version: 66.03
glider: 126
mission: 7
dive: 166
start: 3 22 108 19 22 0
data:
$ID,126
$MISSION,7
$DIVE,166
$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,-622582.69
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,191437,1248.277,12020.567,40,1.3,40,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.06
$_SM_ANGLEo,-59.2
$GPS2,192108,1248.305,12020.460,13,1.2,30,-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,241.8,10246,-22.8,-9.016
$D_GRID,907
$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,22,-2.43,-76.7,0.0,0.0,0,93,0.00,0.00,-64.60,0.000,6,0.000,0.000,413,2339,3140
$GC,95,-2.43,-76.7,0.6,-19.7,13,112,10.02,1.75,0.00,0.000,4,0.173,0.037,2176,3371,3141
$GC,366,-2.29,-76.7,71.6,-21.8,61,373,0.17,1.75,0.00,0.000,6,0.130,0.023,2207,2278,3142
$GC,710,-2.25,-76.7,131.4,-14.1,122,716,0.00,1.90,0.00,0.000,4,0.000,0.038,2207,3380,3144
$GC,969,-2.22,-76.7,163.5,-10.8,168,975,0.00,1.62,0.00,0.000,6,0.000,0.024,2207,2343,3145
$GC,1312,-2.22,-76.7,203.5,-11.8,229,1318,0.00,1.77,0.00,0.000,4,0.000,0.041,2207,3380,3145
$GC,1498,-2.22,-76.7,224.6,-11.3,262,1504,0.00,1.60,0.00,0.000,6,0.000,0.025,2207,2368,3146
$GC,1841,-2.22,-76.7,259.8,-10.2,315,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2361,3146
$GC,2160,-2.22,-76.7,293.9,-11.4,345,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2361,3144
$GC,2478,-2.22,-76.7,330.5,-11.9,375,2481,0.00,1.75,0.00,0.000,4,0.000,0.047,2206,3377,3142
$GC,2567,-2.22,-76.7,341.8,-12.7,383,2571,0.00,1.65,0.00,0.000,6,0.000,0.028,2207,2366,3142
$GC,2898,-2.22,-76.7,379.9,-11.1,414,2902,0.00,1.83,0.00,0.000,4,0.000,0.044,2207,1298,3140
$GC,2981,-2.22,-76.7,389.2,-11.0,421,2988,0.00,1.80,0.00,0.000,6,0.000,0.029,2207,2362,3139
$GC,3307,-2.22,-76.7,422.9,-10.9,452,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2363,3137
$GC,3625,-2.22,-76.7,457.1,-10.8,482,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2362,3134
$GC,3943,-2.22,-76.7,491.9,-10.6,512,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2363,3132
$GC,4255,-2.22,-76.7,524.0,-10.5,531,4258,0.00,1.77,0.00,0.000,4,0.000,0.061,2207,3368,3131
$GC,4322,-2.22,-76.7,531.6,-11.2,534,4326,0.00,1.65,0.00,0.000,6,0.000,0.035,2207,2397,3131
$GC,4654,-2.22,-76.7,567.7,-10.8,550,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2396,3128
$GC,4964,-2.22,-76.7,600.2,-10.1,565,4967,0.00,2.03,0.00,0.000,4,0.000,0.083,2207,1308,3126
$GC,5036,-2.22,-76.7,607.5,-10.2,568,5040,0.00,1.92,0.00,0.000,6,0.000,0.064,2207,2364,3126
$GC,5362,-2.22,-76.7,638.9,-9.6,584,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2363,3123
$GC,5673,-2.22,-76.7,668.4,-9.7,599,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2364,3122
$GC,5981,-2.23,-79.0,697.9,-8.8,614,5985,0.00,2.08,0.00,0.000,4,0.000,0.129,2207,3384,3121
$GC,6109,-2.23,-79.0,709.6,-9.3,619,6115,0.00,1.70,0.00,0.000,6,0.000,0.032,2207,2395,3119
$GC,6424,-2.23,-79.0,737.3,-9.9,635,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2387,3118
$GC,6734,-2.25,-79.0,768.1,-10.5,650,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2387,3117
$GC,7043,-2.27,-79.0,798.5,-9.3,665,7047,0.00,1.92,0.00,0.000,4,0.000,0.053,2206,1294,3116
$GC,7127,-2.27,-79.0,806.4,-9.6,668,7133,0.00,1.92,0.00,0.000,6,0.000,0.035,2207,2410,3115
$GC,7443,-2.30,-79.0,836.1,-9.1,684,7446,0.00,1.95,0.00,0.000,4,0.000,0.047,2207,1296,3114
$GC,7475,-2.30,-79.0,839.1,-9.4,685,7479,0.00,1.90,0.00,0.000,6,0.000,0.035,2207,2399,3114
$GC,7798,-2.32,-79.0,867.6,-9.3,701,7802,0.00,1.92,0.00,0.000,4,0.000,0.047,2207,1300,3113
$GC,7939,-2.34,-79.0,881.4,-10.0,707,7943,0.00,1.88,0.00,0.000,6,0.000,0.035,2207,2381,3113
$STATE,8201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8201,begin apogee
$GC,8206,-0.51,0.0,908.8,10.9,720,8272,1.88,0.00,61.75,1.370,6,0.104,0.000,2596,1981,2825
$STATE,8273,end apogee,CONTROL_FINISHED_OK
$STATE,8273,begin climb
$GC,8275,2.43,79.0,910.9,0.0,723,8357,2.90,2.08,69.57,1.334,4,0.063,0.071,3246,918,2502
$GC,8464,2.42,109.3,902.6,6.3,731,8497,0.00,1.85,27.42,1.296,6,0.000,0.031,3246,1999,2379
$GC,8821,2.38,109.3,869.7,9.9,749,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1999,2375
$GC,9129,2.34,109.3,839.9,10.1,764,9133,0.15,1.98,0.00,0.000,4,0.114,0.056,3213,915,2373
$GC,9240,2.32,109.3,828.9,9.6,769,9244,0.00,1.75,0.00,0.000,6,0.000,0.031,3214,1950,2373
$GC,9567,2.33,115.8,800.2,8.4,785,9575,0.00,0.00,6.35,1.061,6,0.000,0.000,3214,1950,2353
$GC,9876,2.34,123.5,774.7,8.3,800,9886,0.00,0.00,8.18,1.145,6,0.000,0.000,3214,1950,2321
$GC,10185,2.34,123.5,747.2,9.2,815,10188,0.00,1.83,0.00,0.000,4,0.000,0.049,3214,3002,2320
$GC,10256,2.34,123.5,740.0,10.0,818,10261,0.00,1.88,0.00,0.000,6,0.000,0.038,3214,1934,2320
$GC,10583,2.34,123.5,709.2,9.8,834,10587,0.00,1.88,0.00,0.000,4,0.000,0.048,3214,3002,2319
$GC,10808,2.37,137.9,689.9,7.7,844,10829,0.00,1.85,14.20,1.197,6,0.000,0.041,3213,1928,2261
$GC,11138,2.39,153.1,663.7,7.6,860,11158,0.00,0.00,14.60,1.176,6,0.000,0.000,3213,1928,2199
$GC,11467,2.41,162.7,638.5,8.2,876,11481,0.00,1.95,9.62,1.104,4,0.000,0.048,3214,3005,2161
$GC,11645,2.41,162.7,620.7,9.9,884,11649,0.00,1.88,0.00,0.000,6,0.000,0.038,3213,1923,2159
$GC,11977,2.41,162.7,587.3,10.2,900,11978,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1923,2159
$GC,12286,2.41,162.7,557.6,9.7,915,12289,0.00,1.90,0.00,0.000,4,0.000,0.047,3214,3003,2158
$GC,12408,2.41,162.7,544.8,10.2,920,12413,0.00,1.90,0.00,0.000,6,0.000,0.038,3214,1920,2158
$GC,12729,2.41,162.7,513.3,9.5,936,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1920,2158
$GC,13045,2.41,164.7,484.4,8.8,959,13049,0.00,1.90,0.00,0.000,4,0.000,0.046,3214,3009,2158
$GC,13128,2.41,165.0,476.5,9.0,966,13134,0.00,1.90,0.00,0.000,6,0.000,0.038,3213,1922,2158
$GC,13455,2.41,167.2,447.9,8.8,997,13464,0.10,0.00,5.03,0.823,6,0.081,0.000,3241,1922,2143
$GC,13781,2.41,167.2,416.9,9.6,1028,13785,0.00,1.90,0.00,0.000,4,0.000,0.045,3241,3012,2143
$GC,13893,2.41,167.2,406.2,10.0,1038,13897,0.00,1.90,0.00,0.000,6,0.000,0.037,3241,1909,2143
$GC,14224,2.41,167.2,375.0,9.3,1069,14227,0.00,1.90,0.00,0.000,4,0.000,0.044,3240,3003,2143
$GC,14296,2.42,172.0,368.0,8.6,1075,14307,0.00,1.83,6.05,0.848,6,0.000,0.036,3241,1935,2123
$GC,14625,2.42,172.0,336.8,10.1,1106,14629,0.00,1.83,0.00,0.000,4,0.000,0.061,3240,910,2123
$GC,14827,2.42,172.0,317.0,9.7,1124,14831,0.00,1.67,0.00,0.000,6,0.000,0.031,3240,1907,2123
$GC,15158,2.44,182.9,288.6,8.0,1155,15173,0.00,1.92,11.02,0.910,4,0.000,0.045,3241,3005,2078
$GC,15264,2.44,182.9,278.9,10.0,1164,15267,0.00,1.90,0.00,0.000,6,0.000,0.035,3241,1895,2078
$GC,15594,2.44,182.9,249.4,9.7,1195,15600,0.00,1.92,0.00,0.000,4,0.000,0.043,3240,3003,2078
$GC,15754,2.47,199.7,235.4,7.5,1223,15775,0.00,1.83,15.30,0.888,6,0.000,0.033,3241,1927,2010
$GC,16115,2.52,219.0,202.9,7.3,1287,16136,0.00,0.00,17.35,0.863,6,0.000,0.000,3241,1926,1932
$GC,16474,2.56,222.3,171.9,8.7,1351,16486,0.12,1.85,4.53,0.624,4,0.068,0.057,3276,915,1918
$GC,16740,2.57,230.4,147.3,8.3,1398,16752,0.00,1.75,8.25,0.749,6,0.000,0.028,3276,1952,1885
$GC,17093,2.70,281.0,124.1,4.4,1460,17142,0.00,1.83,42.38,0.792,4,0.000,0.039,3276,3005,1678
$GC,17260,2.75,292.2,111.6,8.0,1490,17278,0.10,1.77,10.52,0.719,6,0.051,0.029,3313,1961,1633
$GC,17619,2.80,301.8,81.5,8.1,1553,17636,0.00,1.88,9.25,0.682,4,0.000,0.048,3313,916,1594
$GC,17889,2.84,312.1,58.5,8.1,1601,17906,0.00,1.75,10.07,0.663,6,0.000,0.026,3313,1987,1551
$GC,18245,2.93,335.7,31.6,6.9,1664,18268,0.15,0.00,20.52,0.667,6,0.056,0.000,3364,1987,1455
$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,-0.3,1.021706
$STATE,18578,end surface coast,CONTROL_FINISHED_OK
$STATE,18578,begin surface
$SM_CCo,18599,87.12,0.638,0,0,887,475.15
$SM_GC,-6.23,0.00,0.00,87.12,0.000,0.000,0.638,414,2327,887,-10.56,0.08,475.15
$IRIDIUM_FIX,1245.46,12024.46,160697,131335
$TT8_MAMPS,0.026078
$HUMID,1811
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.00
$XPDR_PINGS,321
$24V_AH,23.1,24.709
$10V_AH,10.2,20.054
$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,28.450,97.225,371.975,87.125,0.000,32.998,49.885,170.990,90.500,0.000,0.000,30.873,2810.773,12100.491,545.338,3098.151,545.939,0.000,2013.163,0.000,3032.967,0.000,75.182
$DEVICE_MAMPS,173.342,128.856,1369.862,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.766,412.794,674.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91508,1723
$CAP_FILE_SIZE,169148,0
$CFSIZE,260165632,243220480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230308,003437,1247.825,12018.844,34,0.9,34,-0.8