version: 66.03
glider: 126
mission: 7
dive: 309
start: 4 22 108 15 41 55
data:
$ID,126
$MISSION,7
$DIVE,309
$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,-625262.56
$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,53
$R_STBD_OVSHOOT,61
$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
$GPS1,153517,1250.833,12042.612,9,2.1,29,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.32
$_SM_ANGLEo,-59.8
$GPS2,154103,1250.812,12042.618,12,1.5,12,-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,259.7,49918,-19.0,-9.016
$D_GRID,1098
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-2.18,-120.8,0.0,0.0,0,97,0.00,0.00,-66.18,0.000,6,0.000,0.000,412,2331,3321
$GC,100,-2.18,-120.8,2.4,-23.2,13,117,10.25,1.77,0.00,0.000,4,0.166,0.032,2251,1281,3322
$GC,283,-2.01,-120.8,38.2,-16.2,45,290,0.20,1.67,0.00,0.000,6,0.108,0.024,2291,2323,3323
$GC,628,-1.93,-120.8,85.5,-12.4,106,634,0.00,1.77,0.00,0.000,4,0.000,0.038,2291,3370,3325
$GC,727,-1.84,-120.8,97.6,-12.0,123,733,0.17,1.67,0.00,0.000,6,0.099,0.023,2326,2296,3326
$GC,1072,-1.91,-124.9,130.0,-8.8,184,1078,0.00,1.62,0.00,0.000,4,0.000,0.033,2326,1321,3327
$GC,1153,-1.99,-144.9,136.6,-7.8,198,1160,0.10,1.62,0.00,0.000,6,0.044,0.023,2286,2320,3327
$GC,1498,-1.99,-146.0,165.6,-8.8,259,1503,0.00,1.67,0.00,0.000,4,0.000,0.033,2286,1313,3329
$GC,1578,-1.99,-146.0,172.8,-9.1,273,1583,0.00,1.55,0.00,0.000,6,0.000,0.023,2286,2264,3329
$GC,1922,-2.03,-146.0,204.1,-7.4,334,1928,0.00,1.58,0.00,0.000,4,0.000,0.035,2286,1322,3328
$GC,1962,-2.03,-146.0,207.7,-8.1,341,1968,0.00,1.52,0.00,0.000,6,0.000,0.025,2286,2254,3328
$GC,2306,-2.08,-146.0,236.9,-8.4,402,2312,0.00,1.88,0.00,0.000,4,0.000,0.041,2285,3367,3329
$GC,2397,-2.08,-146.0,244.9,-9.1,418,2402,0.00,1.75,0.00,0.000,6,0.000,0.026,2286,2259,3329
$GC,2731,-2.13,-146.0,275.4,-8.8,454,2734,0.00,1.58,0.00,0.000,4,0.000,0.038,2286,1323,3327
$GC,2877,-2.13,-146.0,287.4,-8.3,467,2881,0.00,1.45,0.00,0.000,6,0.000,0.026,2286,2204,3326
$GC,3212,-2.18,-146.0,313.4,-8.0,498,3216,0.15,1.98,0.00,0.000,4,0.056,0.042,2240,3365,3324
$GC,3280,-2.12,-146.0,319.3,-8.8,504,3284,0.12,1.83,0.00,0.000,6,0.102,0.028,2265,2243,3324
$GC,3610,-2.12,-146.0,348.5,-8.0,535,3613,0.00,1.58,0.00,0.000,4,0.000,0.042,2265,1313,3322
$GC,3682,-2.12,-146.0,354.5,-8.4,541,3688,0.00,1.45,0.00,0.000,6,0.000,0.026,2265,2187,3321
$GC,4009,-2.15,-146.0,383.8,-9.5,572,4013,0.00,2.00,0.00,0.000,4,0.000,0.044,2266,3355,3319
$GC,4066,-2.15,-146.0,389.3,-9.5,577,4069,0.00,1.88,0.00,0.000,6,0.000,0.030,2265,2231,3319
$GC,4400,-2.19,-146.0,419.6,-9.0,608,4404,0.00,1.98,0.00,0.000,4,0.000,0.048,2265,3362,3317
$GC,4462,-2.16,-146.0,425.6,-8.8,613,4468,0.00,1.83,0.00,0.000,6,0.000,0.031,2265,2270,3316
$GC,4789,-2.16,-146.0,453.4,-8.3,644,4793,0.00,1.90,0.00,0.000,4,0.000,0.050,2265,3354,3314
$GC,4824,-2.16,-146.0,456.4,-7.6,647,4828,0.00,1.75,0.00,0.000,6,0.000,0.031,2265,2310,3314
$GC,5157,-2.16,-146.0,483.5,-7.7,678,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2309,3311
$GC,5480,-2.16,-146.0,508.9,-8.0,704,5484,0.00,1.85,0.00,0.000,4,0.000,0.056,2265,3355,3309
$GC,5558,-2.16,-146.0,515.4,-8.2,707,5562,0.00,1.83,0.00,0.000,6,0.000,0.035,2265,2281,3309
$STATE,5774,end dive,NO_VERTICAL_VELOCITY
$STATE,5774,begin apogee
$GC,5781,-0.52,0.0,516.9,0.0,718,5883,1.60,0.00,97.78,1.055,6,0.081,0.000,2613,1956,2825
$STATE,5883,end apogee,CONTROL_FINISHED_OK
$STATE,5883,begin climb
$GC,5886,2.22,146.0,516.5,0.0,723,6018,2.75,2.05,120.35,1.021,4,0.068,0.079,3212,907,2229
$GC,6147,2.14,166.3,504.9,7.8,735,6173,0.00,1.77,17.55,0.964,6,0.000,0.031,3212,1945,2147
$GC,6491,2.08,182.5,479.2,8.0,764,6513,0.15,1.90,14.93,0.959,4,0.103,0.046,3178,3022,2079
$GC,6610,2.03,188.7,469.0,8.6,774,6621,0.00,1.83,6.70,0.829,6,0.000,0.035,3178,1954,2055
$GC,6940,2.04,220.0,442.8,7.1,805,6972,0.00,1.95,27.12,0.989,4,0.000,0.044,3178,3016,1928
$GC,7034,2.02,240.2,435.1,7.8,813,7061,0.00,1.77,18.58,0.953,6,0.000,0.034,3178,1982,1845
$GC,7379,2.04,249.1,405.3,8.5,846,7393,0.00,1.88,8.45,0.871,4,0.000,0.044,3178,3019,1809
$GC,7503,2.02,253.4,394.5,8.8,857,7514,0.00,1.67,5.07,0.738,6,0.000,0.033,3178,2038,1792
$GC,7832,2.02,253.4,364.1,9.0,888,7836,0.00,1.70,0.00,0.000,4,0.000,0.044,3178,3016,1791
$GC,7983,2.02,253.4,350.3,9.4,901,7989,0.00,1.55,0.00,0.000,6,0.000,0.031,3178,2113,1790
$GC,8310,2.02,253.4,320.5,9.5,932,8313,0.00,1.58,0.00,0.000,4,0.000,0.044,3178,3023,1789
$GC,8438,2.02,257.4,308.6,8.8,943,8447,0.00,1.67,4.85,0.701,6,0.000,0.032,3178,2028,1775
$GC,8774,2.07,269.3,282.0,8.3,975,8790,0.00,1.80,11.55,0.875,4,0.000,0.042,3178,3018,1727
$GC,8910,2.08,269.5,270.6,9.0,986,8916,0.00,1.55,0.00,0.000,6,0.000,0.031,3178,2106,1726
$GC,9240,2.12,269.5,240.9,9.3,1026,9246,0.00,1.58,0.00,0.000,4,0.000,0.042,3178,3022,1725
$GC,9354,2.16,297.2,231.7,7.3,1046,9386,0.10,1.70,24.60,0.879,6,0.073,0.031,3210,2009,1612
$GC,9726,2.16,297.2,200.3,9.1,1112,9733,0.00,1.75,0.00,0.000,4,0.000,0.041,3210,3024,1609
$GC,9834,2.16,297.2,190.2,9.1,1131,9840,0.00,1.83,0.00,0.000,6,0.000,0.031,3210,1941,1609
$GC,10178,2.21,304.5,162.1,8.6,1192,10190,0.00,1.92,7.05,0.719,4,0.000,0.039,3210,3019,1583
$GC,10337,2.24,318.9,148.8,8.1,1220,10355,0.00,1.70,13.57,0.785,6,0.000,0.029,3210,2021,1525
$GC,10696,2.33,342.9,121.2,7.5,1283,10724,0.12,1.98,21.02,0.773,4,0.062,0.057,3250,912,1426
$GC,10781,2.37,367.1,114.3,7.5,1298,10809,0.00,1.92,21.48,0.752,6,0.000,0.026,3251,2059,1328
$GC,11151,2.49,403.9,87.0,6.7,1363,11189,0.00,2.05,31.60,0.732,4,0.000,0.043,3250,908,1177
$GC,11283,2.59,433.9,77.4,7.1,1386,11317,0.15,1.83,25.98,0.707,6,0.041,0.025,3303,2014,1055
$GC,11658,2.67,445.8,46.7,8.3,1452,11675,0.00,1.95,10.88,0.640,4,0.000,0.041,3303,901,1006
$GC,11761,2.71,452.8,37.9,8.6,1470,11773,0.00,1.75,7.12,0.584,6,0.000,0.024,3303,1975,979
$GC,12115,2.83,468.7,7.9,8.0,1532,12138,0.15,1.90,14.55,0.618,4,0.051,0.041,3362,914,913
$GC,12150,2.83,473.5,4.5,8.7,1538,12162,0.00,1.50,5.55,0.496,6,0.000,0.023,3362,1861,894
$STATE,12171,end climb,SURFACE_DEPTH_REACHED
$STATE,12172,begin surface coast
$FINISH,-0.1,1.020901
$STATE,12191,end surface coast,CONTROL_FINISHED_OK
$STATE,12191,begin surface
$SM_CCo,12213,2.47,0.249,0,0,888,475.15
$SM_GC,-2.78,0.00,0.00,2.47,0.000,0.000,0.249,416,2305,888,-10.64,-0.57,475.15
$IRIDIUM_FIX,1245.46,12042.28,170797,121227
$TT8_MAMPS,0.026078
$HUMID,1952
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.70
$XPDR_PINGS,520
$24V_AH,23.3,49.542
$10V_AH,10.2,35.943
$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,28.825,96.250,516.325,2.475,0.000,24.307,36.567,161.700,130.500,0.000,0.000,12.883,2427.444,6402.848,584.953,2621.208,556.108,0.000,1871.712,0.000,2607.804,0.000,4.551
$DEVICE_MAMPS,165.672,79.001,1055.392,249.275,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.552,478.908,779.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82049,1545
$CAP_FILE_SIZE,142745,0
$CFSIZE,260165632,230760448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,190637,1251.043,12041.987,28,1.2,28,-0.8