version: 66.03
glider: 126
mission: 7
dive: 227
start: 4 4 108 13 21 31
data:
$ID,126
$MISSION,7
$DIVE,227
$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,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,-623705
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,34
$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
$GPS1,131509,1251.127,12042.879,9,1.8,10,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.01
$_SM_ANGLEo,-58.9
$GPS2,132039,1251.151,12042.868,13,1.9,13,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST_S8
$TGT_LATLONG,1250.710,12042.750
$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,195.4,844,-21.3,-9.016
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.39,-101.9,0.0,0.0,0,95,0.00,0.00,-65.43,0.000,6,0.000,0.000,416,2345,3241
$GC,97,-2.39,-101.9,2.5,-23.0,13,114,10.05,1.83,0.00,0.000,4,0.170,0.031,2201,1265,3243
$GC,269,-2.21,-101.9,47.3,-20.5,43,275,0.25,1.70,0.00,0.000,6,0.119,0.023,2250,2322,3245
$GC,613,-2.13,-101.9,104.1,-15.3,104,619,0.00,1.77,0.00,0.000,4,0.000,0.039,2250,3370,3246
$GC,780,-2.09,-101.9,126.2,-11.1,133,787,0.12,1.70,0.00,0.000,6,0.119,0.023,2273,2284,3247
$GC,1124,-2.12,-101.9,162.9,-10.2,194,1130,0.00,1.85,0.00,0.000,4,0.000,0.038,2273,3378,3248
$GC,1170,-2.12,-101.9,167.7,-10.8,202,1175,0.00,1.60,0.00,0.000,6,0.000,0.024,2273,2348,3248
$GC,1513,-2.16,-101.9,201.8,-9.1,263,1518,0.00,1.70,0.00,0.000,4,0.000,0.035,2273,1321,3249
$GC,1559,-2.20,-102.4,206.0,-9.0,271,1565,0.00,1.65,0.00,0.000,6,0.000,0.025,2273,2341,3249
$GC,1903,-2.25,-102.4,238.2,-9.4,332,1910,0.15,1.73,0.00,0.000,4,0.058,0.042,2224,3364,3249
$GC,2006,-2.22,-102.4,248.7,-10.9,350,2013,0.12,1.60,0.00,0.000,6,0.106,0.025,2248,2350,3249
$GC,2338,-2.22,-102.4,280.6,-9.4,382,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2343,3247
$GC,2656,-2.22,-102.4,310.1,-9.4,412,2660,0.00,1.75,0.00,0.000,4,0.000,0.044,2248,3368,3246
$GC,2802,-2.22,-102.4,324.7,-10.2,425,2806,0.00,1.62,0.00,0.000,6,0.000,0.028,2248,2361,3245
$GC,3134,-2.25,-102.4,355.9,-9.2,456,3137,0.00,1.80,0.00,0.000,4,0.000,0.041,2248,1304,3243
$GC,3202,-2.25,-103.2,362.2,-9.0,462,3206,0.00,1.77,0.00,0.000,6,0.000,0.028,2248,2354,3242
$GC,3533,-2.28,-103.2,390.2,-9.2,493,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2355,3240
$GC,3854,-2.32,-103.2,421.5,-9.0,523,3858,0.12,1.75,0.00,0.000,4,0.064,0.050,2212,3371,3238
$GC,3909,-2.32,-103.2,427.5,-10.7,528,3913,0.00,1.62,0.00,0.000,6,0.000,0.031,2212,2389,3237
$GC,4241,-2.32,-103.2,462.0,-10.8,559,4244,0.00,1.73,0.00,0.000,4,0.000,0.051,2212,3373,3235
$GC,4387,-2.32,-103.2,478.5,-11.6,572,4391,0.00,1.62,0.00,0.000,6,0.000,0.031,2212,2404,3234
$GC,4715,-2.32,-103.2,514.5,-11.4,597,4718,0.00,1.73,0.00,0.000,4,0.000,0.060,2212,3371,3232
$GC,4782,-2.32,-103.2,522.3,-11.2,600,4786,0.00,1.60,0.00,0.000,6,0.000,0.034,2212,2422,3231
$GC,5114,-2.32,-103.2,558.6,-10.6,616,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2423,3229
$GC,5425,-2.32,-103.2,591.1,-9.8,631,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2423,3227
$GC,5733,-2.32,-103.2,623.0,-9.9,646,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2423,3226
$GC,6043,-2.70,-146.0,638.9,-0.0,661,6047,0.28,1.85,0.00,0.000,4,0.047,0.100,2132,3368,3224
$STATE,6101,end dive,NO_VERTICAL_VELOCITY
$STATE,6102,begin apogee
$GC,6110,-0.52,0.0,638.8,0.0,663,6197,2.15,0.00,82.07,1.155,6,0.078,0.000,2612,2005,2825
$STATE,6197,end apogee,CONTROL_FINISHED_OK
$STATE,6198,begin climb
$GC,6200,2.47,146.0,638.5,0.0,668,6330,3.05,0.00,121.93,1.121,6,0.074,0.000,3267,2005,2228
$GC,6646,2.40,188.7,619.7,6.1,690,6688,0.00,2.25,36.22,1.100,4,0.000,0.106,3268,899,2055
$GC,6941,2.27,188.7,592.5,10.2,703,6946,0.22,1.88,0.00,0.000,6,0.108,0.051,3225,1945,2050
$GC,7261,2.19,188.7,562.6,9.3,719,7265,0.00,1.98,0.00,0.000,4,0.000,0.074,3225,893,2049
$GC,7519,2.11,196.6,539.1,8.5,730,7532,0.17,1.85,7.03,0.923,6,0.117,0.035,3193,1968,2023
$GC,7841,2.11,218.8,512.7,7.5,746,7866,0.00,1.85,20.45,1.059,4,0.000,0.048,3193,3018,1932
$GC,8056,2.12,222.2,493.5,8.8,758,8066,0.00,2.00,4.22,0.727,6,0.000,0.040,3193,1885,1918
$GC,8391,2.12,222.2,462.5,9.1,790,8395,0.00,1.77,0.00,0.000,4,0.000,0.063,3192,899,1917
$GC,8616,2.09,223.2,441.7,8.9,810,8620,0.00,1.67,0.00,0.000,6,0.000,0.028,3192,1898,1917
$GC,8948,2.09,223.2,412.9,9.1,841,8952,0.00,1.83,0.00,0.000,4,0.000,0.058,3192,897,1916
$GC,9031,2.10,229.8,405.0,8.6,848,9047,0.00,1.67,7.62,0.900,6,0.000,0.028,3192,1889,1888
$GC,9365,2.10,229.8,375.3,9.1,880,9368,0.00,1.80,0.00,0.000,4,0.000,0.056,3193,888,1887
$GC,9623,2.11,239.1,352.4,8.4,903,9637,0.00,1.62,9.60,0.916,6,0.000,0.028,3192,1870,1849
$GC,9963,2.11,239.1,321.1,9.6,935,9966,0.00,1.75,0.00,0.000,4,0.000,0.055,3192,892,1848
$GC,10221,2.11,240.8,297.5,8.9,958,10225,0.00,1.58,0.00,0.000,6,0.000,0.029,3192,1832,1848
$GC,10553,2.13,252.6,269.8,8.2,989,10573,0.00,1.77,12.32,0.890,4,0.000,0.056,3192,893,1795
$GC,10826,2.15,261.2,246.0,8.4,1017,10843,0.00,1.55,9.05,0.838,6,0.000,0.029,3193,1816,1758
$GC,11181,2.22,283.8,216.3,7.5,1080,11208,0.00,1.73,19.70,0.871,4,0.000,0.055,3192,884,1668
$GC,11461,2.25,283.8,191.7,9.0,1130,11467,0.08,1.48,0.00,0.000,6,0.058,0.028,3223,1775,1666
$GC,11804,2.27,293.3,160.5,8.4,1191,11820,0.00,1.62,9.43,0.771,4,0.000,0.054,3223,897,1629
$GC,12074,2.34,315.7,138.1,7.5,1239,12101,0.00,1.48,20.00,0.798,6,0.000,0.028,3223,1796,1537
$GC,12442,2.46,344.9,110.5,7.0,1304,12476,0.15,1.70,24.98,0.769,4,0.058,0.051,3275,879,1419
$GC,12729,2.52,379.9,89.3,6.6,1355,12763,0.00,1.55,29.58,0.737,6,0.000,0.025,3275,1840,1276
$GC,13105,2.62,396.4,60.0,7.9,1421,13128,0.10,1.73,14.73,0.680,4,0.065,0.048,3312,892,1208
$GC,13381,2.66,423.1,37.1,7.2,1470,13409,0.00,1.42,23.30,0.667,6,0.000,0.025,3312,1798,1100
$GC,13749,2.74,430.6,6.2,8.5,1535,13762,0.00,1.65,7.60,0.563,4,0.000,0.045,3312,887,1069
$STATE,13794,end climb,SURFACE_DEPTH_REACHED
$STATE,13794,begin surface coast
$FINISH,-0.3,1.021175
$STATE,13818,end surface coast,CONTROL_FINISHED_OK
$STATE,13818,begin surface
$SM_CCo,13842,32.88,0.630,0,0,888,475.15
$SM_GC,-5.99,0.00,0.00,32.88,0.000,0.000,0.630,411,2343,888,-10.66,0.51,475.15
$IRIDIUM_FIX,1245.46,12042.28,290697,101005
$TT8_MAMPS,0.026078
$HUMID,1900
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.20
$XPDR_PINGS,391
$24V_AH,23.3,34.555
$10V_AH,10.2,26.597
$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,29.575,84.225,459.825,32.875,0.000,27.865,36.955,153.879,101.500,0.000,0.000,13.475,2479.949,7915.945,538.530,2805.510,497.801,0.000,1884.518,0.000,2770.695,0.000,29.121
$DEVICE_MAMPS,170.274,105.846,1155.102,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.450,437.560,716.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82038,1547
$CAP_FILE_SIZE,144204,0
$CFSIZE,260165632,238104576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040408,171402,1250.799,12042.048,38,1.3,38,-0.8