version: 66.03
glider: 126
mission: 7
dive: 52
start: 2 26 108 14 35 30
data:
$ID,126
$MISSION,7
$DIVE,52
$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,-620572.38
$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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,142556,1334.432,12014.898,40,1.0,40,-1.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.05
$_SM_ANGLEo,-53.5
$GPS2,143439,1334.631,12014.890,15,1.0,15,-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,335.2,5756,-22.0,-7.990
$D_GRID,2003
$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,-67.0,0.0,0.0,0,85,0.00,0.00,-64.03,0.000,6,0.000,0.000,418,2328,3101
$GC,87,-2.33,-67.0,0.2,-14.7,12,104,10.12,1.80,0.00,0.000,4,0.174,0.039,2195,3372,3103
$GC,357,-2.20,-67.0,72.8,-22.5,60,364,0.12,1.77,0.00,0.000,6,0.112,0.025,2223,2287,3104
$GC,702,-2.14,-67.0,130.8,-16.3,121,707,0.00,1.88,0.00,0.000,4,0.000,0.040,2224,3383,3105
$GC,961,-2.09,-67.0,170.3,-16.9,167,967,0.15,1.70,0.00,0.000,6,0.114,0.025,2252,2312,3106
$GC,1304,-2.09,-67.0,214.5,-11.8,228,1310,0.00,1.85,0.00,0.000,4,0.000,0.043,2252,3371,3107
$GC,1562,-2.09,-67.0,245.8,-11.1,274,1569,0.00,1.75,0.00,0.000,6,0.000,0.027,2252,2306,3106
$GC,1895,-2.09,-67.0,280.6,-10.6,309,1898,0.00,1.85,0.00,0.000,4,0.000,0.044,2251,3372,3106
$GC,1995,-2.09,-67.0,292.1,-12.2,318,1999,0.00,1.73,0.00,0.000,6,0.000,0.028,2252,2331,3105
$GC,2325,-2.09,-67.0,329.4,-11.6,349,2329,0.00,1.75,0.00,0.000,4,0.000,0.042,2252,1296,3104
$GC,2363,-2.09,-67.0,334.0,-11.9,352,2370,0.00,1.75,0.00,0.000,6,0.000,0.030,2252,2337,3104
$GC,2689,-2.11,-67.0,371.2,-11.5,383,2692,0.00,1.80,0.00,0.000,4,0.000,0.049,2252,3379,3102
$GC,2801,-2.11,-67.0,384.2,-11.6,393,2804,0.00,1.67,0.00,0.000,6,0.000,0.031,2252,2368,3101
$GC,3131,-2.13,-67.0,417.3,-9.8,424,3134,0.00,1.88,0.00,0.000,4,0.000,0.049,2252,1281,3099
$GC,3198,-2.15,-67.0,424.4,-10.5,430,3202,0.00,1.80,0.00,0.000,6,0.000,0.032,2252,2356,3099
$GC,3528,-2.18,-67.0,459.4,-10.6,461,3532,0.00,1.77,0.00,0.000,4,0.000,0.053,2252,3376,3097
$GC,3606,-2.18,-67.0,468.0,-10.5,468,3610,0.00,1.70,0.00,0.000,6,0.000,0.033,2252,2367,3096
$GC,3938,-2.21,-67.0,500.1,-9.5,499,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2366,3094
$GC,4245,-2.23,-67.0,530.0,-9.7,514,4253,0.12,1.95,0.00,0.000,4,0.074,0.070,2221,1288,3092
$GC,4280,-2.23,-67.0,533.6,-10.3,515,4285,0.00,1.85,0.00,0.000,6,0.000,0.042,2220,2343,3092
$GC,4601,-2.23,-67.0,567.4,-11.2,531,4605,0.00,1.92,0.00,0.000,4,0.000,0.065,2221,1282,3089
$GC,4690,-2.23,-67.0,577.1,-10.3,535,4694,0.00,1.85,0.00,0.000,6,0.000,0.051,2221,2333,3089
$GC,5025,-2.23,-67.0,610.4,-9.9,551,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2333,3087
$GC,5334,-2.23,-67.0,640.0,-9.0,566,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2334,3085
$GC,5640,-2.23,-67.0,668.2,-9.5,581,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2334,3083
$GC,5949,-2.23,-67.0,696.6,-9.0,596,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2334,3082
$GC,6259,-2.23,-67.0,723.2,-8.7,611,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2334,3080
$GC,6568,-2.23,-67.0,749.8,-8.7,626,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2334,3079
$GC,6877,-2.23,-67.0,776.1,-8.4,641,6881,0.00,2.35,0.00,0.000,4,0.000,0.168,2221,1298,3077
$GC,6954,-2.23,-67.0,783.0,-9.0,644,6961,0.00,2.28,0.00,0.000,6,0.000,0.146,2221,2329,3077
$GC,7271,-2.23,-67.0,811.6,-9.6,660,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2330,3075
$GC,7579,-2.23,-67.0,839.9,-9.5,675,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2339,3074
$GC,7891,-2.23,-67.0,870.2,-10.1,690,7894,0.00,1.90,0.00,0.000,4,0.000,0.058,2221,3409,3073
$GC,7951,-2.23,-67.0,876.6,-10.2,692,7958,0.00,1.85,0.00,0.000,6,0.000,0.038,2221,2343,3074
$GC,8266,-2.23,-67.0,905.6,-9.0,708,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2342,3072
$GC,8575,-2.23,-67.0,932.4,-8.8,723,8579,0.00,1.88,0.00,0.000,4,0.000,0.059,2221,1278,3071
$GC,8697,-2.23,-67.0,942.9,-8.5,728,8702,0.00,1.88,0.00,0.000,6,0.000,0.039,2221,2353,3071
$GC,9019,-2.23,-67.0,971.1,-9.2,744,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2353,3069
$STATE,9244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9245,begin apogee
$GC,9249,-0.51,0.0,991.5,8.9,755,9307,1.83,0.00,52.88,1.439,6,0.107,0.000,2597,1961,2825
$STATE,9307,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9309,2.33,67.0,993.2,0.0,758,9374,2.88,0.00,59.78,1.406,6,0.071,0.000,3219,1961,2551
$GC,9675,2.33,87.9,974.9,6.0,776,9697,0.00,0.00,19.38,1.356,6,0.000,0.000,3218,1961,2466
$GC,10004,2.32,93.9,950.7,7.4,792,10015,0.00,2.00,6.50,1.132,4,0.000,0.069,3218,917,2442
$GC,10093,2.28,97.3,943.6,7.7,796,10103,0.00,1.85,5.05,1.017,6,0.000,0.035,3218,1971,2427
$GC,10419,2.26,102.1,918.6,7.5,812,10429,0.00,1.98,5.95,1.095,4,0.000,0.064,3219,914,2407
$GC,10536,2.23,108.2,909.1,7.4,817,10548,0.12,1.77,7.03,1.154,6,0.124,0.036,3196,1950,2383
$GC,10856,2.23,111.0,884.7,7.7,833,10865,0.00,1.98,3.95,0.870,4,0.000,0.065,3196,910,2372
$GC,11000,2.24,114.0,872.8,7.7,839,11011,0.00,1.77,4.62,0.966,6,0.000,0.036,3196,1929,2360
$GC,11320,2.24,114.0,847.2,8.2,855,11323,0.00,1.90,0.00,0.000,4,0.000,0.053,3196,3014,2359
$GC,11413,2.24,114.0,839.7,8.8,859,11419,0.00,1.90,0.00,0.000,6,0.000,0.044,3196,1946,2359
$GC,11741,2.24,115.8,813.6,7.8,875,11744,0.00,1.90,0.00,0.000,4,0.000,0.051,3196,3017,2359
$GC,11795,2.24,115.8,808.8,9.2,877,11800,0.00,1.90,0.00,0.000,6,0.000,0.042,3196,1945,2358
$GC,12116,2.24,115.8,781.4,8.9,893,12120,0.00,1.90,0.00,0.000,4,0.000,0.072,3196,903,2358
$GC,12261,2.24,115.8,768.6,8.5,899,12266,0.00,1.83,0.00,0.000,6,0.000,0.035,3196,1955,2358
$GC,12582,2.25,117.6,743.4,7.8,915,12588,0.00,0.00,4.53,0.908,6,0.000,0.000,3196,1955,2345
$GC,12891,2.25,123.4,719.5,7.4,930,12903,0.00,2.03,6.68,1.074,4,0.000,0.066,3196,900,2322
$GC,13008,2.25,123.4,710.1,9.3,935,13013,0.00,1.83,0.00,0.000,6,0.000,0.035,3196,1946,2322
$GC,13329,2.26,127.3,685.5,7.6,951,13339,0.00,1.88,5.20,0.960,4,0.000,0.051,3196,3010,2306
$GC,13394,2.26,127.3,680.3,8.4,954,13399,0.00,1.92,0.00,0.000,6,0.000,0.044,3196,1931,2305
$GC,13721,2.26,127.3,652.9,8.5,970,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1931,2305
$GC,14031,2.26,128.3,627.0,7.9,985,14034,0.00,1.92,0.00,0.000,4,0.000,0.051,3196,3021,2306
$GC,14091,2.26,128.3,621.9,8.9,987,14098,0.00,1.90,0.00,0.000,6,0.000,0.041,3196,1945,2305
$GC,14406,2.27,133.3,597.9,7.5,1003,14415,0.00,0.00,6.90,1.016,6,0.000,0.000,3196,1945,2281
$GC,14716,2.27,133.3,573.0,8.3,1018,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1945,2280
$GC,15025,2.27,133.3,548.0,8.2,1033,15028,0.00,1.90,0.00,0.000,4,0.000,0.069,3196,900,2281
$GC,15152,2.27,133.3,537.1,8.6,1038,15159,0.00,1.77,0.00,0.000,6,0.000,0.034,3196,1932,2281
$GC,15468,2.28,137.6,512.4,7.6,1054,15478,0.00,1.90,5.75,0.907,4,0.000,0.063,3196,903,2263
$GC,15686,2.29,142.3,495.5,7.5,1066,15697,0.00,1.73,5.75,0.902,6,0.000,0.034,3196,1925,2244
$GC,16015,2.30,149.6,470.6,7.3,1097,16027,0.00,1.98,7.68,0.971,4,0.000,0.050,3196,3013,2214
$GC,16110,2.30,151.5,463.2,7.8,1105,16116,0.00,1.92,0.00,0.000,6,0.000,0.041,3196,1926,2214
$GC,16435,2.30,151.5,437.0,8.3,1136,16436,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1926,2213
$GC,16754,2.32,151.5,410.8,8.4,1166,16758,0.00,1.90,0.00,0.000,4,0.000,0.048,3196,3012,2214
$GC,16877,2.32,151.5,400.0,8.9,1177,16881,0.00,1.88,0.00,0.000,6,0.000,0.038,3196,1919,2214
$GC,17208,2.35,151.5,372.6,8.0,1208,17210,0.12,0.00,0.00,0.000,6,0.079,0.000,3227,1920,2214
$GC,17526,2.35,155.3,348.4,7.6,1238,17536,0.00,0.00,6.80,0.854,6,0.000,0.000,3227,1919,2191
$GC,17855,2.36,160.3,322.7,7.5,1269,17866,0.00,1.92,5.93,0.807,4,0.000,0.045,3227,3012,2171
$GC,18002,2.36,160.9,310.9,7.9,1282,18005,0.00,1.88,0.00,0.000,6,0.000,0.036,3227,1915,2171
$GC,18331,2.37,162.5,284.5,7.8,1313,18342,0.00,1.85,3.88,0.623,4,0.000,0.063,3227,912,2162
$GC,18459,2.37,162.5,274.0,8.2,1324,18466,0.00,1.73,0.00,0.000,6,0.000,0.030,3227,1928,2162
$GC,18785,2.37,162.6,247.4,8.0,1357,18791,0.00,1.85,0.00,0.000,4,0.000,0.044,3227,3010,2162
$GC,18922,2.37,162.6,235.3,9.1,1381,18928,0.00,1.85,0.00,0.000,6,0.000,0.034,3227,1919,2162
$GC,19265,2.40,180.6,209.2,6.3,1442,19287,0.00,0.00,16.77,0.861,6,0.000,0.000,3227,1918,2088
$GC,19624,2.43,185.2,182.0,7.6,1506,19635,0.00,0.00,5.45,0.674,6,0.000,0.000,3227,1917,2069
$GC,19974,2.48,196.9,158.4,6.9,1568,19993,0.10,1.90,11.10,0.778,4,0.081,0.041,3256,3010,2021
$GC,20245,2.51,218.0,138.3,6.0,1616,20268,0.00,1.85,18.67,0.785,6,0.000,0.031,3256,1924,1936
$GC,20606,2.56,229.5,107.9,6.9,1680,20623,0.00,0.00,10.80,0.721,6,0.000,0.000,3256,1923,1888
$GC,20961,2.67,276.8,85.6,3.5,1743,21006,0.15,1.85,38.90,0.736,4,0.064,0.052,3302,922,1696
$GC,21074,2.68,283.3,76.0,7.4,1763,21087,0.00,1.65,6.47,0.611,6,0.000,0.026,3302,1931,1669
$GC,21428,2.77,316.8,50.2,4.8,1825,21461,0.00,1.90,28.00,0.692,4,0.000,0.039,3301,3003,1533
$GC,21686,2.80,316.8,30.2,9.0,1871,21692,0.00,1.77,0.00,0.000,6,0.000,0.028,3302,1930,1532
$GC,22029,2.90,339.8,2.0,5.8,1932,22037,0.15,0.00,5.18,0.499,2,0.061,0.000,3351,1929,1515
$STATE,22038,end climb,SURFACE_DEPTH_REACHED
$STATE,22038,begin surface coast
$FINISH,-2.4,1.021645
$STATE,22076,end surface coast,CONTROL_FINISHED_OK
$STATE,22077,begin surface
$SM_CCo,22097,92.85,0.634,0,0,887,475.15
$SM_GC,-5.25,0.00,0.00,92.85,0.000,0.000,0.634,413,2337,887,-10.57,0.34,475.15
$IRIDIUM_FIX,1329.75,12015.23,220597,141421
$TT8_MAMPS,0.024544
$HUMID,1709
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.20
$XPDR_PINGS,352
$24V_AH,23.1,7.558
$10V_AH,10.1,5.951
$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,28.775,120.625,365.550,92.850,0.000,56.574,26.717,264.510,100.500,0.000,0.000,15.416,3198.672,14793.041,597.111,3510.334,634.172,0.000,2239.654,0.000,3479.647,0.000,91.488
$DEVICE_MAMPS,174.109,167.973,1438.892,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1317.333,746.329,721.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104155,1940
$CAP_FILE_SIZE,200258,0
$CFSIZE,260165632,253173760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260208,204637,1336.908,12014.419,37,2.0,42,-1.0