version: 66.03
glider: 126
mission: 7
dive: 91
start: 3 7 108 12 48 37
data:
$ID,126
$MISSION,7
$DIVE,91
$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,-621250.25
$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,41
$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
$GPS1,123025,1245.871,12041.552,29,1.2,46,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,1
$_SM_DEPTHo,-4.95
$_SM_ANGLEo,-52.1
$GPS2,124747,1245.876,12041.482,16,3.3,35,-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,142.1,8722,-22.0,-7.990
$D_GRID,981
$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,-67.0,0.0,0.0,0,95,0.00,0.00,-73.55,0.000,6,0.000,0.000,416,2332,3101
$GC,98,-2.33,-67.0,0.1,-13.7,14,115,10.05,1.83,0.00,0.000,4,0.171,0.033,2196,1253,3102
$GC,289,-2.22,-67.0,46.8,-20.3,48,296,0.10,1.77,0.00,0.000,6,0.115,0.030,2219,2320,3103
$GC,635,-2.15,-67.0,106.5,-16.6,109,641,0.12,1.77,0.00,0.000,4,0.122,0.041,2242,3373,3103
$GC,670,-2.08,-67.0,112.3,-16.3,115,676,0.00,1.73,0.00,0.000,6,0.000,0.023,2242,2284,3104
$GC,1013,-2.06,-67.0,161.3,-13.8,176,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2277,3105
$GC,1356,-2.06,-67.0,202.2,-10.6,237,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2278,3105
$GC,1698,-2.06,-67.0,237.6,-10.0,298,1704,0.00,1.67,0.00,0.000,4,0.000,0.039,2242,1304,3105
$GC,1839,-2.06,-67.0,251.8,-10.5,322,1845,0.00,1.73,0.00,0.000,6,0.000,0.028,2242,2352,3104
$GC,2164,-2.06,-67.0,284.4,-10.1,353,2167,0.00,1.77,0.00,0.000,4,0.000,0.039,2242,1312,3103
$GC,2246,-2.06,-67.0,293.1,-10.3,360,2253,0.00,1.73,0.00,0.000,6,0.000,0.029,2242,2333,3102
$GC,2572,-2.08,-67.0,326.1,-10.3,391,2576,0.00,1.80,0.00,0.000,4,0.000,0.051,2242,3375,3099
$GC,2722,-2.08,-67.0,342.2,-10.3,404,2729,0.00,1.70,0.00,0.000,6,0.000,0.028,2242,2347,3098
$GC,3050,-2.11,-67.0,374.1,-9.6,435,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2341,3096
$GC,3367,-2.14,-67.0,404.5,-10.0,465,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3093
$GC,3685,-2.17,-67.0,437.8,-11.5,495,3688,0.00,1.83,0.00,0.000,4,0.000,0.054,2242,1305,3090
$GC,3768,-2.20,-67.0,447.6,-10.5,502,3774,0.00,1.73,0.00,0.000,6,0.000,0.035,2242,2308,3090
$GC,4094,-2.23,-67.0,481.2,-10.0,533,4097,0.00,1.90,0.00,0.000,4,0.000,0.062,2242,3377,3087
$GC,4205,-2.23,-67.0,492.6,-9.7,543,4209,0.00,1.75,0.00,0.000,6,0.000,0.035,2242,2345,3086
$GC,4539,-2.27,-67.0,525.0,-9.6,563,4541,0.12,0.00,0.00,0.000,6,0.072,0.000,2210,2344,3083
$GC,4847,-2.27,-67.0,554.5,-9.5,578,4851,0.00,1.90,0.00,0.000,4,0.000,0.076,2210,3369,3082
$GC,4975,-2.27,-67.0,567.0,-9.8,583,4982,0.00,1.85,0.00,0.000,6,0.000,0.050,2210,2337,3080
$GC,5292,-2.27,-67.0,596.0,-9.1,599,5296,0.00,1.95,0.00,0.000,4,0.000,0.077,2210,1271,3078
$GC,5347,-2.27,-67.0,601.3,-9.3,601,5351,0.00,1.88,0.00,0.000,6,0.000,0.060,2210,2296,3078
$GC,5669,-2.27,-67.0,630.8,-8.9,617,5672,0.00,2.10,0.00,0.000,4,0.000,0.100,2211,3386,3076
$GC,5751,-2.27,-67.0,639.2,-9.7,620,5758,0.00,2.03,0.00,0.000,6,0.000,0.076,2210,2323,3075
$GC,6068,-2.27,-67.0,670.7,-9.8,636,6072,0.00,2.08,0.00,0.000,4,0.000,0.108,2210,1258,3074
$GC,6122,-2.27,-67.0,676.4,-10.3,638,6127,0.00,2.05,0.00,0.000,6,0.000,0.089,2210,2308,3073
$GC,6444,-2.27,-67.0,707.8,-9.9,654,6448,0.00,2.22,0.00,0.000,4,0.000,0.135,2210,3390,3072
$GC,6589,-2.27,-67.0,723.2,-10.3,660,6594,0.00,2.22,0.00,0.000,6,0.000,0.118,2210,2305,3072
$GC,6904,-2.27,-67.0,752.6,-8.6,675,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2305,3070
$GC,7213,-2.27,-67.0,777.9,-9.1,690,7217,0.00,2.45,0.00,0.000,4,0.000,0.168,2211,3381,3069
$GC,7261,-2.27,-67.0,782.3,-8.5,692,7266,0.00,2.08,0.00,0.000,6,0.000,0.082,2210,2278,3069
$GC,7583,-2.27,-67.0,809.8,-8.5,708,7590,0.00,2.03,0.00,0.000,4,0.000,0.061,2210,3403,3067
$GC,7713,-2.27,-67.0,820.9,-8.7,713,7720,0.00,1.88,0.00,0.000,6,0.000,0.037,2210,2320,3066
$GC,8029,-2.27,-67.0,846.4,-8.2,729,8032,0.00,1.85,0.00,0.000,4,0.000,0.059,2210,1272,3065
$GC,8196,-2.27,-67.0,861.2,-8.7,736,8200,0.00,1.83,0.00,0.000,6,0.000,0.038,2210,2324,3064
$GC,8519,-2.27,-67.0,890.9,-9.6,752,8523,0.00,1.88,0.00,0.000,4,0.000,0.066,2210,3373,3064
$GC,8669,-2.27,-67.0,905.0,-8.8,758,8676,0.00,1.85,0.00,0.000,6,0.000,0.039,2210,2313,3063
$GC,8988,-2.29,-67.0,930.8,-8.1,774,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2312,3062
$GC,9294,-2.31,-69.3,954.9,-7.8,789,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2311,3061
$GC,9604,-2.34,-69.3,980.0,-8.3,804,9608,0.00,1.85,0.00,0.000,4,0.000,0.061,2210,1268,3060
$STATE,9612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9612,begin apogee
$GC,9618,-0.51,0.0,981.0,8.1,804,9674,1.85,0.00,51.65,1.429,6,0.106,0.000,2597,1981,2825
$STATE,9674,end apogee,CONTROL_FINISHED_OK
$STATE,9674,begin climb
$GC,9676,2.34,69.3,982.3,0.0,807,9743,2.80,0.00,61.97,1.401,6,0.067,0.000,3221,1981,2543
$GC,10048,2.33,93.7,964.3,5.7,825,10076,0.00,2.10,22.48,1.360,4,0.000,0.068,3221,914,2443
$GC,10207,2.28,93.7,952.1,9.1,832,10210,0.00,1.83,0.00,0.000,6,0.000,0.036,3221,1968,2441
$GC,10533,2.24,93.7,923.4,9.0,848,10535,0.12,0.00,0.00,0.000,6,0.121,0.000,3199,1968,2440
$GC,10842,2.21,93.7,895.7,9.0,863,10846,0.00,1.92,0.00,0.000,4,0.000,0.061,3199,917,2439
$GC,10987,2.18,93.7,883.0,8.6,869,10991,0.00,1.83,0.00,0.000,6,0.000,0.036,3198,1959,2439
$GC,11308,2.15,93.7,856.1,8.1,885,11312,0.00,1.85,0.00,0.000,4,0.000,0.058,3199,3006,2438
$GC,11376,2.12,96.0,850.8,7.8,888,11380,0.15,1.88,0.00,0.000,6,0.117,0.046,3171,1942,2438
$GC,11708,2.12,97.1,825.7,7.9,904,11712,0.00,1.88,0.00,0.000,4,0.000,0.064,3171,901,2437
$GC,11871,2.13,102.0,811.7,7.5,911,11887,0.00,1.77,7.88,1.162,6,0.000,0.035,3171,1943,2409
$GC,12195,2.14,107.0,786.3,7.5,927,12203,0.00,0.00,6.22,1.081,6,0.000,0.000,3171,1943,2388
$GC,12504,2.14,107.0,761.3,8.2,942,12508,0.00,1.88,0.00,0.000,4,0.000,0.054,3171,3012,2387
$GC,12722,2.15,113.7,744.4,7.4,951,12734,0.00,1.85,7.32,1.114,6,0.000,0.044,3171,1968,2361
$GC,13054,2.15,113.7,714.8,9.0,968,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1968,2361
$GC,13364,2.15,115.5,688.5,7.8,983,13367,0.00,1.85,0.00,0.000,4,0.000,0.055,3171,3004,2361
$GC,13486,2.16,120.9,679.4,7.5,988,13498,0.00,1.80,7.95,1.101,6,0.000,0.042,3171,1982,2332
$GC,13806,2.18,134.3,657.4,6.7,1004,13821,0.00,0.00,13.40,1.177,6,0.000,0.000,3171,1982,2277
$GC,14116,2.19,138.6,634.5,7.6,1019,14126,0.00,1.95,5.70,0.967,4,0.000,0.062,3171,913,2259
$GC,14250,2.19,138.6,623.0,8.8,1025,14254,0.00,1.85,0.00,0.000,6,0.000,0.035,3171,1991,2258
$GC,14576,2.19,138.6,592.3,9.7,1041,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1992,2258
$GC,14887,2.19,139.1,565.6,7.9,1056,14890,0.00,1.98,0.00,0.000,4,0.000,0.060,3171,905,2258
$GC,14981,2.19,139.5,558.3,8.0,1060,14985,0.00,1.85,0.00,0.000,6,0.000,0.033,3171,1973,2258
$GC,15308,2.19,139.5,532.3,8.4,1076,15311,0.00,1.80,0.00,0.000,4,0.000,0.052,3171,3010,2258
$GC,15481,2.19,139.5,516.4,9.4,1083,15487,0.00,1.80,0.00,0.000,6,0.000,0.044,3171,1981,2258
$GC,15799,2.20,142.0,490.5,7.7,1104,15810,0.00,1.88,4.25,0.769,4,0.000,0.052,3171,3011,2246
$GC,15923,2.20,145.9,480.9,7.6,1115,15934,0.00,1.77,5.15,0.855,6,0.000,0.039,3171,1983,2230
$GC,16251,2.20,145.9,453.4,8.5,1146,16253,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1983,2230
$GC,16572,2.23,146.7,425.9,7.9,1176,16576,0.10,1.92,0.00,0.000,4,0.089,0.060,3197,907,2230
$GC,16677,2.24,152.8,417.4,7.4,1185,16689,0.00,1.85,7.78,0.939,6,0.000,0.033,3197,1986,2201
$GC,17007,2.24,153.2,392.0,8.0,1216,17010,0.00,1.77,0.00,0.000,4,0.000,0.050,3197,3012,2201
$GC,17163,2.24,153.2,377.7,9.6,1230,17167,0.00,1.77,0.00,0.000,6,0.000,0.038,3197,1977,2201
$GC,17494,2.24,153.2,347.5,8.9,1261,17495,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1977,2201
$GC,17811,2.24,153.2,320.9,8.1,1291,17812,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1977,2201
$GC,18130,2.24,153.2,296.4,8.7,1321,18134,0.00,1.80,0.00,0.000,4,0.000,0.050,3197,3005,2201
$GC,18269,2.24,153.2,283.7,8.3,1333,18276,0.00,1.70,0.00,0.000,6,0.000,0.035,3197,2018,2201
$GC,18595,2.24,153.2,256.4,8.9,1364,18598,0.00,1.95,0.00,0.000,4,0.000,0.057,3197,910,2202
$GC,18718,2.24,153.2,244.8,9.4,1380,18724,0.00,1.92,0.00,0.000,6,0.000,0.030,3197,2043,2202
$GC,19063,2.26,164.5,219.5,6.9,1441,19080,0.00,2.10,11.80,0.854,4,0.000,0.052,3197,914,2153
$GC,19125,2.26,164.6,214.6,8.0,1452,19132,0.00,1.92,0.00,0.000,6,0.000,0.029,3197,2040,2153
$GC,19470,2.28,164.6,188.2,8.0,1513,19476,0.00,2.00,0.00,0.000,4,0.000,0.051,3197,911,2153
$GC,19594,2.28,164.6,177.4,8.4,1535,19600,0.00,1.88,0.00,0.000,6,0.000,0.029,3196,2037,2153
$GC,19938,2.41,219.9,156.4,2.8,1596,19992,0.15,2.08,46.17,0.826,4,0.065,0.051,3242,914,1928
$GC,20088,2.45,241.7,149.1,5.9,1623,20112,0.00,1.85,18.92,0.787,6,0.000,0.028,3242,2022,1839
$GC,20450,2.47,241.7,119.4,9.1,1687,20456,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2023,1836
$GC,20792,2.54,262.1,94.6,6.1,1748,20815,0.00,2.05,17.45,0.730,4,0.000,0.047,3242,907,1756
$GC,20883,2.58,262.1,87.6,8.4,1764,20890,0.10,1.85,0.00,0.000,6,0.050,0.027,3278,2009,1756
$GC,21230,2.65,286.1,63.5,5.7,1825,21257,0.00,1.70,20.88,0.695,4,0.000,0.040,3278,2999,1657
$GC,21511,2.68,286.1,40.5,8.2,1875,21517,0.00,1.67,0.00,0.000,6,0.000,0.026,3278,1973,1656
$GC,21854,2.74,290.4,13.1,7.6,1936,21866,0.12,1.75,5.10,0.500,4,0.062,0.037,3318,3002,1641
$STATE,21997,end climb,SURFACE_DEPTH_REACHED
$STATE,21997,begin surface coast
$FINISH,-0.4,1.021606
$STATE,22019,end surface coast,CONTROL_FINISHED_OK
$STATE,22019,begin surface
$SM_CCo,22040,150.73,0.625,0,0,586,548.98
$SM_GC,-5.42,0.00,0.00,150.73,0.000,0.000,0.625,414,2282,586,-10.56,-1.22,548.98
$IRIDIUM_FIX,1241.04,12044.18,010697,121247
$TT8_MAMPS,0.026078
$HUMID,1695
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.50
$XPDR_PINGS,401
$24V_AH,23.1,13.777
$10V_AH,10.1,11.152
$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,28.400,137.875,322.075,150.725,0.000,140.803,221.236,282.027,112.500,0.000,0.000,36.340,3272.314,14621.704,628.927,3761.052,966.750,0.000,2370.773,0.000,3687.807,0.000,89.675
$DEVICE_MAMPS,171.041,167.973,1428.921,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1334.780,789.617,741.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107291,1965
$CAP_FILE_SIZE,209965,0
$CFSIZE,260165632,249368576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070308,185938,1243.732,12043.174,34,1.4,34,-0.8