version: 66.03
glider: 126
mission: 7
dive: 110
start: 3 11 108 1 40 6
data:
$ID,126
$MISSION,7
$DIVE,110
$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,413
$T_MISSION,496
$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,500
$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,-621605.19
$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,48
$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
$GPS1,012321,1247.340,12045.142,11,1.3,11,-0.8
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-2.23
$_SM_ANGLEo,-57.6
$GPS2,013915,1247.297,12045.196,13,1.2,13,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,GET_DEEP
$TGT_LATLONG,1247.000,12042.000
$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,265.4,5799,-22.0,-7.990
$D_GRID,652
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-66.90,0.000,6,0.000,0.000,418,2322,3101
$GC,92,-2.33,-67.0,2.9,-14.5,13,110,9.95,1.75,0.00,0.000,4,0.170,0.032,2195,1281,3102
$GC,252,-2.21,-67.0,44.7,-22.2,41,258,0.17,1.67,0.00,0.000,6,0.127,0.025,2227,2323,3102
$GC,595,-2.15,-67.0,108.3,-16.2,102,601,0.00,1.77,0.00,0.000,4,0.000,0.043,2227,3364,3103
$GC,613,-2.09,-67.0,111.4,-16.5,105,619,0.12,1.67,0.00,0.000,6,0.128,0.024,2250,2291,3103
$GC,956,-2.09,-67.0,155.5,-11.2,166,962,0.00,1.85,0.00,0.000,4,0.000,0.043,2250,3364,3104
$GC,1125,-2.09,-67.0,174.8,-10.9,196,1131,0.00,1.62,0.00,0.000,6,0.000,0.025,2250,2337,3104
$GC,1469,-2.09,-67.0,209.8,-10.0,257,1475,0.00,1.77,0.00,0.000,4,0.000,0.046,2250,3373,3104
$GC,1576,-2.09,-67.0,221.6,-11.0,276,1582,0.00,1.58,0.00,0.000,6,0.000,0.026,2250,2378,3104
$GC,1917,-2.12,-67.0,254.7,-9.6,333,1921,0.00,1.77,0.00,0.000,4,0.000,0.037,2250,1311,3103
$GC,2023,-2.14,-67.0,265.5,-10.2,342,2029,0.00,1.75,0.00,0.000,6,0.000,0.028,2250,2356,3103
$GC,2349,-2.16,-67.0,298.1,-9.8,373,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2356,3100
$GC,2667,-2.18,-67.0,329.3,-9.5,403,2670,0.00,1.77,0.00,0.000,4,0.000,0.041,2250,1314,3098
$GC,2712,-2.21,-67.0,333.4,-9.3,407,2715,0.00,1.75,0.00,0.000,6,0.000,0.030,2250,2367,3098
$GC,3042,-2.24,-67.0,362.6,-8.9,438,3044,0.12,0.00,0.00,0.000,6,0.066,0.000,2214,2368,3095
$GC,3361,-2.24,-67.0,394.1,-10.2,468,3365,0.00,1.83,0.00,0.000,4,0.000,0.044,2214,1329,3093
$GC,3432,-2.24,-67.0,401.9,-9.8,474,3439,0.00,1.73,0.00,0.000,6,0.000,0.031,2214,2346,3092
$GC,3758,-2.24,-67.0,434.2,-10.3,505,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2346,3090
$GC,4076,-2.24,-67.0,466.4,-9.6,535,4079,0.00,1.80,0.00,0.000,4,0.000,0.054,2214,1330,3087
$GC,4124,-2.24,-67.0,471.4,-9.9,539,4131,0.00,1.75,0.00,0.000,6,0.000,0.035,2214,2342,3086
$GC,4460,-2.24,-67.0,504.7,-10.2,569,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2343,3084
$GC,4768,-2.24,-67.0,538.5,-11.4,584,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2343,3082
$GC,5079,-2.24,-67.0,569.7,-10.2,599,5084,0.00,1.85,0.00,0.000,4,0.000,0.072,2214,1335,3079
$GC,5145,-2.24,-67.0,576.9,-10.0,602,5149,0.00,1.77,0.00,0.000,6,0.000,0.056,2214,2331,3079
$GC,5480,-2.24,-67.0,610.1,-10.4,618,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2332,3076
$GC,5787,-2.24,-67.0,642.1,-10.1,633,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2332,3075
$STATE,5890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5890,begin apogee
$GC,5894,-0.51,0.0,652.0,9.6,638,5950,1.83,0.00,51.28,1.171,6,0.100,0.000,2598,2032,2825
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5953,2.33,67.0,653.7,0.0,641,6019,2.72,2.20,56.08,1.147,4,0.062,0.111,3220,970,2551
$GC,6084,2.33,100.5,649.4,4.8,647,6118,0.00,1.88,28.73,1.119,6,0.000,0.076,3220,1957,2415
$GC,6435,2.31,100.5,621.7,8.3,664,6438,0.00,2.03,0.00,0.000,4,0.000,0.090,3220,3026,2411
$GC,6569,2.27,100.5,610.2,8.7,670,6573,0.00,1.88,0.00,0.000,6,0.000,0.074,3220,2026,2411
$GC,6902,2.25,103.2,583.4,7.7,686,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2026,2409
$GC,7210,2.22,103.2,558.4,8.4,701,7212,0.15,0.00,0.00,0.000,6,0.110,0.000,3191,2026,2408
$GC,7521,2.23,107.3,533.8,7.6,716,7529,0.00,0.00,5.88,0.889,6,0.000,0.000,3190,2026,2387
$GC,7829,2.25,122.5,512.4,6.5,731,7850,0.00,1.98,13.98,1.058,4,0.000,0.064,3191,970,2325
$GC,7883,2.26,128.5,508.5,7.4,733,7895,0.00,1.75,6.62,0.899,6,0.000,0.034,3191,1978,2301
$GC,8210,2.26,128.5,483.4,8.4,758,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1978,2299
$GC,8527,2.26,128.5,452.5,10.1,788,8531,0.00,1.80,0.00,0.000,4,0.000,0.061,3191,3013,2299
$GC,8598,2.26,128.5,445.7,8.9,794,8605,0.00,1.75,0.00,0.000,6,0.000,0.041,3191,2012,2299
$GC,8926,2.27,133.6,419.6,7.5,825,8938,0.00,1.77,5.55,0.828,4,0.000,0.051,3191,3012,2280
$GC,8983,2.27,136.2,414.8,7.7,830,8994,0.00,1.83,4.10,0.703,6,0.000,0.041,3191,1954,2269
$GC,9312,2.28,142.3,388.4,7.4,861,9323,0.00,1.95,6.78,0.871,4,0.000,0.051,3191,3016,2244
$GC,9395,2.28,142.3,381.8,8.1,868,9402,0.00,1.83,0.00,0.000,6,0.000,0.041,3191,1974,2243
$GC,9721,2.28,142.3,355.1,8.5,899,9725,0.00,1.83,0.00,0.000,4,0.000,0.051,3190,3013,2242
$GC,9849,2.28,142.3,344.3,8.4,910,9855,0.00,1.77,0.00,0.000,6,0.000,0.041,3191,1991,2242
$GC,10175,2.30,153.9,319.7,6.9,941,10188,0.00,0.00,10.88,0.915,6,0.000,0.000,3191,1991,2197
$GC,10504,2.34,158.5,294.1,7.6,972,10515,0.12,1.92,5.20,0.740,4,0.076,0.058,3224,913,2179
$GC,10745,2.34,161.6,273.6,7.7,993,10755,0.00,1.85,4.55,0.680,6,0.000,0.031,3223,2002,2165
$GC,11076,2.35,165.7,248.4,7.6,1026,11083,0.00,0.00,5.12,0.706,6,0.000,0.000,3224,2002,2149
$GC,11422,2.35,165.7,218.0,8.4,1087,11428,0.00,1.73,0.00,0.000,4,0.000,0.050,3224,3005,2148
$GC,11473,2.35,165.7,213.6,8.2,1096,11480,0.00,1.75,0.00,0.000,6,0.000,0.036,3224,1990,2149
$GC,11817,2.37,177.2,190.0,6.9,1157,11834,0.00,1.92,11.23,0.814,4,0.000,0.054,3224,911,2101
$GC,11997,2.37,180.5,176.3,7.7,1189,12009,0.00,1.83,4.25,0.599,6,0.000,0.030,3224,2007,2089
$GC,12349,2.42,193.5,150.9,6.8,1251,12366,0.00,2.03,12.02,0.785,4,0.000,0.051,3224,911,2036
$GC,12417,2.44,205.4,146.0,6.9,1263,12435,0.00,1.83,11.27,0.761,6,0.000,0.029,3224,2009,1987
$GC,12774,2.54,240.0,128.1,4.7,1326,12809,0.15,1.77,29.08,0.784,4,0.062,0.044,3271,2995,1846
$GC,13061,2.54,240.0,106.4,8.7,1377,13067,0.00,1.60,0.00,0.000,6,0.000,0.030,3271,2031,1844
$GC,13404,2.61,265.6,83.8,5.6,1438,13432,0.00,1.70,21.60,0.728,4,0.000,0.041,3271,3002,1742
$GC,13685,2.67,278.1,64.3,6.8,1488,13702,0.00,1.58,11.40,0.668,6,0.000,0.028,3271,2055,1691
$GC,14043,2.75,294.0,40.4,6.5,1551,14066,0.15,1.67,14.38,0.653,4,0.058,0.040,3321,3001,1625
$GC,14229,2.77,301.0,26.2,7.3,1584,14241,0.00,1.60,7.18,0.575,6,0.000,0.027,3321,2037,1597
$STATE,14560,end climb,SURFACE_DEPTH_REACHED
$STATE,14560,begin surface coast
$FINISH,-0.3,1.021492
$STATE,14590,end surface coast,CONTROL_FINISHED_OK
$STATE,14590,begin surface
$SM_CCo,14611,118.60,0.624,0,0,785,500.17
$SM_GC,-4.98,0.00,0.00,118.60,0.000,0.000,0.624,418,2336,785,-10.54,0.31,500.17
$IRIDIUM_FIX,1241.04,12047.21,050697,010102
$TT8_MAMPS,0.026078
$HUMID,1815
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,23.80
$XPDR_PINGS,358
$24V_AH,23.5,16.576
$10V_AH,10.2,13.291
$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,28.050,83.575,327.125,118.600,0.000,142.776,76.305,388.743,93.500,0.000,0.000,13.317,2621.224,8848.270,548.774,2839.631,866.838,0.000,1861.067,0.000,2825.727,0.000,29.930
$DEVICE_MAMPS,170.274,111.215,1171.209,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.325,821.330,766.070,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91695,1648
$CAP_FILE_SIZE,153712,0
$CFSIZE,260165632,248074240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110308,054637,1246.402,12044.098,27,1.5,27,-0.8