version: 66.03
glider: 126
mission: 7
dive: 57
start: 2 27 108 22 35 49
data:
$ID,126
$MISSION,7
$DIVE,57
$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,-620656.56
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,50
$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
$GPS1,221855,1336.195,12014.898,38,1.8,38,-1.0
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,3
$_SM_DEPTHo,-4.82
$_SM_ANGLEo,-49.6
$GPS2,223457,1336.306,12014.861,14,1.2,14,-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,311.3,3215,-24.2,-7.990
$D_GRID,1382
$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,-56.0,0.0,0.0,0,94,0.00,0.00,-73.38,0.000,6,0.000,0.000,413,2344,3056
$GC,96,-2.54,-56.0,0.1,-13.9,14,114,9.95,1.75,0.00,0.000,4,0.177,0.038,2151,3366,3058
$GC,356,-2.42,-56.0,71.1,-23.9,60,362,0.12,1.73,0.00,0.000,6,0.137,0.025,2176,2304,3058
$GC,700,-2.39,-56.0,129.4,-15.4,121,705,0.00,1.80,0.00,0.000,4,0.000,0.039,2176,3364,3059
$GC,806,-2.33,-56.0,146.1,-15.9,140,813,0.10,1.60,0.00,0.000,6,0.125,0.025,2197,2363,3059
$GC,1150,-2.33,-56.0,193.4,-11.9,201,1156,0.00,1.75,0.00,0.000,4,0.000,0.035,2197,1309,3059
$GC,1196,-2.33,-56.0,199.1,-13.2,209,1201,0.00,1.75,0.00,0.000,6,0.000,0.027,2197,2379,3059
$GC,1538,-2.33,-56.0,239.7,-11.6,270,1544,0.00,1.70,0.00,0.000,4,0.000,0.044,2197,3362,3059
$GC,1640,-2.33,-56.0,251.3,-12.0,288,1643,0.00,1.52,0.00,0.000,6,0.000,0.028,2197,2415,3059
$GC,1970,-2.33,-56.0,288.3,-11.3,319,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2408,3058
$GC,2288,-2.33,-56.0,323.9,-11.4,349,2291,0.00,1.85,0.00,0.000,4,0.000,0.040,2197,1321,3056
$GC,2366,-2.33,-56.0,333.0,-11.6,356,2369,0.00,1.85,0.00,0.000,6,0.000,0.030,2197,2429,3056
$GC,2696,-2.36,-56.0,371.0,-11.3,387,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2430,3053
$GC,3015,-2.38,-56.0,406.1,-11.3,417,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2430,3051
$GC,3335,-2.41,-56.0,439.7,-10.2,447,3338,0.00,1.60,0.00,0.000,4,0.000,0.051,2197,3358,3050
$GC,3536,-2.41,-56.0,462.2,-10.6,465,3540,0.00,1.50,0.00,0.000,6,0.000,0.033,2197,2469,3047
$GC,3868,-2.44,-56.0,496.3,-10.2,496,3872,0.00,1.60,0.00,0.000,4,0.000,0.056,2197,3369,3046
$GC,3990,-2.44,-56.0,509.5,-10.2,503,3995,0.00,1.50,0.00,0.000,6,0.000,0.033,2197,2495,3044
$GC,4315,-2.47,-56.0,541.0,-9.8,519,4320,0.12,2.10,0.00,0.000,4,0.074,0.067,2167,1337,3042
$GC,4466,-2.47,-56.0,556.6,-9.5,526,4470,0.00,1.90,0.00,0.000,6,0.000,0.049,2167,2417,3041
$GC,4798,-2.47,-56.0,589.2,-9.6,542,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2417,3039
$GC,5108,-2.47,-56.0,620.8,-10.8,557,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2417,3036
$GC,5416,-2.47,-56.0,653.9,-10.8,572,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2417,3035
$GC,5725,-2.47,-56.0,686.4,-10.3,587,5729,0.00,2.17,0.00,0.000,4,0.000,0.113,2166,1337,3033
$GC,5837,-2.47,-56.0,697.9,-10.4,592,5841,0.00,2.10,0.00,0.000,6,0.000,0.100,2167,2403,3032
$GC,6168,-2.47,-56.0,729.9,-9.3,608,6176,0.00,1.98,0.00,0.000,4,0.000,0.139,2167,3350,3030
$GC,6298,-2.47,-56.0,741.9,-9.2,613,6305,0.00,1.50,0.00,0.000,6,0.000,0.035,2167,2474,3029
$GC,6615,-2.47,-56.0,771.3,-9.4,629,6618,0.00,2.00,0.00,0.000,4,0.000,0.051,2167,1328,3028
$GC,6669,-2.47,-56.0,776.7,-9.4,631,6674,0.00,1.90,0.00,0.000,6,0.000,0.036,2167,2427,3027
$GC,6990,-2.47,-56.0,806.0,-9.4,647,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2428,3027
$GC,7299,-2.47,-56.0,834.7,-9.0,662,7303,0.00,1.92,0.00,0.000,4,0.000,0.050,2167,1325,3026
$GC,7377,-2.47,-56.0,841.7,-9.3,665,7381,0.00,1.90,0.00,0.000,6,0.000,0.038,2167,2419,3025
$GC,7699,-2.47,-56.0,869.9,-8.7,681,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2421,3024
$GC,8007,-2.47,-56.0,895.1,-8.5,696,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2422,3023
$GC,8316,-2.47,-56.0,922.0,-8.7,711,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2422,3021
$GC,8625,-2.47,-56.0,948.7,-8.9,726,8629,0.00,1.92,0.00,0.000,4,0.000,0.051,2167,1331,3020
$GC,8754,-2.47,-56.0,960.4,-9.2,731,8760,0.00,1.88,0.00,0.000,6,0.000,0.040,2167,2425,3020
$GC,9068,-2.47,-56.0,987.6,-8.4,747,9072,0.00,1.65,0.00,0.000,4,0.000,0.061,2167,3359,3019
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9107,-0.51,0.0,990.5,8.4,748,9158,2.08,0.00,42.75,1.441,6,0.114,0.000,2598,2009,2825
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9159,begin climb
$GC,9160,2.54,56.0,991.8,0.0,751,9223,3.00,2.10,50.05,1.411,4,0.069,0.070,3267,918,2596
$GC,9307,2.52,79.0,985.8,5.5,757,9334,0.00,1.77,21.38,1.362,6,0.000,0.037,3267,1949,2502
$GC,9643,2.50,85.1,960.5,7.3,774,9654,0.00,1.95,6.50,1.131,4,0.000,0.052,3267,3012,2478
$GC,9721,2.47,86.3,954.2,7.9,777,9727,0.00,1.83,0.00,0.000,6,0.000,0.041,3266,1968,2478
$GC,10037,2.44,87.8,929.5,7.8,793,10046,0.12,1.95,4.38,0.944,4,0.129,0.065,3245,908,2466
$GC,10164,2.42,89.1,919.0,7.9,798,10170,0.00,1.83,0.00,0.000,6,0.000,0.036,3245,1973,2466
$GC,10479,2.43,93.5,894.5,7.5,814,10487,0.00,0.00,6.57,1.138,6,0.000,0.000,3245,1973,2443
$GC,10788,2.43,93.5,869.3,8.1,829,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1973,2441
$GC,11097,2.43,93.5,843.7,8.4,844,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1974,2441
$GC,11406,2.43,93.5,816.2,8.8,859,11410,0.00,1.95,0.00,0.000,4,0.000,0.062,3245,902,2441
$GC,11564,2.41,93.5,802.3,8.7,866,11567,0.00,1.83,0.00,0.000,6,0.000,0.043,3245,1969,2441
$GC,11895,2.41,93.5,775.7,8.0,882,11898,0.00,1.83,0.00,0.000,4,0.000,0.053,3245,3016,2440
$GC,11967,2.42,100.8,770.0,7.2,885,11978,0.00,1.85,7.35,1.133,6,0.000,0.041,3245,1963,2414
$GC,12287,2.42,101.6,744.1,7.9,900,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1963,2414
$GC,12596,2.43,104.9,720.6,7.6,915,12603,0.00,0.00,5.22,0.989,6,0.000,0.000,3245,1963,2397
$GC,12905,2.43,107.5,697.2,7.7,930,12914,0.00,1.95,4.30,0.881,4,0.000,0.066,3245,915,2387
$GC,13168,2.43,108.0,674.8,7.9,941,13174,0.00,1.83,0.00,0.000,6,0.000,0.035,3245,1972,2386
$GC,13483,2.44,112.8,650.5,7.5,957,13494,0.00,2.03,6.47,1.035,4,0.000,0.062,3245,906,2364
$GC,13582,2.44,112.8,642.3,8.2,961,13589,0.00,1.83,0.00,0.000,6,0.000,0.035,3245,1960,2364
$GC,13899,2.44,112.8,617.3,8.3,977,13900,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1960,2364
$GC,14207,2.44,112.8,592.3,8.0,992,14208,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1960,2364
$GC,14516,2.45,118.2,569.1,7.4,1007,14524,0.00,0.00,6.20,0.970,6,0.000,0.000,3245,1961,2343
$GC,14825,2.46,122.4,545.6,7.5,1022,14835,0.00,1.85,5.43,0.913,4,0.000,0.050,3245,3013,2326
$GC,14873,2.46,124.3,541.7,7.8,1024,14878,0.00,1.90,0.00,0.000,6,0.000,0.041,3245,1942,2326
$GC,15195,2.46,127.3,516.8,7.7,1040,15205,0.00,1.90,6.03,0.932,4,0.000,0.065,3245,902,2306
$GC,15260,2.46,127.3,511.3,8.7,1043,15265,0.00,1.77,0.00,0.000,6,0.000,0.034,3245,1930,2306
$GC,15581,2.46,127.3,485.5,8.2,1066,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1931,2306
$GC,15899,2.46,127.3,458.3,8.9,1096,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1931,2306
$GC,16219,2.47,128.4,432.6,7.9,1126,16222,0.00,1.88,0.00,0.000,4,0.000,0.049,3245,3017,2306
$GC,16312,2.47,131.6,424.8,7.6,1134,16323,0.00,1.92,5.60,0.854,6,0.000,0.039,3245,1919,2288
$GC,16648,2.48,135.5,398.0,7.6,1166,16658,0.00,0.00,5.28,0.824,6,0.000,0.000,3245,1919,2272
$GC,16977,2.48,138.4,372.0,7.7,1197,16988,0.00,1.88,4.30,0.726,4,0.000,0.072,3245,911,2260
$GC,17060,2.48,138.4,364.7,8.6,1204,17067,0.00,1.77,0.00,0.000,6,0.000,0.033,3245,1944,2260
$GC,17386,2.51,143.9,340.7,7.4,1235,17398,0.00,1.85,6.35,0.843,4,0.000,0.047,3245,3008,2238
$GC,17470,2.51,143.9,334.2,8.5,1242,17477,0.00,1.88,0.00,0.000,6,0.000,0.036,3245,1936,2237
$GC,17796,2.55,153.2,310.0,7.0,1273,17807,0.00,0.00,9.35,0.897,6,0.000,0.000,3245,1936,2200
$GC,18123,2.58,153.2,281.7,8.8,1304,18127,0.12,1.85,0.00,0.000,4,0.080,0.044,3278,3010,2200
$GC,18380,2.58,153.2,257.4,8.2,1327,18384,0.00,1.83,0.00,0.000,6,0.000,0.035,3278,1936,2200
$GC,18718,2.58,153.2,227.0,8.8,1380,18724,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1935,2200
$GC,19061,2.59,159.9,200.5,7.3,1441,19072,0.00,0.00,7.43,0.771,6,0.000,0.000,3278,1935,2173
$GC,19411,2.62,178.2,176.4,6.0,1503,19434,0.00,1.85,16.77,0.833,4,0.000,0.058,3278,917,2097
$GC,19468,2.64,185.6,172.3,7.2,1513,19481,0.00,1.75,7.40,0.730,6,0.000,0.030,3278,1968,2067
$GC,19820,2.68,192.3,145.6,7.3,1575,19832,0.00,1.95,7.05,0.708,4,0.000,0.052,3278,915,2041
$GC,19962,2.68,194.1,134.2,7.8,1600,19968,0.00,1.75,0.00,0.000,6,0.000,0.028,3278,1961,2041
$GC,20305,2.76,219.6,110.8,5.2,1661,20333,0.15,0.00,23.80,0.771,6,0.062,0.000,3324,1962,1929
$GC,20671,2.80,228.3,85.2,7.0,1726,20683,0.00,1.83,8.43,0.674,4,0.000,0.040,3324,2999,1894
$GC,20937,2.87,251.7,69.1,5.5,1773,20965,0.00,1.75,20.50,0.713,6,0.000,0.028,3324,1940,1798
$GC,21303,2.96,275.9,47.0,5.4,1838,21332,0.12,1.85,20.25,0.683,4,0.064,0.038,3361,2990,1700
$GC,21585,2.98,275.9,25.6,8.1,1888,21591,0.00,1.70,0.00,0.000,6,0.000,0.027,3362,1971,1699
$STATE,21877,end climb,SURFACE_DEPTH_REACHED
$STATE,21877,begin surface coast
$FINISH,0.4,1.021844
$STATE,21899,end surface coast,CONTROL_FINISHED_OK
$STATE,21899,begin surface
$SM_CCo,21920,158.05,0.628,0,0,586,548.98
$SM_GC,-5.21,0.00,0.00,158.05,0.000,0.000,0.628,414,2333,586,-10.56,0.23,548.98
$IRIDIUM_FIX,1329.75,12017.14,230597,222242
$TT8_MAMPS,0.026078
$HUMID,1669
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.40
$XPDR_PINGS,465
$24V_AH,23.1,8.346
$10V_AH,10.1,6.617
$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,28.775,114.575,315.125,158.050,0.000,145.606,240.049,210.729,128.750,0.000,0.000,14.304,3204.278,14783.571,614.133,3577.446,880.813,0.000,2276.578,0.000,3533.680,0.000,91.489
$DEVICE_MAMPS,177.177,138.827,1441.193,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1320.636,770.287,723.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104323,1944
$CAP_FILE_SIZE,200451,0
$CFSIZE,260165632,252628992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280208,044502,1337.490,12014.016,40,1.4,40,-1.0