,509,3811,0.00,1.90,0.00,0.000,4,0.000,0.054,2221,1305,3096
$GC,3867,-2.24,-67.0,443.1,-9.0,514,3874,0.00,1.77,0.00,0.000,6,0.000,0.035,2221,2337,3096
$GC,4195,-2.24,-67.0,472.9,-9.3,545,4199,0.00,1.83,0.00,0.000,4,0.000,0.055,2221,3379,3093
$GC,4430,-2.24,-67.0,496.7,-9.9,566,4434,0.00,1.70,0.00,0.000,6,0.000,0.035,2221,2378,3092
$GC,4762,-2.24,-67.0,527.4,-9.6,584,4765,0.00,1.80,0.00,0.000,4,0.000,0.064,2221,3374,3090
$GC,4806,-2.24,-67.0,531.7,-9.5,586,4810,0.00,1.70,0.00,0.000,6,0.000,0.038,2221,2383,3090
$GC,5138,-2.24,-67.0,564.1,-9.6,602,5142,0.00,1.95,0.00,0.000,4,0.000,0.071,2221,1306,3087
$GC,5215,-2.24,-67.0,571.7,-9.6,605,5220,0.00,1.88,0.00,0.000,6,0.000,0.054,2221,2342,3087
$GC,5537,-2.24,-67.0,603.0,-9.9,621,5540,0.00,1.95,0.00,0.000,4,0.000,0.081,2221,1305,3085
$GC,5597,-2.24,-67.0,609.1,-9.6,623,5604,0.00,1.92,0.00,0.000,6,0.000,0.067,2221,2340,3085
$GC,5912,-2.24,-67.0,638.8,-9.3,639,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2340,3083
$STATE,5993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5993,begin apogee
$GC,5998,-0.51,0.0,646.5,9.4,643,6056,1.80,0.00,53.80,1.165,6,0.098,0.000,2599,1998,2825
$STATE,6057,end apogee,CONTROL_FINISHED_OK
$STATE,6057,begin climb
$GC,6059,2.33,67.0,648.5,0.0,646,6122,2.80,0.00,57.33,1.135,6,0.061,0.000,3219,1998,2551
$GC,6426,2.36,105.3,634.9,4.4,664,6467,0.00,2.25,32.88,1.127,4,0.000,0.102,3219,897,2395
$GC,6663,2.31,105.3,617.8,8.0,674,6669,0.00,1.95,0.00,0.000,6,0.000,0.062,3219,1939,2393
$GC,6979,2.28,109.4,593.8,7.6,690,6988,0.00,2.05,4.22,0.748,4,0.000,0.072,3219,3029,2379
$GC,7039,2.25,110.9,589.0,7.8,692,7045,0.00,2.03,0.00,0.000,6,0.000,0.060,3219,1922,2378
$GC,7354,2.23,121.0,565.9,7.0,708,7371,0.12,2.00,11.45,1.045,4,0.113,0.078,3196,898,2331
$GC,7578,2.21,122.6,549.3,7.8,717,7582,0.00,1.83,0.00,0.000,6,0.000,0.039,3196,1929,2330
$GC,7906,2.21,122.6,523.3,8.2,733,7910,0.00,1.92,0.00,0.000,4,0.000,0.054,3196,3030,2328
$GC,7983,2.21,122.6,516.6,8.6,736,7987,0.00,1.98,0.00,0.000,6,0.000,0.040,3196,1908,2328
$GC,8309,2.22,126.7,490.8,7.6,757,8321,0.00,2.00,5.95,0.879,4,0.000,0.048,3196,3030,2307
$GC,8484,2.22,126.7,476.7,8.5,772,8490,0.00,1.90,0.00,0.000,6,0.000,0.038,3196,1927,2307
$GC,8811,2.23,129.5,449.9,7.7,803,8818,0.00,0.00,3.88,0.686,6,0.000,0.000,3196,1927,2297
$GC,9138,2.23,129.5,424.2,8.2,834,9141,0.00,1.92,0.00,0.000,4,0.000,0.048,3196,3023,2296
$GC,9266,2.23,130.3,413.3,7.9,845,9272,0.00,1.88,0.00,0.000,6,0.000,0.036,3196,1944,2295
$GC,9592,2.24,139.6,390.0,7.1,876,9606,0.00,1.92,10.07,0.953,4,0.000,0.045,3196,3025,2254
$GC,9691,2.24,139.6,382.0,8.2,885,9695,0.00,1.83,0.00,0.000,6,0.000,0.036,3196,1962,2254
$GC,10022,2.24,139.7,356.7,8.0,916,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1962,2254
$GC,10339,2.25,145.8,332.6,7.4,946,10351,0.00,1.92,6.47,0.832,4,0.000,0.045,3196,3023,2229
$GC,10446,2.26,151.8,324.2,7.4,955,10457,0.00,1.83,6.55,0.829,6,0.000,0.035,3196,1974,2206
$GC,10775,2.26,151.8,296.1,8.4,986,10779,0.00,1.90,0.00,0.000,4,0.000,0.059,3196,907,2205
$GC,10869,2.26,151.8,288.0,8.3,994,10876,0.00,1.83,0.00,0.000,6,0.000,0.029,3196,1978,2206
$GC,11195,2.27,155.7,262.3,7.6,1025,11206,0.00,1.80,4.97,0.710,4,0.000,0.048,3196,3017,2190
$GC,11274,2.27,155.8,255.8,8.0,1032,11278,0.00,1.80,0.00,0.000,6,0.000,0.033,3196,1955,2189
$GC,11613,2.29,167.7,230.6,6.9,1086,11630,0.00,0.00,11.60,0.856,6,0.000,0.000,3195,1955,2141
$GC,11971,2.33,177.1,204.1,7.1,1149,11988,0.00,1.88,9.45,0.811,4,0.000,0.042,3196,3006,2102
$GC,12201,2.35,178.8,186.2,7.8,1190,12208,0.08,1.73,0.00,0.000,6,0.059,0.031,3225,2002,2101
$GC,12545,2.38,192.0,163.7,6.7,1251,12568,0.00,1.83,13.45,0.809,4,0.000,0.041,3225,3013,2042
$GC,12664,2.41,210.8,155.8,6.2,1272,12686,0.00,1.65,16.85,0.802,6,0.000,0.031,3225,2051,1965
$GC,13027,2.48,231.7,131.1,6.0,1336,13051,0.10,2.08,18.42,0.781,4,0.075,0.050,3257,916,1880
$GC,13305,2.49,242.4,111.2,7.0,1385,13321,0.00,1.90,10.23,0.717,6,0.000,0.026,3257,2070,1836
$GC,13661,2.55,256.5,88.8,6.7,1448,13679,0.00,2.10,12.77,0.708,4,0.000,0.044,3257,916,1779
$GC,13799,2.57,262.2,79.0,7.5,1472,13811,0.00,1.90,6.30,0.611,6,0.000,0.025,3257,2063,1755
$GC,14150,2.66,288.5,53.0,5.5,1534,14179,0.15,1.62,22.70,0.687,4,0.055,0.037,3308,3017,1648
$GC,14409,2.67,294.6,33.9,7.4,1580,14422,0.00,1.62,6.30,0.565,6,0.000,0.026,3309,2045,1623
$GC,14761,2.72,305.9,9.3,6.9,1642,14779,0.00,1.95,10.77,0.607,4,0.000,0.043,3308,907,1578
$STATE,14861,end climb,SURFACE_DEPTH_REACHED
$STATE,14861,begin surface coast
$FINISH,-0.1,1.021100
$STATE,14893,end surface coast,CONTROL_FINISHED_OK
$STATE,14893,begin surface
$SM_CCo,14916,117.75,0.628,0,0,785,500.17
$SM_GC,-5.28,0.00,0.00,117.75,0.000,0.000,0.628,414,2341,785,-10.56,0.42,500.17
$IRIDIUM_FIX,1243.25,12026.36,110697,101039
$TT8_MAMPS,0.025311
$HUMID,1756
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.60
$XPDR_PINGS,394
$24V_AH,23.3,21.207
$10V_AH,10.2,17.240
$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,28.050,97.850,336.425,117.750,0.000,25.360,33.418,211.879,102.250,0.000,0.000,12.567,2673.828,8667.484,570.170,2993.488,537.476,0.000,1952.637,0.000,2981.325,0.000,28.090
$DEVICE_MAMPS,174.109,102.011,1165.073,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.996,819.823,772.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91617,1665
$CAP_FILE_SIZE,154268,0
$CFSIZE,260165632,245313536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170308,190502,1247.715,12027.354,40,1.5,40,-0.8