version: 66.03
glider: 126
mission: 7
dive: 161
start: 3 21 108 14 31 23
data:
$ID,126
$MISSION,7
$DIVE,161
$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,366
$T_MISSION,439
$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,475
$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,-622495.75
$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,27
$R_STBD_OVSHOOT,57
$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
$GPS1,141937,1249.832,12032.305,30,1.2,30,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.99
$_SM_ANGLEo,-59.4
$GPS2,143032,1249.823,12032.280,13,1.2,30,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,256.4,31293,-22.8,-9.016
$D_GRID,1143
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-62.58,0.000,6,0.000,0.000,417,2337,3141
$GC,95,-2.43,-76.7,1.7,-23.6,13,112,10.00,1.73,0.00,0.000,4,0.174,0.033,2175,3362,3142
$GC,193,-2.28,-76.7,34.7,-25.3,30,200,0.17,1.75,0.00,0.000,6,0.120,0.023,2210,2284,3143
$GC,538,-2.21,-76.7,100.3,-16.3,91,543,0.00,1.83,0.00,0.000,4,0.000,0.038,2211,3364,3144
$GC,741,-2.17,-76.7,133.5,-15.0,127,747,0.12,1.62,0.00,0.000,6,0.122,0.022,2233,2319,3144
$GC,1084,-2.17,-76.7,174.1,-10.2,188,1090,0.00,1.77,0.00,0.000,4,0.000,0.040,2233,3365,3145
$GC,1129,-2.17,-76.7,179.0,-10.6,196,1135,0.00,1.60,0.00,0.000,6,0.000,0.023,2233,2336,3146
$GC,1472,-2.17,-76.7,211.7,-9.7,257,1478,0.00,1.75,0.00,0.000,4,0.000,0.041,2233,3363,3146
$GC,1541,-2.17,-76.7,219.1,-11.5,269,1546,0.00,1.58,0.00,0.000,6,0.000,0.025,2233,2370,3146
$GC,1881,-2.19,-76.7,256.2,-11.1,325,1884,0.00,1.75,0.00,0.000,4,0.000,0.036,2233,1323,3146
$GC,2045,-2.21,-76.7,274.2,-11.0,339,2051,0.00,1.67,0.00,0.000,6,0.000,0.026,2233,2350,3145
$GC,2370,-2.24,-76.7,308.3,-10.4,370,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2351,3143
$GC,2688,-2.26,-76.7,342.1,-11.0,400,2692,0.00,1.75,0.00,0.000,4,0.000,0.047,2233,3375,3140
$GC,2744,-2.26,-76.7,348.4,-11.3,405,2748,0.00,1.62,0.00,0.000,6,0.000,0.028,2233,2365,3140
$GC,3076,-2.29,-76.7,382.7,-10.5,436,3079,0.00,1.80,0.00,0.000,4,0.000,0.042,2233,1307,3138
$GC,3132,-2.32,-76.7,388.9,-10.6,441,3136,0.12,1.73,0.00,0.000,6,0.066,0.029,2199,2346,3137
$GC,3461,-2.32,-76.7,423.8,-10.4,472,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2347,3135
$GC,3779,-2.32,-76.7,455.2,-10.3,502,3783,0.00,1.77,0.00,0.000,4,0.000,0.051,2199,3373,3132
$GC,3930,-2.32,-76.7,471.8,-10.9,515,3936,0.00,1.67,0.00,0.000,6,0.000,0.031,2199,2389,3132
$GC,4264,-2.32,-76.7,506.7,-10.4,544,4268,0.00,1.92,0.00,0.000,4,0.000,0.064,2198,1314,3129
$GC,4354,-2.32,-76.7,516.1,-10.3,548,4358,0.00,1.77,0.00,0.000,6,0.000,0.040,2199,2348,3128
$GC,4686,-2.32,-76.7,549.1,-10.5,564,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2348,3125
$GC,4996,-2.32,-76.7,581.7,-10.6,579,5000,0.00,1.88,0.00,0.000,4,0.000,0.077,2199,3371,3123
$GC,5086,-2.32,-76.7,591.4,-10.7,583,5090,0.00,1.77,0.00,0.000,6,0.000,0.054,2199,2379,3122
$GC,5417,-2.32,-76.7,624.3,-10.3,599,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2378,3121
$GC,5727,-2.32,-76.7,655.9,-9.9,614,5731,0.00,2.05,0.00,0.000,4,0.000,0.101,2199,1315,3119
$GC,5850,-2.32,-76.7,668.5,-10.6,619,5854,0.00,1.75,0.00,0.000,6,0.000,0.031,2199,2340,3118
$GC,6172,-2.32,-76.7,701.4,-10.0,635,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2340,3116
$GC,6479,-2.32,-76.7,733.2,-10.2,650,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2340,3115
$GC,6789,-2.32,-76.7,764.6,-9.9,665,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2340,3114
$GC,7098,-2.32,-76.7,794.6,-9.4,680,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2340,3112
$GC,7407,-2.32,-76.7,826.1,-10.2,695,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2340,3111
$GC,7717,-2.32,-76.7,859.0,-10.5,710,7720,0.00,1.83,0.00,0.000,4,0.000,0.048,2199,1298,3110
$GC,7772,-2.32,-76.7,864.7,-10.3,712,7776,0.00,1.75,0.00,0.000,6,0.000,0.034,2199,2315,3110
$GC,8093,-2.32,-76.7,895.2,-9.5,728,8097,0.00,1.88,0.00,0.000,4,0.000,0.055,2199,3373,3109
$GC,8144,-2.32,-76.7,900.0,-9.7,730,8148,0.00,1.73,0.00,0.000,6,0.000,0.032,2199,2342,3109
$GC,8474,-2.34,-76.7,931.9,-9.6,746,8478,0.00,1.85,0.00,0.000,4,0.000,0.048,2198,1274,3107
$GC,8519,-2.34,-76.7,936.6,-9.7,748,8523,0.00,1.77,0.00,0.000,6,0.000,0.033,2198,2326,3106
$GC,8852,-2.36,-76.7,967.9,-9.2,764,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2326,3105
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9104,-0.51,0.0,991.3,9.9,776,9170,1.92,0.00,61.12,1.443,6,0.103,0.000,2599,1956,2825
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9171,begin climb
$GC,9173,2.43,76.7,993.4,0.0,779,9246,2.88,0.00,68.62,1.412,6,0.063,0.000,3241,1956,2512
$GC,9548,2.41,94.4,971.4,7.4,798,9568,0.00,0.00,16.67,1.338,6,0.000,0.000,3241,1956,2440
$GC,9878,2.38,99.0,943.0,8.6,814,9888,0.00,1.92,5.60,1.068,4,0.000,0.063,3241,911,2420
$GC,9977,2.33,99.0,933.6,9.6,818,9984,0.10,1.85,0.00,0.000,6,0.106,0.032,3218,1975,2420
$GC,10294,2.35,111.1,907.2,7.9,834,10312,0.00,0.00,12.05,1.291,6,0.000,0.000,3219,1975,2372
$GC,10621,2.38,129.3,881.3,7.4,850,10642,0.00,0.00,17.95,1.328,6,0.000,0.000,3219,1975,2297
$GC,10951,2.38,130.8,852.6,8.9,866,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1975,2295
$GC,11260,2.38,130.8,824.4,9.2,881,11264,0.00,1.92,0.00,0.000,4,0.000,0.058,3218,915,2294
$GC,11315,2.38,130.8,818.8,10.6,883,11319,0.00,1.80,0.00,0.000,6,0.000,0.031,3218,1957,2294
$GC,11636,2.38,133.3,790.3,8.8,899,11643,0.00,0.00,4.55,0.935,6,0.000,0.000,3218,1957,2281
$GC,11946,2.39,138.5,764.7,8.5,914,11954,0.00,0.00,6.45,1.085,6,0.000,0.000,3218,1957,2260
$GC,12277,2.39,139.3,735.1,8.9,930,12280,0.00,1.90,0.00,0.000,4,0.000,0.058,3219,910,2260
$GC,12495,2.41,149.5,714.0,8.1,939,12510,0.00,1.80,10.98,1.191,6,0.000,0.031,3218,1953,2215
$GC,12826,2.42,152.8,684.2,8.7,956,12832,0.00,0.00,4.53,0.897,6,0.000,0.000,3218,1953,2202
$GC,13135,2.42,152.8,655.4,9.6,971,13138,0.00,1.83,0.00,0.000,4,0.000,0.048,3218,3009,2202
$GC,13172,2.42,152.8,651.4,10.2,972,13179,0.00,1.83,0.00,0.000,6,0.000,0.036,3218,1964,2202
$GC,13488,2.42,152.8,622.2,9.3,988,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1964,2202
$GC,13798,2.44,166.0,596.1,7.8,1003,13820,0.10,1.90,13.10,1.143,4,0.086,0.046,3245,3000,2147
$GC,13853,2.44,166.0,590.9,9.9,1005,13857,0.00,1.83,0.00,0.000,6,0.000,0.037,3245,1965,2147
$GC,14174,2.44,166.0,559.6,10.4,1021,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1964,2146
$GC,14483,2.44,166.0,527.9,9.9,1036,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1965,2146
$GC,14793,2.44,166.0,497.9,9.3,1052,14796,0.00,1.88,0.00,0.000,4,0.000,0.061,3245,915,2146
$GC,14883,2.41,166.0,489.2,9.4,1060,14887,0.00,1.77,0.00,0.000,6,0.000,0.031,3245,1966,2146
$GC,15214,2.43,176.3,460.7,8.1,1091,15229,0.00,1.83,10.60,1.031,4,0.000,0.048,3245,3002,2105
$GC,15368,2.43,176.3,445.6,9.5,1104,15375,0.00,1.77,0.00,0.000,6,0.000,0.043,3245,1989,2103
$GC,15694,2.43,176.3,412.9,9.3,1135,15695,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1989,2104
$GC,16012,2.43,176.3,381.4,10.1,1165,16013,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1988,2103
$GC,16330,2.43,176.3,350.1,9.6,1195,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1988,2104
$GC,16649,2.43,176.3,321.2,9.1,1225,16650,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1988,2104
$GC,16970,2.44,180.8,293.2,8.6,1255,16978,0.00,0.00,5.57,0.779,6,0.000,0.000,3245,1988,2087
$GC,17297,2.45,185.0,264.3,8.6,1286,17309,0.00,1.92,5.40,0.756,4,0.000,0.056,3245,913,2069
$GC,17437,2.45,185.0,251.3,9.6,1298,17444,0.00,1.88,0.00,0.000,6,0.000,0.029,3244,2014,2069
$GC,17782,2.45,186.7,220.1,8.9,1358,17788,0.00,1.98,0.00,0.000,4,0.000,0.052,3245,905,2069
$GC,17928,2.45,186.7,206.9,10.1,1384,17934,0.00,1.85,0.00,0.000,6,0.000,0.028,3245,2014,2069
$GC,18272,2.51,206.9,180.0,7.2,1445,18299,0.00,2.03,19.70,0.855,4,0.000,0.052,3245,905,1981
$GC,18553,2.56,226.6,159.5,7.2,1495,18575,0.00,1.77,17.55,0.821,6,0.000,0.028,3245,1976,1901
$GC,18915,2.66,258.6,133.2,6.1,1559,18948,0.15,1.77,27.48,0.802,4,0.062,0.040,3293,3005,1770
$GC,19034,2.66,258.9,122.9,9.0,1580,19040,0.00,1.75,0.00,0.000,6,0.000,0.028,3293,1977,1767
$GC,19378,2.74,281.7,95.5,7.0,1641,19400,0.00,0.00,19.77,0.747,6,0.000,0.000,3293,1976,1675
$GC,19740,2.81,298.7,67.8,7.5,1705,19762,0.12,1.77,15.55,0.704,4,0.064,0.035,3331,3007,1606
$GC,20015,2.89,333.6,49.1,5.9,1754,20050,0.00,1.70,29.30,0.693,6,0.000,0.025,3331,1989,1463
$GC,20390,2.95,343.0,15.0,8.2,1820,20401,0.00,0.00,8.85,0.601,6,0.000,0.000,3332,1989,1426
$STATE,20540,end climb,SURFACE_DEPTH_REACHED
$STATE,20540,begin surface coast
$FINISH,-0.1,1.021471
$STATE,20564,end surface coast,CONTROL_FINISHED_OK
$STATE,20564,begin surface
$SM_CCo,20584,85.93,0.637,0,0,887,475.15
$SM_GC,-6.09,0.00,0.00,85.93,0.000,0.000,0.637,417,2338,887,-10.55,0.37,475.15
$IRIDIUM_FIX,1245.46,12031.29,150697,141420
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.00
$XPDR_PINGS,337
$24V_AH,23.1,23.926
$10V_AH,10.1,19.486
$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,28.400,94.800,381.400,85.925,0.000,62.050,67.608,319.141,96.750,0.000,0.000,30.552,2999.776,13813.217,581.784,3180.325,770.986,0.000,2081.829,0.000,3117.645,0.000,91.481
$DEVICE_MAMPS,174.109,101.244,1442.727,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.926,416.150,698.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97824,1851
$CAP_FILE_SIZE,182907,0
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