version: 66.03
glider: 126
mission: 7
dive: 301
start: 4 21 108 12 5 59
data:
$ID,126
$MISSION,7
$DIVE,301
$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,-625116.56
$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,34
$R_STBD_OVSHOOT,64
$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
$GPS1,115857,1251.059,12042.663,12,1.3,13,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.99
$_SM_ANGLEo,-59.5
$GPS2,120508,1251.026,12042.670,42,1.2,42,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST_S1
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,9999.000
$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,166.9,604,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-2.39,-101.9,0.0,0.0,0,96,0.00,0.00,-66.00,0.000,6,0.000,0.000,415,2353,3243
$GC,99,-2.39,-101.9,1.6,-19.4,13,116,9.98,1.70,0.00,0.000,4,0.166,0.037,2203,3354,3245
$GC,319,-2.22,-101.9,47.0,-17.7,52,326,0.17,1.73,0.00,0.000,6,0.109,0.023,2241,2284,3246
$GC,664,-2.16,-101.9,96.2,-10.9,113,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2277,3246
$GC,1007,-2.16,-101.9,134.2,-9.7,174,1013,0.00,1.83,0.00,0.000,4,0.000,0.037,2241,3351,3249
$GC,1050,-2.11,-101.9,137.9,-9.1,181,1056,0.12,1.62,0.00,0.000,6,0.117,0.023,2265,2303,3249
$GC,1395,-2.11,-101.9,166.7,-9.3,242,1401,0.00,1.65,0.00,0.000,4,0.000,0.034,2264,1316,3250
$GC,1536,-2.12,-105.0,179.5,-8.8,267,1542,0.00,1.65,0.00,0.000,6,0.000,0.025,2265,2338,3250
$GC,1881,-2.17,-115.1,206.6,-8.3,328,1887,0.00,1.70,0.00,0.000,4,0.000,0.034,2264,1322,3249
$GC,1933,-2.18,-123.0,211.1,-8.5,337,1939,0.00,1.62,0.00,0.000,6,0.000,0.025,2265,2327,3250
$GC,2277,-2.25,-139.3,238.8,-7.9,398,2283,0.12,1.75,0.00,0.000,4,0.062,0.041,2227,3364,3250
$GC,2301,-2.25,-144.2,241.0,-8.7,402,2307,0.00,1.62,0.00,0.000,6,0.000,0.025,2227,2324,3249
$GC,2638,-2.25,-144.2,270.4,-9.1,442,2642,0.00,1.77,0.00,0.000,4,0.000,0.043,2227,3367,3249
$GC,2700,-2.25,-144.2,276.6,-9.2,447,2705,0.00,1.60,0.00,0.000,6,0.000,0.026,2227,2348,3248
$GC,3026,-2.26,-146.0,305.7,-8.6,478,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2342,3247
$GC,3342,-2.26,-146.0,335.2,-9.5,508,3346,0.00,1.75,0.00,0.000,4,0.000,0.044,2227,3367,3245
$GC,3387,-2.26,-146.0,339.7,-9.8,512,3391,0.00,1.60,0.00,0.000,6,0.000,0.028,2227,2366,3245
$GC,3720,-2.26,-146.0,367.9,-8.1,543,3724,0.00,1.80,0.00,0.000,4,0.000,0.041,2227,1305,3243
$GC,3834,-2.26,-146.0,377.7,-9.5,553,3838,0.00,1.67,0.00,0.000,6,0.000,0.028,2227,2322,3242
$GC,4167,-2.26,-146.0,408.2,-8.6,584,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2322,3240
$GC,4485,-2.26,-146.0,434.8,-8.6,614,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2322,3238
$GC,4802,-2.26,-146.0,462.3,-8.1,644,4806,0.00,1.83,0.00,0.000,4,0.000,0.050,2227,3377,3236
$GC,4881,-2.26,-146.0,469.5,-9.2,651,4885,0.00,1.70,0.00,0.000,6,0.000,0.031,2226,2356,3236
$GC,5213,-2.26,-146.0,498.1,-8.2,682,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2357,3233
$GC,5532,-2.26,-146.0,523.4,-8.3,699,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2357,3232
$GC,5840,-2.26,-146.0,549.8,-8.5,714,5847,0.00,1.92,0.00,0.000,4,0.000,0.069,2227,1286,3230
$GC,5893,-2.26,-146.0,554.1,-8.2,716,5896,0.00,1.80,0.00,0.000,6,0.000,0.048,2227,2317,3229
$GC,6221,-2.26,-146.0,582.1,-8.2,732,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2317,3227
$GC,6530,-2.35,-146.0,592.4,0.1,747,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2317,3226
$STATE,6547,end dive,NO_VERTICAL_VELOCITY
$STATE,6547,begin apogee
$GC,6553,-0.52,0.0,592.5,0.0,748,6640,1.83,0.00,82.32,1.121,6,0.094,0.000,2613,1978,2825
$STATE,6640,end apogee,CONTROL_FINISHED_OK
$STATE,6640,begin climb
$GC,6643,2.47,146.0,591.9,0.0,752,6773,2.92,1.98,121.65,1.085,4,0.064,0.068,3268,3019,2229
$GC,6936,2.39,158.7,573.6,8.1,765,6952,0.00,1.90,11.32,0.978,6,0.000,0.053,3268,1961,2178
$GC,7270,2.36,186.5,548.7,7.1,782,7298,0.12,0.00,25.02,1.045,6,0.113,0.000,3245,1961,2064
$GC,7597,2.30,186.5,516.3,10.4,798,7600,0.00,1.88,0.00,0.000,4,0.000,0.048,3245,3026,2061
$GC,7699,2.23,186.5,504.6,11.0,802,7703,0.15,1.83,0.00,0.000,6,0.116,0.036,3218,1961,2059
$GC,8027,2.25,197.4,475.6,8.3,831,8042,0.00,1.92,9.65,0.953,4,0.000,0.046,3218,3022,2020
$GC,8099,2.22,197.4,469.0,9.7,837,8104,0.00,1.73,0.00,0.000,6,0.000,0.033,3218,2011,2019
$GC,8425,2.24,208.8,441.7,8.2,868,8441,0.00,1.80,11.27,0.966,4,0.000,0.044,3218,3024,1973
$GC,8536,2.26,218.8,432.3,8.3,877,8553,0.00,1.67,9.88,0.939,6,0.000,0.033,3218,2058,1933
$GC,8871,2.26,218.8,401.9,9.3,909,8874,0.00,1.70,0.00,0.000,4,0.000,0.044,3218,3031,1931
$GC,9022,2.26,223.5,388.3,8.7,922,9031,0.00,1.62,5.25,0.778,6,0.000,0.034,3218,2089,1914
$GC,9357,2.30,244.1,360.0,7.6,954,9378,0.00,0.00,19.30,0.968,6,0.000,0.000,3218,2088,1829
$GC,9697,2.33,265.4,331.9,7.5,986,9722,0.00,2.17,19.15,0.947,4,0.000,0.056,3218,916,1742
$GC,9763,2.34,268.8,326.3,8.8,992,9774,0.00,2.10,4.32,0.662,6,0.000,0.031,3218,2147,1729
$GC,10093,2.34,268.8,295.3,9.5,1023,10097,0.00,2.20,0.00,0.000,4,0.000,0.051,3218,916,1727
$GC,10132,2.34,268.8,291.3,9.9,1026,10136,0.00,2.03,0.00,0.000,6,0.000,0.033,3218,2113,1727
$GC,10465,2.41,289.4,262.9,7.6,1057,10490,0.15,2.22,18.50,0.902,4,0.065,0.051,3265,914,1645
$GC,10524,2.37,289.4,256.8,9.8,1062,10530,0.00,1.98,0.00,0.000,6,0.000,0.029,3265,2083,1643
$GC,10864,2.37,289.4,222.0,9.8,1117,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2083,1641
$GC,11208,2.37,289.4,188.4,9.6,1178,11214,0.00,2.08,0.00,0.000,4,0.000,0.049,3264,910,1641
$GC,11332,2.37,289.4,176.4,9.4,1200,11338,0.00,2.00,0.00,0.000,6,0.000,0.028,3265,2104,1641
$GC,11677,2.37,293.9,147.1,8.7,1261,11688,0.00,1.60,5.00,0.635,4,0.000,0.044,3265,3021,1626
$GC,11735,2.39,303.4,142.1,8.4,1271,11751,0.00,1.65,9.60,0.762,6,0.000,0.029,3265,2040,1588
$GC,12093,2.50,345.9,114.8,6.1,1334,12137,0.00,2.05,36.17,0.785,4,0.000,0.050,3265,916,1414
$GC,12292,2.65,397.2,100.8,5.5,1369,12341,0.17,1.88,43.25,0.759,6,0.055,0.026,3315,2049,1205
$GC,12681,2.76,413.7,67.0,7.9,1438,12703,0.00,1.73,14.55,0.698,4,0.000,0.038,3315,3032,1137
$GC,12808,2.85,426.4,56.6,8.1,1460,12826,0.12,1.70,11.82,0.668,6,0.041,0.025,3363,2014,1086
$GC,13168,2.89,433.1,25.3,8.6,1523,13180,0.00,1.98,7.20,0.582,4,0.000,0.042,3363,900,1059
$GC,13338,2.89,433.1,9.5,10.2,1553,13344,0.00,1.85,0.00,0.000,6,0.000,0.023,3363,2047,1058
$STATE,13420,end climb,SURFACE_DEPTH_REACHED
$STATE,13420,begin surface coast
$FINISH,-0.3,1.021169
$STATE,13444,end surface coast,CONTROL_FINISHED_OK
$STATE,13444,begin surface
$SM_CCo,13468,29.65,0.634,0,0,887,475.15
$SM_GC,-5.68,0.00,0.00,29.65,0.000,0.000,0.634,418,2358,887,-10.64,0.93,475.15
$IRIDIUM_FIX,1247.67,12040.38,160797,090904
$TT8_MAMPS,0.026078
$HUMID,1948
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.80
$XPDR_PINGS,523
$24V_AH,23.3,48.320
$10V_AH,10.2,35.184
$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,28.675,84.675,465.250,29.650,0.000,31.109,35.789,153.080,133.500,0.000,0.000,42.788,2483.252,7645.152,554.426,2668.348,546.705,0.000,1840.025,0.000,2616.053,0.000,21.899
$DEVICE_MAMPS,166.439,69.030,1120.587,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.938,451.318,751.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85321,1572
$CAP_FILE_SIZE,142129,0
$CFSIZE,260165632,231333888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,155208,1250.278,12043.010,33,1.5,33,-0.8