version: 66.03
glider: 126
mission: 7
dive: 50
start: 2 26 108 1 52 54
data:
$ID,126
$MISSION,7
$DIVE,50
$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,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,-620538.75
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,014308,1328.803,12015.192,41,1.7,41,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.00
$_SM_ANGLEo,-51.5
$GPS2,015203,1328.958,12015.188,16,1.1,16,-0.9
$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,349.9,15981,-22.0,-7.990
$D_GRID,1606
$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,-67.0,0.0,0.0,0,90,0.00,0.00,-64.55,0.000,6,0.000,0.000,418,2324,3100
$GC,92,-2.33,-67.0,1.8,-18.6,13,109,10.20,1.83,0.00,0.000,4,0.176,0.038,2198,3384,3102
$GC,182,-2.18,-67.0,31.9,-25.4,29,189,0.17,1.75,0.00,0.000,6,0.127,0.025,2230,2308,3102
$GC,526,-2.12,-67.0,98.2,-13.7,90,532,0.00,1.88,0.00,0.000,4,0.000,0.040,2231,3387,3103
$GC,785,-2.07,-67.0,137.1,-15.8,136,792,0.10,1.70,0.00,0.000,6,0.113,0.025,2253,2348,3104
$GC,1129,-2.07,-67.0,184.4,-12.0,197,1135,0.00,1.77,0.00,0.000,4,0.000,0.041,2254,3383,3105
$GC,1388,-2.07,-67.0,217.8,-11.8,243,1394,0.00,1.65,0.00,0.000,6,0.000,0.026,2254,2361,3105
$GC,1733,-2.07,-67.0,256.2,-11.5,300,1736,0.00,1.77,0.00,0.000,4,0.000,0.044,2254,3387,3105
$GC,1990,-2.07,-67.0,286.0,-11.3,323,1994,0.00,1.65,0.00,0.000,6,0.000,0.028,2254,2387,3104
$GC,2321,-2.07,-67.0,322.8,-11.3,354,2324,0.00,1.73,0.00,0.000,4,0.000,0.047,2253,3379,3103
$GC,2443,-2.07,-67.0,336.9,-11.0,365,2447,0.00,1.65,0.00,0.000,6,0.000,0.029,2253,2389,3102
$GC,2773,-2.07,-67.0,372.2,-10.8,396,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2385,3100
$GC,3092,-2.09,-67.0,407.0,-11.1,426,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2384,3098
$GC,3411,-2.11,-67.0,441.1,-9.6,456,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2384,3095
$GC,3729,-2.14,-67.0,474.8,-10.3,486,3733,0.00,1.88,0.00,0.000,4,0.000,0.051,2254,1311,3094
$GC,3774,-2.16,-67.0,479.2,-9.6,490,3777,0.00,1.88,0.00,0.000,6,0.000,0.035,2254,2417,3094
$GC,4114,-2.19,-67.0,512.0,-9.6,516,4117,0.00,1.95,0.00,0.000,4,0.000,0.052,2254,1315,3091
$GC,4198,-2.22,-67.0,520.5,-10.1,519,4204,0.12,1.85,0.00,0.000,6,0.074,0.038,2222,2403,3091
$GC,4512,-2.22,-67.0,553.3,-10.0,535,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3089
$GC,4821,-2.22,-67.0,583.1,-9.3,550,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3087
$GC,5130,-2.22,-67.0,614.4,-10.4,565,5134,0.00,2.05,0.00,0.000,4,0.000,0.082,2222,1315,3084
$GC,5180,-2.22,-67.0,620.1,-11.5,567,5184,0.00,1.98,0.00,0.000,6,0.000,0.067,2222,2391,3084
$GC,5506,-2.22,-67.0,654.9,-10.5,583,5510,0.00,1.90,0.00,0.000,4,0.000,0.103,2222,3369,3082
$GC,5573,-2.22,-67.0,661.9,-10.3,586,5576,0.00,1.77,0.00,0.000,6,0.000,0.081,2222,2455,3082
$GC,5904,-2.22,-67.0,695.6,-10.1,602,5908,0.00,2.28,0.00,0.000,4,0.000,0.118,2222,1318,3080
$GC,6015,-2.22,-67.0,707.0,-10.3,607,6019,0.00,2.10,0.00,0.000,6,0.000,0.102,2222,2370,3079
$GC,6341,-2.22,-67.0,738.3,-9.1,623,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2370,3077
$GC,6651,-2.22,-67.0,765.3,-9.1,638,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2370,3077
$GC,6960,-2.22,-67.0,792.5,-8.9,653,6964,0.00,2.33,0.00,0.000,4,0.000,0.174,2222,3389,3075
$GC,7053,-2.22,-67.0,800.8,-8.6,657,7058,0.00,2.10,0.00,0.000,6,0.000,0.157,2222,2472,3075
$GC,7374,-2.22,-67.0,829.2,-9.1,673,7378,0.00,2.00,0.00,0.000,4,0.000,0.050,2222,1308,3074
$GC,7492,-2.22,-67.0,839.9,-9.3,678,7497,0.00,1.90,0.00,0.000,6,0.000,0.038,2222,2423,3074
$GC,7817,-2.22,-67.0,869.5,-9.0,694,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2423,3072
$GC,8126,-2.22,-67.0,896.6,-8.8,709,8129,0.00,1.98,0.00,0.000,4,0.000,0.054,2222,1313,3071
$GC,8193,-2.22,-67.0,902.5,-9.5,712,8196,0.00,1.88,0.00,0.000,6,0.000,0.039,2222,2405,3070
$GC,8524,-2.22,-67.0,934.0,-9.2,728,8528,0.00,1.77,0.00,0.000,4,0.000,0.061,2222,3403,3069
$GC,8598,-2.22,-67.0,940.5,-8.9,731,8601,0.00,1.67,0.00,0.000,6,0.000,0.038,2222,2420,3069
$GC,8925,-2.22,-67.0,968.0,-8.2,747,8928,0.00,1.95,0.00,0.000,4,0.000,0.058,2222,1317,3068
$GC,8963,-2.23,-72.5,971.2,-7.5,748,8969,0.00,1.92,0.00,0.000,6,0.000,0.041,2222,2415,3068
$STATE,9215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9215,begin apogee
$GC,9221,-0.51,0.0,990.5,7.3,761,9278,1.80,0.00,52.67,1.441,6,0.104,0.000,2596,1995,2825
$STATE,9278,end apogee,CONTROL_FINISHED_OK
$STATE,9278,begin climb
$GC,9280,2.34,72.5,991.4,0.0,764,9352,2.83,1.98,64.12,1.408,4,0.071,0.054,3219,3037,2530
$GC,9397,2.32,90.6,986.0,6.3,769,9423,0.00,1.90,17.33,1.325,6,0.000,0.044,3219,1966,2455
$GC,9731,2.30,90.6,956.7,9.0,786,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1965,2452
$GC,10041,2.28,92.8,932.0,7.8,801,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1965,2450
$GC,10350,2.27,106.5,909.0,6.7,816,10370,0.00,0.00,14.80,1.315,6,0.000,0.000,3219,1965,2389
$GC,10679,2.27,106.5,882.0,8.6,832,10682,0.00,1.92,0.00,0.000,4,0.000,0.051,3219,3048,2388
$GC,10761,2.24,106.5,874.5,8.8,835,10769,0.08,1.92,0.00,0.000,6,0.116,0.043,3201,1966,2388
$GC,11077,2.24,106.5,849.0,8.0,851,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1966,2387
$GC,11386,2.24,109.0,824.0,7.8,866,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1966,2387
$GC,11695,2.25,114.8,800.4,7.4,881,11709,0.00,2.00,8.25,1.170,4,0.000,0.070,3201,915,2356
$GC,11755,2.24,121.9,795.7,7.3,883,11769,0.00,1.92,7.78,1.146,6,0.000,0.036,3201,2017,2328
$GC,12090,2.24,121.9,768.7,8.5,900,12093,0.00,1.80,0.00,0.000,4,0.000,0.054,3201,3042,2327
$GC,12134,2.24,121.9,764.9,8.7,902,12138,0.00,1.88,0.00,0.000,6,0.000,0.050,3201,1978,2327
$GC,12465,2.24,121.9,737.4,8.3,918,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1978,2327
$GC,12775,2.25,124.5,712.0,7.7,933,12784,0.00,1.92,3.90,0.815,4,0.000,0.051,3201,3034,2317
$GC,12856,2.25,124.5,705.0,8.8,936,12863,0.00,1.85,0.00,0.000,6,0.000,0.041,3201,1990,2316
$GC,13172,2.25,124.5,678.8,8.2,952,13175,0.00,1.98,0.00,0.000,4,0.000,0.068,3201,903,2316
$GC,13339,2.25,128.7,664.9,7.6,959,13351,0.00,1.90,5.38,0.966,6,0.000,0.035,3201,2018,2300
$GC,13659,2.25,128.7,639.4,8.0,975,13662,0.00,2.03,0.00,0.000,4,0.000,0.064,3201,909,2300
$GC,13775,2.25,128.7,630.1,8.4,980,13780,0.00,1.88,0.00,0.000,6,0.000,0.044,3201,1994,2300
$GC,14104,2.25,128.7,603.0,8.4,996,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1994,2300
$GC,14411,2.25,128.7,578.6,8.1,1011,14415,0.00,1.77,0.00,0.000,4,0.000,0.052,3201,3014,2300
$GC,14539,2.25,128.7,568.2,8.4,1016,14546,0.00,1.88,0.00,0.000,6,0.000,0.043,3201,1954,2300
$GC,14854,2.25,128.7,543.5,8.0,1032,14858,0.00,1.85,0.00,0.000,4,0.000,0.050,3201,3014,2300
$GC,14937,2.27,136.8,536.8,7.2,1035,14951,0.00,1.85,8.62,1.034,6,0.000,0.041,3201,1962,2267
$GC,15273,2.27,138.0,510.1,7.9,1052,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1962,2267
$GC,15587,2.27,138.0,486.1,8.0,1075,15591,0.00,1.90,0.00,0.000,4,0.000,0.067,3201,913,2267
$GC,15815,2.27,138.0,467.1,8.2,1095,15823,0.00,1.83,0.00,0.000,6,0.000,0.034,3201,1976,2267
$GC,16141,2.28,142.9,442.0,7.5,1126,16151,0.00,0.00,6.82,0.917,6,0.000,0.000,3201,1977,2242
$GC,16470,2.28,146.5,415.9,7.6,1157,16480,0.00,0.00,4.93,0.801,6,0.000,0.000,3201,1977,2227
$GC,16799,2.29,147.8,390.4,7.9,1188,16802,0.00,1.92,0.00,0.000,4,0.000,0.061,3201,912,2227
$GC,16949,2.30,156.3,378.8,7.2,1201,16966,0.00,1.80,10.05,0.953,6,0.000,0.032,3201,1962,2186
$GC,17284,2.33,161.0,353.4,7.6,1233,17294,0.00,0.00,5.88,0.821,6,0.000,0.000,3201,1962,2168
$GC,17613,2.36,161.0,328.3,8.1,1264,17614,0.10,0.00,0.00,0.000,6,0.088,0.000,3227,1962,2167
$GC,17931,2.36,161.3,302.1,8.0,1294,17932,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1964,2167
$GC,18250,2.37,166.1,276.1,7.5,1324,18261,0.00,1.83,6.00,0.768,4,0.000,0.048,3227,3006,2147
$GC,18479,2.37,166.1,257.3,8.4,1344,18486,0.00,1.88,0.00,0.000,6,0.000,0.037,3227,1933,2147
$GC,18817,2.39,178.5,230.5,6.8,1397,18835,0.00,1.92,11.98,0.852,4,0.000,0.061,3227,905,2097
$GC,18888,2.40,185.0,225.6,7.4,1409,18900,0.00,1.77,6.97,0.764,6,0.000,0.030,3227,1966,2071
$GC,19238,2.45,195.4,198.6,7.0,1471,19255,0.00,1.92,10.25,0.806,4,0.000,0.054,3227,907,2028
$GC,19362,2.46,201.9,189.4,7.4,1493,19375,0.00,1.67,6.93,0.734,6,0.000,0.029,3227,1919,2002
$GC,19714,2.49,201.9,162.6,8.0,1555,19721,0.10,1.80,0.00,0.000,4,0.080,0.052,3255,909,2001
$GC,19805,2.49,201.9,154.3,9.7,1571,19811,0.00,1.60,0.00,0.000,6,0.000,0.028,3255,1893,2001
$GC,20148,2.52,218.7,126.3,6.4,1632,20165,0.00,0.00,15.52,0.769,6,0.000,0.000,3255,1900,1933
$GC,20505,2.58,239.9,102.8,6.0,1695,20528,0.00,1.83,18.50,0.746,4,0.000,0.051,3255,910,1847
$GC,20637,2.61,242.7,91.8,7.7,1718,20649,0.08,1.65,4.12,0.517,6,0.060,0.027,3284,1908,1835
$GC,20988,2.71,279.1,70.2,4.5,1780,21027,0.00,1.92,30.12,0.720,4,0.000,0.040,3284,2998,1687
$GC,21061,2.76,291.3,65.6,6.8,1793,21079,0.12,1.90,11.50,0.662,6,0.069,0.029,3319,1865,1637
$GC,21417,2.82,303.2,38.1,6.9,1856,21434,0.00,0.00,11.05,0.642,6,0.000,0.000,3319,1862,1587
$GC,21773,2.86,303.2,7.6,8.5,1919,21778,0.00,1.65,0.00,0.000,4,0.000,0.047,3319,899,1587
$STATE,21846,end climb,SURFACE_DEPTH_REACHED
$STATE,21846,begin surface coast
$FINISH,-1.0,1.021525
$STATE,21873,end surface coast,CONTROL_FINISHED_OK
$STATE,21873,begin surface
$SM_CCo,21895,104.68,0.634,0,0,888,475.15
$SM_GC,-5.31,0.00,0.00,104.68,0.000,0.000,0.634,414,2320,888,-10.56,-0.14,475.15
$IRIDIUM_FIX,1323.10,12019.06,220597,010137
$TT8_MAMPS,0.026078
$HUMID,1726
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.70
$XPDR_PINGS,538
$24V_AH,23.1,7.245
$10V_AH,10.1,5.689
$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,28.400,124.675,343.475,104.675,0.000,48.452,35.752,274.550,147.000,0.000,0.000,16.753,3185.894,14610.595,583.769,3563.634,610.379,0.000,2247.063,0.000,3509.762,0.000,91.497
$DEVICE_MAMPS,176.410,174.109,1441.193,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1314.766,756.314,720.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104113,1937
$CAP_FILE_SIZE,198948,0
$CFSIZE,260165632,253370368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260208,080038,1331.775,12015.266,30,1.8,30,-1.0