version: 66.03
glider: 126
mission: 7
dive: 54
start: 2 27 108 3 17 18
data:
$ID,126
$MISSION,7
$DIVE,54
$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,-620618.56
$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,49
$R_STBD_OVSHOOT,55
$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
$GPS1,030425,1338.344,12013.002,36,1.3,36,-1.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.86
$_SM_ANGLEo,-55.9
$GPS2,031627,1338.447,12012.925,12,1.4,12,-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,152.2,2149,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.54,-56.0,0.0,0.0,0,84,0.00,0.00,-62.92,0.000,6,0.000,0.000,416,2330,3056
$GC,86,-2.54,-56.0,0.1,-13.9,12,103,9.93,1.77,0.00,0.000,4,0.176,0.031,2152,1275,3057
$GC,165,-2.41,-56.0,24.7,-24.2,26,172,0.12,1.73,0.00,0.000,6,0.134,0.026,2178,2316,3058
$GC,510,-2.35,-56.0,97.1,-17.6,87,516,0.10,1.80,0.00,0.000,4,0.143,0.039,2194,3382,3059
$GC,707,-2.31,-56.0,129.0,-14.7,122,713,0.00,1.73,0.00,0.000,6,0.000,0.025,2194,2317,3059
$GC,1051,-2.31,-56.0,177.1,-14.2,183,1057,0.00,1.83,0.00,0.000,4,0.000,0.041,2194,3382,3060
$GC,1153,-2.28,-56.0,191.4,-14.3,201,1159,0.00,1.60,0.00,0.000,6,0.000,0.025,2194,2365,3060
$GC,1495,-2.28,-56.0,235.3,-13.2,262,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2360,3060
$GC,1830,-2.28,-56.0,279.1,-12.5,303,1834,0.00,1.75,0.00,0.000,4,0.000,0.038,2194,1321,3060
$GC,1886,-2.28,-56.0,286.2,-12.6,308,1890,0.00,1.80,0.00,0.000,6,0.000,0.028,2194,2392,3060
$GC,2216,-2.28,-56.0,325.2,-11.4,339,2220,0.00,1.67,0.00,0.000,4,0.000,0.047,2194,3369,3058
$GC,2388,-2.28,-56.0,345.7,-12.1,354,2395,0.00,1.58,0.00,0.000,6,0.000,0.029,2194,2414,3058
$GC,2714,-2.28,-56.0,382.6,-10.9,385,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2407,3056
$GC,3032,-2.28,-56.0,419.2,-11.9,415,3035,0.00,1.88,0.00,0.000,4,0.000,0.045,2194,1320,3054
$GC,3087,-2.28,-56.0,425.7,-11.3,420,3091,0.00,1.83,0.00,0.000,6,0.000,0.034,2194,2405,3053
$GC,3417,-2.28,-56.0,463.7,-10.9,451,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2406,3051
$GC,3736,-2.30,-56.0,497.1,-9.6,481,3740,0.00,1.70,0.00,0.000,4,0.000,0.056,2194,3375,3049
$GC,3819,-2.30,-56.0,505.5,-10.4,486,3826,0.00,1.58,0.00,0.000,6,0.000,0.032,2194,2454,3049
$GC,4135,-2.32,-56.0,538.1,-10.4,502,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2453,3047
$GC,4445,-2.35,-56.0,570.4,-10.0,517,4448,0.00,2.03,0.00,0.000,4,0.000,0.070,2194,1337,3044
$GC,4561,-2.37,-56.0,582.3,-10.0,522,4566,0.00,1.88,0.00,0.000,6,0.000,0.054,2194,2376,3043
$GC,4889,-2.40,-56.0,615.0,-10.5,538,4892,0.00,1.88,0.00,0.000,4,0.000,0.087,2194,3360,3041
$GC,4971,-2.40,-56.0,623.9,-10.4,541,4978,0.00,1.65,0.00,0.000,6,0.000,0.063,2194,2475,3040
$GC,5287,-2.42,-56.0,653.5,-9.1,557,5291,0.00,2.20,0.00,0.000,4,0.000,0.097,2194,1329,3038
$GC,5336,-2.45,-56.0,658.2,-9.0,559,5340,0.00,2.03,0.00,0.000,6,0.000,0.081,2194,2385,3038
$GC,5657,-2.48,-56.0,686.6,-8.8,575,5661,0.12,2.12,0.00,0.000,4,0.079,0.112,2165,1330,3037
$GC,5740,-2.48,-56.0,695.1,-10.6,579,5744,0.00,2.05,0.00,0.000,6,0.000,0.097,2165,2380,3035
$GC,6071,-2.48,-56.0,727.9,-9.4,595,6075,0.00,2.03,0.00,0.000,4,0.000,0.136,2165,3354,3033
$GC,6138,-2.48,-56.0,734.4,-10.1,598,6142,0.00,1.80,0.00,0.000,6,0.000,0.118,2165,2485,3033
$GC,6469,-2.48,-56.0,767.9,-9.6,614,6473,0.00,2.50,0.00,0.000,4,0.000,0.160,2165,1342,3032
$GC,6553,-2.48,-56.0,776.4,-11.1,618,6557,0.00,2.22,0.00,0.000,6,0.000,0.137,2165,2384,3031
$GC,6884,-2.48,-56.0,808.6,-9.8,634,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2384,3030
$GC,7194,-2.48,-56.0,836.9,-8.6,649,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2384,3028
$GC,7503,-2.48,-56.0,863.6,-8.9,664,7506,0.00,1.88,0.00,0.000,4,0.000,0.049,2165,1324,3027
$GC,7569,-2.48,-56.0,869.4,-8.9,667,7573,0.00,1.85,0.00,0.000,6,0.000,0.037,2165,2408,3027
$GC,7901,-2.48,-56.0,899.4,-9.0,683,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2408,3026
$GC,8210,-2.48,-56.0,926.6,-8.5,698,8214,0.00,1.92,0.00,0.000,4,0.000,0.051,2165,1321,3025
$GC,8282,-2.48,-56.0,932.7,-8.1,701,8286,0.00,1.85,0.00,0.000,6,0.000,0.038,2165,2380,3024
$GC,8611,-2.48,-56.0,960.7,-8.7,717,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2380,3024
$GC,8917,-2.48,-56.0,987.7,-8.4,732,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2380,3023
$STATE,8958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8958,begin apogee
$GC,8962,-0.51,0.0,991.2,8.4,734,9010,2.12,0.00,43.42,1.436,6,0.115,0.000,2597,2016,2825
$STATE,9011,end apogee,CONTROL_FINISHED_OK
$STATE,9011,begin climb
$GC,9013,2.54,56.0,992.0,0.0,736,9075,3.00,2.00,49.95,1.405,4,0.071,0.067,3264,972,2596
$GC,9181,2.53,77.4,984.0,5.7,743,9208,0.00,1.73,19.92,1.351,6,0.000,0.035,3264,1957,2508
$GC,9517,2.50,77.4,958.1,8.1,760,9520,0.00,1.85,0.00,0.000,4,0.000,0.054,3264,3010,2507
$GC,9610,2.46,77.4,950.2,8.4,764,9615,0.00,1.75,0.00,0.000,6,0.000,0.041,3264,2025,2506
$GC,9937,2.44,77.4,924.4,8.0,780,9939,0.12,0.00,0.00,0.000,6,0.127,0.000,3242,2025,2505
$GC,10246,2.45,85.3,902.1,7.1,795,10260,0.00,2.00,7.65,1.183,4,0.000,0.064,3242,966,2478
$GC,10329,2.43,86.5,895.6,7.9,798,10335,0.00,1.75,0.00,0.000,6,0.000,0.035,3242,1970,2477
$GC,10643,2.43,86.5,869.4,8.3,814,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1970,2477
$GC,10952,2.44,89.3,845.7,7.7,829,10959,0.00,0.00,5.03,1.007,6,0.000,0.000,3242,1970,2462
$GC,11262,2.45,94.8,822.9,7.4,844,11273,0.00,1.90,6.72,1.128,4,0.000,0.052,3242,3012,2438
$GC,11346,2.45,97.7,816.3,7.7,848,11355,0.00,1.77,4.50,0.941,6,0.000,0.041,3242,1994,2426
$GC,11676,2.45,97.7,790.2,8.1,864,11679,0.00,1.98,0.00,0.000,4,0.000,0.067,3242,908,2425
$GC,11748,2.46,101.7,784.4,7.6,867,11758,0.00,1.80,5.18,1.003,6,0.000,0.035,3242,1945,2409
$GC,12073,2.46,101.9,758.5,8.0,883,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1945,2409
$GC,12382,2.46,101.9,733.0,8.3,898,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1946,2408
$GC,12692,2.47,106.5,709.3,7.5,913,12699,0.00,0.00,5.78,1.019,6,0.000,0.000,3242,1946,2390
$GC,13001,2.47,110.1,685.6,7.6,928,13007,0.00,0.00,4.72,0.921,6,0.000,0.000,3242,1946,2376
$GC,13310,2.47,110.1,659.3,8.8,943,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1947,2376
$GC,13619,2.47,110.1,631.8,8.7,958,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1948,2376
$GC,13929,2.47,110.1,606.9,8.0,973,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1948,2375
$GC,14239,2.47,110.1,582.8,8.0,988,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1949,2376
$GC,14547,2.48,113.5,557.8,7.6,1003,14554,0.00,0.00,4.85,0.869,6,0.000,0.000,3242,1949,2362
$GC,14856,2.50,124.2,535.9,6.8,1018,14869,0.00,0.00,10.88,1.084,6,0.000,0.000,3242,1950,2318
$GC,15166,2.50,127.3,513.1,7.7,1033,15172,0.00,0.00,4.38,0.804,6,0.000,0.000,3242,1951,2306
$GC,15479,2.50,130.0,488.3,7.7,1055,15489,0.00,0.00,4.28,0.779,6,0.000,0.000,3242,1951,2295
$GC,15809,2.53,130.0,461.2,8.1,1086,15812,0.00,1.88,0.00,0.000,4,0.000,0.061,3242,911,2295
$GC,15875,2.53,130.0,455.4,8.9,1092,15879,0.00,1.75,0.00,0.000,6,0.000,0.035,3242,1928,2295
$GC,16206,2.55,132.2,430.0,7.7,1123,16218,0.10,1.90,3.90,0.700,4,0.091,0.048,3267,3005,2285
$GC,16263,2.55,133.1,425.5,7.9,1128,16266,0.00,1.85,0.00,0.000,6,0.000,0.039,3267,1928,2285
$GC,16593,2.57,144.8,401.3,6.7,1159,16614,0.00,1.92,12.15,0.999,4,0.000,0.063,3266,910,2234
$GC,16708,2.57,144.8,391.8,8.6,1169,16715,0.00,1.73,0.00,0.000,6,0.000,0.031,3267,1914,2233
$GC,17034,2.57,144.8,364.3,8.9,1200,17037,0.00,1.90,0.00,0.000,4,0.000,0.048,3267,3016,2233
$GC,17190,2.57,144.8,350.0,9.8,1214,17194,0.00,1.92,0.00,0.000,6,0.000,0.038,3267,1895,2233
$GC,17520,2.57,144.8,319.7,9.1,1245,17524,0.00,1.75,0.00,0.000,4,0.000,0.062,3267,912,2233
$GC,17588,2.57,144.8,313.3,10.3,1251,17592,0.00,1.67,0.00,0.000,6,0.000,0.031,3267,1915,2234
$GC,17918,2.59,156.4,288.9,6.7,1282,17934,0.00,1.92,11.27,0.900,4,0.000,0.045,3267,3016,2187
$GC,17972,2.60,159.9,284.7,7.6,1286,17982,0.00,1.98,4.80,0.706,6,0.000,0.043,3267,1885,2173
$GC,18306,2.60,159.9,254.5,9.0,1318,18308,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1885,2172
$GC,18642,2.63,165.0,225.2,7.4,1373,18653,0.00,0.00,5.88,0.735,6,0.000,0.000,3267,1885,2152
$GC,18991,2.65,165.5,196.5,7.9,1435,18997,0.00,1.95,0.00,0.000,4,0.000,0.043,3267,3014,2152
$GC,19121,2.69,173.0,186.3,7.2,1458,19140,0.08,1.90,8.75,0.783,6,0.064,0.032,3296,1905,2118
$GC,19480,2.69,174.7,160.9,7.8,1521,19485,0.00,1.90,0.00,0.000,4,0.000,0.041,3296,3011,2118
$GC,19676,2.72,189.3,146.8,6.4,1556,19699,0.00,1.80,14.68,0.798,6,0.000,0.031,3296,1953,2052
$GC,20038,2.75,197.1,120.8,7.1,1620,20050,0.00,1.90,7.82,0.702,4,0.000,0.054,3296,914,2021
$GC,20084,2.76,198.7,117.2,7.8,1628,20090,0.00,1.73,0.00,0.000,6,0.000,0.027,3296,1949,2021
$GC,20430,2.85,233.6,98.8,4.2,1689,20468,0.15,1.88,30.75,0.756,4,0.064,0.049,3341,912,1872
$GC,20598,2.85,233.6,82.7,11.5,1719,20604,0.00,1.70,0.00,0.000,6,0.000,0.026,3341,1950,1871
$GC,20941,2.91,254.7,60.1,5.7,1780,20964,0.00,1.90,18.17,0.700,4,0.000,0.047,3341,916,1786
$GC,21218,2.95,265.7,43.5,6.8,1829,21235,0.00,1.77,10.40,0.646,6,0.000,0.025,3342,2003,1741
$GC,21575,3.02,278.1,21.5,6.6,1892,21593,0.12,1.67,11.45,0.629,4,0.064,0.040,3379,2998,1690
$STATE,21816,end climb,SURFACE_DEPTH_REACHED
$STATE,21817,begin surface coast
$FINISH,0.3,1.021754
$STATE,21840,end surface coast,CONTROL_FINISHED_OK
$STATE,21840,begin surface
$SM_CCo,21861,121.90,0.631,0,0,887,475.15
$SM_GC,-5.09,0.00,0.00,121.90,0.000,0.000,0.631,414,2278,887,-10.56,-1.33,475.15
$IRIDIUM_FIX,1334.19,12013.31,230597,030312
$TT8_MAMPS,0.026078
$HUMID,1689
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.10
$XPDR_PINGS,385
$24V_AH,23.1,7.860
$10V_AH,10.1,6.212
$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,28.975,118.700,317.275,121.900,0.000,110.417,128.102,194.187,108.750,0.000,0.000,13.489,3182.989,14824.705,580.736,3451.049,686.023,0.000,2191.406,0.000,3409.647,0.000,91.483
$DEVICE_MAMPS,175.643,159.536,1435.824,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1317.206,772.025,717.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104282,1939
$CAP_FILE_SIZE,197685,0
$CFSIZE,260165632,252985344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270208,092455,1336.830,12014.724,39,1.1,39,-1.0