version: 66.03
glider: 126
mission: 7
dive: 302
start: 4 21 108 15 59 3
data:
$ID,126
$MISSION,7
$DIVE,302
$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,-625132.88
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,31
$R_STBD_OVSHOOT,51
$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
$GPS1,155208,1250.278,12043.010,33,1.5,33,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.83
$_SM_ANGLEo,-58.6
$GPS2,155809,1250.251,12043.008,15,1.3,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST_S2
$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,332.1,969,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-2.39,-101.9,0.0,0.0,0,94,0.00,0.00,-66.22,0.000,6,0.000,0.000,418,2358,3243
$GC,97,-2.39,-101.9,0.5,-18.7,13,114,9.98,1.70,0.00,0.000,4,0.166,0.037,2205,3365,3245
$GC,205,-2.22,-101.9,25.4,-17.6,32,212,0.17,1.75,0.00,0.000,6,0.102,0.023,2243,2282,3246
$GC,552,-2.15,-101.9,77.1,-13.7,93,558,0.00,1.85,0.00,0.000,4,0.000,0.038,2244,3375,3247
$GC,610,-2.05,-101.9,85.3,-14.0,103,616,0.20,1.62,0.00,0.000,6,0.111,0.023,2282,2335,3247
$GC,956,-2.05,-101.9,123.2,-9.9,164,962,0.00,1.70,0.00,0.000,4,0.000,0.032,2282,1315,3248
$GC,1042,-2.05,-101.9,131.3,-9.2,179,1048,0.00,1.65,0.00,0.000,6,0.000,0.023,2282,2344,3249
$GC,1385,-2.09,-101.9,160.9,-9.0,240,1391,0.00,1.70,0.00,0.000,4,0.000,0.039,2282,3364,3250
$GC,1449,-2.09,-101.9,166.6,-9.3,251,1455,0.00,1.62,0.00,0.000,6,0.000,0.024,2282,2310,3250
$GC,1793,-2.18,-114.2,194.5,-8.2,312,1800,0.12,1.65,0.00,0.000,4,0.061,0.032,2244,1334,3250
$GC,1846,-2.18,-114.2,199.2,-9.2,321,1852,0.00,1.65,0.00,0.000,6,0.000,0.025,2244,2355,3250
$GC,2192,-2.18,-114.2,231.0,-9.0,382,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2354,3250
$GC,2533,-2.20,-128.5,259.8,-8.0,433,2536,0.00,1.73,0.00,0.000,4,0.000,0.043,2244,3375,3250
$GC,2567,-2.22,-137.1,262.6,-8.4,436,2571,0.00,1.62,0.00,0.000,6,0.000,0.026,2244,2350,3250
$GC,2899,-2.22,-137.1,292.0,-9.5,467,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2343,3249
$GC,3217,-2.23,-146.0,319.2,-8.0,497,3220,0.00,1.75,0.00,0.000,4,0.000,0.044,2244,3368,3248
$GC,3256,-2.23,-146.0,322.4,-8.5,500,3262,0.00,1.65,0.00,0.000,6,0.000,0.028,2244,2325,3247
$GC,3582,-2.23,-146.0,347.3,-7.8,531,3586,0.00,1.70,0.00,0.000,4,0.000,0.038,2244,1321,3246
$GC,3622,-2.23,-146.0,350.6,-7.9,534,3628,0.00,1.65,0.00,0.000,6,0.000,0.028,2244,2327,3246
$GC,3950,-2.23,-146.0,377.8,-8.6,565,3953,0.00,1.80,0.00,0.000,4,0.000,0.046,2244,3378,3243
$GC,4012,-2.23,-146.0,383.7,-8.9,570,4017,0.00,1.67,0.00,0.000,6,0.000,0.028,2244,2346,3243
$GC,4339,-2.26,-146.0,411.5,-8.4,601,4342,0.00,1.80,0.00,0.000,4,0.000,0.044,2244,1291,3242
$GC,4418,-2.26,-146.0,418.2,-7.7,608,4422,0.00,1.73,0.00,0.000,6,0.000,0.029,2244,2329,3241
$GC,4751,-2.26,-146.0,446.2,-6.7,639,4754,0.00,1.83,0.00,0.000,4,0.000,0.051,2244,3368,3238
$GC,4807,-2.26,-146.0,450.6,-7.8,644,4811,0.00,1.73,0.00,0.000,6,0.000,0.031,2244,2335,3238
$GC,5141,-2.26,-146.0,476.7,-9.0,675,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2335,3237
$GC,5468,-2.71,-146.0,497.2,-0.2,706,5473,0.43,1.85,0.00,0.000,4,0.044,0.054,2135,3377,3235
$STATE,5532,end dive,NO_VERTICAL_VELOCITY
$STATE,5532,begin apogee
$GC,5541,-0.52,0.0,497.2,0.0,711,5628,2.12,0.00,82.88,1.036,6,0.069,0.000,2618,1973,2825
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5632,2.47,146.0,497.2,0.0,720,5764,2.83,2.08,119.40,1.003,4,0.048,0.074,3279,910,2228
$GC,5916,2.36,153.9,484.0,8.5,746,5933,0.17,1.80,7.62,0.842,6,0.104,0.036,3246,1968,2197
$GC,6251,2.31,163.5,455.1,8.4,778,6265,0.00,1.85,9.02,0.881,4,0.000,0.045,3246,3008,2158
$GC,6344,2.23,163.5,446.1,10.7,786,6351,0.15,1.80,0.00,0.000,6,0.110,0.033,3218,1949,2157
$GC,6669,2.20,163.5,416.4,9.4,817,6673,0.00,1.85,0.00,0.000,4,0.000,0.052,3218,3013,2155
$GC,6852,2.20,185.9,402.5,7.5,833,6877,0.00,1.77,19.70,0.960,6,0.000,0.034,3218,1967,2066
$GC,7202,2.20,185.9,372.1,9.6,866,7205,0.00,1.88,0.00,0.000,4,0.000,0.058,3218,914,2063
$GC,7315,2.18,191.0,362.1,8.7,876,7327,0.00,1.80,5.32,0.742,6,0.000,0.031,3218,1962,2046
$GC,7645,2.22,218.8,336.0,7.1,907,7676,0.00,1.85,24.62,0.939,4,0.000,0.048,3217,3005,1932
$GC,7745,2.25,232.6,328.0,8.1,916,7766,0.00,1.75,12.82,0.882,6,0.000,0.035,3218,1980,1876
$GC,8085,2.28,252.6,301.6,7.6,948,8107,0.00,1.90,17.65,0.902,4,0.000,0.044,3218,3015,1795
$GC,8175,2.29,256.5,293.8,8.7,956,8187,0.00,1.75,4.90,0.687,6,0.000,0.038,3217,1992,1779
$GC,8505,2.29,256.5,262.1,9.3,987,8508,0.00,1.77,0.00,0.000,4,0.000,0.044,3218,3013,1777
$GC,8634,2.29,257.0,250.4,9.0,998,8640,0.00,1.67,0.00,0.000,6,0.000,0.033,3218,2018,1776
$GC,8978,2.34,268.1,221.8,8.2,1059,8995,0.00,1.75,11.12,0.828,4,0.000,0.042,3217,3008,1731
$GC,9058,2.39,276.0,215.1,8.5,1073,9070,0.15,1.58,8.05,0.774,6,0.064,0.030,3258,2087,1699
$GC,9408,2.39,276.0,184.2,9.3,1135,9413,0.00,2.08,0.00,0.000,4,0.000,0.053,3259,907,1698
$GC,9447,2.39,276.0,180.4,9.6,1142,9453,0.00,1.98,0.00,0.000,6,0.000,0.029,3259,2086,1697
$GC,9791,2.42,295.4,152.0,7.7,1203,9812,0.00,0.00,17.25,0.806,6,0.000,0.000,3259,2088,1620
$GC,10151,2.53,333.5,126.3,6.4,1267,10189,0.00,2.12,32.35,0.788,4,0.000,0.046,3259,906,1464
$GC,10293,2.63,365.7,116.3,6.8,1292,10327,0.20,2.03,27.40,0.762,6,0.051,0.026,3316,2129,1333
$GC,10667,2.71,390.7,86.3,7.3,1358,10695,0.00,2.17,21.77,0.727,4,0.000,0.042,3316,903,1231
$GC,10804,2.71,390.7,74.8,9.6,1382,10810,0.00,2.08,0.00,0.000,6,0.000,0.025,3316,2167,1230
$GC,11149,2.84,411.7,49.0,7.6,1443,11173,0.15,1.50,18.40,0.677,4,0.054,0.038,3368,3017,1146
$GC,11302,2.84,411.7,35.4,9.8,1470,11309,0.08,1.67,0.00,0.000,6,0.091,0.025,3349,2008,1145
$GC,11648,2.90,421.7,6.5,8.3,1531,11660,0.00,0.00,9.68,0.591,6,0.000,0.000,3349,2008,1104
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FINISH,-0.0,1.021118
$STATE,11721,end surface coast,CONTROL_FINISHED_OK
$STATE,11721,begin surface
$SM_CCo,11744,35.70,0.628,0,0,888,475.15
$SM_GC,-5.01,0.00,0.00,35.70,0.000,0.000,0.628,412,2356,888,-10.66,0.88,475.15
$IRIDIUM_FIX,1247.67,12042.28,160797,121243
$TT8_MAMPS,0.026078
$HUMID,1915
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.10
$XPDR_PINGS,557
$24V_AH,23.3,48.470
$10V_AH,10.2,35.280
$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,29.500,86.875,449.975,35.700,0.000,22.261,32.606,175.362,139.250,0.000,0.000,15.665,2397.926,6098.292,546.322,2584.354,543.004,0.000,1804.808,0.000,2564.946,0.000,0.925
$DEVICE_MAMPS,166.439,73.632,1036.217,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.020,478.804,798.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82094,1544
$CAP_FILE_SIZE,136095,0
$CFSIZE,260165632,231260160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,191638,1251.225,12042.531,36,1.2,36,-0.8