version: 66.03
glider: 126
mission: 7
dive: 13
start: 2 18 108 22 10 27
data:
$ID,126
$MISSION,7
$DIVE,13
$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,330
$T_MISSION,396
$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,-619932.75
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2706
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$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,2150
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,215611,1244.166,12043.328,8,2.6,27,-0.8
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.61
$_SM_ANGLEo,-54.0
$GPS2,220937,1244.318,12043.305,14,2.0,30,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,DONGON
$TGT_LATLONG,1242.200,12044.500
$TGT_RADIUS,2000.000
$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,152.0,4478,-23.3,-10.000
$D_GRID,917
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.46,-86.6,0.0,0.0,0,99,0.00,0.00,-76.78,0.000,6,0.000,0.000,414,2167,3178
$GC,100,-2.46,-86.6,2.7,-18.4,15,118,10.00,1.80,0.00,0.000,4,0.178,0.036,2167,1106,3179
$GC,135,-2.18,-86.6,17.2,-36.0,21,142,0.32,1.67,0.00,0.000,6,0.124,0.027,2228,2139,3180
$GC,480,-2.12,-86.6,90.5,-19.1,82,486,0.00,1.80,0.00,0.000,4,0.000,0.043,2228,3198,3180
$GC,699,-2.12,-86.6,123.9,-12.8,121,705,0.00,1.73,0.00,0.000,6,0.000,0.026,2228,2135,3180
$GC,1042,-2.14,-86.6,169.7,-12.0,182,1049,0.00,1.83,0.00,0.000,4,0.000,0.042,2228,3198,3180
$GC,1116,-2.17,-86.6,179.7,-13.6,195,1122,0.00,1.70,0.00,0.000,6,0.000,0.028,2228,2137,3180
$GC,1459,-2.21,-86.6,221.7,-11.5,256,1465,0.00,1.83,0.00,0.000,4,0.000,0.044,2228,3194,3181
$GC,1583,-2.25,-86.6,236.9,-12.2,278,1590,0.00,1.73,0.00,0.000,6,0.000,0.029,2228,2148,3180
$GC,1914,-2.29,-86.6,276.0,-11.1,318,1917,0.00,1.80,0.00,0.000,4,0.000,0.044,2228,3202,3178
$GC,2008,-2.33,-86.6,286.4,-10.3,326,2015,0.10,1.75,0.00,0.000,6,0.057,0.033,2195,2153,3178
$GC,2332,-2.35,-86.6,324.2,-11.7,357,2336,0.00,1.80,0.00,0.000,4,0.000,0.046,2195,3200,3175
$GC,2410,-2.35,-86.6,333.7,-11.9,364,2414,0.00,1.75,0.00,0.000,6,0.000,0.031,2195,2154,3174
$GC,2740,-2.37,-86.6,372.4,-11.2,395,2744,0.00,1.80,0.00,0.000,4,0.000,0.048,2195,3198,3172
$GC,2908,-2.37,-86.6,392.3,-11.2,410,2912,0.00,1.75,0.00,0.000,6,0.000,0.034,2194,2143,3171
$GC,3238,-2.40,-86.6,427.8,-10.2,441,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2142,3168
$GC,3557,-2.43,-86.6,462.8,-11.6,471,3560,0.00,1.85,0.00,0.000,4,0.000,0.052,2195,3203,3166
$GC,3640,-2.45,-86.6,473.0,-11.9,478,3647,0.08,1.80,0.00,0.000,6,0.069,0.036,2170,2159,3165
$GC,3972,-2.45,-86.6,512.2,-11.4,505,3976,0.00,1.83,0.00,0.000,4,0.000,0.059,2170,3190,3162
$GC,4123,-2.45,-86.6,529.5,-10.9,511,4129,0.00,1.80,0.00,0.000,6,0.000,0.043,2170,2142,3161
$GC,4437,-2.45,-86.6,562.5,-10.4,527,4441,0.00,1.92,0.00,0.000,4,0.000,0.071,2170,3196,3159
$GC,4573,-2.45,-86.6,577.6,-11.8,533,4576,0.00,1.85,0.00,0.000,6,0.000,0.058,2170,2153,3158
$GC,4904,-2.45,-86.6,612.8,-10.4,549,4907,0.00,1.98,0.00,0.000,4,0.000,0.089,2170,3194,3156
$GC,4972,-2.45,-86.6,619.5,-10.1,552,4975,0.00,1.92,0.00,0.000,6,0.000,0.076,2170,2153,3155
$GC,5303,-2.46,-89.2,651.8,-9.8,568,5306,0.00,2.03,0.00,0.000,4,0.000,0.107,2170,3180,3154
$GC,5392,-2.46,-89.2,661.4,-11.1,572,5396,0.00,2.03,0.00,0.000,6,0.000,0.099,2170,2145,3153
$GC,5723,-2.46,-89.2,698.1,-10.4,588,5727,0.00,1.85,0.00,0.000,4,0.000,0.052,2170,3202,3151
$GC,5858,-2.46,-91.8,711.6,-9.8,594,5861,0.00,1.83,0.00,0.000,6,0.000,0.037,2169,2118,3151
$GC,6189,-2.49,-96.7,744.5,-9.6,610,6193,0.00,1.90,0.00,0.000,4,0.000,0.054,2170,3202,3149
$GC,6289,-2.49,-96.9,754.5,-10.0,614,6293,0.00,1.83,0.00,0.000,6,0.000,0.038,2170,2142,3148
$GC,6610,-2.51,-96.9,787.7,-11.0,630,6613,0.00,1.85,0.00,0.000,4,0.000,0.054,2169,3194,3147
$GC,6658,-2.51,-96.9,793.3,-11.8,632,6663,0.00,1.80,0.00,0.000,6,0.000,0.038,2169,2147,3146
$GC,6986,-2.54,-96.9,828.9,-10.7,648,6989,0.00,1.85,0.00,0.000,4,0.000,0.055,2170,3199,3145
$GC,7119,-2.54,-96.9,843.3,-10.5,654,7123,0.00,1.83,0.00,0.000,6,0.000,0.039,2169,2144,3145
$GC,7451,-2.57,-96.9,876.9,-10.2,670,7455,0.12,1.85,0.00,0.000,4,0.086,0.054,2141,3195,3143
$GC,7483,-2.57,-96.9,880.5,-11.3,671,7488,0.00,1.80,0.00,0.000,6,0.000,0.038,2141,2149,3143
$GC,7804,-2.57,-96.9,915.7,-11.1,687,7808,0.00,1.85,0.00,0.000,4,0.000,0.055,2141,3200,3142
$STATE,7818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7818,begin apogee
$GC,7824,-0.50,0.0,917.5,11.5,687,7895,2.20,0.00,66.85,1.388,6,0.118,0.000,2596,1961,2825
$STATE,7896,end apogee,CONTROL_FINISHED_OK
$STATE,7896,begin climb
$GC,7897,2.47,96.9,920.3,0.0,691,7990,2.95,2.08,83.70,1.349,4,0.071,0.079,3250,908,2431
$GC,8170,2.41,96.9,898.9,12.4,703,8176,0.00,1.80,0.00,0.000,6,0.000,0.035,3250,1961,2426
$GC,8485,2.38,102.6,865.3,9.5,719,8493,0.15,0.00,5.82,1.029,6,0.126,0.000,3223,1961,2405
$GC,8794,2.37,112.0,836.9,9.2,734,8805,0.00,0.00,9.45,1.187,6,0.000,0.000,3223,1960,2368
$GC,9103,2.37,112.0,804.4,10.5,749,9106,0.00,1.85,0.00,0.000,4,0.000,0.054,3223,3019,2367
$GC,9266,2.35,112.0,788.2,10.3,756,9270,0.00,1.85,0.00,0.000,6,0.000,0.044,3223,1954,2367
$GC,9592,2.39,134.5,761.3,8.0,772,9617,0.00,1.92,20.58,1.266,4,0.000,0.051,3223,3013,2276
$GC,9673,2.39,135.9,753.8,9.9,776,9677,0.00,1.88,0.00,0.000,6,0.000,0.043,3222,1960,2274
$GC,10004,2.40,141.6,722.5,9.5,792,10013,0.00,0.00,7.55,1.095,6,0.000,0.000,3223,1960,2247
$GC,10313,2.40,141.6,688.6,10.9,807,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1960,2246
$GC,10622,2.40,142.8,656.8,9.9,822,10626,0.00,1.85,0.00,0.000,4,0.000,0.051,3223,3012,2245
$GC,10795,2.40,142.8,637.5,11.5,829,10802,0.00,1.85,0.00,0.000,6,0.000,0.043,3223,1963,2244
$GC,11112,2.40,142.8,602.2,11.0,845,11115,0.00,1.92,0.00,0.000,4,0.000,0.073,3223,906,2244
$GC,11246,2.38,142.8,587.3,10.2,851,11250,0.00,1.80,0.00,0.000,6,0.000,0.035,3223,1970,2245
$GC,11577,2.39,148.2,554.0,9.5,867,11585,0.00,0.00,6.68,0.984,6,0.000,0.000,3223,1971,2220
$GC,11907,2.39,149.4,521.5,9.9,883,11911,0.00,1.95,0.00,0.000,4,0.000,0.067,3223,903,2220
$GC,11991,2.39,149.4,512.8,10.7,886,11997,0.00,1.80,0.00,0.000,6,0.000,0.034,3223,1973,2220
$GC,12311,2.39,149.9,481.6,10.0,910,12314,0.00,1.95,0.00,0.000,4,0.000,0.065,3223,903,2220
$GC,12411,2.39,149.9,471.4,10.9,919,12415,0.00,1.80,0.00,0.000,6,0.000,0.034,3223,1973,2220
$GC,12741,2.39,152.7,437.9,9.7,950,12751,0.00,0.00,5.68,0.869,6,0.000,0.000,3223,1973,2202
$GC,13070,2.39,153.4,406.1,9.9,981,13073,0.00,1.80,0.00,0.000,4,0.000,0.051,3223,3015,2202
$GC,13147,2.39,153.4,398.0,11.4,988,13152,0.00,1.83,0.00,0.000,6,0.000,0.041,3223,1964,2202
$GC,13477,2.42,169.3,366.9,8.6,1019,13498,0.00,1.95,15.18,1.003,4,0.000,0.067,3223,911,2135
$GC,13592,2.42,169.3,355.6,10.1,1029,13599,0.00,1.80,0.00,0.000,6,0.000,0.031,3223,1964,2134
$GC,13918,2.42,169.3,323.0,10.2,1060,13919,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1964,2134
$GC,14236,2.44,178.1,291.2,9.2,1090,14250,0.00,1.88,8.90,0.883,4,0.000,0.049,3223,3012,2099
$GC,14302,2.44,178.1,284.5,10.7,1096,14306,0.00,1.83,0.00,0.000,6,0.000,0.038,3223,1964,2099
$GC,14631,2.46,178.1,251.3,10.4,1127,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1964,2098
$GC,14967,2.47,188.7,219.7,9.1,1185,14983,0.00,0.00,10.70,0.854,6,0.000,0.000,3223,1963,2055
$GC,15322,2.51,195.2,183.8,9.4,1248,15335,0.12,1.90,6.82,0.755,4,0.080,0.047,3254,3016,2029
$GC,15435,2.51,195.2,172.1,10.2,1268,15442,0.00,1.83,0.00,0.000,6,0.000,0.036,3254,1958,2029
$GC,15779,2.53,207.5,140.2,8.9,1329,15796,0.00,1.85,11.75,0.795,4,0.000,0.044,3254,3016,1979
$GC,15891,2.54,213.5,128.6,9.5,1349,15904,0.00,1.77,6.72,0.702,6,0.000,0.033,3254,1958,1954
$GC,16242,2.65,261.5,99.6,5.8,1411,16291,0.12,1.92,39.85,0.778,4,0.076,0.043,3288,3028,1758
$GC,16460,2.79,326.0,85.4,4.4,1450,16520,0.08,1.83,51.95,0.746,6,0.064,0.031,3316,1951,1495
$GC,16857,2.81,326.0,45.4,10.2,1521,16863,0.00,1.83,0.00,0.000,4,0.000,0.042,3316,3014,1491
$GC,16874,2.84,326.1,43.5,10.0,1524,16880,0.00,1.77,0.00,0.000,6,0.000,0.029,3317,1959,1492
$GC,17218,2.87,326.1,4.6,13.0,1585,17224,0.00,1.80,0.00,0.000,4,0.000,0.051,3317,917,1493
$STATE,17240,end climb,SURFACE_DEPTH_REACHED
$STATE,17240,begin surface coast
$FINISH,1.2,1.021816
$STATE,17245,end surface coast,CONTROL_FINISHED_OK
$STATE,17246,begin surface
$SM_CCo,17267,92.03,0.651,0,0,888,475.15
$SM_GC,-5.49,0.00,0.00,92.03,0.000,0.000,0.651,413,2179,888,-10.54,0.79,475.15
$IRIDIUM_FIX,1238.83,12041.15,140597,222241
$TT8_MAMPS,0.026078
$HUMID,1781
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.30
$XPDR_PINGS,302
$24V_AH,23.2,1.961
$10V_AH,10.1,1.567
$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,29.000,122.100,358.175,92.025,0.000,107.272,86.249,326.184,75.500,0.000,0.000,30.748,2617.670,11281.259,565.808,3027.998,721.367,0.000,2010.139,0.000,2991.825,0.000,0.464
$DEVICE_MAMPS,177.944,106.613,1388.270,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.109,651.969,619.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88282,1590
$CAP_FILE_SIZE,169190,0
$CFSIZE,260165632,256249856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190208,030056,1242.440,12044.493,36,1.3,36,-0.8