version: 66.03
glider: 126
mission: 7
dive: 247
start: 4 9 108 2 28 42
data:
$ID,126
$MISSION,7
$DIVE,247
$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,-624073.56
$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,31
$R_STBD_OVSHOOT,53
$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
$GPS1,021832,1245.125,12015.773,42,1.2,42,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.08
$_SM_ANGLEo,-58.9
$GPS2,022750,1245.316,12015.683,11,1.3,16,-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,330.4,652,-21.3,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.39,-101.9,0.0,0.0,0,97,0.00,0.00,-65.85,0.000,6,0.000,0.000,418,2337,3244
$GC,100,-2.39,-101.9,0.7,-20.3,13,117,10.02,1.83,0.00,0.000,4,0.169,0.031,2202,1260,3245
$GC,314,-2.22,-101.9,52.2,-20.5,51,321,0.22,1.73,0.00,0.000,6,0.116,0.024,2246,2322,3247
$GC,658,-2.17,-101.9,101.4,-13.0,112,664,0.00,1.77,0.00,0.000,4,0.000,0.038,2245,3370,3248
$GC,917,-2.17,-101.9,131.4,-10.8,158,923,0.00,1.62,0.00,0.000,6,0.000,0.023,2246,2330,3248
$GC,1260,-2.17,-101.9,165.7,-10.1,219,1266,0.00,1.65,0.00,0.000,4,0.000,0.033,2246,1333,3249
$GC,1519,-2.17,-101.9,191.3,-9.7,265,1525,0.00,1.80,0.00,0.000,6,0.000,0.025,2246,2431,3249
$GC,1862,-2.17,-101.9,223.9,-10.8,326,1868,0.00,1.85,0.00,0.000,4,0.000,0.033,2246,1329,3249
$GC,1982,-2.17,-101.9,235.9,-9.8,347,1987,0.00,1.77,0.00,0.000,6,0.000,0.026,2246,2406,3248
$GC,2314,-2.17,-101.9,269.1,-9.7,390,2318,0.00,1.62,0.00,0.000,4,0.000,0.044,2246,3366,3248
$GC,2409,-2.17,-101.9,278.2,-9.6,398,2415,0.00,1.48,0.00,0.000,6,0.000,0.025,2246,2440,3248
$GC,2735,-2.17,-101.9,309.3,-10.0,429,2739,0.00,1.88,0.00,0.000,4,0.000,0.037,2246,1330,3246
$GC,2814,-2.17,-101.9,316.8,-9.8,436,2818,0.00,1.80,0.00,0.000,6,0.000,0.028,2246,2413,3246
$GC,3148,-2.20,-119.6,344.0,-7.8,467,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2417,3244
$GC,3473,-2.22,-131.4,372.0,-8.2,498,3476,0.00,1.85,0.00,0.000,4,0.000,0.041,2245,1341,3242
$GC,3596,-2.22,-131.4,382.9,-9.4,509,3600,0.00,1.77,0.00,0.000,6,0.000,0.030,2246,2403,3241
$GC,3930,-2.25,-131.4,416.7,-10.1,540,3934,0.00,1.65,0.00,0.000,4,0.000,0.048,2246,3369,3239
$GC,3975,-2.25,-131.4,422.0,-10.7,544,3978,0.00,1.55,0.00,0.000,6,0.000,0.029,2246,2446,3239
$GC,4307,-2.25,-131.5,454.0,-9.0,575,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2445,3237
$GC,4625,-2.28,-131.5,483.6,-9.8,605,4629,0.00,1.62,0.00,0.000,4,0.000,0.052,2246,3371,3236
$GC,4664,-2.28,-131.5,487.8,-9.9,608,4670,0.00,1.52,0.00,0.000,6,0.000,0.031,2246,2473,3235
$GC,4985,-2.32,-131.5,519.2,-10.0,630,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2472,3232
$GC,5294,-2.36,-133.1,548.8,-8.9,645,5296,0.15,0.00,0.00,0.000,6,0.065,0.000,2206,2472,3231
$GC,5604,-2.38,-143.2,576.6,-8.3,660,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2471,3229
$GC,5911,-2.38,-143.2,603.7,-9.2,675,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2471,3228
$GC,6223,-2.38,-143.5,631.8,-9.0,690,6227,0.00,2.12,0.00,0.000,4,0.000,0.094,2206,1347,3225
$GC,6290,-2.38,-143.5,638.3,-9.3,693,6294,0.00,1.98,0.00,0.000,6,0.000,0.079,2206,2383,3224
$GC,6617,-2.38,-143.5,668.6,-10.2,709,6620,0.00,1.90,0.00,0.000,4,0.000,0.112,2206,3350,3223
$GC,6673,-2.35,-143.5,675.0,-11.5,711,6676,0.00,1.65,0.00,0.000,6,0.000,0.091,2206,2499,3223
$GC,6993,-2.35,-143.5,712.9,-11.0,727,6997,0.00,2.35,0.00,0.000,4,0.000,0.129,2206,1353,3221
$STATE,7150,end dive,NO_VERTICAL_VELOCITY
$STATE,7150,begin apogee
$GC,7156,-0.52,0.0,713.7,0.0,734,7243,1.80,0.00,83.00,1.216,6,0.071,0.000,2616,1933,2825
$STATE,7244,end apogee,CONTROL_FINISHED_OK
$STATE,7244,begin climb
$GC,7247,2.46,143.5,713.4,0.0,738,7377,2.85,2.17,121.53,1.182,4,0.054,0.144,3270,994,2239
$GC,7634,2.34,143.5,686.1,9.8,755,7640,0.17,1.92,0.00,0.000,6,0.108,0.092,3237,1974,2234
$GC,7950,2.26,143.5,657.1,9.3,771,7953,0.00,1.98,0.00,0.000,4,0.000,0.106,3237,987,2232
$GC,8208,2.18,155.3,634.3,8.2,782,8223,0.17,1.80,10.23,1.054,6,0.113,0.067,3204,1958,2191
$GC,8551,2.20,163.9,605.6,8.4,799,8566,0.00,1.95,8.90,1.026,4,0.000,0.084,3203,986,2156
$GC,8725,2.17,173.3,589.8,8.4,806,8739,0.00,1.67,9.77,1.039,6,0.000,0.048,3203,1931,2117
$GC,9061,2.18,184.6,561.7,8.2,823,9074,0.00,0.00,10.93,1.049,6,0.000,0.000,3204,1931,2072
$GC,9369,2.18,184.6,531.5,10.3,838,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1931,2070
$GC,9679,2.20,192.4,503.0,8.5,853,9693,0.00,1.98,7.93,0.976,4,0.000,0.048,3203,3022,2040
$GC,9790,2.20,196.2,493.0,8.8,861,9801,0.00,1.80,4.88,0.814,6,0.000,0.035,3204,1977,2025
$GC,10120,2.22,207.3,463.6,8.2,892,10133,0.00,0.00,11.12,1.009,6,0.000,0.000,3203,1977,1979
$GC,10449,2.23,211.2,435.8,8.7,923,10461,0.00,1.85,5.12,0.810,4,0.000,0.044,3203,3027,1962
$GC,10540,2.25,221.9,427.9,8.3,931,10555,0.00,1.88,10.65,0.974,6,0.000,0.034,3203,1932,1920
$GC,10874,2.25,221.9,398.6,9.1,962,10878,0.00,1.90,0.00,0.000,4,0.000,0.043,3204,3026,1918
$GC,10930,2.25,221.9,393.6,9.4,967,10934,0.00,1.85,0.00,0.000,6,0.000,0.034,3203,1941,1918
$GC,11262,2.25,221.9,362.4,9.1,998,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1940,1917
$GC,11581,2.28,239.3,337.4,7.8,1028,11603,0.00,1.95,16.15,0.962,4,0.000,0.042,3203,3037,1849
$GC,11670,2.28,242.7,329.3,8.8,1036,11682,0.10,1.95,4.47,0.699,6,0.077,0.033,3232,1900,1835
$GC,12000,2.28,242.7,299.1,9.5,1067,12004,0.00,1.95,0.00,0.000,4,0.000,0.041,3232,3027,1834
$GC,12146,2.28,242.7,284.8,9.6,1080,12150,0.00,1.85,0.00,0.000,6,0.000,0.032,3232,1937,1834
$GC,12475,2.28,242.7,253.8,10.2,1111,12479,0.00,1.90,0.00,0.000,4,0.000,0.041,3231,3036,1834
$GC,12537,2.28,242.7,247.1,11.0,1118,12543,0.00,1.77,0.00,0.000,6,0.000,0.031,3232,1987,1834
$GC,12881,2.29,249.3,213.9,8.6,1179,12892,0.00,0.00,6.85,0.767,6,0.000,0.000,3232,1987,1808
$GC,13230,2.29,249.3,180.9,9.8,1241,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1987,1808
$GC,13573,2.35,285.1,153.4,6.5,1302,13610,0.00,1.85,31.05,0.837,4,0.000,0.040,3232,3033,1661
$GC,13645,2.35,285.1,147.5,9.1,1315,13651,0.00,1.75,0.00,0.000,6,0.000,0.029,3232,2001,1660
$GC,13988,2.45,303.2,116.8,7.8,1376,14011,0.15,1.95,16.02,0.779,4,0.060,0.051,3280,913,1589
$GC,14110,2.47,318.0,107.1,8.0,1397,14132,0.00,1.85,13.90,0.755,6,0.000,0.026,3280,2030,1527
$GC,14474,2.61,365.7,85.1,5.7,1461,14522,0.00,1.80,39.78,0.752,4,0.000,0.038,3280,3042,1333
$GC,14686,2.71,388.4,68.3,7.4,1499,14715,0.17,1.77,19.92,0.710,6,0.054,0.025,3332,1966,1240
$GC,15056,2.81,412.1,39.6,7.4,1564,15079,0.00,0.00,20.48,0.672,6,0.000,0.000,3332,1967,1145
$GC,15417,2.88,415.9,7.2,8.8,1628,15424,0.10,0.00,4.68,0.478,6,0.064,0.000,3371,1966,1129
$STATE,15468,end climb,SURFACE_DEPTH_REACHED
$STATE,15468,begin surface coast
$FINISH,0.3,1.021243
$STATE,15485,end surface coast,CONTROL_FINISHED_OK
$STATE,15485,begin surface
$SM_CCo,15508,41.45,0.637,0,0,888,475.15
$SM_GC,-5.59,0.00,0.00,41.45,0.000,0.000,0.637,415,2377,888,-10.65,1.47,475.15
$IRIDIUM_FIX,1238.83,12015.39,040797,020222
$TT8_MAMPS,0.026078
$HUMID,1891
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,23.80
$XPDR_PINGS,437
$ALTIM_BOTTOM_PING,641.6,64.8
$24V_AH,23.2,38.284
$10V_AH,10.2,28.891
$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,28.800,87.750,457.350,41.450,0.000,50.144,69.586,237.119,113.500,0.000,0.000,16.621,2623.507,9354.642,553.821,2901.007,698.519,0.000,1954.601,0.000,2869.823,0.000,33.851
$DEVICE_MAMPS,168.740,144.196,1215.695,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1109.342,448.783,729.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88205,1640
$CAP_FILE_SIZE,154636,0
$CFSIZE,260165632,236285952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,064908,1246.906,12014.791,39,1.5,39,-0.8