version: 66.03
glider: 126
mission: 7
dive: 134
start: 3 15 108 17 48 6
data:
$ID,126
$MISSION,7
$DIVE,134
$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,-622040.12
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,41
$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
$GPS1,174108,1246.307,12016.183,33,1.3,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.50
$_SM_ANGLEo,-57.7
$GPS2,174715,1246.298,12016.144,12,1.3,12,-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,223.6,1711,-24.2,-7.990
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.54,-56.0,0.0,0.0,0,90,0.00,0.00,-65.60,0.000,6,0.000,0.000,417,2305,3055
$GC,92,-2.54,-56.0,0.6,-16.6,13,109,9.82,1.83,0.00,0.000,4,0.173,0.038,2150,3379,3056
$GC,166,-2.40,-56.0,24.8,-24.3,26,173,0.15,1.75,0.00,0.000,6,0.127,0.024,2180,2300,3057
$GC,511,-2.34,-56.0,93.9,-17.1,87,517,0.00,1.83,0.00,0.000,4,0.000,0.041,2180,3370,3058
$GC,546,-2.28,-56.0,99.3,-15.7,93,552,0.17,1.65,0.00,0.000,6,0.124,0.024,2212,2330,3058
$GC,889,-2.28,-56.0,148.6,-13.4,154,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2328,3060
$GC,1233,-2.30,-56.0,188.9,-9.6,215,1238,0.00,1.80,0.00,0.000,4,0.000,0.044,2212,3376,3060
$GC,1330,-2.30,-56.0,199.0,-11.2,232,1336,0.00,1.67,0.00,0.000,6,0.000,0.025,2212,2341,3060
$GC,1674,-2.33,-56.0,234.7,-9.6,293,1679,0.00,1.73,0.00,0.000,4,0.000,0.037,2212,1305,3060
$GC,1753,-2.36,-56.0,243.2,-10.3,307,1759,0.00,1.70,0.00,0.000,6,0.000,0.027,2212,2341,3060
$GC,2087,-2.40,-56.0,275.1,-8.8,344,2091,0.12,1.77,0.00,0.000,4,0.064,0.037,2177,1299,3060
$GC,2258,-2.40,-56.0,292.8,-10.4,359,2261,0.00,1.65,0.00,0.000,6,0.000,0.027,2177,2301,3059
$GC,2588,-2.40,-56.0,327.5,-11.1,390,2592,0.00,1.70,0.00,0.000,4,0.000,0.040,2177,1307,3057
$GC,2649,-2.40,-56.0,334.7,-11.2,395,2655,0.00,1.65,0.00,0.000,6,0.000,0.028,2178,2291,3057
$GC,2974,-2.40,-56.0,371.9,-11.0,426,2978,0.00,1.73,0.00,0.000,4,0.000,0.043,2177,1308,3055
$GC,3029,-2.40,-56.0,378.0,-11.1,431,3033,0.00,1.62,0.00,0.000,6,0.000,0.029,2177,2284,3054
$GC,3360,-2.40,-56.0,412.7,-11.3,462,3364,0.00,1.92,0.00,0.000,4,0.000,0.055,2177,3368,3052
$GC,3431,-2.40,-56.0,421.2,-11.4,468,3438,0.00,1.83,0.00,0.000,6,0.000,0.032,2177,2300,3051
$GC,3757,-2.40,-56.0,455.5,-9.7,499,3761,0.00,1.90,0.00,0.000,4,0.000,0.055,2177,3373,3049
$GC,3885,-2.40,-56.0,468.7,-10.6,510,3892,0.00,1.88,0.00,0.000,6,0.000,0.033,2177,2282,3049
$GC,4211,-2.40,-56.0,497.2,-8.6,541,4214,0.00,1.80,0.00,0.000,4,0.000,0.064,2177,1273,3046
$GC,4288,-2.40,-56.0,504.0,-8.2,546,4292,0.00,1.73,0.00,0.000,6,0.000,0.037,2177,2269,3046
$GC,4610,-2.42,-56.0,532.2,-9.3,562,4614,0.00,1.98,0.00,0.000,4,0.000,0.066,2178,3370,3043
$GC,4749,-2.42,-56.0,545.9,-10.4,568,4753,0.00,1.90,0.00,0.000,6,0.000,0.042,2177,2291,3042
$GC,5076,-2.42,-56.0,578.1,-10.4,584,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2290,3040
$GC,5387,-2.44,-56.0,610.1,-9.6,599,5390,0.00,1.88,0.00,0.000,4,0.000,0.081,2177,1276,3039
$GC,5465,-2.44,-56.0,618.2,-10.9,602,5469,0.00,1.83,0.00,0.000,6,0.000,0.064,2178,2284,3038
$GC,5788,-2.46,-56.0,652.2,-10.6,618,5792,0.00,2.15,0.00,0.000,4,0.000,0.106,2178,3386,3036
$GC,5864,-2.46,-56.0,660.2,-10.9,621,5868,0.00,2.05,0.00,0.000,6,0.000,0.087,2178,2316,3036
$GC,6191,-2.48,-56.0,693.2,-10.5,637,6195,0.00,2.17,0.00,0.000,4,0.000,0.120,2178,3383,3034
$GC,6326,-2.48,-56.0,707.7,-10.4,643,6330,0.00,2.15,0.00,0.000,6,0.000,0.110,2178,2319,3033
$GC,6652,-2.57,-56.0,738.1,-8.8,659,6656,0.12,2.22,0.00,0.000,4,0.067,0.143,2143,1262,3032
$GC,6679,-2.96,-127.9,738.2,-0.2,660,6684,0.32,2.10,0.00,0.000,6,0.051,0.117,2060,2294,3032
$STATE,6806,end dive,NO_VERTICAL_VELOCITY
$STATE,6806,begin apogee
$GC,6812,-0.51,0.0,738.1,0.0,666,6861,2.50,0.00,44.28,1.239,6,0.087,0.000,2598,1964,2825
$STATE,6862,end apogee,CONTROL_FINISHED_OK
$STATE,6862,begin climb
$GC,6864,2.66,127.9,738.0,0.0,668,6986,3.03,2.42,108.53,1.216,4,0.052,0.149,3298,902,2303
$GC,7204,2.60,127.9,709.3,12.3,683,7211,0.12,2.15,0.00,0.000,6,0.119,0.097,3275,1982,2298
$GC,7520,2.57,127.9,675.6,11.1,699,7524,0.00,2.03,0.00,0.000,4,0.000,0.100,3275,3027,2297
$GC,7648,2.53,127.9,661.6,10.8,704,7655,0.00,2.08,0.00,0.000,6,0.000,0.085,3275,1967,2296
$GC,7964,2.51,127.9,629.8,10.4,720,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1967,2295
$GC,8273,2.48,127.9,596.1,10.3,735,8278,0.12,2.00,0.00,0.000,4,0.120,0.079,3252,893,2294
$GC,8396,2.46,127.9,583.6,10.5,740,8402,0.00,1.88,0.00,0.000,6,0.000,0.041,3252,1969,2293
$GC,8711,2.46,127.9,553.6,9.5,756,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1969,2292
$GC,9020,2.46,127.9,524.7,9.5,771,9024,0.00,1.95,0.00,0.000,4,0.000,0.060,3252,894,2292
$GC,9189,2.43,127.9,508.6,9.7,778,9193,0.00,1.80,0.00,0.000,6,0.000,0.031,3252,1965,2291
$GC,9517,2.43,127.9,479.7,9.3,805,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1965,2291
$GC,9836,2.43,127.9,452.4,8.4,835,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1965,2291
$GC,10153,2.43,127.9,425.2,8.0,865,10157,0.00,1.92,0.00,0.000,4,0.000,0.054,3252,889,2291
$GC,10236,2.43,127.9,417.8,8.9,872,10243,0.00,1.77,0.00,0.000,6,0.000,0.029,3252,1935,2291
$GC,10562,2.43,127.9,390.5,8.5,903,10565,0.00,1.88,0.00,0.000,4,0.000,0.054,3252,884,2291
$GC,10663,2.43,127.9,381.9,8.7,912,10666,0.00,1.75,0.00,0.000,6,0.000,0.029,3252,1933,2291
$GC,10992,2.43,127.9,355.1,8.7,943,10993,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1934,2290
$GC,11312,2.44,131.9,329.5,7.6,973,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1934,2291
$GC,11632,2.44,133.6,305.2,7.8,1003,11643,0.00,1.90,4.03,0.640,4,0.000,0.052,3252,889,2280
$GC,11895,2.45,137.0,282.7,7.6,1026,11904,0.00,1.77,4.85,0.713,6,0.000,0.029,3252,1940,2266
$GC,12230,2.47,154.7,257.9,6.1,1058,12252,0.00,1.90,16.02,0.910,4,0.000,0.051,3252,893,2193
$GC,12504,2.47,154.7,234.6,9.2,1098,12511,0.00,1.73,0.00,0.000,6,0.000,0.028,3252,1913,2192
$GC,12848,2.50,167.2,209.3,6.6,1159,12865,0.00,0.00,11.70,0.842,6,0.000,0.000,3252,1913,2143
$GC,13204,2.56,188.8,181.4,5.7,1222,13226,0.00,0.00,19.02,0.845,6,0.000,0.000,3252,1913,2055
$GC,13563,2.63,207.3,159.5,6.0,1286,13586,0.15,1.92,16.20,0.812,4,0.065,0.044,3298,3010,1979
$GC,13667,2.63,207.3,152.0,8.1,1304,13673,0.00,1.88,0.00,0.000,6,0.000,0.032,3298,1920,1979
$GC,14012,2.68,221.2,127.7,6.5,1365,14028,0.00,0.00,12.95,0.758,6,0.000,0.000,3298,1919,1923
$GC,14368,2.74,240.2,105.7,5.9,1428,14390,0.00,0.00,17.25,0.741,6,0.000,0.000,3298,1919,1844
$GC,14728,2.79,246.1,79.1,7.4,1492,14740,0.00,1.90,6.47,0.614,4,0.000,0.039,3298,3015,1820
$GC,14927,2.87,269.8,66.6,5.4,1527,14955,0.17,1.80,20.35,0.698,6,0.056,0.028,3348,1921,1725
$GC,15294,2.93,289.7,39.7,5.8,1592,15317,0.00,1.73,17.45,0.661,4,0.000,0.042,3348,924,1643
$GC,15570,2.94,295.2,18.6,7.4,1641,15582,0.00,1.62,6.12,0.542,6,0.000,0.022,3348,1947,1621
$STATE,15800,end climb,SURFACE_DEPTH_REACHED
$STATE,15800,begin surface coast
$FINISH,-0.6,1.021330
$STATE,15830,end surface coast,CONTROL_FINISHED_OK
$STATE,15830,begin surface
$SM_CCo,15851,122.28,0.623,0,0,785,500.17
$SM_GC,-5.50,0.00,0.00,122.28,0.000,0.000,0.623,416,2312,785,-10.55,-0.37,500.17
$IRIDIUM_FIX,1238.83,12018.41,090697,121250
$TT8_MAMPS,0.026078
$HUMID,1718
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.80
$XPDR_PINGS,414
$ALTIM_BOTTOM_PING,660.2,105.7
$24V_AH,23.0,19.921
$10V_AH,10.2,16.127
$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,29.550,98.650,305.225,122.275,0.000,28.634,35.962,185.716,108.000,0.000,0.000,13.065,2732.747,9467.684,531.446,3079.789,549.009,0.000,1965.930,0.000,3079.284,0.000,34.610
$DEVICE_MAMPS,172.575,148.798,1238.705,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.157,807.915,757.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91591,1687
$CAP_FILE_SIZE,160683,0
$CFSIZE,260165632,246099968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150308,221538,1245.679,12014.656,42,0.8,42,-0.8