version: 66.03
glider: 126
mission: 7
dive: 169
start: 3 23 108 11 59 37
data:
$ID,126
$MISSION,7
$DIVE,169
$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,0.0020000001
$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,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,-622645.12
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,114902,1246.923,12015.184,40,1.2,40,-0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.04
$_SM_ANGLEo,-59.2
$GPS2,115845,1246.988,12015.102,11,1.4,11,-0.8
$SPEED_LIMITS,0.156,0.166
$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,165.0,2634,-24.7,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-2.60,-65.8,0.0,0.0,0,89,0.00,0.00,-63.12,0.000,6,0.000,0.000,415,2316,3095
$GC,91,-2.60,-65.8,-1.0,-15.6,12,109,9.75,1.77,0.00,0.000,4,0.172,0.031,2138,1267,3097
$GC,312,-2.48,-65.8,57.8,-23.2,51,319,0.15,1.73,0.00,0.000,6,0.138,0.024,2164,2339,3098
$GC,656,-2.43,-65.8,123.0,-17.0,112,662,0.00,1.80,0.00,0.000,4,0.000,0.032,2164,1271,3099
$GC,720,-2.38,-65.8,133.2,-15.7,123,726,0.12,1.65,0.00,0.000,6,0.130,0.024,2186,2296,3099
$GC,1064,-2.38,-65.8,174.5,-11.0,184,1070,0.00,1.80,0.00,0.000,4,0.000,0.039,2186,3371,3100
$GC,1131,-2.38,-65.8,182.5,-11.9,196,1137,0.00,1.75,0.00,0.000,6,0.000,0.024,2186,2271,3100
$GC,1475,-2.40,-65.8,221.8,-10.7,257,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2264,3100
$GC,1820,-2.42,-65.8,256.8,-10.0,313,1823,0.00,1.67,0.00,0.000,4,0.000,0.039,2186,1272,3100
$GC,1876,-2.42,-65.8,262.8,-10.5,318,1880,0.00,1.75,0.00,0.000,6,0.000,0.027,2186,2321,3100
$GC,2207,-2.45,-65.8,295.7,-10.2,349,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2321,3099
$GC,2525,-2.47,-65.8,330.5,-11.4,379,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2321,3097
$GC,2844,-2.50,-65.8,367.3,-12.1,409,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2321,3094
$GC,3162,-2.53,-65.8,404.9,-11.6,439,3164,0.12,0.00,0.00,0.000,6,0.067,0.000,2152,2321,3092
$GC,3481,-2.53,-65.8,443.6,-11.8,469,3484,0.00,1.83,0.00,0.000,4,0.000,0.050,2152,3375,3090
$GC,3604,-2.53,-65.8,458.2,-12.2,480,3608,0.00,1.77,0.00,0.000,6,0.000,0.032,2152,2319,3088
$GC,3935,-2.53,-65.8,496.1,-11.6,511,3939,0.00,1.88,0.00,0.000,4,0.000,0.054,2152,3361,3086
$GC,4012,-2.53,-65.8,505.5,-11.4,516,4017,0.00,1.77,0.00,0.000,6,0.000,0.034,2152,2328,3085
$GC,4334,-2.53,-65.8,539.5,-10.2,532,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2327,3083
$GC,4644,-2.53,-65.8,571.6,-9.9,547,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2328,3080
$GC,4952,-2.53,-65.8,604.8,-11.0,562,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2328,3078
$GC,5262,-2.53,-65.8,635.6,-9.8,577,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2328,3077
$GC,5571,-2.53,-65.8,667.4,-11.0,592,5574,0.00,2.08,0.00,0.000,4,0.000,0.112,2152,1280,3075
$GC,5625,-2.53,-65.8,674.0,-12.3,594,5630,0.00,1.98,0.00,0.000,6,0.000,0.091,2152,2282,3075
$GC,5949,-2.53,-65.8,711.3,-11.7,610,5953,0.00,2.28,0.00,0.000,4,0.000,0.133,2152,3383,3074
$GC,6100,-2.53,-65.8,728.1,-10.5,617,6104,0.00,1.83,0.00,0.000,6,0.000,0.038,2152,2317,3072
$GC,6432,-2.53,-65.8,764.0,-10.3,633,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2317,3071
$STATE,6698,end dive,NO_VERTICAL_VELOCITY
$STATE,6698,begin apogee
$GC,6703,-0.51,0.0,770.1,0.0,646,6761,2.05,0.00,52.05,1.264,6,0.081,0.000,2598,1961,2825
$STATE,6762,end apogee,CONTROL_FINISHED_OK
$STATE,6762,begin climb
$GC,6764,2.60,65.8,769.7,0.0,649,6829,3.08,1.95,57.03,1.228,4,0.067,0.049,3279,3041,2556
$GC,7082,2.68,124.1,758.8,3.1,663,7137,0.00,1.88,50.30,1.229,6,0.000,0.038,3279,1962,2318
$GC,7465,2.68,124.1,725.1,9.4,682,7468,0.00,1.90,0.00,0.000,4,0.000,0.048,3279,3037,2314
$GC,7722,2.68,126.5,702.7,8.8,693,7727,0.00,1.88,0.00,0.000,6,0.000,0.038,3279,1974,2313
$GC,8043,2.70,138.5,677.6,7.8,709,8065,0.00,1.98,12.82,1.137,4,0.000,0.048,3279,3041,2260
$GC,8193,2.70,138.5,663.7,9.7,715,8199,0.00,1.85,0.00,0.000,6,0.000,0.037,3279,1973,2259
$GC,8509,2.71,140.9,634.2,8.8,731,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1973,2258
$GC,8819,2.71,140.9,604.2,10.6,746,8823,0.00,1.92,0.00,0.000,4,0.000,0.063,3279,905,2257
$GC,8902,2.71,140.9,595.7,10.4,749,8909,0.00,1.88,0.00,0.000,6,0.000,0.031,3279,1996,2256
$GC,9218,2.71,142.0,566.1,8.9,765,9223,0.00,0.00,3.88,0.738,6,0.000,0.000,3279,1996,2246
$GC,9527,2.71,142.0,536.9,10.3,780,9530,0.00,1.75,0.00,0.000,4,0.000,0.048,3279,3014,2246
$GC,9582,2.71,142.0,531.0,10.4,782,9586,0.00,1.83,0.00,0.000,6,0.000,0.036,3279,1964,2246
$GC,9903,2.71,142.0,499.5,10.1,798,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1964,2245
$GC,10221,2.72,146.9,469.7,8.5,828,10232,0.10,0.00,5.68,0.874,6,0.081,0.000,3307,1964,2225
$GC,10550,2.73,154.1,442.1,8.3,859,10560,0.00,0.00,7.95,0.956,6,0.000,0.000,3307,1964,2196
$GC,10880,2.73,154.1,413.5,9.2,890,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1963,2195
$GC,11198,2.75,164.8,387.4,7.9,920,11213,0.00,1.85,10.50,0.966,4,0.000,0.044,3307,3004,2152
$GC,11343,2.75,164.8,374.8,9.7,932,11348,0.00,1.75,0.00,0.000,6,0.000,0.035,3307,1977,2151
$GC,11668,2.75,164.8,344.9,9.1,963,11671,0.00,1.90,0.00,0.000,4,0.000,0.058,3307,911,2151
$GC,11842,2.75,164.8,327.3,11.0,978,11848,0.00,1.80,0.00,0.000,6,0.000,0.031,3307,1980,2151
$GC,12167,2.75,164.8,295.3,10.0,1009,12171,0.00,1.92,0.00,0.000,4,0.000,0.053,3307,903,2151
$GC,12284,2.75,164.8,283.3,9.5,1019,12290,0.00,1.77,0.00,0.000,6,0.000,0.030,3307,1948,2151
$GC,12610,2.76,170.3,255.1,8.4,1050,12622,0.00,1.88,6.43,0.785,4,0.000,0.052,3307,907,2129
$GC,12874,2.77,180.0,232.7,8.0,1091,12891,0.00,1.67,9.75,0.846,6,0.000,0.029,3307,1905,2090
$GC,13228,2.81,203.2,205.5,6.6,1154,13254,0.00,1.83,20.35,0.873,4,0.000,0.053,3307,907,1996
$GC,13507,2.81,203.2,179.5,9.4,1204,13512,0.00,1.62,0.00,0.000,6,0.000,0.037,3307,1883,1994
$GC,13851,2.86,215.3,147.5,7.8,1265,13869,0.12,1.95,11.45,0.788,4,0.068,0.041,3342,3006,1946
$GC,14123,2.90,235.7,127.2,6.9,1313,14145,0.00,1.88,18.02,0.792,6,0.000,0.031,3342,1892,1863
$GC,14486,3.00,280.3,105.5,4.5,1377,14530,0.00,1.95,37.03,0.769,4,0.000,0.037,3342,3006,1681
$GC,14648,3.04,287.7,93.7,8.3,1406,14660,0.10,1.90,7.28,0.656,6,0.051,0.029,3386,1892,1652
$GC,14999,3.12,316.0,64.7,6.1,1468,15026,0.00,0.00,24.48,0.706,6,0.000,0.000,3386,1890,1536
$GC,15365,3.17,324.7,33.0,8.1,1533,15377,0.00,1.77,8.45,0.612,4,0.000,0.047,3386,902,1501
$GC,15440,3.19,324.7,26.2,9.3,1546,15446,0.00,1.70,0.00,0.000,6,0.000,0.025,3387,1930,1501
$STATE,15704,end climb,SURFACE_DEPTH_REACHED
$STATE,15704,begin surface coast
$FINISH,-0.2,1.021613
$STATE,15727,end surface coast,CONTROL_FINISHED_OK
$STATE,15727,begin surface
$SM_CCo,15749,93.90,0.634,0,0,887,475.15
$SM_GC,-5.85,0.00,0.00,93.90,0.000,0.000,0.634,416,2339,887,-10.55,0.40,475.15
$IRIDIUM_FIX,1243.25,12016.50,170697,121245
$TT8_MAMPS,0.025311
$HUMID,1800
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.20
$XPDR_PINGS,486
$ALTIM_BOTTOM_PING,720.5,60.5
$24V_AH,23.2,25.170
$10V_AH,10.2,20.386
$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,28.575,78.525,343.425,93.900,0.000,54.921,79.076,235.514,127.750,0.000,0.000,11.039,2566.589,9886.508,511.073,2794.272,688.959,0.000,1842.951,0.000,2772.538,0.000,48.287
$DEVICE_MAMPS,171.808,133.458,1264.016,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.689,416.232,683.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85217,1597
$CAP_FILE_SIZE,149884,0
$CFSIZE,260165632,242987008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230308,162455,1246.122,12015.664,39,1.8,39,-0.8