version: 66.03
glider: 126
mission: 7
dive: 219
start: 4 3 108 13 28 19
data:
$ID,126
$MISSION,7
$DIVE,219
$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,-623539.25
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,132107,1250.779,12041.730,38,1.2,38,-0.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.49
$_SM_ANGLEo,-58.4
$GPS2,132727,1250.848,12041.705,17,1.3,17,-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,98.5,1904,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-2.39,-101.9,0.0,0.0,0,93,0.00,0.00,-65.68,0.000,6,0.000,0.000,416,2333,3244
$GC,96,-2.39,-101.9,0.7,-22.0,13,113,10.18,1.80,0.00,0.000,4,0.174,0.034,2202,1276,3246
$GC,176,-2.19,-101.9,27.1,-23.2,27,182,0.25,1.70,0.00,0.000,6,0.110,0.024,2251,2320,3247
$GC,520,-2.11,-101.9,86.7,-14.7,88,526,0.00,1.80,0.00,0.000,4,0.000,0.041,2251,3370,3248
$GC,662,-2.05,-101.9,108.1,-14.0,113,668,0.15,1.65,0.00,0.000,6,0.111,0.023,2280,2321,3248
$GC,1006,-2.08,-101.9,147.0,-10.2,174,1012,0.00,1.83,0.00,0.000,4,0.000,0.039,2280,3377,3250
$GC,1091,-2.08,-101.9,156.0,-10.6,189,1097,0.00,1.58,0.00,0.000,6,0.000,0.023,2279,2377,3250
$GC,1435,-2.13,-101.9,190.3,-9.6,250,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2370,3251
$GC,1778,-2.19,-104.5,223.3,-8.8,311,1784,0.12,1.70,0.00,0.000,4,0.061,0.041,2242,3368,3250
$GC,1858,-2.19,-104.5,231.5,-10.4,325,1864,0.00,1.60,0.00,0.000,6,0.000,0.025,2242,2356,3250
$GC,2200,-2.19,-104.5,265.0,-10.4,373,2203,0.00,1.75,0.00,0.000,4,0.000,0.044,2242,3375,3251
$GC,2245,-2.19,-104.5,269.8,-11.0,377,2249,0.00,1.60,0.00,0.000,6,0.000,0.026,2242,2373,3251
$GC,2576,-2.19,-104.5,302.4,-9.9,408,2580,0.00,1.75,0.00,0.000,4,0.000,0.045,2242,3368,3249
$GC,2625,-2.19,-104.5,307.5,-9.9,412,2631,0.00,1.58,0.00,0.000,6,0.000,0.027,2242,2382,3249
$GC,2951,-2.19,-104.5,340.9,-10.9,443,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2377,3247
$GC,3268,-2.19,-104.5,374.6,-10.4,473,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2376,3244
$GC,3586,-2.19,-104.5,405.6,-10.2,503,3590,0.00,1.73,0.00,0.000,4,0.000,0.049,2242,3372,3243
$GC,3642,-2.19,-104.5,411.5,-10.9,508,3646,0.00,1.60,0.00,0.000,6,0.000,0.030,2242,2407,3243
$GC,3974,-2.19,-104.5,445.3,-9.8,539,3978,0.00,1.92,0.00,0.000,4,0.000,0.054,2241,1314,3240
$GC,4012,-2.19,-104.5,449.3,-9.6,542,4018,0.00,1.85,0.00,0.000,6,0.000,0.034,2241,2386,3240
$GC,4339,-2.22,-104.5,482.8,-9.9,573,4343,0.00,1.90,0.00,0.000,4,0.000,0.051,2241,1318,3238
$GC,4400,-2.22,-104.5,489.6,-10.2,578,4406,0.00,1.85,0.00,0.000,6,0.000,0.036,2242,2382,3237
$GC,4721,-2.26,-104.5,521.0,-9.6,599,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2382,3236
$STATE,5028,end dive,NO_VERTICAL_VELOCITY
$STATE,5028,begin apogee
$GC,5034,-0.52,0.0,532.1,0.0,614,5121,1.67,0.00,83.05,1.067,6,0.071,0.000,2615,2000,2825
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5124,2.40,104.5,531.9,0.0,618,5218,2.83,0.00,86.75,1.032,6,0.058,0.000,3255,2000,2397
$GC,5535,2.37,135.4,509.1,6.9,638,5566,0.00,2.08,26.38,1.009,4,0.000,0.074,3255,906,2272
$GC,5642,2.31,160.3,500.9,7.3,643,5668,0.12,1.83,21.58,0.988,6,0.114,0.031,3233,1965,2170
$GC,5986,2.26,165.0,470.8,8.7,674,5996,0.00,0.00,4.97,0.749,6,0.000,0.000,3232,1965,2151
$GC,6317,2.22,165.0,441.9,9.7,705,6320,0.00,1.92,0.00,0.000,4,0.000,0.057,3232,906,2150
$GC,6407,2.15,165.0,432.6,10.4,713,6411,0.17,1.80,0.00,0.000,6,0.108,0.031,3199,1966,2150
$GC,6736,2.19,194.2,406.6,7.0,744,6766,0.00,0.00,25.55,0.988,6,0.000,0.000,3200,1967,2032
$GC,7086,2.19,194.2,375.3,9.3,777,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1967,2029
$GC,7404,2.22,207.1,347.9,8.1,807,7417,0.00,0.00,11.40,0.913,6,0.000,0.000,3199,1967,1980
$GC,7733,2.23,214.3,319.3,8.5,838,7745,0.00,2.00,7.65,0.839,4,0.000,0.054,3199,899,1951
$GC,7829,2.23,214.3,310.5,9.2,846,7834,0.00,1.77,0.00,0.000,6,0.000,0.030,3199,1947,1950
$GC,8154,2.27,237.2,284.1,7.4,877,8180,0.10,1.88,20.40,0.910,4,0.079,0.048,3228,3006,1858
$GC,8248,2.27,237.2,275.9,9.3,885,8252,0.00,1.83,0.00,0.000,6,0.000,0.034,3228,1939,1856
$GC,8575,2.27,237.2,245.2,9.9,919,8580,0.00,1.88,0.00,0.000,4,0.000,0.044,3228,3013,1854
$GC,8654,2.27,237.2,237.6,9.3,933,8660,0.00,1.77,0.00,0.000,6,0.000,0.031,3228,1964,1854
$GC,8997,2.27,237.2,203.8,9.1,994,9003,0.00,1.80,0.00,0.000,4,0.000,0.044,3228,3004,1854
$GC,9060,2.27,237.2,197.8,10.1,1005,9066,0.00,1.73,0.00,0.000,6,0.000,0.031,3228,1979,1854
$GC,9404,2.32,247.8,166.1,8.3,1066,9421,0.00,1.90,9.93,0.780,4,0.000,0.052,3228,916,1814
$GC,9443,2.32,247.8,162.7,9.0,1073,9449,0.00,1.77,0.00,0.000,6,0.000,0.028,3228,1978,1813
$GC,9787,2.44,293.0,137.5,5.9,1134,9832,0.15,1.77,38.10,0.802,4,0.061,0.041,3277,3001,1629
$GC,10035,2.47,311.2,116.4,7.8,1178,10058,0.00,1.70,15.65,0.752,6,0.000,0.028,3277,2001,1556
$GC,10399,2.57,340.8,89.9,7.0,1242,10432,0.00,1.77,25.42,0.736,4,0.000,0.038,3277,2998,1434
$GC,10558,2.67,359.0,77.4,7.8,1270,10581,0.10,1.58,16.30,0.703,6,0.048,0.026,3318,2061,1361
$GC,10922,2.74,374.3,45.8,8.0,1334,10940,0.00,1.67,13.73,0.662,4,0.000,0.035,3318,3003,1298
$GC,10992,2.79,377.1,39.5,8.8,1346,11004,0.00,1.52,4.10,0.466,6,0.000,0.025,3318,2084,1286
$GC,11343,2.89,390.1,11.0,8.1,1408,11362,0.15,2.03,12.18,0.617,4,0.054,0.042,3374,915,1234
$STATE,11433,end climb,SURFACE_DEPTH_REACHED
$STATE,11434,begin surface coast
$FINISH,-0.2,1.021163
$STATE,11453,end surface coast,CONTROL_FINISHED_OK
$STATE,11453,begin surface
$SM_CCo,11477,55.03,0.634,0,0,888,475.15
$SM_GC,-5.31,0.00,0.00,55.03,0.000,0.000,0.634,415,2330,888,-10.65,0.11,475.15
$IRIDIUM_FIX,1245.46,12037.35,280697,070727
$TT8_MAMPS,0.025311
$HUMID,1862
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,23.30
$XPDR_PINGS,527
$24V_AH,23.3,33.440
$10V_AH,10.2,25.904
$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,28.825,72.250,423.125,55.025,0.000,23.841,31.171,191.765,132.750,0.000,0.000,17.468,2218.414,6330.459,543.106,2320.982,519.851,0.000,1674.478,0.000,2316.331,0.000,8.175
$DEVICE_MAMPS,174.109,73.632,1066.897,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,961.982,435.645,713.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75767,1427
$CAP_FILE_SIZE,124205,0
$CFSIZE,260165632,238641152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030408,164138,1251.074,12042.645,29,1.1,29,-0.8