version: 66.03
glider: 126
mission: 7
dive: 130
start: 3 14 108 21 19 1
data:
$ID,126
$MISSION,7
$DIVE,130
$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,-621966.88
$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,49
$R_STBD_OVSHOOT,43
$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
$GPS1,211225,1246.276,12023.755,25,1.2,42,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.10
$_SM_ANGLEo,-58.8
$GPS2,211809,1246.254,12023.682,13,1.7,13,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,WEST
$TGT_LATLONG,1245.620,12015.500
$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,266.3,14825,-22.0,-7.990
$D_GRID,695
$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,-66.88,0.000,6,0.000,0.000,414,2367,3101
$GC,92,-2.33,-67.0,0.6,-15.9,13,109,10.00,1.70,0.00,0.000,4,0.170,0.038,2194,3367,3103
$GC,363,-2.22,-67.0,65.7,-18.5,61,369,0.15,1.70,0.00,0.000,6,0.120,0.024,2222,2299,3104
$GC,707,-2.16,-67.0,123.7,-16.4,122,713,0.00,1.85,0.00,0.000,4,0.000,0.042,2222,3364,3105
$GC,965,-2.11,-67.0,163.7,-13.7,168,972,0.10,1.70,0.00,0.000,6,0.110,0.025,2245,2316,3106
$GC,1309,-2.11,-67.0,199.1,-9.6,229,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2315,3107
$GC,1651,-2.11,-67.0,235.7,-10.5,290,1657,0.00,1.85,0.00,0.000,4,0.000,0.048,2245,3364,3108
$GC,1715,-2.11,-67.0,242.3,-10.7,301,1721,0.00,1.67,0.00,0.000,6,0.000,0.027,2245,2325,3108
$GC,2043,-2.11,-67.0,275.4,-9.9,338,2047,0.00,1.83,0.00,0.000,4,0.000,0.048,2246,3372,3107
$GC,2115,-2.11,-67.0,283.1,-10.8,344,2122,0.00,1.67,0.00,0.000,6,0.000,0.028,2245,2357,3106
$GC,2441,-2.13,-67.0,318.2,-10.5,375,2445,0.00,1.77,0.00,0.000,4,0.000,0.051,2245,3371,3104
$GC,2542,-2.13,-67.0,329.0,-10.0,384,2546,0.00,1.62,0.00,0.000,6,0.000,0.028,2246,2372,3103
$GC,2873,-2.16,-67.0,360.1,-10.0,415,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2372,3102
$GC,3192,-2.19,-67.0,391.7,-9.3,445,3195,0.00,1.88,0.00,0.000,4,0.000,0.046,2246,1296,3099
$GC,3281,-2.21,-67.0,400.1,-9.5,453,3285,0.00,1.83,0.00,0.000,6,0.000,0.031,2246,2382,3099
$GC,3612,-2.24,-67.0,429.7,-9.5,484,3614,0.12,0.00,0.00,0.000,6,0.071,0.000,2213,2383,3097
$GC,3930,-2.24,-67.0,463.6,-11.4,514,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2384,3094
$GC,4248,-2.24,-67.0,498.8,-10.7,544,4252,0.00,1.95,0.00,0.000,4,0.000,0.059,2212,1300,3092
$GC,4337,-2.24,-67.0,508.2,-9.6,549,4341,0.00,1.85,0.00,0.000,6,0.000,0.041,2213,2371,3092
$GC,4671,-2.24,-67.0,541.7,-10.4,565,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2371,3089
$GC,4978,-2.24,-67.0,572.1,-9.4,580,4982,0.00,1.88,0.00,0.000,4,0.000,0.084,2213,3383,3087
$GC,5062,-2.24,-67.0,580.4,-10.2,583,5068,0.00,1.70,0.00,0.000,6,0.000,0.058,2213,2429,3086
$GC,5378,-2.24,-67.0,611.0,-9.9,599,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2428,3085
$GC,5688,-2.24,-67.0,641.4,-10.2,614,5692,0.00,2.15,0.00,0.000,4,0.000,0.097,2212,1304,3083
$GC,5750,-2.24,-67.0,648.2,-10.1,617,5754,0.00,2.10,0.00,0.000,6,0.000,0.084,2213,2411,3083
$GC,6085,-2.24,-67.0,681.3,-10.1,633,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2412,3082
$STATE,6245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6245,begin apogee
$GC,6251,-0.51,0.0,696.8,9.4,641,6309,1.85,0.00,53.47,1.205,6,0.103,0.000,2598,2003,2825
$STATE,6310,end apogee,CONTROL_FINISHED_OK
$STATE,6310,begin climb
$GC,6312,2.33,67.0,698.6,0.0,644,6377,2.78,2.15,57.17,1.172,4,0.063,0.120,3222,3016,2551
$GC,6462,2.32,91.6,693.2,5.7,651,6490,0.00,2.15,22.00,1.133,6,0.000,0.110,3222,1963,2451
$GC,6814,2.29,93.0,666.5,7.9,668,6818,0.00,2.15,0.00,0.000,4,0.000,0.114,3222,891,2447
$GC,6966,2.24,100.3,654.4,7.3,675,6981,0.12,2.03,8.27,1.016,6,0.117,0.074,3199,1964,2415
$GC,7297,2.26,112.1,630.8,6.9,691,7310,0.00,0.00,11.20,1.078,6,0.000,0.000,3199,1964,2368
$GC,7605,2.27,118.8,609.1,7.4,706,7614,0.00,0.00,7.47,0.991,6,0.000,0.000,3199,1964,2340
$GC,7914,2.27,118.8,583.5,8.5,721,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1965,2338
$GC,8223,2.28,123.4,559.8,7.6,736,8233,0.00,1.92,5.25,0.872,4,0.000,0.062,3199,3034,2321
$GC,8380,2.28,123.4,546.6,9.1,743,8383,0.00,1.95,0.00,0.000,6,0.000,0.048,3199,1924,2320
$GC,8705,2.28,123.4,518.0,9.2,759,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1924,2319
$GC,9018,2.28,123.4,488.9,9.4,779,9021,0.00,1.98,0.00,0.000,4,0.000,0.053,3199,3036,2319
$GC,9235,2.28,123.4,469.5,8.1,798,9241,0.00,1.90,0.00,0.000,6,0.000,0.040,3199,1952,2318
$GC,9561,2.29,129.3,444.3,7.4,829,9572,0.00,1.90,6.28,0.891,4,0.000,0.062,3199,900,2297
$GC,9663,2.27,129.3,436.3,8.1,838,9666,0.00,1.85,0.00,0.000,6,0.000,0.032,3199,1990,2296
$GC,9994,2.28,133.1,410.6,7.6,869,10003,0.00,0.00,4.75,0.779,6,0.000,0.000,3199,1990,2281
$GC,10322,2.28,133.1,385.1,8.2,900,10325,0.00,1.77,0.00,0.000,4,0.000,0.051,3199,3015,2281
$GC,10377,2.28,133.1,380.2,8.2,905,10381,0.00,1.83,0.00,0.000,6,0.000,0.039,3199,1952,2281
$GC,10707,2.28,133.1,353.4,8.0,936,10710,0.00,1.85,0.00,0.000,4,0.000,0.060,3199,909,2281
$GC,10965,2.30,145.4,335.6,6.8,959,10981,0.00,1.80,11.65,0.943,6,0.000,0.031,3199,1979,2232
$GC,11299,2.30,148.5,313.4,7.7,990,11309,0.00,0.00,4.32,0.688,6,0.000,0.000,3199,1979,2218
$GC,11628,2.30,148.5,284.7,8.9,1021,11632,0.00,1.90,0.00,0.000,4,0.000,0.053,3199,913,2218
$GC,11718,2.30,148.5,276.6,8.8,1029,11721,0.00,1.80,0.00,0.000,6,0.000,0.030,3199,1987,2219
$GC,12049,2.33,163.1,252.9,6.6,1060,12070,0.00,1.83,13.35,0.886,4,0.000,0.050,3199,3000,2160
$GC,12127,2.33,168.1,246.9,7.5,1070,12139,0.00,1.77,6.25,0.756,6,0.000,0.036,3199,1979,2139
$GC,12476,2.34,173.0,219.1,7.5,1132,12487,0.00,0.00,5.85,0.728,6,0.000,0.000,3199,1979,2118
$GC,12825,2.37,177.3,191.1,7.6,1194,12838,0.12,1.90,5.10,0.670,4,0.071,0.055,3234,910,2102
$GC,12957,2.37,177.3,179.2,8.5,1217,12963,0.00,1.85,0.00,0.000,6,0.000,0.029,3234,2021,2101
$GC,13300,2.44,215.7,154.6,4.4,1278,13339,0.00,2.00,32.83,0.828,4,0.000,0.048,3234,915,1944
$GC,13508,2.47,234.2,142.1,6.2,1315,13532,0.00,1.85,15.95,0.785,6,0.000,0.028,3234,2027,1869
$GC,13871,2.52,237.4,117.6,7.7,1379,13883,0.10,1.70,4.25,0.545,4,0.074,0.044,3265,3000,1856
$GC,14136,2.54,249.3,99.4,6.9,1426,14154,0.00,1.67,11.35,0.708,6,0.000,0.030,3265,2002,1807
$GC,14493,2.59,261.4,74.9,6.8,1489,14510,0.00,1.75,11.52,0.681,4,0.000,0.038,3265,3016,1758
$GC,14764,2.67,290.4,59.9,5.2,1537,14797,0.12,1.65,24.48,0.688,6,0.064,0.028,3304,2006,1641
$GC,15139,2.71,297.6,32.2,7.3,1603,15151,0.00,1.92,7.55,0.584,4,0.000,0.044,3304,920,1611
$GC,15186,2.72,305.3,28.4,7.3,1611,15198,0.00,1.83,7.70,0.584,6,0.000,0.025,3304,2040,1580
$STATE,15512,end climb,SURFACE_DEPTH_REACHED
$STATE,15512,begin surface coast
$FINISH,-0.2,1.021395
$STATE,15540,end surface coast,CONTROL_FINISHED_OK
$STATE,15541,begin surface
$SM_CCo,15561,116.30,0.624,0,0,785,500.17
$SM_GC,-5.36,0.00,0.00,116.30,0.000,0.000,0.624,417,2344,785,-10.54,0.54,500.17
$IRIDIUM_FIX,1241.04,12023.34,080697,171724
$TT8_MAMPS,0.026078
$HUMID,1741
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.80
$XPDR_PINGS,348
$24V_AH,23.3,19.343
$10V_AH,10.2,15.626
$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,27.950,86.700,338.025,116.300,0.000,23.087,32.252,176.033,92.000,0.000,0.000,13.185,2680.457,9366.475,543.664,2960.725,496.854,0.000,1914.105,0.000,2944.098,0.000,37.146
$DEVICE_MAMPS,169.507,120.419,1204.957,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1133.343,794.192,752.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91626,1674
$CAP_FILE_SIZE,153473,0
$CFSIZE,260165632,246460416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150308,014131,1246.188,12022.279,37,1.1,37,-0.8