version: 66.03
glider: 126
mission: 7
dive: 53
start: 2 26 108 20 56 37
data:
$ID,126
$MISSION,7
$DIVE,53
$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,-620604.44
$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,41
$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
$GPS1,204637,1336.908,12014.419,37,2.0,42,-1.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.93
$_SM_ANGLEo,-52.3
$GPS2,205547,1336.987,12014.345,11,3.1,30,-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,299.3,1728,-24.2,-7.990
$D_GRID,1090
$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,-56.0,0.0,0.0,0,89,0.00,0.00,-63.88,0.000,6,0.000,0.000,414,2336,3056
$GC,91,-2.54,-56.0,1.3,-17.6,13,108,9.90,1.75,0.00,0.000,4,0.175,0.037,2150,3363,3057
$GC,316,-2.41,-56.0,63.0,-21.8,53,323,0.17,1.73,0.00,0.000,6,0.137,0.025,2180,2292,3058
$GC,660,-2.36,-56.0,127.7,-15.6,114,666,0.00,1.67,0.00,0.000,4,0.000,0.035,2180,1298,3059
$GC,734,-2.32,-56.0,139.5,-15.5,127,741,0.12,1.70,0.00,0.000,6,0.131,0.026,2202,2343,3059
$GC,1077,-2.32,-56.0,189.6,-13.7,188,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2344,3060
$GC,1422,-2.32,-56.0,232.5,-11.9,249,1428,0.00,1.75,0.00,0.000,4,0.000,0.044,2202,3374,3060
$GC,1557,-2.32,-56.0,248.8,-11.6,273,1562,0.00,1.77,0.00,0.000,6,0.000,0.027,2202,2280,3060
$GC,1887,-2.32,-56.0,286.7,-12.2,305,1891,0.00,1.88,0.00,0.000,4,0.000,0.044,2202,3367,3060
$GC,2032,-2.32,-56.0,304.9,-12.3,318,2036,0.00,1.75,0.00,0.000,6,0.000,0.028,2202,2309,3059
$GC,2362,-2.32,-56.0,345.2,-11.7,349,2366,0.00,1.85,0.00,0.000,4,0.000,0.047,2202,3374,3058
$GC,2523,-2.32,-56.0,364.4,-11.8,363,2531,0.00,1.73,0.00,0.000,6,0.000,0.029,2202,2341,3057
$GC,2849,-2.32,-56.0,401.4,-11.3,394,2853,0.00,1.80,0.00,0.000,4,0.000,0.047,2201,1290,3055
$GC,2898,-2.32,-56.0,407.1,-11.8,398,2905,0.00,1.75,0.00,0.000,6,0.000,0.031,2202,2324,3055
$GC,3224,-2.34,-56.0,441.3,-9.4,429,3227,0.00,1.83,0.00,0.000,4,0.000,0.051,2202,3377,3053
$GC,3481,-2.34,-56.0,468.8,-10.6,452,3485,0.00,1.70,0.00,0.000,6,0.000,0.032,2202,2381,3052
$GC,3811,-2.37,-56.0,502.3,-10.3,482,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2382,3050
$GC,4120,-2.40,-56.0,534.6,-10.7,497,4123,0.00,1.95,0.00,0.000,4,0.000,0.070,2202,1304,3047
$GC,4192,-2.43,-56.0,542.3,-10.1,500,4196,0.00,1.85,0.00,0.000,6,0.000,0.044,2202,2351,3047
$GC,4519,-2.46,-56.0,574.9,-9.9,516,4521,0.12,0.00,0.00,0.000,6,0.076,0.000,2172,2351,3045
$GC,4827,-2.46,-56.0,608.3,-11.3,531,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3043
$GC,5137,-2.46,-56.0,640.4,-10.1,546,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3040
$GC,5445,-2.46,-56.0,669.5,-9.2,561,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3039
$GC,5755,-2.46,-56.0,697.0,-8.6,576,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3037
$GC,6064,-2.46,-56.0,723.0,-8.8,591,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2351,3035
$GC,6373,-2.46,-56.0,750.0,-8.8,606,6378,0.00,2.20,0.00,0.000,4,0.000,0.152,2172,3368,3034
$GC,6427,-2.46,-56.0,754.8,-8.4,608,6432,0.00,2.05,0.00,0.000,6,0.000,0.131,2172,2420,3033
$GC,6748,-2.46,-56.0,782.6,-8.7,624,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2419,3032
$GC,7059,-2.46,-56.0,810.0,-8.9,639,7062,0.00,1.95,0.00,0.000,4,0.000,0.051,2172,1291,3030
$GC,7158,-2.46,-56.0,819.0,-8.6,643,7163,0.00,1.88,0.00,0.000,6,0.000,0.036,2172,2375,3030
$GC,7479,-2.46,-56.0,848.8,-9.6,659,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2375,3029
$GC,7788,-2.46,-56.0,878.7,-9.7,674,7792,0.00,1.92,0.00,0.000,4,0.000,0.055,2172,1295,3028
$GC,7860,-2.46,-56.0,885.5,-9.6,677,7864,0.00,1.88,0.00,0.000,6,0.000,0.038,2172,2372,3027
$GC,8187,-2.46,-56.0,914.6,-8.7,693,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2373,3026
$GC,8499,-2.46,-56.0,941.3,-8.7,708,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2373,3025
$GC,8805,-2.46,-56.0,968.0,-8.6,723,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2373,3024
$STATE,9074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9074,begin apogee
$GC,9078,-0.51,0.0,990.5,8.7,736,9126,2.08,0.00,43.58,1.440,6,0.112,0.000,2596,1982,2825
$STATE,9127,end apogee,CONTROL_FINISHED_OK
$STATE,9127,begin climb
$GC,9129,2.54,56.0,991.6,0.0,738,9184,3.05,0.00,50.42,1.401,6,0.071,0.000,3268,1983,2596
$GC,9484,2.54,76.5,973.9,5.8,756,9508,0.00,1.95,18.70,1.357,4,0.000,0.054,3268,3021,2513
$GC,9670,2.53,90.6,960.5,6.5,764,9691,0.00,1.88,14.12,1.318,6,0.000,0.043,3268,1967,2456
$GC,10013,2.51,90.6,933.3,8.2,781,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1967,2454
$GC,10322,2.49,90.6,907.6,8.5,796,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1967,2452
$GC,10633,2.46,90.6,881.1,8.5,811,10635,0.12,0.00,0.00,0.000,6,0.127,0.000,3246,1967,2451
$GC,10940,2.46,91.1,856.0,7.9,826,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1967,2451
$GC,11250,2.48,99.9,833.1,7.0,841,11260,0.00,0.00,8.98,1.209,6,0.000,0.000,3246,1967,2417
$GC,11559,2.48,100.1,808.8,8.0,856,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1967,2417
$GC,11868,2.48,100.1,784.5,8.1,871,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1967,2416
$GC,12177,2.48,103.1,760.7,7.7,886,12183,0.00,0.00,4.28,0.890,6,0.000,0.000,3246,1967,2405
$GC,12487,2.49,108.9,737.1,7.4,901,12495,0.00,0.00,6.70,1.087,6,0.000,0.000,3246,1967,2381
$GC,12795,2.49,108.9,711.9,8.3,916,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1967,2381
$GC,13105,2.51,118.7,688.7,6.9,931,13117,0.00,0.00,10.30,1.164,6,0.000,0.000,3246,1967,2341
$GC,13414,2.51,120.0,664.8,7.8,946,13418,0.00,1.85,0.00,0.000,4,0.000,0.050,3246,3018,2341
$GC,13451,2.51,120.0,661.4,8.7,947,13459,0.00,1.85,0.00,0.000,6,0.000,0.040,3246,1966,2341
$GC,13767,2.51,120.0,634.7,8.8,963,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1966,2341
$GC,14076,2.51,120.0,606.1,9.2,978,14080,0.00,1.85,0.00,0.000,4,0.000,0.049,3246,3020,2341
$GC,14176,2.51,120.0,597.0,8.8,982,14181,0.00,1.85,0.00,0.000,6,0.000,0.040,3246,1970,2340
$GC,14497,2.51,120.0,569.7,8.5,998,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1969,2340
$GC,14806,2.52,121.8,545.0,7.8,1013,14813,0.00,0.00,4.38,0.810,6,0.000,0.000,3246,1969,2328
$GC,15116,2.52,123.2,520.5,7.8,1028,15119,0.00,1.92,0.00,0.000,4,0.000,0.067,3246,908,2328
$GC,15205,2.52,125.0,513.5,7.8,1032,15215,0.00,1.83,4.78,0.841,6,0.000,0.034,3246,1987,2314
$GC,15530,2.52,125.0,486.5,8.2,1054,15534,0.00,1.77,0.00,0.000,4,0.000,0.050,3246,3016,2315
$GC,15579,2.52,125.0,481.7,9.7,1058,15586,0.00,1.80,0.00,0.000,6,0.000,0.040,3246,1988,2315
$GC,15905,2.52,125.7,452.9,7.9,1089,15906,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1988,2314
$GC,16224,2.54,137.5,429.6,6.7,1119,16238,0.00,0.00,12.38,1.025,6,0.000,0.000,3246,1988,2264
$GC,16551,2.56,137.5,405.6,8.1,1150,16555,0.00,1.77,0.00,0.000,4,0.000,0.048,3246,3006,2263
$GC,16645,2.56,137.5,397.8,8.5,1158,16652,0.00,1.75,0.00,0.000,6,0.000,0.037,3246,2002,2263
$GC,16972,2.59,137.5,371.7,8.3,1189,16974,0.12,0.00,0.00,0.000,6,0.083,0.000,3277,2002,2264
$GC,17288,2.59,137.5,343.7,8.9,1219,17292,0.00,1.95,0.00,0.000,4,0.000,0.061,3277,908,2264
$GC,17546,2.59,137.5,322.5,8.4,1242,17550,0.00,1.88,0.00,0.000,6,0.000,0.034,3277,2023,2264
$GC,17877,2.61,154.4,296.8,6.2,1273,17898,0.00,1.75,15.62,0.937,4,0.000,0.049,3278,3015,2194
$GC,17970,2.61,154.4,289.1,8.9,1281,17977,0.00,1.77,0.00,0.000,6,0.000,0.035,3277,1997,2194
$GC,18296,2.61,154.4,259.1,8.8,1312,18299,0.00,1.92,0.00,0.000,4,0.000,0.060,3277,916,2194
$GC,18481,2.61,154.4,242.8,8.8,1335,18487,0.00,1.80,0.00,0.000,6,0.000,0.031,3277,1994,2194
$GC,18824,2.63,165.3,215.3,6.8,1396,18841,0.00,2.00,10.35,0.831,4,0.000,0.054,3277,916,2151
$GC,19094,2.64,167.1,192.6,7.8,1444,19100,0.00,1.77,0.00,0.000,6,0.000,0.029,3277,1966,2151
$GC,19440,2.69,185.1,170.2,6.0,1505,19463,0.00,1.98,17.80,0.826,4,0.000,0.054,3277,914,2070
$GC,19688,2.72,201.0,152.8,6.3,1549,19711,0.10,1.73,14.48,0.793,6,0.078,0.028,3305,1959,2005
$GC,20050,2.74,202.0,124.0,7.9,1613,20055,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1959,2004
$GC,20392,2.80,218.1,102.9,6.2,1674,20415,0.00,1.80,15.55,0.746,4,0.000,0.041,3305,3002,1935
$GC,20449,2.84,224.1,98.8,7.3,1684,20461,0.00,1.80,6.47,0.634,6,0.000,0.028,3305,1940,1911
$GC,20798,2.92,251.2,78.1,5.1,1746,20827,0.15,1.85,23.20,0.724,4,0.062,0.048,3351,925,1800
$GC,20857,2.95,267.7,74.9,6.2,1756,20880,0.00,1.75,14.88,0.686,6,0.000,0.026,3351,1971,1732
$GC,21218,3.00,279.4,49.6,6.7,1820,21235,0.00,1.77,10.30,0.647,4,0.000,0.041,3351,2989,1686
$GC,21488,3.07,295.9,30.3,6.2,1868,21511,0.08,1.65,14.95,0.652,6,0.054,0.027,3384,1995,1618
$STATE,21834,end climb,SURFACE_DEPTH_REACHED
$STATE,21835,begin surface coast
$FINISH,0.0,1.021564
$STATE,21864,end surface coast,CONTROL_FINISHED_OK
$STATE,21864,begin surface
$SM_CCo,21884,113.38,0.630,0,0,888,475.15
$SM_GC,-5.21,0.00,0.00,113.38,0.000,0.000,0.630,415,2330,888,-10.55,0.14,475.15
$IRIDIUM_FIX,1329.75,12013.31,220597,202005
$TT8_MAMPS,0.025311
$HUMID,1710
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.20
$XPDR_PINGS,506
$24V_AH,23.1,7.710
$10V_AH,10.1,6.081
$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,29.025,92.800,322.200,113.375,0.000,59.859,30.423,264.160,139.000,0.000,0.000,31.442,3136.553,14854.506,572.146,3395.121,605.444,0.000,2126.659,0.000,3337.476,0.000,91.496
$DEVICE_MAMPS,174.876,151.866,1439.659,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1314.369,765.031,714.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104354,1935
$CAP_FILE_SIZE,187671,0
$CFSIZE,260165632,253091840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270208,030425,1338.344,12013.002,36,1.3,36,-1.0