version: 66.03
glider: 126
mission: 7
dive: 51
start: 2 26 108 8 11 54
data:
$ID,126
$MISSION,7
$DIVE,51
$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,-620556.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,27
$R_STBD_OVSHOOT,40
$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
$GPS1,080038,1331.775,12015.266,30,1.8,30,-1.0
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,-4.91
$_SM_ANGLEo,-53.3
$GPS2,081103,1331.920,12015.186,16,2.0,16,-1.0
$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,344.4,10646,-22.0,-7.990
$D_GRID,1806
$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,-67.0,0.0,0.0,0,89,0.00,0.00,-63.58,0.000,6,0.000,0.000,414,2325,3102
$GC,91,-2.33,-67.0,2.2,-19.8,13,108,10.12,1.80,0.00,0.000,4,0.173,0.032,2198,3373,3103
$GC,239,-2.17,-67.0,44.3,-24.0,39,246,0.20,1.75,0.00,0.000,6,0.123,0.025,2235,2296,3103
$GC,583,-2.12,-67.0,105.0,-14.9,100,589,0.00,1.88,0.00,0.000,4,0.000,0.040,2235,3375,3105
$GC,841,-2.07,-67.0,143.8,-14.7,146,848,0.10,1.65,0.00,0.000,6,0.118,0.025,2257,2363,3106
$GC,1185,-2.07,-67.0,190.3,-10.7,207,1191,0.00,1.73,0.00,0.000,4,0.000,0.041,2257,3372,3106
$GC,1444,-2.07,-67.0,222.1,-12.3,253,1450,0.00,1.62,0.00,0.000,6,0.000,0.026,2257,2364,3105
$GC,1781,-2.07,-67.0,261.5,-11.3,305,1784,0.00,1.75,0.00,0.000,4,0.000,0.044,2257,3377,3105
$GC,2038,-2.07,-67.0,292.1,-12.4,328,2042,0.00,1.67,0.00,0.000,6,0.000,0.028,2257,2365,3105
$GC,2369,-2.07,-67.0,328.1,-10.1,359,2372,0.00,1.75,0.00,0.000,4,0.000,0.047,2257,3374,3104
$GC,2586,-2.07,-67.0,352.9,-11.4,378,2593,0.00,1.65,0.00,0.000,6,0.000,0.029,2257,2385,3102
$GC,2912,-2.09,-67.0,387.1,-10.3,409,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2384,3100
$GC,3229,-2.11,-67.0,418.2,-9.8,439,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2384,3098
$GC,3549,-2.14,-67.0,449.8,-9.5,469,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2383,3096
$GC,3867,-2.17,-67.0,479.6,-9.3,499,3871,0.00,1.90,0.00,0.000,4,0.000,0.057,2257,1303,3094
$GC,3912,-2.20,-67.0,484.1,-9.6,503,3916,0.12,1.85,0.00,0.000,6,0.072,0.036,2225,2394,3094
$GC,4247,-2.20,-67.0,516.8,-9.7,527,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2395,3091
$GC,4555,-2.20,-67.0,548.3,-10.1,542,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2395,3090
$GC,4865,-2.20,-67.0,578.7,-9.7,557,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2395,3088
$GC,5175,-2.20,-67.0,609.4,-9.8,572,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2395,3085
$GC,5485,-2.20,-67.0,638.7,-9.0,587,5488,0.00,2.08,0.00,0.000,4,0.000,0.093,2224,1310,3083
$GC,5567,-2.20,-67.0,646.6,-9.1,590,5574,0.00,2.00,0.00,0.000,6,0.000,0.078,2225,2367,3083
$GC,5884,-2.20,-67.0,674.7,-8.9,606,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2367,3081
$GC,6193,-2.20,-67.0,701.5,-8.4,621,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2367,3080
$GC,6501,-2.20,-67.0,728.6,-8.5,636,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2367,3078
$GC,6811,-2.20,-67.0,756.2,-9.2,651,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2367,3077
$GC,7120,-2.20,-67.0,785.3,-9.3,666,7124,0.00,2.33,0.00,0.000,4,0.000,0.175,2225,3386,3075
$GC,7185,-2.20,-67.0,791.6,-9.6,669,7190,0.00,2.15,0.00,0.000,6,0.000,0.152,2224,2439,3075
$GC,7513,-2.20,-67.0,821.6,-8.8,685,7517,0.00,1.70,0.00,0.000,4,0.000,0.054,2225,3396,3074
$GC,7557,-2.20,-67.0,825.9,-9.4,687,7561,0.00,1.70,0.00,0.000,6,0.000,0.035,2225,2406,3074
$GC,7889,-2.20,-67.0,853.6,-8.1,703,7892,0.00,1.92,0.00,0.000,4,0.000,0.054,2225,1306,3073
$GC,7966,-2.20,-67.0,860.1,-8.5,706,7970,0.00,1.92,0.00,0.000,6,0.000,0.038,2225,2412,3073
$GC,8287,-2.20,-67.0,887.2,-8.6,722,8290,0.00,1.75,0.00,0.000,4,0.000,0.060,2225,3403,3071
$GC,8430,-2.20,-67.0,900.7,-9.6,728,8434,0.00,1.67,0.00,0.000,6,0.000,0.037,2225,2441,3071
$GC,8752,-2.20,-67.0,928.9,-8.9,744,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2441,3070
$GC,9061,-2.22,-69.3,954.0,-7.8,759,9065,0.00,2.03,0.00,0.000,4,0.000,0.062,2225,1296,3069
$GC,9116,-2.22,-71.6,958.5,-7.8,761,9120,0.00,1.98,0.00,0.000,6,0.000,0.041,2225,2427,3069
$GC,9437,-2.23,-77.0,983.3,-7.5,777,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2430,3067
$STATE,9539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9539,begin apogee
$GC,9544,-0.51,0.0,991.1,7.6,782,9601,1.80,0.00,52.72,1.450,6,0.109,0.000,2595,1992,2825
$STATE,9602,end apogee,CONTROL_FINISHED_OK
$STATE,9602,begin climb
$GC,9603,2.35,77.0,992.1,0.0,785,9681,2.90,0.00,68.68,1.418,6,0.071,0.000,3222,1991,2510
$GC,9990,2.33,87.4,967.5,7.0,804,10004,0.00,2.03,10.20,1.269,4,0.000,0.070,3222,913,2467
$GC,10050,2.29,90.5,963.0,7.7,806,10059,0.00,1.88,4.38,0.935,6,0.000,0.036,3222,1999,2456
$GC,10381,2.27,97.7,938.3,7.3,822,10390,0.00,0.00,7.80,1.204,6,0.000,0.000,3222,1999,2426
$GC,10689,2.25,101.3,914.8,7.6,837,10697,0.12,0.00,5.12,1.035,6,0.123,0.000,3199,1999,2411
$GC,10998,2.25,101.3,890.2,8.1,852,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1998,2410
$GC,11307,2.25,101.3,864.8,8.5,867,11311,0.00,1.77,0.00,0.000,4,0.000,0.055,3200,3012,2409
$GC,11391,2.25,101.3,857.7,8.7,870,11397,0.00,1.85,0.00,0.000,6,0.000,0.044,3200,1954,2409
$GC,11706,2.26,105.7,832.3,7.6,886,11713,0.00,0.00,5.15,1.020,6,0.000,0.000,3200,1954,2393
$GC,12015,2.29,124.9,811.0,6.2,901,12036,0.00,0.00,18.20,1.314,6,0.000,0.000,3199,1954,2315
$GC,12344,2.29,124.9,785.2,8.4,917,12345,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1954,2313
$GC,12653,2.29,124.9,758.8,8.6,932,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1953,2313
$GC,12962,2.29,124.9,732.1,9.0,947,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1954,2313
$GC,13273,2.29,124.9,705.9,8.1,962,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1954,2312
$GC,13581,2.29,124.9,680.0,8.4,977,13585,0.00,1.88,0.00,0.000,4,0.000,0.052,3199,3014,2312
$GC,13652,2.29,124.9,673.9,8.5,980,13657,0.00,1.88,0.00,0.000,6,0.000,0.051,3199,1953,2312
$GC,13979,2.29,126.1,648.5,7.9,996,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1953,2312
$GC,14288,2.29,126.1,623.1,8.3,1011,14290,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1953,2311
$GC,14599,2.30,130.1,598.6,7.6,1026,14607,0.00,0.00,5.72,0.956,6,0.000,0.000,3199,1953,2294
$GC,14907,2.31,135.8,576.9,7.5,1041,14918,0.00,1.95,6.70,1.006,4,0.000,0.050,3199,3014,2271
$GC,15085,2.31,139.8,562.9,7.6,1049,15096,0.00,1.90,5.12,0.901,6,0.000,0.041,3199,1936,2255
$GC,15411,2.31,139.8,536.3,8.1,1065,15412,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1936,2255
$GC,15721,2.31,139.8,510.8,8.8,1080,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1936,2255
$GC,16036,2.31,139.8,484.4,8.5,1103,16040,0.00,1.85,0.00,0.000,4,0.000,0.067,3199,910,2255
$GC,16164,2.31,139.8,472.9,9.0,1114,16171,0.00,1.77,0.00,0.000,6,0.000,0.033,3199,1944,2255
$GC,16489,2.31,139.8,445.9,8.2,1145,16490,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1944,2255
$GC,16808,2.33,150.3,423.7,7.0,1175,16820,0.00,0.00,10.45,0.996,6,0.000,0.000,3199,1944,2212
$GC,17135,2.33,150.3,397.1,8.4,1206,17136,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1945,2212
$GC,17455,2.36,155.9,371.2,7.5,1236,17468,0.12,1.95,6.55,0.870,4,0.084,0.061,3230,911,2189
$GC,17501,2.34,155.9,367.3,8.2,1240,17505,0.00,1.73,0.00,0.000,6,0.000,0.032,3230,1931,2188
$GC,17831,2.34,155.9,340.1,8.2,1271,17832,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1932,2188
$GC,18150,2.35,160.3,313.9,7.6,1301,18160,0.00,0.00,5.53,0.780,6,0.000,0.000,3230,1932,2171
$GC,18479,2.36,165.9,287.8,7.5,1332,18489,0.00,0.00,6.57,0.814,6,0.000,0.000,3230,1933,2148
$GC,18807,2.36,168.0,260.9,7.8,1363,18811,0.00,1.85,0.00,0.000,4,0.000,0.047,3230,3012,2147
$GC,18958,2.37,171.8,248.7,7.6,1378,18971,0.00,1.95,6.70,0.787,6,0.000,0.037,3230,1888,2124
$GC,19308,2.38,177.5,220.9,7.4,1440,19320,0.00,1.77,6.50,0.760,4,0.000,0.062,3230,907,2100
$GC,19552,2.39,188.3,201.5,7.0,1483,19569,0.00,1.70,10.52,0.823,6,0.000,0.031,3230,1925,2057
$GC,19908,2.44,202.8,174.4,6.6,1546,19925,0.00,1.92,13.45,0.818,4,0.000,0.055,3230,901,1997
$GC,19960,2.48,223.8,171.1,6.0,1555,19982,0.00,1.70,18.73,0.811,6,0.000,0.030,3230,1919,1912
$GC,20322,2.51,223.8,141.8,8.8,1619,20329,0.12,1.85,0.00,0.000,4,0.071,0.041,3265,3003,1910
$GC,20475,2.51,223.8,126.6,9.0,1646,20481,0.00,1.90,0.00,0.000,6,0.000,0.031,3265,1890,1910
$GC,20819,2.52,231.7,99.1,7.2,1707,20831,0.00,1.80,7.88,0.685,4,0.000,0.054,3264,905,1880
$GC,21018,2.56,255.0,83.5,5.8,1742,21046,0.00,1.62,20.25,0.741,6,0.000,0.027,3265,1896,1785
$GC,21386,2.67,286.2,63.7,5.0,1807,21420,0.12,1.90,25.88,0.717,4,0.070,0.038,3300,3002,1658
$GC,21673,2.70,292.9,40.4,7.4,1858,21685,0.00,1.85,6.95,0.599,6,0.000,0.028,3300,1904,1631
$GC,22024,2.78,314.5,17.0,5.9,1920,22047,0.00,1.83,19.25,0.654,4,0.000,0.048,3300,895,1542
$STATE,22220,end climb,SURFACE_DEPTH_REACHED
$STATE,22220,begin surface coast
$FINISH,0.2,1.021551
$STATE,22244,end surface coast,CONTROL_FINISHED_OK
$STATE,22244,begin surface
$SM_CCo,22266,101.57,0.638,0,0,888,475.15
$SM_GC,-4.98,0.00,0.00,101.57,0.000,0.000,0.638,417,2329,888,-10.55,0.11,475.15
$IRIDIUM_FIX,1327.53,12014.11,220597,080808
$TT8_MAMPS,0.026078
$HUMID,1714
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.60
$XPDR_PINGS,392
$24V_AH,23.2,7.403
$10V_AH,10.1,5.819
$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,28.375,93.500,355.000,101.575,0.000,80.840,89.813,220.708,110.500,0.000,0.000,16.930,3163.650,15246.999,576.442,3403.286,620.887,0.000,2135.783,0.000,3350.803,0.000,91.483
$DEVICE_MAMPS,172.575,174.876,1449.630,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1331.460,756.608,721.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107222,1959
$CAP_FILE_SIZE,188228,0
$CFSIZE,260165632,253276160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260208,142556,1334.432,12014.898,40,1.0,40,-1.0