version: 66.03
glider: 126
mission: 7
dive: 90
start: 3 7 108 6 32 36
data:
$ID,126
$MISSION,7
$DIVE,90
$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,-621213.31
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,061502,1248.371,12039.732,41,0.9,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,1
$_SM_DEPTHo,-5.02
$_SM_ANGLEo,-54.5
$GPS2,063145,1248.537,12039.704,13,1.0,13,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,DONGON
$TGT_LATLONG,1242.200,12044.500
$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,144.4,14588,-22.0,-7.990
$D_GRID,1363
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,96,0.00,0.00,-73.57,0.000,6,0.000,0.000,418,2342,3101
$GC,98,-2.33,-67.0,-0.1,-12.4,14,116,10.02,1.75,0.00,0.000,4,0.171,0.038,2195,3373,3102
$GC,264,-2.20,-67.0,40.4,-21.8,43,270,0.17,1.70,0.00,0.000,6,0.123,0.024,2228,2296,3103
$GC,609,-2.14,-67.0,100.7,-16.4,104,615,0.00,1.85,0.00,0.000,4,0.000,0.039,2228,3367,3103
$GC,643,-2.07,-67.0,106.7,-16.7,110,651,0.10,1.67,0.00,0.000,6,0.117,0.024,2251,2322,3103
$GC,988,-2.07,-67.0,154.5,-13.0,171,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2315,3104
$GC,1330,-2.07,-67.0,195.6,-10.9,232,1337,0.00,1.83,0.00,0.000,4,0.000,0.043,2250,3370,3104
$GC,1589,-2.07,-67.0,222.2,-10.1,278,1595,0.00,1.67,0.00,0.000,6,0.000,0.026,2250,2329,3105
$GC,1933,-2.09,-67.0,258.7,-10.0,332,1936,0.00,1.77,0.00,0.000,4,0.000,0.046,2250,3363,3104
$GC,2156,-2.09,-67.0,282.6,-10.3,352,2160,0.00,1.65,0.00,0.000,6,0.000,0.028,2250,2351,3102
$GC,2487,-2.12,-67.0,315.6,-9.6,383,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2345,3099
$GC,2806,-2.15,-67.0,345.3,-9.6,413,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2345,3098
$GC,3124,-2.19,-67.0,375.3,-9.4,443,3127,0.00,1.80,0.00,0.000,4,0.000,0.046,2250,1304,3095
$GC,3214,-2.22,-67.0,384.1,-9.4,451,3218,0.12,1.73,0.00,0.000,6,0.068,0.032,2217,2335,3094
$GC,3543,-2.22,-67.0,416.4,-9.8,482,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2336,3091
$GC,3862,-2.22,-67.0,450.9,-11.0,512,3865,0.00,1.80,0.00,0.000,4,0.000,0.052,2217,1316,3089
$GC,3974,-2.22,-67.0,463.6,-11.5,522,3977,0.00,1.77,0.00,0.000,6,0.000,0.036,2217,2359,3088
$GC,4304,-2.22,-67.0,495.4,-10.3,553,4308,0.00,1.83,0.00,0.000,4,0.000,0.063,2217,3370,3085
$GC,4420,-2.22,-67.0,507.9,-10.1,560,4425,0.00,1.67,0.00,0.000,6,0.000,0.035,2217,2397,3085
$GC,4748,-2.22,-67.0,540.4,-9.8,576,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2395,3082
$GC,5056,-2.22,-67.0,569.7,-9.4,591,5061,0.00,1.98,0.00,0.000,4,0.000,0.071,2217,1314,3080
$GC,5184,-2.22,-67.0,581.4,-8.5,596,5190,0.00,1.85,0.00,0.000,6,0.000,0.055,2217,2337,3079
$GC,5500,-2.22,-67.0,610.1,-8.9,612,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2337,3077
$GC,5808,-2.22,-67.0,638.5,-8.9,627,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2337,3075
$GC,6118,-2.22,-67.0,665.3,-9.1,642,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2338,3074
$GC,6427,-2.22,-67.0,692.5,-8.7,657,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2338,3072
$GC,6736,-2.22,-67.0,719.6,-8.5,672,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2338,3071
$GC,7046,-2.24,-67.0,746.8,-8.7,687,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2338,3069
$GC,7356,-2.24,-69.8,771.2,-7.7,702,7360,0.00,2.35,0.00,0.000,4,0.000,0.173,2217,3375,3068
$GC,7478,-2.26,-77.8,780.7,-7.2,707,7484,0.00,2.17,0.00,0.000,6,0.000,0.152,2216,2412,3068
$GC,7793,-2.28,-93.3,801.8,-6.5,723,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2411,3066
$GC,8104,-2.31,-98.3,823.8,-7.5,738,8109,0.00,2.58,0.00,0.000,4,0.000,0.195,2217,1326,3065
$GC,8154,-2.34,-103.5,827.8,-7.5,740,8158,0.00,2.33,0.00,0.000,6,0.000,0.170,2217,2335,3065
$GC,8475,-2.37,-103.5,852.1,-8.0,756,8479,0.00,2.67,0.00,0.000,4,0.000,0.219,2217,3390,3064
$GC,8523,-2.37,-103.5,856.2,-8.2,758,8528,0.00,1.88,0.00,0.000,6,0.000,0.072,2217,2374,3063
$GC,8847,-2.40,-109.6,881.5,-7.4,774,8849,0.15,0.00,0.00,0.000,6,0.072,0.000,2180,2373,3063
$GC,9154,-2.40,-109.6,905.9,-8.1,789,9157,0.00,1.92,0.00,0.000,4,0.000,0.055,2180,1277,3061
$GC,9243,-2.42,-122.1,912.2,-6.8,793,9246,0.00,1.85,0.00,0.000,6,0.000,0.036,2179,2358,3061
$GC,9575,-2.44,-136.9,933.5,-6.6,809,9578,0.00,1.92,0.00,0.000,4,0.000,0.052,2180,1271,3060
$GC,9697,-2.46,-145.5,942.3,-7.2,814,9701,0.00,1.80,0.00,0.000,6,0.000,0.038,2180,2305,3060
$GC,10019,-2.46,-146.0,965.6,-7.6,830,10022,0.00,1.92,0.00,0.000,4,0.000,0.069,2180,3373,3059
$GC,10130,-2.46,-146.0,974.6,-8.6,835,10134,0.00,1.83,0.00,0.000,6,0.000,0.041,2180,2319,3059
$STATE,10337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10337,begin apogee
$GC,10343,-0.51,0.0,990.4,7.5,845,10399,2.03,0.00,51.38,1.437,6,0.107,0.000,2598,1967,2825
$STATE,10400,end apogee,CONTROL_FINISHED_OK
$STATE,10400,begin climb
$GC,10402,2.47,146.0,991.4,0.0,848,10540,2.97,0.00,129.02,1.412,6,0.067,0.000,3248,1966,2228
$GC,10849,2.42,146.0,942.7,12.8,870,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1966,2222
$GC,11158,2.37,146.0,905.3,12.0,885,11162,0.12,1.95,0.00,0.000,4,0.123,0.067,3226,900,2219
$GC,11280,2.32,146.0,890.1,12.0,890,11284,0.00,1.85,0.00,0.000,6,0.000,0.035,3226,1961,2219
$GC,11601,2.28,146.0,853.0,11.1,906,11605,0.00,1.95,0.00,0.000,4,0.000,0.061,3226,900,2218
$GC,11678,2.23,146.0,844.1,10.3,909,11683,0.12,1.80,0.00,0.000,6,0.108,0.035,3198,1930,2218
$GC,11999,2.23,146.0,808.9,11.6,925,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1931,2217
$GC,12309,2.23,146.0,777.2,10.1,940,12310,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1931,2216
$GC,12618,2.23,146.0,745.0,10.6,955,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1932,2216
$GC,12927,2.23,146.0,715.2,8.9,970,12931,0.00,1.90,0.00,0.000,4,0.000,0.054,3198,3016,2216
$GC,13055,2.23,146.0,702.3,9.8,975,13061,0.00,1.92,0.00,0.000,6,0.000,0.044,3198,1925,2215
$GC,13372,2.23,146.0,672.6,9.2,991,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1925,2215
$GC,13679,2.23,146.0,643.9,9.4,1006,13683,0.00,1.95,0.00,0.000,4,0.000,0.054,3198,3020,2215
$GC,13740,2.23,146.0,638.2,9.3,1008,13747,0.00,1.90,0.00,0.000,6,0.000,0.041,3198,1938,2214
$GC,14055,2.23,146.0,608.5,9.8,1024,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1938,2215
$GC,14364,2.23,146.0,572.9,11.6,1039,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1938,2214
$GC,14674,2.23,146.0,536.1,12.1,1054,14677,0.00,1.90,0.00,0.000,4,0.000,0.051,3198,3013,2215
$GC,14750,2.23,146.0,527.6,9.9,1057,14755,0.00,1.88,0.00,0.000,6,0.000,0.040,3198,1942,2214
$GC,15075,2.23,146.0,494.3,11.0,1075,15076,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1942,2214
$GC,15391,2.23,146.0,463.5,8.9,1105,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1942,2214
$GC,15712,2.23,146.0,431.8,10.5,1135,15713,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1941,2214
$GC,16028,2.23,146.0,401.2,8.4,1165,16030,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1942,2215
$GC,16349,2.23,146.0,370.0,9.8,1195,16352,0.00,1.85,0.00,0.000,4,0.000,0.060,3198,904,2215
$GC,16499,2.23,146.0,354.6,10.0,1208,16506,0.00,1.77,0.00,0.000,6,0.000,0.032,3198,1943,2215
$GC,16827,2.24,149.8,327.0,7.6,1239,16830,0.00,1.83,0.00,0.000,4,0.000,0.050,3198,3006,2215
$GC,16932,2.25,155.4,318.3,7.5,1248,16943,0.00,1.85,6.93,0.839,6,0.000,0.038,3198,1938,2191
$GC,17262,2.25,155.7,291.3,8.0,1279,17265,0.00,1.88,0.00,0.000,4,0.000,0.048,3198,3013,2191
$GC,17385,2.25,155.7,280.7,8.8,1290,17389,0.00,1.83,0.00,0.000,6,0.000,0.035,3198,1952,2191
$GC,17715,2.25,155.7,253.3,8.4,1321,17717,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1952,2191
$GC,18049,2.25,156.8,227.4,7.9,1377,18055,0.00,1.85,0.00,0.000,4,0.000,0.058,3198,901,2191
$GC,18202,2.26,159.1,214.7,7.8,1404,18214,0.00,1.75,5.28,0.695,6,0.000,0.029,3198,1939,2176
$GC,18551,2.26,159.1,188.7,8.1,1466,18556,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1939,2176
$GC,18894,2.38,216.9,169.9,2.5,1527,18948,0.15,0.00,48.42,0.844,6,0.066,0.000,3242,1939,1939
$GC,19288,2.41,216.9,143.2,8.2,1597,19293,0.00,1.83,0.00,0.000,4,0.000,0.049,3242,905,1936
$GC,19383,2.41,216.9,135.2,8.7,1614,19389,0.00,1.70,0.00,0.000,6,0.000,0.027,3242,1928,1936
$GC,19728,2.50,251.5,110.7,4.7,1675,19761,0.00,0.00,28.75,0.760,6,0.000,0.000,3242,1929,1799
$GC,20100,2.57,265.8,83.5,6.6,1741,20118,0.12,1.88,13.00,0.698,4,0.065,0.045,3280,904,1741
$GC,20371,2.59,278.1,66.8,6.8,1789,20388,0.00,1.62,11.38,0.668,6,0.000,0.025,3280,1907,1691
$GC,20728,2.63,281.9,38.2,7.6,1852,20739,0.00,1.77,4.90,0.510,4,0.000,0.044,3279,908,1675
$GC,20992,2.66,281.9,15.1,8.6,1899,20998,0.00,1.60,0.00,0.000,6,0.000,0.025,3280,1904,1675
$STATE,21177,end climb,SURFACE_DEPTH_REACHED
$STATE,21177,begin surface coast
$FINISH,-0.1,1.021503
$STATE,21211,end surface coast,CONTROL_FINISHED_OK
$STATE,21211,begin surface
$SM_CCo,21231,156.05,0.622,0,0,586,548.98
$SM_GC,-5.39,0.00,0.00,156.05,0.000,0.000,0.622,415,2326,586,-10.56,0.03,548.98
$IRIDIUM_FIX,1247.67,11816.85,010697,060653
$TT8_MAMPS,0.026078
$HUMID,1684
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,448
$24V_AH,23.1,13.605
$10V_AH,10.1,11.010
$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,28.500,98.850,299.050,156.050,0.000,121.622,147.326,350.362,124.500,0.000,0.000,13.338,3146.966,14280.984,595.662,3438.039,945.137,0.000,2171.171,0.000,3411.790,0.000,91.487
$DEVICE_MAMPS,171.041,219.362,1436.591,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1316.545,805.246,743.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104026,1938
$CAP_FILE_SIZE,191904,0
$CFSIZE,260165632,249487360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070308,123025,1245.871,12041.552,29,1.2,46,-0.8