version: 66.03
glider: 126
mission: 7
dive: 155
start: 3 20 108 5 54 25
data:
$ID,126
$MISSION,7
$DIVE,155
$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,-622386.25
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,054759,1251.239,12042.619,10,2.1,30,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.53
$_SM_ANGLEo,-57.5
$GPS2,055335,1251.298,12042.610,13,2.6,32,-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,167.8,1118,-24.2,-7.990
$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,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,-66.32,0.000,6,0.000,0.000,418,2352,3056
$GC,93,-2.54,-56.0,0.9,-15.1,13,110,9.77,1.73,0.00,0.000,4,0.172,0.037,2152,3370,3057
$GC,364,-2.42,-56.0,69.7,-21.3,61,370,0.15,1.73,0.00,0.000,6,0.133,0.023,2178,2284,3059
$GC,707,-2.38,-56.0,127.7,-14.7,122,714,0.00,1.88,0.00,0.000,4,0.000,0.038,2179,3375,3060
$GC,967,-2.35,-56.0,163.5,-12.5,168,973,0.00,1.65,0.00,0.000,6,0.000,0.023,2178,2345,3061
$GC,1313,-2.35,-56.0,203.2,-11.0,229,1318,0.00,1.73,0.00,0.000,4,0.000,0.037,2178,1306,3062
$GC,1341,-2.35,-56.0,206.6,-10.9,234,1347,0.00,1.70,0.00,0.000,6,0.000,0.025,2179,2339,3062
$GC,1685,-2.35,-56.0,245.1,-11.7,295,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2339,3062
$GC,2017,-2.35,-56.0,281.3,-10.5,330,2021,0.00,1.75,0.00,0.000,4,0.000,0.045,2179,3370,3061
$GC,2111,-2.35,-56.0,292.1,-11.0,338,2118,0.00,1.73,0.00,0.000,6,0.000,0.026,2179,2321,3061
$GC,2437,-2.35,-56.0,326.3,-9.5,369,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2320,3059
$GC,2755,-2.35,-56.0,357.6,-9.6,399,2758,0.00,1.80,0.00,0.000,4,0.000,0.048,2179,3360,3057
$GC,2855,-2.35,-56.0,367.4,-9.3,408,2859,0.00,1.73,0.00,0.000,6,0.000,0.029,2179,2314,3057
$GC,3186,-2.35,-56.0,398.6,-8.7,439,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2313,3054
$GC,3504,-2.35,-56.0,430.2,-10.2,469,3507,0.00,1.83,0.00,0.000,4,0.000,0.051,2179,3357,3052
$GC,3609,-2.35,-56.0,440.8,-9.8,478,3615,0.00,1.75,0.00,0.000,6,0.000,0.031,2178,2331,3051
$STATE,3923,end dive,NO_VERTICAL_VELOCITY
$STATE,3923,begin apogee
$GC,3928,-0.51,0.0,454.6,0.0,508,3978,1.90,0.00,45.53,0.999,6,0.084,0.000,2600,1965,2825
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3979,begin climb
$GC,3980,2.54,56.0,454.3,0.0,513,4036,3.00,2.00,46.47,0.969,4,0.071,0.071,3265,917,2596
$GC,4290,2.85,127.6,454.0,0.2,541,4355,0.28,1.75,58.50,0.984,6,0.050,0.032,3339,1949,2303
$GC,4681,2.92,152.1,438.2,5.3,578,4705,0.00,1.88,20.45,0.958,4,0.000,0.047,3339,3016,2204
$GC,4957,2.97,167.6,420.7,6.3,602,4976,0.00,1.83,14.07,0.930,6,0.000,0.035,3339,1965,2140
$GC,5302,2.97,167.6,392.3,8.8,635,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1965,2138
$GC,5621,2.97,167.6,365.3,10.0,665,5624,0.00,1.83,0.00,0.000,4,0.000,0.046,3339,3017,2136
$GC,5670,2.97,167.6,360.5,10.0,669,5676,0.00,1.80,0.00,0.000,6,0.000,0.035,3339,1979,2136
$GC,5996,2.97,169.3,332.3,7.8,700,6000,0.00,1.90,0.00,0.000,4,0.000,0.058,3339,907,2135
$GC,6074,2.97,169.3,325.2,8.4,707,6078,0.00,1.85,0.00,0.000,6,0.000,0.031,3339,2001,2134
$GC,6405,2.97,169.3,296.5,8.6,738,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2002,2133
$GC,6722,2.97,169.3,269.4,8.6,768,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2001,2132
$GC,7045,2.97,169.3,242.9,8.2,805,7051,0.00,1.95,0.00,0.000,4,0.000,0.052,3339,902,2132
$GC,7248,2.97,169.5,227.2,8.0,841,7254,0.00,1.83,0.00,0.000,6,0.000,0.030,3339,1991,2132
$GC,7591,2.98,174.6,202.3,7.4,902,7603,0.00,1.80,5.47,0.676,4,0.000,0.048,3339,3014,2113
$GC,7856,2.99,181.3,182.5,7.3,949,7868,0.00,1.73,7.32,0.738,6,0.000,0.031,3339,1982,2085
$GC,8206,3.04,210.0,161.7,4.9,1011,8236,0.15,1.88,24.38,0.810,4,0.061,0.041,3385,3020,1968
$GC,8411,3.06,221.6,147.6,6.7,1047,8427,0.00,1.62,10.70,0.745,6,0.000,0.029,3385,2048,1921
$GC,8766,3.09,238.5,123.1,6.2,1110,8789,0.00,2.03,15.12,0.748,4,0.000,0.048,3385,920,1852
$GC,9043,3.11,251.4,103.7,6.6,1159,9060,0.00,1.85,11.88,0.708,6,0.000,0.026,3385,2044,1800
$GC,9399,3.16,268.1,81.5,6.2,1222,9421,0.00,1.67,14.95,0.696,4,0.000,0.038,3385,3010,1732
$GC,9675,3.21,279.7,62.9,6.7,1271,9692,0.10,1.58,10.82,0.652,6,0.070,0.025,3419,2058,1683
$GC,10032,3.29,315.3,43.3,4.1,1334,10066,0.00,1.70,29.75,0.666,4,0.000,0.036,3419,3017,1539
$GC,10180,3.29,315.3,31.5,9.4,1360,10186,0.00,1.55,0.00,0.000,6,0.000,0.025,3419,2078,1537
$STATE,10522,end climb,SURFACE_DEPTH_REACHED
$STATE,10522,begin surface coast
$FINISH,-0.7,1.021363
$STATE,10553,end surface coast,CONTROL_FINISHED_OK
$STATE,10553,begin surface
$SM_CCo,10575,109.93,0.617,0,0,785,500.17
$SM_GC,-4.75,0.00,0.00,109.93,0.000,0.000,0.617,417,2357,785,-10.55,0.90,500.17
$IRIDIUM_FIX,1245.46,12040.38,140697,030340
$TT8_MAMPS,0.026078
$HUMID,1802
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.00
$XPDR_PINGS,452
$24V_AH,23.5,22.985
$10V_AH,10.2,18.729
$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,28.375,58.025,315.425,109.925,0.000,29.550,33.260,149.370,113.000,0.000,0.000,33.567,2204.879,5479.790,481.597,2458.055,426.953,0.000,1596.184,0.000,2441.859,0.000,0.925
$DEVICE_MAMPS,171.808,71.331,998.634,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,961.541,807.439,739.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78994,1426
$CAP_FILE_SIZE,113383,0
$CFSIZE,260165632,244285440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200308,085338,1251.149,12042.581,32,1.1,33,-0.8