version: 66.03
glider: 126
mission: 7
dive: 304
start: 4 21 108 22 23 7
data:
$ID,126
$MISSION,7
$DIVE,304
$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,-625162.31
$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,47
$R_STBD_OVSHOOT,60
$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
$GPS1,221637,1250.864,12042.791,27,1.2,28,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.11
$_SM_ANGLEo,-58.0
$GPS2,222215,1250.859,12042.752,16,1.2,16,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST_S4
$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,181.5,276,-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,-67.30,0.000,6,0.000,0.000,417,2343,3242
$GC,99,-2.39,-101.9,0.4,-16.5,13,116,10.00,1.80,0.00,0.000,4,0.167,0.031,2205,1274,3244
$GC,236,-2.23,-101.9,29.1,-17.1,37,243,0.20,1.70,0.00,0.000,6,0.122,0.024,2242,2324,3245
$GC,582,-2.15,-101.9,80.8,-14.4,98,588,0.00,1.77,0.00,0.000,4,0.000,0.038,2242,3369,3247
$GC,668,-2.05,-101.9,93.0,-13.3,113,675,0.20,1.70,0.00,0.000,6,0.114,0.023,2281,2275,3247
$GC,1014,-2.07,-112.5,130.1,-8.3,174,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2268,3248
$GC,1358,-2.18,-136.3,158.5,-7.4,235,1363,0.12,0.00,0.00,0.000,6,0.060,0.000,2241,2267,3250
$GC,1701,-2.18,-136.3,189.4,-9.5,296,1707,0.00,1.85,0.00,0.000,4,0.000,0.039,2241,3367,3250
$GC,1725,-2.18,-136.3,191.8,-10.1,300,1731,0.00,1.60,0.00,0.000,6,0.000,0.025,2241,2331,3250
$GC,2069,-2.19,-146.0,222.9,-8.3,361,2075,0.00,1.67,0.00,0.000,4,0.000,0.035,2240,1324,3250
$GC,2139,-2.19,-146.0,228.8,-9.0,373,2145,0.00,1.65,0.00,0.000,6,0.000,0.025,2241,2341,3250
$GC,2478,-2.19,-146.0,257.1,-8.0,426,2481,0.00,1.73,0.00,0.000,4,0.000,0.042,2241,3364,3250
$GC,2573,-2.19,-146.0,264.9,-7.9,434,2579,0.00,1.60,0.00,0.000,6,0.000,0.026,2241,2336,3249
$GC,2900,-2.19,-146.0,290.4,-8.8,465,2904,0.00,1.70,0.00,0.000,4,0.000,0.037,2241,1325,3248
$GC,2938,-2.19,-146.0,294.3,-9.7,468,2946,0.00,1.67,0.00,0.000,6,0.000,0.026,2241,2334,3248
$GC,3268,-2.19,-146.0,323.1,-8.6,499,3271,0.00,1.77,0.00,0.000,4,0.000,0.044,2241,3377,3247
$GC,3317,-2.19,-146.0,327.8,-8.4,503,3323,0.00,1.65,0.00,0.000,6,0.000,0.028,2241,2341,3246
$GC,3646,-2.19,-146.0,355.2,-9.4,534,3650,0.00,1.75,0.00,0.000,4,0.000,0.040,2240,1307,3244
$GC,3669,-2.19,-146.0,357.6,-8.8,536,3673,0.00,1.73,0.00,0.000,6,0.000,0.028,2241,2349,3244
$GC,4001,-2.19,-146.0,387.1,-8.1,567,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2349,3242
$GC,4318,-2.19,-146.0,411.8,-7.8,597,4322,0.00,1.80,0.00,0.000,4,0.000,0.045,2241,1316,3240
$GC,4368,-2.19,-146.0,415.8,-7.9,601,4374,0.00,1.73,0.00,0.000,6,0.000,0.029,2241,2356,3240
$GC,4697,-2.19,-146.0,442.8,-8.4,632,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2357,3238
$GC,5022,-2.19,-146.0,469.3,-8.0,663,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2357,3236
$GC,5341,-2.19,-146.0,495.0,-7.5,693,5345,0.00,1.85,0.00,0.000,4,0.000,0.055,2241,1319,3234
$GC,5442,-2.19,-146.0,503.1,-8.0,700,5445,0.00,1.73,0.00,0.000,6,0.000,0.038,2240,2332,3233
$GC,5764,-2.22,-146.0,528.3,-7.7,716,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2332,3231
$GC,6074,-2.22,-146.0,551.4,-7.3,731,6077,0.00,1.88,0.00,0.000,4,0.000,0.068,2241,3376,3229
$GC,6135,-2.22,-146.0,556.3,-8.5,733,6141,0.00,1.75,0.00,0.000,6,0.000,0.043,2240,2367,3229
$GC,6453,-2.70,-146.0,571.6,-0.0,749,6458,0.40,2.00,0.00,0.000,4,0.048,0.071,2140,1266,3227
$STATE,6551,end dive,NO_VERTICAL_VELOCITY
$STATE,6551,begin apogee
$GC,6558,-0.52,0.0,571.5,0.0,753,6645,2.10,0.00,82.18,1.103,6,0.073,0.000,2613,1964,2825
$STATE,6646,end apogee,CONTROL_FINISHED_OK
$STATE,6646,begin climb
$GC,6649,2.47,146.0,571.2,0.0,758,6779,2.85,1.98,121.18,1.069,4,0.051,0.064,3275,3017,2228
$GC,6838,2.37,159.1,564.5,8.1,767,6859,0.15,1.90,12.00,0.963,6,0.107,0.051,3247,1956,2176
$GC,7171,2.35,192.6,538.3,6.7,783,7205,0.00,1.98,29.08,1.038,4,0.000,0.053,3247,3019,2039
$GC,7295,2.27,192.6,527.7,11.1,788,7302,0.12,1.80,0.00,0.000,6,0.117,0.039,3224,1986,2036
$GC,7613,2.26,204.4,499.1,8.2,804,7629,0.00,1.85,10.90,0.963,4,0.000,0.046,3225,3022,1990
$GC,7737,2.22,207.9,488.2,8.8,814,7747,0.00,1.73,4.53,0.729,6,0.000,0.035,3224,2013,1977
$GC,8073,2.25,223.9,459.3,7.9,846,8094,0.00,1.83,15.07,0.991,4,0.000,0.044,3224,3034,1912
$GC,8156,2.24,234.4,452.2,8.3,853,8173,0.00,1.65,10.57,0.940,6,0.000,0.033,3224,2066,1869
$GC,8491,2.24,234.5,423.1,9.0,885,8495,0.00,1.67,0.00,0.000,4,0.000,0.044,3225,3023,1866
$GC,8552,2.25,241.2,417.6,8.6,890,8563,0.00,1.65,7.12,0.871,6,0.000,0.035,3225,2071,1841
$GC,8883,2.25,245.0,389.0,8.8,921,8894,0.00,1.70,4.72,0.736,4,0.000,0.045,3224,3034,1826
$GC,8933,2.27,256.0,384.3,8.3,925,8950,0.00,1.67,11.00,0.933,6,0.000,0.033,3225,2069,1781
$GC,9268,2.27,256.0,351.9,11.0,957,9271,0.00,2.08,0.00,0.000,4,0.000,0.061,3224,908,1779
$GC,9317,2.27,256.0,346.3,10.9,961,9323,0.00,2.00,0.00,0.000,6,0.000,0.038,3224,2090,1779
$GC,9644,2.27,256.0,314.0,9.7,992,9648,0.00,1.60,0.00,0.000,4,0.000,0.046,3225,3024,1778
$GC,9672,2.27,256.0,311.0,10.1,994,9678,0.00,1.67,0.00,0.000,6,0.000,0.034,3224,2038,1778
$GC,9998,2.28,259.6,281.6,8.8,1025,10010,0.00,2.05,4.22,0.651,4,0.000,0.057,3224,911,1766
$GC,10049,2.29,269.3,277.0,8.3,1029,10066,0.00,1.95,10.00,0.871,6,0.000,0.030,3224,2069,1727
$GC,10385,2.31,279.9,248.5,8.3,1062,10401,0.00,0.00,10.23,0.854,6,0.000,0.000,3224,2069,1684
$GC,10739,2.34,279.9,217.6,9.7,1125,10744,0.00,1.65,0.00,0.000,4,0.000,0.046,3225,3033,1682
$GC,10774,2.34,279.9,214.3,9.3,1131,10780,0.00,1.67,0.00,0.000,6,0.000,0.030,3224,2039,1681
$GC,11118,2.41,295.4,183.8,7.9,1192,11140,0.12,2.05,14.50,0.837,4,0.066,0.054,3261,903,1619
$GC,11250,2.41,296.1,172.0,9.0,1215,11255,0.00,1.90,0.00,0.000,6,0.000,0.028,3262,2038,1619
$GC,11594,2.47,307.2,143.7,8.2,1276,11611,0.00,1.73,11.20,0.782,4,0.000,0.043,3261,3033,1571
$GC,11750,2.49,323.6,130.4,7.9,1303,11772,0.00,1.62,15.35,0.786,6,0.000,0.028,3261,2064,1504
$GC,12114,2.62,359.3,102.5,6.5,1367,12153,0.15,2.08,30.42,0.767,4,0.058,0.048,3311,914,1359
$GC,12210,2.65,378.3,95.1,7.7,1384,12233,0.00,2.03,16.92,0.730,6,0.000,0.025,3311,2138,1281
$GC,12573,2.74,395.1,67.9,7.8,1448,12595,0.00,2.20,14.95,0.700,4,0.000,0.042,3312,913,1214
$GC,12787,2.84,424.7,51.3,7.0,1486,12820,0.10,1.95,25.77,0.689,6,0.044,0.024,3362,2096,1092
$GC,13162,2.88,430.6,19.5,8.6,1552,13174,0.00,2.08,6.45,0.551,4,0.000,0.040,3363,901,1068
$GC,13237,2.88,430.6,12.2,9.0,1565,13243,0.00,1.92,0.00,0.000,6,0.000,0.023,3363,2092,1068
$STATE,13354,end climb,SURFACE_DEPTH_REACHED
$STATE,13354,begin surface coast
$FINISH,-0.4,1.021153
$STATE,13382,end surface coast,CONTROL_FINISHED_OK
$STATE,13382,begin surface
$SM_CCo,13404,30.17,0.632,0,0,888,475.15
$SM_GC,-5.59,0.00,0.00,30.17,0.000,0.000,0.632,416,2358,888,-10.64,0.96,475.15
$IRIDIUM_FIX,1245.46,12040.38,160797,191924
$TT8_MAMPS,0.026078
$HUMID,1940
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.00
$XPDR_PINGS,480
$ALTIM_BOTTOM_PING,510.5,64.9
$24V_AH,23.3,48.769
$10V_AH,10.2,35.468
$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,29.325,97.375,468.375,30.175,0.000,22.254,33.078,158.781,120.750,0.000,0.000,16.169,2507.486,7480.547,576.765,2674.512,563.008,0.000,1896.783,0.000,2662.511,0.000,7.339
$DEVICE_MAMPS,167.206,70.564,1102.946,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.185,466.792,771.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85219,1590
$CAP_FILE_SIZE,146986,0
$CFSIZE,260165632,231112704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,020808,1249.612,12043.024,28,1.2,28,-0.8