version: 66.03
glider: 126
mission: 7
dive: 171
start: 3 23 108 20 32 20
data:
$ID,126
$MISSION,7
$DIVE,171
$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,-622692.19
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,202538,1245.638,12015.109,39,0.9,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.55
$_SM_ANGLEo,-54.9
$GPS2,203129,1245.670,12015.042,12,2.6,31,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,WEST_S1
$TGT_LATLONG,1245.620,12015.500
$TGT_RADIUS,9999.000
$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,97.2,832,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.60,-65.8,0.0,0.0,0,94,0.00,0.00,-64.72,0.000,6,0.000,0.000,418,2335,3094
$GC,96,-2.60,-65.8,0.7,-19.5,13,113,9.77,1.80,0.00,0.000,4,0.174,0.031,2136,1265,3096
$GC,250,-2.48,-65.8,42.8,-23.6,40,257,0.15,1.77,0.00,0.000,6,0.130,0.026,2166,2337,3096
$GC,595,-2.42,-65.8,112.3,-17.0,101,601,0.00,1.75,0.00,0.000,4,0.000,0.040,2166,3382,3098
$GC,736,-2.37,-65.8,135.2,-15.2,126,743,0.10,1.80,0.00,0.000,6,0.120,0.023,2187,2264,3099
$GC,1079,-2.37,-65.8,173.0,-10.6,187,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2257,3100
$GC,1421,-2.37,-65.8,208.4,-10.2,248,1427,0.00,1.90,0.00,0.000,4,0.000,0.041,2188,3376,3100
$GC,1680,-2.37,-65.8,236.0,-10.2,294,1686,0.00,1.75,0.00,0.000,6,0.000,0.025,2188,2288,3101
$GC,2017,-2.39,-65.8,272.9,-11.7,337,2021,0.00,1.88,0.00,0.000,4,0.000,0.043,2187,3365,3100
$GC,2134,-2.39,-65.8,286.9,-12.3,347,2141,0.00,1.70,0.00,0.000,6,0.000,0.027,2187,2329,3099
$GC,2460,-2.41,-65.8,322.9,-10.4,378,2464,0.00,1.80,0.00,0.000,4,0.000,0.044,2187,3370,3098
$GC,2505,-2.41,-65.8,327.9,-10.5,382,2509,0.00,1.70,0.00,0.000,6,0.000,0.028,2187,2328,3097
$GC,2836,-2.44,-65.8,364.2,-11.5,413,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2322,3095
$GC,3155,-2.46,-65.8,397.9,-10.1,443,3158,0.00,1.83,0.00,0.000,4,0.000,0.048,2188,3376,3092
$GC,3267,-2.46,-65.8,410.1,-11.6,453,3270,0.00,1.70,0.00,0.000,6,0.000,0.031,2187,2353,3092
$GC,3598,-2.49,-65.8,446.0,-10.6,484,3602,0.00,1.85,0.00,0.000,4,0.000,0.051,2187,1289,3089
$GC,3711,-2.51,-65.8,458.5,-11.1,494,3715,0.12,1.75,0.00,0.000,6,0.069,0.035,2156,2325,3089
$GC,4040,-2.51,-65.8,496.9,-12.2,525,4043,0.00,1.83,0.00,0.000,4,0.000,0.054,2156,3373,3086
$GC,4084,-2.51,-65.8,503.0,-13.1,528,4088,0.00,1.75,0.00,0.000,6,0.000,0.033,2155,2340,3086
$GC,4417,-2.51,-65.8,543.0,-12.0,544,4420,0.00,1.88,0.00,0.000,4,0.000,0.064,2156,3375,3084
$GC,4539,-2.51,-65.8,558.1,-11.5,549,4543,0.00,1.80,0.00,0.000,6,0.000,0.043,2155,2355,3083
$GC,4862,-2.51,-65.8,592.9,-10.5,565,4865,0.00,1.90,0.00,0.000,4,0.000,0.079,2156,3371,3080
$GC,4962,-2.51,-65.8,604.9,-11.0,569,4966,0.00,1.85,0.00,0.000,6,0.000,0.061,2156,2362,3080
$GC,5284,-2.51,-65.8,641.6,-11.8,585,5287,0.00,2.10,0.00,0.000,4,0.000,0.098,2155,1266,3078
$GC,5355,-2.51,-65.8,650.8,-12.3,588,5359,0.00,2.00,0.00,0.000,6,0.000,0.082,2156,2306,3078
$GC,5682,-2.51,-65.8,687.4,-10.6,604,5685,0.00,2.12,0.00,0.000,4,0.000,0.118,2155,1263,3076
$GC,5781,-2.51,-65.8,698.6,-11.0,608,5786,0.00,2.10,0.00,0.000,6,0.000,0.104,2155,2309,3076
$GC,6103,-2.52,-67.0,728.7,-8.9,624,6107,0.00,2.28,0.00,0.000,4,0.000,0.141,2155,3393,3075
$GC,6231,-2.52,-67.0,741.5,-9.3,630,6235,0.00,1.85,0.00,0.000,6,0.000,0.033,2156,2300,3074
$GC,6565,-2.52,-72.2,772.0,-8.5,646,6568,0.00,1.95,0.00,0.000,4,0.000,0.054,2156,3404,3072
$GC,6792,-2.52,-72.2,795.4,-10.6,656,6795,0.00,1.77,0.00,0.000,6,0.000,0.032,2156,2353,3071
$GC,7126,-2.52,-72.2,831.4,-11.1,672,7129,0.00,1.90,0.00,0.000,4,0.000,0.058,2155,1275,3070
$GC,7285,-2.95,-146.0,836.1,0.4,679,7289,0.38,1.88,0.00,0.000,6,0.050,0.034,2060,2381,3069
$STATE,7320,end dive,NO_VERTICAL_VELOCITY
$STATE,7320,begin apogee
$GC,7326,-0.51,0.0,836.1,0.0,681,7383,2.50,0.00,52.28,1.314,6,0.084,0.000,2600,1955,2825
$STATE,7383,end apogee,CONTROL_FINISHED_OK
$STATE,7384,begin climb
$GC,7386,2.74,146.0,835.9,0.0,684,7521,3.12,1.98,125.50,1.282,4,0.058,0.067,3317,921,2229
$GC,7777,2.68,146.0,796.7,12.4,702,7781,0.12,1.85,0.00,0.000,6,0.120,0.033,3294,1998,2223
$GC,8111,2.66,146.0,759.0,12.1,718,8114,0.00,1.98,0.00,0.000,4,0.000,0.057,3294,915,2221
$GC,8340,2.62,146.0,729.0,13.2,728,8344,0.00,1.77,0.00,0.000,6,0.000,0.031,3294,1963,2220
$GC,8666,2.62,146.0,689.1,11.6,744,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1963,2219
$GC,8976,2.62,146.0,653.0,11.6,759,8979,0.00,1.90,0.00,0.000,4,0.000,0.056,3294,908,2218
$GC,9066,2.59,146.0,642.2,12.3,763,9070,0.08,1.77,0.00,0.000,6,0.116,0.031,3276,1940,2218
$GC,9397,2.59,146.0,603.7,11.9,779,9400,0.00,1.85,0.00,0.000,4,0.000,0.056,3276,917,2218
$GC,9465,2.59,146.0,595.8,11.4,782,9469,0.00,1.70,0.00,0.000,6,0.000,0.031,3276,1922,2217
$GC,9797,2.59,146.0,560.8,10.6,798,9801,0.00,1.88,0.00,0.000,4,0.000,0.048,3276,3006,2216
$GC,9959,2.59,146.0,543.3,9.9,805,9963,0.00,1.90,0.00,0.000,6,0.000,0.036,3276,1914,2216
$GC,10286,2.59,146.0,511.9,9.4,821,10289,0.00,1.80,0.00,0.000,4,0.000,0.059,3276,905,2216
$GC,10369,2.60,150.5,504.7,8.6,824,10375,0.00,1.73,0.00,0.000,6,0.000,0.030,3276,1914,2215
$GC,10693,2.61,156.8,476.1,8.4,852,10707,0.00,1.95,8.25,0.979,4,0.000,0.046,3276,3008,2184
$GC,10839,2.61,156.8,462.6,9.1,865,10843,0.00,1.83,0.00,0.000,6,0.000,0.035,3276,1942,2184
$GC,11170,2.61,156.8,431.5,9.4,896,11174,0.00,1.83,0.00,0.000,4,0.000,0.059,3276,914,2184
$GC,11253,2.61,156.8,423.7,9.2,903,11260,0.00,1.77,0.00,0.000,6,0.000,0.030,3276,1954,2184
$GC,11581,2.61,157.4,395.7,9.0,934,11584,0.00,1.88,0.00,0.000,4,0.000,0.054,3276,905,2184
$GC,11637,2.61,157.4,389.9,10.3,939,11641,0.00,1.70,0.00,0.000,6,0.000,0.030,3276,1917,2184
$GC,11967,2.61,157.4,355.3,10.5,970,11970,0.00,1.80,0.00,0.000,4,0.000,0.054,3276,908,2184
$GC,12023,2.61,157.4,349.1,10.8,975,12026,0.00,1.67,0.00,0.000,6,0.000,0.029,3276,1910,2184
$GC,12353,2.61,157.4,317.4,9.2,1006,12357,0.00,1.80,0.00,0.000,4,0.000,0.054,3276,902,2184
$GC,12425,2.61,157.4,310.3,9.4,1012,12432,0.00,1.65,0.00,0.000,6,0.000,0.029,3276,1882,2183
$GC,12752,2.63,168.5,283.2,7.9,1043,12767,0.00,1.95,11.20,0.905,4,0.000,0.044,3276,3008,2137
$GC,12858,2.63,171.8,274.0,8.7,1052,12869,0.00,1.95,4.62,0.700,6,0.000,0.035,3276,1866,2124
$GC,13190,2.64,176.5,245.9,8.5,1087,13201,0.00,2.00,5.65,0.749,4,0.000,0.042,3276,3005,2105
$GC,13453,2.64,176.5,222.9,9.3,1134,13459,0.00,1.88,0.00,0.000,6,0.000,0.033,3276,1904,2104
$GC,13797,2.67,180.9,193.3,8.6,1195,13809,0.00,1.77,5.68,0.714,4,0.000,0.054,3276,903,2086
$GC,14000,2.70,198.2,176.3,7.2,1231,14022,0.00,1.65,15.68,0.840,6,0.000,0.028,3276,1900,2016
$GC,14361,2.77,208.7,149.5,7.9,1295,14379,0.15,1.95,9.88,0.775,4,0.063,0.041,3322,3008,1974
$GC,14633,2.85,254.3,130.4,4.4,1343,14677,0.00,1.85,38.30,0.804,6,0.000,0.030,3322,1903,1787
$GC,15016,2.93,277.0,104.7,6.7,1411,15039,0.12,0.00,19.52,0.754,6,0.064,0.000,3358,1903,1695
$GC,15377,3.02,309.5,77.5,5.7,1475,15411,0.00,1.77,27.60,0.722,4,0.000,0.048,3358,900,1562
$GC,15664,3.09,330.1,51.0,6.9,1526,15687,0.08,1.73,17.85,0.680,6,0.054,0.024,3390,1946,1479
$GC,16027,3.12,330.1,14.3,10.7,1590,16034,0.00,1.77,0.00,0.000,4,0.000,0.036,3390,2998,1478
$GC,16091,3.15,330.1,7.7,9.8,1601,16097,0.00,1.73,0.00,0.000,6,0.000,0.025,3390,1940,1477
$STATE,16151,end climb,SURFACE_DEPTH_REACHED
$STATE,16151,begin surface coast
$FINISH,-0.5,1.021668
$STATE,16175,end surface coast,CONTROL_FINISHED_OK
$STATE,16175,begin surface
$SM_CCo,16197,90.00,0.637,0,0,887,475.15
$SM_GC,-5.98,0.00,0.00,90.00,0.000,0.000,0.637,415,2339,887,-10.56,0.40,475.15
$IRIDIUM_FIX,1238.83,12015.39,170697,161624
$TT8_MAMPS,0.026078
$HUMID,1824
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.40
$XPDR_PINGS,356
$24V_AH,23.2,25.445
$10V_AH,10.2,20.585
$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,29.675,119.275,342.000,90.000,0.000,29.781,36.301,157.229,98.000,0.000,0.000,32.567,2674.429,9889.527,515.244,3078.053,509.886,0.000,1986.138,0.000,3010.980,0.000,68.203
$DEVICE_MAMPS,174.109,141.128,1313.871,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1094.881,405.774,682.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85193,1616
$CAP_FILE_SIZE,164905,0
$CFSIZE,260165632,242819072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240308,010502,1245.491,12016.548,38,1.3,38,-0.8