version: 66.03
glider: 126
mission: 7
dive: 170
start: 3 23 108 16 31 32
data:
$ID,126
$MISSION,7
$DIVE,170
$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,-622659
$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,29
$R_STBD_OVSHOOT,50
$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
$GPS1,162455,1246.122,12015.664,39,1.8,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.68
$_SM_ANGLEo,-56.0
$GPS2,163039,1246.163,12015.592,13,1.9,13,-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,190.2,1019,-24.7,-9.016
$D_GRID,872
$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,23,-2.60,-65.8,0.0,0.0,0,93,0.00,0.00,-64.22,0.000,6,0.000,0.000,416,2339,3095
$GC,95,-2.60,-65.8,0.7,-19.7,13,112,9.80,1.75,0.00,0.000,4,0.174,0.038,2139,3362,3097
$GC,366,-2.47,-65.8,73.2,-22.3,61,373,0.17,1.73,0.00,0.000,6,0.138,0.023,2170,2283,3097
$GC,710,-2.43,-65.8,133.7,-16.7,122,716,0.00,1.85,0.00,0.000,4,0.000,0.038,2170,3361,3100
$GC,806,-2.41,-65.8,146.8,-12.1,139,812,0.00,1.65,0.00,0.000,6,0.000,0.023,2170,2312,3100
$GC,1150,-2.41,-65.8,184.8,-12.8,200,1155,0.00,1.80,0.00,0.000,4,0.000,0.040,2170,3371,3101
$GC,1184,-2.41,-65.8,189.0,-12.6,206,1189,0.00,1.62,0.00,0.000,6,0.000,0.025,2170,2342,3101
$GC,1526,-2.41,-65.8,229.1,-10.9,267,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2334,3102
$GC,1867,-2.41,-65.8,265.2,-10.7,316,1870,0.00,1.73,0.00,0.000,4,0.000,0.039,2170,1318,3102
$GC,1956,-2.41,-65.8,275.6,-11.9,324,1960,0.00,1.67,0.00,0.000,6,0.000,0.032,2170,2335,3101
$GC,2287,-2.41,-65.8,313.6,-10.7,355,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2336,3100
$GC,2604,-2.41,-65.8,348.2,-11.4,385,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2336,3098
$GC,2923,-2.41,-65.8,381.6,-10.1,415,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2336,3095
$GC,3241,-2.41,-65.8,417.4,-12.1,445,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2336,3093
$GC,3560,-2.41,-65.8,456.6,-12.4,475,3564,0.00,1.80,0.00,0.000,4,0.000,0.051,2170,3371,3091
$GC,3722,-2.41,-65.8,475.9,-11.1,489,3728,0.00,1.73,0.00,0.000,6,0.000,0.033,2170,2370,3090
$GC,4046,-2.41,-65.8,508.2,-9.5,516,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2368,3087
$GC,4355,-2.41,-65.8,538.3,-10.3,531,4358,0.00,1.80,0.00,0.000,4,0.000,0.065,2170,3363,3085
$GC,4449,-2.41,-65.8,548.8,-10.5,535,4453,0.00,1.80,0.00,0.000,6,0.000,0.042,2170,2324,3085
$GC,4777,-2.41,-65.8,585.0,-11.2,551,4780,0.00,1.92,0.00,0.000,4,0.000,0.077,2170,3357,3083
$GC,4866,-2.41,-65.8,595.0,-11.0,555,4870,0.00,1.85,0.00,0.000,6,0.000,0.058,2170,2335,3082
$GC,5199,-2.41,-65.8,629.9,-9.8,571,5203,0.00,1.80,0.00,0.000,4,0.000,0.050,2170,3364,3080
$GC,5271,-2.41,-65.8,637.7,-11.0,574,5275,0.00,1.77,0.00,0.000,6,0.000,0.032,2170,2321,3080
$GC,5598,-2.41,-65.8,674.0,-10.8,590,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2321,3078
$GC,5908,-2.84,-146.0,700.5,-0.1,605,5910,0.35,0.00,0.00,0.000,6,0.049,0.000,2082,2321,3077
$STATE,6029,end dive,NO_VERTICAL_VELOCITY
$STATE,6029,begin apogee
$GC,6035,-0.51,0.0,700.6,0.0,611,6092,2.35,0.00,52.80,1.203,6,0.075,0.000,2599,1973,2825
$STATE,6093,end apogee,CONTROL_FINISHED_OK
$STATE,6093,begin climb
$GC,6095,2.74,146.0,700.2,0.0,614,6225,3.17,0.00,123.90,1.177,6,0.054,0.000,3313,1973,2229
$GC,6521,2.71,146.0,660.5,13.0,635,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1973,2223
$GC,6830,2.68,146.0,621.2,12.2,650,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1973,2222
$GC,7139,2.65,146.0,587.2,10.1,665,7141,0.15,0.00,0.00,0.000,6,0.117,0.000,3285,1973,2220
$GC,7450,2.65,146.0,556.5,10.6,680,7453,0.00,1.80,0.00,0.000,4,0.000,0.045,3285,3001,2219
$GC,7533,2.65,146.0,547.4,10.8,683,7539,0.00,1.80,0.00,0.000,6,0.000,0.037,3285,1965,2218
$GC,7848,2.65,146.0,513.6,11.2,699,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1965,2218
$GC,8162,2.65,146.0,479.3,10.5,722,8166,0.00,1.83,0.00,0.000,4,0.000,0.045,3285,3012,2217
$GC,8230,2.65,146.0,472.2,11.0,728,8233,0.00,1.80,0.00,0.000,6,0.000,0.036,3285,1960,2217
$GC,8560,2.65,146.0,439.3,10.2,759,8564,0.00,1.85,0.00,0.000,4,0.000,0.046,3285,3003,2216
$GC,8650,2.65,146.0,429.7,10.4,767,8654,0.00,1.75,0.00,0.000,6,0.000,0.037,3285,1979,2216
$GC,8981,2.67,158.0,399.2,7.8,798,8995,0.00,1.85,9.00,0.937,4,0.000,0.046,3285,3000,2180
$GC,9040,2.67,161.2,394.1,8.7,803,9050,0.00,1.77,4.62,0.749,6,0.000,0.036,3285,1985,2167
$GC,9375,2.67,161.2,364.2,9.1,835,9378,0.00,1.77,0.00,0.000,4,0.000,0.046,3285,3003,2166
$GC,9491,2.67,161.2,352.8,10.0,845,9498,0.00,1.75,0.00,0.000,6,0.000,0.035,3285,1994,2166
$GC,9818,2.69,169.6,323.8,8.2,876,9832,0.00,2.00,8.48,0.887,4,0.000,0.058,3285,908,2133
$GC,10035,2.69,171.7,304.1,8.8,895,10041,0.00,1.83,0.00,0.000,6,0.000,0.031,3285,1976,2132
$GC,10360,2.69,171.7,275.7,9.1,926,10364,0.00,1.90,0.00,0.000,4,0.000,0.054,3284,914,2133
$GC,10432,2.69,171.7,269.2,9.1,932,10438,0.00,1.83,0.00,0.000,6,0.000,0.030,3285,1982,2133
$GC,10762,2.69,171.7,240.6,9.4,972,10768,0.00,1.90,0.00,0.000,4,0.000,0.052,3284,914,2133
$GC,11020,2.69,171.7,215.4,9.1,1018,11026,0.00,1.70,0.00,0.000,6,0.000,0.030,3284,1929,2132
$GC,11365,2.74,185.3,185.8,7.6,1079,11386,0.00,1.92,14.30,0.848,4,0.000,0.048,3285,3005,2069
$GC,11448,2.74,189.7,178.9,8.6,1094,11460,0.00,1.77,5.35,0.682,6,0.000,0.032,3285,1956,2051
$GC,11798,2.82,218.0,155.4,6.1,1156,11830,0.15,1.90,24.55,0.827,4,0.065,0.053,3330,908,1936
$GC,12083,2.86,241.6,133.0,6.6,1207,12110,0.00,1.77,20.48,0.793,6,0.000,0.028,3330,1977,1840
$GC,12451,2.92,257.3,104.9,7.4,1272,12469,0.00,1.98,13.88,0.746,4,0.000,0.047,3329,906,1776
$GC,12722,2.98,268.1,88.7,7.9,1320,12741,0.08,1.65,10.43,0.700,6,0.056,0.025,3361,1901,1732
$GC,13081,3.05,293.0,64.1,6.5,1383,13109,0.00,1.75,21.62,0.703,4,0.000,0.044,3361,917,1629
$GC,13362,3.12,315.3,44.9,6.7,1433,13390,0.08,1.52,19.42,0.671,6,0.050,0.025,3404,1858,1539
$GC,13728,3.14,315.3,11.0,9.1,1498,13734,0.00,1.65,0.00,0.000,4,0.000,0.044,3404,917,1538
$STATE,13834,end climb,SURFACE_DEPTH_REACHED
$STATE,13834,begin surface coast
$FINISH,0.8,1.021641
$STATE,13848,end surface coast,CONTROL_FINISHED_OK
$STATE,13848,begin surface
$SM_CCo,13872,98.60,0.630,0,0,887,475.15
$SM_GC,-5.69,0.00,0.00,98.60,0.000,0.000,0.630,418,2330,887,-10.54,0.14,475.15
$IRIDIUM_FIX,1241.04,12016.50,170697,121237
$TT8_MAMPS,0.026078
$HUMID,1793
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.40
$XPDR_PINGS,355
$ALTIM_BOTTOM_PING,580.5,141.3
$24V_AH,23.3,25.303
$10V_AH,10.2,20.480
$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,29.325,76.300,328.825,98.600,0.000,22.774,33.955,169.317,91.250,0.000,0.000,13.224,2401.931,8392.766,537.516,2532.615,477.038,0.000,1734.614,0.000,2520.649,0.000,20.232
$DEVICE_MAMPS,174.109,77.467,1203.423,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.253,427.887,687.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82077,1519
$CAP_FILE_SIZE,133865,0
$CFSIZE,260165632,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230308,202538,1245.638,12015.109,39,0.9,39,-0.8