version: 66.03
glider: 126
mission: 7
dive: 49
start: 2 25 108 19 28 37
data:
$ID,126
$MISSION,7
$DIVE,49
$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,413
$T_MISSION,496
$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,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-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,-620521.38
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$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,58
$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,3
$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
$GPS1,191926,1326.170,12015.423,39,1.3,39,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.96
$_SM_ANGLEo,-57.0
$GPS2,192745,1326.340,12015.400,14,1.2,14,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,LUBANG
$TGT_LATLONG,1337.430,12013.500
$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,351.4,20822,-22.0,-7.990
$D_GRID,1417
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,90,0.00,0.00,-64.18,0.000,6,0.000,0.000,414,2284,3100
$GC,92,-2.33,-67.0,1.8,-18.5,13,109,10.25,1.85,0.00,0.000,4,0.178,0.038,2194,3356,3102
$GC,171,-2.17,-67.0,29.9,-26.9,27,177,0.22,1.67,0.00,0.000,6,0.128,0.025,2236,2321,3102
$GC,514,-2.12,-67.0,94.7,-14.7,88,521,0.00,1.80,0.00,0.000,4,0.000,0.040,2236,3357,3104
$GC,773,-2.07,-67.0,133.0,-14.6,134,780,0.08,1.60,0.00,0.000,6,0.118,0.025,2253,2375,3105
$GC,1119,-2.05,-67.0,179.3,-13.8,195,1125,0.00,1.67,0.00,0.000,4,0.000,0.041,2253,3353,3106
$GC,1378,-2.05,-67.0,214.7,-12.4,241,1384,0.00,1.50,0.00,0.000,6,0.000,0.027,2253,2432,3106
$GC,1723,-2.05,-67.0,256.1,-11.0,298,1726,0.00,1.60,0.00,0.000,4,0.000,0.044,2253,3359,3106
$GC,1981,-2.05,-67.0,285.6,-10.9,321,1984,0.00,1.55,0.00,0.000,6,0.000,0.028,2253,2422,3105
$GC,2311,-2.05,-67.0,321.3,-11.2,352,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2415,3104
$GC,2628,-2.05,-67.0,358.1,-11.3,382,2632,0.00,1.62,0.00,0.000,4,0.000,0.048,2253,3352,3102
$GC,2706,-2.05,-67.0,366.8,-11.6,389,2710,0.00,1.50,0.00,0.000,6,0.000,0.031,2253,2443,3101
$GC,3039,-2.07,-67.0,402.4,-11.4,420,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2444,3099
$GC,3355,-2.09,-67.0,436.7,-9.7,450,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2443,3097
$GC,3674,-2.12,-67.0,468.2,-10.6,480,3677,0.00,1.98,0.00,0.000,4,0.000,0.050,2253,1302,3095
$GC,3797,-2.14,-67.0,480.9,-9.8,491,3801,0.00,1.85,0.00,0.000,6,0.000,0.035,2253,2398,3095
$GC,4124,-2.17,-67.0,512.3,-9.1,516,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2400,3092
$GC,4432,-2.20,-67.0,539.3,-9.0,531,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2400,3090
$GC,4741,-2.23,-67.0,568.1,-9.8,546,4743,0.12,0.00,0.00,0.000,6,0.077,0.000,2222,2400,3089
$GC,5050,-2.23,-67.0,598.8,-9.8,561,5054,0.00,2.00,0.00,0.000,4,0.000,0.077,2222,1322,3086
$GC,5149,-2.23,-67.0,609.1,-10.4,565,5154,0.00,1.92,0.00,0.000,6,0.000,0.064,2222,2367,3086
$GC,5471,-2.23,-67.0,640.4,-9.3,581,5474,0.00,1.95,0.00,0.000,4,0.000,0.097,2222,3383,3084
$GC,5525,-2.23,-67.0,645.8,-9.4,583,5530,0.00,1.77,0.00,0.000,6,0.000,0.073,2222,2453,3083
$GC,5846,-2.23,-67.0,674.8,-8.8,599,5850,0.00,1.88,0.00,0.000,4,0.000,0.108,2222,3389,3082
$GC,5923,-2.23,-67.0,681.9,-9.1,602,5928,0.00,1.83,0.00,0.000,6,0.000,0.091,2222,2468,3081
$GC,6244,-2.23,-67.0,712.0,-9.4,618,6248,0.00,2.35,0.00,0.000,4,0.000,0.128,2222,1318,3080
$GC,6385,-2.23,-67.0,725.8,-10.0,624,6389,0.00,2.15,0.00,0.000,6,0.000,0.112,2222,2388,3078
$GC,6699,-2.23,-67.0,756.3,-9.4,639,6703,0.00,2.33,0.00,0.000,4,0.000,0.151,2222,1326,3077
$GC,6759,-2.23,-67.0,761.9,-9.4,642,6763,0.00,2.20,0.00,0.000,6,0.000,0.130,2222,2382,3077
$GC,7091,-2.23,-67.0,791.9,-9.2,658,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2382,3075
$GC,7400,-2.23,-67.0,818.3,-8.1,673,7404,0.00,2.35,0.00,0.000,4,0.000,0.191,2222,3376,3075
$GC,7460,-2.23,-67.0,823.6,-9.3,676,7464,0.00,1.67,0.00,0.000,6,0.000,0.036,2222,2407,3074
$GC,7792,-2.23,-67.0,851.1,-8.3,692,7795,0.00,1.77,0.00,0.000,4,0.000,0.058,2222,3399,3073
$GC,7840,-2.23,-67.0,855.6,-9.1,694,7845,0.00,1.70,0.00,0.000,6,0.000,0.035,2222,2418,3073
$GC,8168,-2.24,-71.5,881.7,-7.6,710,8171,0.00,1.95,0.00,0.000,4,0.000,0.056,2222,1306,3071
$GC,8330,-2.24,-71.5,894.5,-8.7,717,8334,0.00,1.85,0.00,0.000,6,0.000,0.039,2222,2390,3072
$GC,8656,-2.24,-72.3,919.6,-7.9,733,8660,0.00,1.77,0.00,0.000,4,0.000,0.060,2222,3392,3070
$GC,8738,-2.24,-72.3,926.8,-10.4,736,8745,0.00,1.67,0.00,0.000,6,0.000,0.037,2222,2433,3069
$GC,9054,-2.24,-72.3,953.7,-8.6,752,9058,0.00,1.98,0.00,0.000,4,0.000,0.059,2222,1313,3068
$GC,9166,-2.24,-72.3,963.2,-8.9,757,9169,0.00,1.88,0.00,0.000,6,0.000,0.041,2222,2400,3068
$GC,9497,-2.26,-83.2,988.4,-7.0,773,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3067
$STATE,9537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9537,begin apogee
$GC,9541,-0.51,0.0,991.2,6.8,775,9600,1.83,0.00,52.78,1.451,6,0.107,0.000,2599,1992,2825
$STATE,9600,end apogee,CONTROL_FINISHED_OK
$STATE,9600,begin climb
$GC,9602,2.36,83.2,991.5,0.0,778,9685,2.85,2.10,73.57,1.422,4,0.074,0.071,3227,909,2485
$GC,9735,2.30,83.2,983.3,9.1,784,9739,0.00,1.88,0.00,0.000,6,0.000,0.036,3227,1990,2483
$GC,10061,2.26,83.2,954.0,8.9,800,10063,0.12,0.00,0.00,0.000,6,0.123,0.000,3205,1990,2480
$GC,10371,2.26,95.3,931.0,6.8,815,10384,0.00,0.00,11.25,1.281,6,0.000,0.000,3205,1989,2436
$GC,10679,2.28,104.8,909.1,7.1,830,10691,0.00,0.00,10.05,1.257,6,0.000,0.000,3205,1990,2397
$GC,10989,2.29,109.0,886.2,7.6,845,10996,0.00,0.00,5.25,1.035,6,0.000,0.000,3205,1990,2380
$GC,11298,2.29,109.0,861.2,8.2,860,11301,0.00,1.98,0.00,0.000,4,0.000,0.062,3205,910,2380
$GC,11414,2.26,109.0,851.2,9.0,865,11419,0.00,1.85,0.00,0.000,6,0.000,0.035,3205,1974,2380
$GC,11742,2.26,109.0,824.0,8.6,881,11746,0.00,1.95,0.00,0.000,4,0.000,0.064,3205,906,2378
$GC,11864,2.24,109.0,813.2,9.2,886,11869,0.00,1.85,0.00,0.000,6,0.000,0.035,3205,1973,2378
$GC,12187,2.24,109.0,786.3,8.6,902,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1974,2378
$GC,12495,2.26,121.9,762.6,6.8,917,12516,0.00,1.92,12.48,1.240,4,0.000,0.053,3205,3017,2328
$GC,12621,2.26,121.9,753.1,8.1,922,12628,0.00,1.88,0.00,0.000,6,0.000,0.043,3205,1968,2326
$GC,12937,2.28,133.8,729.7,6.9,938,12951,0.00,0.00,11.98,1.210,6,0.000,0.000,3205,1968,2279
$GC,13246,2.29,137.4,706.4,7.6,953,13253,0.00,0.00,4.95,0.946,6,0.000,0.000,3205,1968,2264
$GC,13555,2.29,137.4,679.7,9.2,968,13558,0.00,1.92,0.00,0.000,4,0.000,0.067,3205,906,2263
$GC,13767,2.29,137.4,659.3,9.2,977,13771,0.00,1.85,0.00,0.000,6,0.000,0.035,3205,1973,2263
$GC,14088,2.29,137.4,631.4,8.9,993,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1973,2264
$GC,14398,2.29,137.7,605.8,8.0,1008,14402,0.00,1.83,0.00,0.000,4,0.000,0.052,3205,3018,2263
$GC,14514,2.29,137.7,595.9,8.5,1013,14519,0.00,1.88,0.00,0.000,6,0.000,0.043,3205,1959,2263
$GC,14841,2.29,137.7,570.2,8.0,1029,14842,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1959,2263
$GC,15151,2.29,138.0,546.0,8.0,1044,15154,0.00,1.90,0.00,0.000,4,0.000,0.067,3205,907,2263
$GC,15182,2.30,141.9,543.2,7.6,1045,15195,0.00,1.83,5.57,0.911,6,0.000,0.035,3205,1970,2245
$GC,15503,2.30,141.9,516.0,9.2,1061,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1970,2246
$GC,15816,2.30,141.9,487.5,9.3,1082,15819,0.00,1.95,0.00,0.000,4,0.000,0.063,3205,897,2245
$GC,15928,2.30,141.9,477.2,8.6,1092,15931,0.00,1.80,0.00,0.000,6,0.000,0.034,3205,1961,2245
$GC,16258,2.31,151.3,452.7,7.1,1123,16272,0.00,2.00,9.45,0.998,4,0.000,0.064,3205,890,2208
$GC,16379,2.31,151.3,443.1,8.0,1134,16383,0.00,1.77,0.00,0.000,6,0.000,0.034,3205,1936,2208
$GC,16710,2.32,155.0,416.8,7.6,1165,16719,0.00,0.00,5.03,0.808,6,0.000,0.000,3205,1936,2192
$GC,17038,2.33,161.5,391.9,7.4,1196,17048,0.00,0.00,7.35,0.904,6,0.000,0.000,3205,1937,2166
$GC,17367,2.36,161.5,365.2,8.6,1227,17368,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1938,2166
$GC,17686,2.38,162.4,338.0,7.9,1257,17690,0.10,1.85,0.00,0.000,4,0.087,0.048,3230,3005,2166
$GC,17763,2.38,162.4,331.0,8.6,1264,17767,0.00,1.92,0.00,0.000,6,0.000,0.041,3230,1894,2166
$GC,18094,2.39,165.9,303.8,7.7,1295,18105,0.00,1.80,5.68,0.775,4,0.000,0.064,3230,898,2147
$GC,18166,2.39,165.9,298.1,8.2,1301,18173,0.00,1.70,0.00,0.000,6,0.000,0.031,3230,1896,2147
$GC,18491,2.39,165.9,269.8,8.8,1332,18495,0.00,1.92,0.00,0.000,4,0.000,0.048,3230,3010,2147
$GC,18749,2.39,165.9,247.2,8.3,1358,18755,0.00,1.88,0.00,0.000,6,0.000,0.038,3230,1933,2148
$GC,19094,2.40,170.7,220.7,7.5,1419,19106,0.00,1.90,6.20,0.746,4,0.000,0.044,3230,3018,2128
$GC,19293,2.40,170.9,204.4,8.0,1454,19299,0.00,1.85,0.00,0.000,6,0.000,0.036,3230,1952,2128
$GC,19637,2.42,183.0,181.8,6.8,1515,19655,0.00,1.85,11.60,0.815,4,0.000,0.058,3230,915,2079
$GC,19751,2.44,199.6,174.0,6.4,1535,19773,0.00,1.75,15.12,0.818,6,0.000,0.029,3230,1971,2010
$GC,20113,2.50,213.8,148.1,6.6,1599,20130,0.10,0.00,12.98,0.782,6,0.078,0.000,3258,1971,1953
$GC,20469,2.50,213.8,120.8,8.2,1662,20474,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1971,1952
$GC,20812,2.55,223.8,94.3,7.0,1723,20829,0.00,1.80,9.98,0.709,4,0.000,0.042,3258,2994,1912
$GC,21083,2.64,260.7,79.2,4.5,1771,21121,0.12,1.75,30.70,0.739,6,0.068,0.030,3293,1945,1761
$GC,21461,2.72,292.7,58.1,5.0,1838,21495,0.00,1.88,26.67,0.706,4,0.000,0.041,3293,2994,1631
$GC,21749,2.79,299.9,39.9,7.3,1889,21762,0.10,1.67,7.20,0.594,6,0.074,0.029,3324,1983,1601
$GC,22101,2.84,310.8,13.6,7.0,1951,22118,0.00,1.85,10.62,0.617,4,0.000,0.045,3324,919,1556
$STATE,22249,end climb,SURFACE_DEPTH_REACHED
$STATE,22249,begin surface coast
$FINISH,-1.1,1.021628
$STATE,22276,end surface coast,CONTROL_FINISHED_OK
$STATE,22276,begin surface
$SM_CCo,22297,98.72,0.632,0,0,887,475.15
$SM_GC,-5.26,0.00,0.00,98.72,0.000,0.000,0.632,417,2324,887,-10.55,0.00,475.15
$IRIDIUM_FIX,1323.10,12009.16,210597,191954
$TT8_MAMPS,0.026078
$HUMID,1703
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.10
$XPDR_PINGS,424
$ALTIM_BOTTOM_PING,500.7,5.3
$24V_AH,23.1,7.085
$10V_AH,10.1,5.557
$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,28.625,123.775,346.450,98.725,0.000,49.302,37.972,235.460,106.500,0.000,0.000,14.210,3243.472,14887.501,577.124,3627.363,578.813,0.000,2275.188,0.000,3619.694,0.000,5.363
$DEVICE_MAMPS,177.944,190.983,1451.164,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1346.332,794.053,738.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107286,1982
$CAP_FILE_SIZE,195152,0
$CFSIZE,260165632,253460480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260208,014308,1328.803,12015.192,41,1.7,41,-0.9