version: 66.03
glider: 126
mission: 7
dive: 299
start: 4 21 108 5 52 19
data:
$ID,126
$MISSION,7
$DIVE,299
$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,-625053.12
$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,30
$R_STBD_OVSHOOT,61
$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
$GPS1,054137,1250.843,12042.020,40,1.1,46,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.33
$_SM_ANGLEo,-56.5
$GPS2,055127,1250.866,12042.039,15,1.1,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$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,103.5,1316,-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,24,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-65.97,0.000,6,0.000,0.000,413,2351,3242
$GC,97,-2.39,-101.9,-0.2,-18.1,13,114,10.10,1.70,0.00,0.000,4,0.170,0.036,2206,3354,3244
$GC,328,-2.21,-101.9,47.7,-17.8,54,335,0.17,1.73,0.00,0.000,6,0.102,0.022,2245,2279,3246
$GC,674,-2.14,-101.9,97.4,-12.9,115,679,0.00,1.83,0.00,0.000,4,0.000,0.037,2245,3361,3247
$GC,703,-2.06,-101.9,101.4,-13.7,120,710,0.12,1.58,0.00,0.000,6,0.105,0.023,2274,2353,3247
$GC,1048,-2.06,-101.9,138.9,-9.4,181,1054,0.00,1.70,0.00,0.000,4,0.000,0.031,2274,1319,3248
$GC,1083,-2.06,-101.9,142.6,-10.7,187,1089,0.00,1.70,0.00,0.000,6,0.000,0.024,2274,2371,3247
$GC,1428,-2.13,-118.6,171.9,-7.9,248,1434,0.00,1.75,0.00,0.000,4,0.000,0.031,2274,1314,3249
$GC,1452,-2.19,-129.5,174.1,-8.3,252,1458,0.00,1.70,0.00,0.000,6,0.000,0.024,2275,2366,3249
$GC,1796,-2.27,-145.7,202.8,-7.9,313,1802,0.15,1.75,0.00,0.000,4,0.057,0.031,2226,1320,3249
$GC,1910,-2.27,-145.7,213.0,-9.3,333,1915,0.00,1.60,0.00,0.000,6,0.000,0.025,2226,2309,3249
$GC,2253,-2.27,-145.7,245.1,-9.0,394,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2310,3249
$GC,2583,-2.28,-146.0,274.2,-8.8,430,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2310,3248
$GC,2899,-2.28,-146.0,303.6,-9.9,460,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2310,3246
$GC,3218,-2.28,-146.0,332.8,-8.6,490,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2310,3244
$GC,3536,-2.28,-146.0,360.9,-7.9,520,3540,0.00,1.80,0.00,0.000,4,0.000,0.045,2226,3363,3242
$GC,3586,-2.28,-146.0,365.2,-9.1,524,3592,0.00,1.73,0.00,0.000,6,0.000,0.027,2226,2317,3242
$GC,3913,-2.28,-146.0,392.5,-7.8,555,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2316,3240
$GC,4231,-2.28,-146.0,419.3,-8.8,585,4234,0.00,1.75,0.00,0.000,4,0.000,0.045,2226,1296,3237
$GC,4281,-2.28,-146.0,423.8,-8.3,589,4288,0.00,1.62,0.00,0.000,6,0.000,0.028,2226,2283,3237
$GC,4608,-2.28,-146.0,453.5,-8.8,620,4611,0.00,1.88,0.00,0.000,4,0.000,0.048,2226,3370,3235
$GC,4647,-2.28,-146.0,456.9,-8.4,623,4653,0.00,1.80,0.00,0.000,6,0.000,0.030,2226,2288,3235
$GC,4975,-2.28,-146.0,482.7,-8.8,654,4979,0.00,1.90,0.00,0.000,4,0.000,0.058,2226,3369,3233
$GC,5076,-2.28,-146.0,492.2,-9.7,663,5080,0.00,1.77,0.00,0.000,6,0.000,0.031,2226,2316,3232
$GC,5403,-2.75,-146.0,504.6,-0.0,683,5407,0.40,1.85,0.00,0.000,4,0.050,0.060,2124,1276,3229
$STATE,5417,end dive,NO_VERTICAL_VELOCITY
$STATE,5417,begin apogee
$GC,5424,-0.52,0.0,504.6,0.0,684,5511,2.20,0.00,82.47,1.041,6,0.067,0.000,2616,1967,2825
$STATE,5512,end apogee,CONTROL_FINISHED_OK
$STATE,5512,begin climb
$GC,5515,2.47,146.0,504.3,0.0,688,5641,2.88,0.00,119.70,1.008,6,0.056,0.000,3273,1966,2229
$GC,5956,2.41,176.2,477.3,6.9,723,5987,0.00,1.85,25.70,0.979,4,0.000,0.045,3273,3016,2106
$GC,6195,2.32,176.2,455.0,9.5,744,6202,0.20,1.80,0.00,0.000,6,0.103,0.034,3234,1961,2102
$GC,6520,2.27,176.2,428.4,9.3,775,6524,0.00,1.85,0.00,0.000,4,0.000,0.044,3234,3008,2100
$GC,6660,2.22,176.2,415.0,9.7,787,6667,0.12,1.73,0.00,0.000,6,0.115,0.033,3211,1989,2099
$GC,6987,2.26,199.7,389.9,7.4,818,7011,0.00,1.83,19.73,0.962,4,0.000,0.043,3211,3009,2009
$GC,7075,2.30,226.0,383.0,7.2,826,7107,0.00,1.75,23.42,0.948,6,0.000,0.043,3211,1985,1903
$GC,7425,2.32,238.7,356.5,8.1,859,7439,0.10,0.00,11.77,0.901,6,0.076,0.000,3240,1985,1851
$GC,7766,2.33,245.0,325.6,8.6,891,7778,0.00,1.85,6.47,0.788,4,0.000,0.042,3240,3008,1826
$GC,7891,2.33,246.0,314.8,9.0,902,7894,0.00,1.70,0.00,0.000,6,0.000,0.033,3240,2008,1825
$GC,8225,2.35,257.3,286.2,8.2,933,8241,0.00,1.83,11.45,0.870,4,0.000,0.041,3240,3013,1776
$GC,8320,2.36,260.9,277.5,8.8,941,8332,0.00,1.62,4.80,0.682,6,0.000,0.031,3240,2056,1761
$GC,8651,2.37,266.3,248.6,8.6,973,8661,0.00,0.00,6.30,0.749,6,0.000,0.000,3240,2056,1739
$GC,8999,2.37,266.3,216.0,9.7,1035,9005,0.00,1.65,0.00,0.000,4,0.000,0.041,3240,3015,1737
$GC,9084,2.38,273.0,208.5,8.6,1050,9096,0.00,1.60,6.97,0.752,6,0.000,0.031,3240,2066,1711
$GC,9434,2.40,286.2,178.2,8.1,1112,9450,0.00,0.00,12.50,0.810,6,0.000,0.000,3240,2066,1658
$GC,9789,2.53,327.8,149.3,6.1,1175,9833,0.15,1.70,35.78,0.814,4,0.060,0.041,3287,3006,1487
$GC,10003,2.56,344.7,132.6,7.8,1213,10025,0.00,1.58,15.07,0.769,6,0.000,0.028,3287,2084,1418
$GC,10368,2.67,384.1,104.9,6.3,1277,10407,0.10,2.15,33.38,0.759,4,0.070,0.047,3321,906,1259
$GC,10465,2.67,384.1,96.2,9.2,1294,10471,0.00,2.03,0.00,0.000,6,0.000,0.025,3321,2132,1258
$GC,10810,2.73,389.0,67.5,8.7,1355,10822,0.00,2.15,5.40,0.565,4,0.000,0.042,3321,902,1238
$GC,10862,2.74,397.9,63.1,8.4,1364,10879,0.00,1.92,9.32,0.650,6,0.000,0.025,3321,2062,1201
$GC,11218,2.86,418.8,36.2,7.6,1427,11242,0.15,1.67,18.12,0.660,4,0.054,0.037,3377,3019,1117
$GC,11434,2.86,418.8,17.3,9.1,1465,11440,0.12,1.73,0.00,0.000,6,0.100,0.024,3353,1960,1116
$STATE,11606,end climb,SURFACE_DEPTH_REACHED
$STATE,11606,begin surface coast
$FINISH,-0.3,1.021133
$STATE,11630,end surface coast,CONTROL_FINISHED_OK
$STATE,11630,begin surface
$SM_CCo,11653,37.05,0.630,0,0,888,475.15
$SM_GC,-5.10,0.00,0.00,37.05,0.000,0.000,0.630,417,2353,888,-10.64,0.79,475.15
$IRIDIUM_FIX,1245.46,12042.28,160797,050533
$TT8_MAMPS,0.026078
$HUMID,1908
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.20
$XPDR_PINGS,494
$24V_AH,23.3,48.021
$10V_AH,10.2,34.999
$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,29.700,70.925,448.375,37.050,0.000,49.046,146.216,193.810,123.750,0.000,0.000,15.818,2326.122,6261.597,540.130,2474.255,700.187,0.000,1741.780,0.000,2465.018,0.000,2.739
$DEVICE_MAMPS,169.507,59.826,1040.819,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.655,454.691,764.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82086,1500
$CAP_FILE_SIZE,129515,0
$CFSIZE,260165632,231481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,090826,1251.536,12042.518,38,1.6,38,-0.8