version: 66.03
glider: 126
mission: 7
dive: 56
start: 2 27 108 16 8 30
data:
$ID,126
$MISSION,7
$DIVE,56
$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,548.98138
$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,-620641.62
$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,48
$R_STBD_OVSHOOT,54
$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
$GPS1,155255,1337.869,12013.319,39,1.4,39,-1.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.87
$_SM_ANGLEo,-51.2
$GPS2,160739,1337.921,12013.267,11,1.8,11,-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,156.2,1001,-24.2,-7.990
$D_GRID,1410
$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,-2.54,-56.0,0.0,0.0,0,100,0.00,0.00,-74.03,0.000,6,0.000,0.000,416,2345,3055
$GC,102,-2.54,-56.0,1.2,-17.4,15,120,9.82,1.83,0.00,0.000,4,0.173,0.036,2151,1275,3057
$GC,243,-2.41,-56.0,42.5,-25.0,40,250,0.12,1.73,0.00,0.000,6,0.130,0.026,2177,2319,3057
$GC,588,-2.35,-56.0,109.6,-18.2,101,594,0.12,1.77,0.00,0.000,4,0.134,0.038,2198,3372,3058
$GC,667,-2.31,-56.0,122.4,-15.2,115,673,0.00,1.62,0.00,0.000,6,0.000,0.025,2198,2345,3059
$GC,1010,-2.31,-56.0,169.9,-14.0,176,1016,0.00,1.77,0.00,0.000,4,0.000,0.041,2199,3365,3059
$GC,1078,-2.29,-56.0,179.7,-14.7,188,1084,0.00,1.60,0.00,0.000,6,0.000,0.026,2198,2371,3059
$GC,1421,-2.29,-56.0,223.7,-12.1,249,1427,0.00,1.73,0.00,0.000,4,0.000,0.044,2199,3376,3058
$GC,1613,-2.29,-56.0,249.2,-12.4,283,1619,0.00,1.60,0.00,0.000,6,0.000,0.028,2198,2375,3059
$GC,1945,-2.29,-56.0,289.9,-12.5,315,1948,0.00,1.73,0.00,0.000,4,0.000,0.046,2199,3373,3058
$GC,2027,-2.29,-56.0,300.8,-12.5,322,2034,0.00,1.55,0.00,0.000,6,0.000,0.028,2198,2427,3057
$GC,2353,-2.29,-56.0,339.4,-11.2,353,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2422,3055
$GC,2672,-2.29,-56.0,376.5,-12.4,383,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2422,3053
$GC,2990,-2.31,-56.0,413.4,-11.5,413,2994,0.00,1.90,0.00,0.000,4,0.000,0.044,2198,1317,3051
$GC,3080,-2.33,-56.0,423.8,-11.4,421,3083,0.00,1.83,0.00,0.000,6,0.000,0.032,2198,2404,3051
$GC,3410,-2.36,-56.0,459.5,-10.8,452,3413,0.00,1.67,0.00,0.000,4,0.000,0.054,2198,3367,3048
$GC,3493,-2.36,-56.0,468.3,-10.1,459,3499,0.00,1.55,0.00,0.000,6,0.000,0.032,2199,2453,3048
$GC,3820,-2.39,-56.0,500.8,-10.5,490,3824,0.00,2.05,0.00,0.000,4,0.000,0.061,2198,1296,3046
$GC,3871,-2.41,-56.0,506.1,-10.6,492,3874,0.00,1.92,0.00,0.000,6,0.000,0.039,2199,2423,3045
$GC,4198,-2.44,-56.0,540.0,-10.5,508,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2423,3043
$GC,4506,-2.47,-56.0,573.6,-10.8,523,4510,0.12,1.70,0.00,0.000,4,0.077,0.072,2168,3359,3041
$GC,4577,-2.47,-56.0,582.3,-12.5,526,4582,0.00,1.55,0.00,0.000,6,0.000,0.048,2168,2493,3040
$GC,4904,-2.47,-56.0,616.7,-9.9,542,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2491,3038
$GC,5213,-2.47,-56.0,645.0,-9.1,557,5217,0.00,2.20,0.00,0.000,4,0.000,0.093,2168,1326,3036
$GC,5307,-2.47,-56.0,654.3,-9.8,561,5311,0.00,2.05,0.00,0.000,6,0.000,0.081,2168,2400,3035
$GC,5628,-2.47,-56.0,685.4,-10.0,577,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3033
$GC,5937,-2.47,-56.0,717.2,-9.9,592,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3032
$GC,6246,-2.47,-56.0,746.8,-9.0,607,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3029
$GC,6556,-2.47,-56.0,777.3,-10.0,622,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2402,3028
$GC,6865,-2.47,-56.0,807.5,-9.2,637,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2401,3027
$GC,7174,-2.47,-56.0,835.0,-8.9,652,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2403,3026
$GC,7484,-2.47,-56.0,861.5,-8.8,667,7488,0.00,1.73,0.00,0.000,4,0.000,0.061,2168,3361,3025
$GC,7578,-2.47,-56.0,869.9,-9.1,671,7587,0.00,1.52,0.00,0.000,6,0.000,0.038,2168,2477,3025
$GC,7907,-2.47,-56.0,898.8,-9.3,687,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2477,3023
$GC,8216,-2.47,-56.0,925.2,-8.5,702,8220,0.00,2.05,0.00,0.000,4,0.000,0.059,2168,1323,3022
$GC,8321,-2.47,-56.0,934.5,-8.5,706,8329,0.00,1.92,0.00,0.000,6,0.000,0.042,2168,2414,3022
$GC,8638,-2.47,-56.0,961.6,-8.3,722,8642,0.00,1.73,0.00,0.000,4,0.000,0.064,2168,3365,3020
$GC,8708,-2.47,-56.0,967.7,-9.0,725,8713,0.00,1.55,0.00,0.000,6,0.000,0.038,2168,2474,3020
$STATE,9014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9019,-0.51,0.0,990.9,7.8,740,9066,2.10,0.00,42.50,1.446,6,0.116,0.000,2594,2007,2826
$STATE,9067,end apogee,CONTROL_FINISHED_OK
$STATE,9067,begin climb
$GC,9069,2.54,56.0,991.8,0.0,742,9131,3.03,1.90,50.03,1.409,4,0.071,0.057,3261,3007,2596
$GC,9356,2.53,72.4,976.0,6.2,755,9378,0.00,1.85,15.55,1.341,6,0.000,0.044,3262,1963,2529
$GC,9686,2.51,77.9,952.4,7.4,771,9697,0.00,2.00,6.28,1.124,4,0.000,0.074,3261,901,2507
$GC,9870,2.47,79.1,937.4,7.9,779,9874,0.00,1.83,0.00,0.000,6,0.000,0.038,3262,1939,2506
$GC,10191,2.45,79.7,912.5,7.9,795,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1938,2505
$GC,10501,2.44,90.7,889.9,6.8,810,10515,0.00,0.00,12.57,1.302,6,0.000,0.000,3261,1938,2455
$GC,10810,2.42,92.5,866.2,7.8,825,10812,0.12,0.00,0.00,0.000,6,0.126,0.000,3239,1939,2453
$GC,11119,2.43,99.3,842.8,7.3,840,11129,0.00,0.00,8.80,1.213,6,0.000,0.000,3239,1939,2421
$GC,11428,2.44,101.7,819.0,7.7,855,11434,0.00,0.00,3.92,0.858,6,0.000,0.000,3239,1939,2410
$GC,11737,2.44,106.0,795.3,7.5,870,11745,0.00,0.00,5.65,1.047,6,0.000,0.000,3239,1940,2392
$GC,12046,2.44,106.0,769.8,8.3,885,12050,0.00,1.88,0.00,0.000,4,0.000,0.054,3240,3010,2392
$GC,12252,2.45,107.8,752.0,7.8,894,12257,0.00,1.90,0.00,0.000,6,0.000,0.044,3239,1944,2391
$GC,12580,2.45,112.5,727.4,7.5,910,12588,0.00,0.00,7.07,1.098,6,0.000,0.000,3239,1944,2366
$GC,12888,2.45,112.5,700.6,9.2,925,12892,0.00,1.90,0.00,0.000,4,0.000,0.051,3239,3019,2366
$GC,12971,2.45,112.5,692.7,9.6,928,12978,0.00,1.88,0.00,0.000,6,0.000,0.041,3239,1960,2366
$GC,13286,2.45,112.5,665.0,8.5,944,13288,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1960,2365
$GC,13596,2.46,118.3,641.1,7.4,959,13607,0.00,1.95,6.78,1.042,4,0.000,0.051,3239,3019,2342
$GC,13702,2.46,118.3,632.7,8.3,964,13706,0.00,1.83,0.00,0.000,6,0.000,0.041,3240,1971,2342
$GC,14034,2.47,121.1,606.8,7.7,980,14040,0.00,0.00,4.28,0.836,6,0.000,0.000,3239,1971,2331
$GC,14343,2.47,121.1,580.8,8.5,995,14344,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1972,2331
$GC,14652,2.47,121.1,554.7,8.2,1010,14656,0.00,1.83,0.00,0.000,4,0.000,0.050,3239,3012,2331
$GC,14719,2.47,121.1,549.2,8.0,1013,14722,0.00,1.80,0.00,0.000,6,0.000,0.040,3239,1982,2331
$GC,15050,2.47,123.2,522.6,7.8,1029,15056,0.00,0.00,3.78,0.723,6,0.000,0.000,3239,1982,2322
$GC,15361,2.47,123.3,497.9,8.0,1045,15362,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1982,2322
$GC,15678,2.47,123.3,471.3,8.6,1075,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1982,2322
$GC,15998,2.48,125.9,445.7,7.7,1105,16009,0.00,1.98,4.22,0.749,4,0.000,0.064,3239,914,2311
$GC,16081,2.48,125.9,438.8,8.1,1112,16088,0.00,1.85,0.00,0.000,6,0.000,0.035,3239,1985,2311
$GC,16407,2.50,125.9,412.9,8.0,1143,16408,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1986,2311
$GC,16726,2.54,132.0,388.3,7.3,1173,16738,0.10,2.03,7.10,0.901,4,0.086,0.060,3265,909,2286
$GC,16855,2.54,132.0,378.0,8.7,1184,16862,0.00,1.83,0.00,0.000,6,0.000,0.034,3265,1973,2286
$GC,17182,2.54,132.0,352.3,8.0,1215,17183,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1973,2286
$GC,17499,2.54,134.9,328.0,7.7,1245,17509,0.00,0.00,4.50,0.715,6,0.000,0.000,3265,1973,2273
$GC,17828,2.55,138.9,304.1,7.6,1276,17839,0.00,1.80,5.18,0.754,4,0.000,0.046,3265,3011,2258
$GC,17888,2.56,146.9,299.3,7.1,1281,17901,0.00,1.83,8.07,0.861,6,0.000,0.036,3265,1964,2226
$GC,18218,2.57,152.1,274.5,7.4,1312,18230,0.00,1.90,6.43,0.792,4,0.000,0.059,3265,915,2204
$GC,18376,2.57,152.1,261.5,9.2,1326,18380,0.00,1.75,0.00,0.000,6,0.000,0.031,3265,1957,2204
$GC,18711,2.59,164.1,236.1,6.7,1373,18728,0.00,1.90,11.65,0.853,4,0.000,0.054,3265,915,2155
$GC,18941,2.59,164.1,215.7,9.5,1414,18948,0.00,1.75,0.00,0.000,6,0.000,0.031,3266,1952,2155
$GC,19286,2.61,164.6,187.0,7.9,1475,19291,0.00,1.80,0.00,0.000,4,0.000,0.044,3265,3010,2154
$GC,19393,2.66,176.9,179.3,6.7,1494,19410,0.00,1.83,12.10,0.808,6,0.000,0.032,3265,1941,2103
$GC,19750,2.69,178.9,153.4,7.8,1557,19757,0.12,1.83,0.00,0.000,4,0.071,0.041,3299,3011,2103
$GC,20010,2.72,193.6,133.0,6.4,1603,20032,0.00,1.73,15.07,0.781,6,0.000,0.031,3299,1975,2035
$GC,20373,2.77,208.9,106.4,6.3,1667,20395,0.00,1.83,13.73,0.746,4,0.000,0.040,3299,3003,1973
$GC,20648,2.83,220.4,91.3,6.7,1716,20666,0.08,1.67,10.90,0.706,6,0.061,0.028,3328,2005,1925
$GC,21007,2.90,247.3,73.0,5.1,1779,21035,0.00,1.80,23.08,0.716,4,0.000,0.038,3328,3012,1816
$GC,21288,2.98,276.2,54.9,4.9,1829,21317,0.12,1.65,24.02,0.693,6,0.067,0.027,3365,2004,1699
$GC,21657,3.02,281.1,28.3,7.5,1894,21668,0.00,1.73,5.40,0.530,4,0.000,0.038,3365,3011,1679
$GC,21922,3.04,281.1,5.2,10.8,1941,21928,0.00,1.58,0.00,0.000,6,0.000,0.026,3365,2058,1679
$STATE,21954,end climb,SURFACE_DEPTH_REACHED
$STATE,21955,begin surface coast
$FINISH,0.2,1.021878
$STATE,21973,end surface coast,CONTROL_FINISHED_OK
$STATE,21973,begin surface
$SM_CCo,21993,158.52,0.627,0,0,587,548.98
$SM_GC,-5.23,0.00,0.00,158.52,0.000,0.000,0.627,413,2344,587,-10.57,0.54,548.98
$IRIDIUM_FIX,1334.19,12013.31,230597,161654
$TT8_MAMPS,0.026078
$HUMID,1667
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.40
$XPDR_PINGS,418
$24V_AH,22.9,8.182
$10V_AH,10.1,6.481
$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,28.800,105.675,318.650,158.525,0.000,130.835,219.546,172.419,117.000,0.000,0.000,11.863,3189.132,14962.120,630.624,3476.725,797.451,0.000,2243.288,0.000,3438.026,0.000,92.614
$DEVICE_MAMPS,173.342,92.807,1445.795,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1324.304,770.172,726.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107312,1950
$CAP_FILE_SIZE,196868,0
$CFSIZE,260165632,252743680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270208,221855,1336.195,12014.898,38,1.8,38,-1.0