version: 66.03
glider: 126
mission: 7
dive: 55
start: 2 27 108 9 41 41
data:
$ID,126
$MISSION,7
$DIVE,55
$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,-620629.12
$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,68
$R_STBD_OVSHOOT,54
$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
$GPS1,092455,1336.830,12014.724,39,1.1,39,-1.0
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.73
$_SM_ANGLEo,-55.2
$GPS2,094051,1336.985,12014.664,9,1.9,9,-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,292.5,2251,-24.2,-7.990
$D_GRID,1067
$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,-63.88,0.000,6,0.000,0.000,414,2276,3056
$GC,91,-2.54,-56.0,1.2,-16.6,13,108,9.95,1.85,0.00,0.000,4,0.177,0.036,2152,3362,3057
$GC,361,-2.43,-56.0,73.5,-20.7,61,367,0.15,1.65,0.00,0.000,6,0.137,0.025,2178,2330,3058
$GC,705,-2.39,-56.0,132.7,-16.0,122,711,0.00,1.77,0.00,0.000,4,0.000,0.040,2178,3356,3059
$GC,869,-2.34,-56.0,158.0,-15.7,151,876,0.12,1.60,0.00,0.000,6,0.124,0.025,2200,2343,3059
$GC,1213,-2.34,-56.0,202.7,-11.6,212,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2338,3060
$GC,1557,-2.34,-56.0,242.2,-12.1,273,1562,0.00,1.75,0.00,0.000,4,0.000,0.044,2201,3362,3059
$GC,1641,-2.34,-56.0,253.5,-13.3,286,1647,0.00,1.58,0.00,0.000,6,0.000,0.027,2201,2372,3060
$GC,1966,-2.34,-56.0,293.6,-11.4,317,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2366,3059
$GC,2283,-2.34,-56.0,329.4,-11.4,347,2287,0.00,1.80,0.00,0.000,4,0.000,0.041,2201,1308,3058
$GC,2316,-2.34,-56.0,333.1,-10.9,350,2320,0.00,1.83,0.00,0.000,6,0.000,0.030,2200,2389,3057
$GC,2646,-2.34,-56.0,370.5,-12.0,381,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2389,3055
$GC,2967,-2.36,-56.0,408.0,-11.9,411,2971,0.00,1.67,0.00,0.000,4,0.000,0.050,2201,3361,3052
$GC,3128,-2.36,-56.0,426.8,-12.1,425,3135,0.00,1.55,0.00,0.000,6,0.000,0.031,2201,2442,3052
$GC,3454,-2.38,-56.0,463.0,-11.9,456,3458,0.00,2.00,0.00,0.000,4,0.000,0.057,2200,1309,3050
$GC,3521,-2.38,-56.0,470.6,-10.1,462,3525,0.00,1.85,0.00,0.000,6,0.000,0.035,2201,2404,3049
$GC,3850,-2.41,-56.0,504.5,-10.4,491,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2405,3047
$GC,4159,-2.44,-56.0,535.9,-9.7,506,4163,0.12,1.70,0.00,0.000,4,0.075,0.061,2170,3362,3044
$GC,4236,-2.44,-56.0,544.6,-11.2,509,4240,0.00,1.55,0.00,0.000,6,0.000,0.036,2170,2466,3044
$GC,4557,-2.44,-56.0,577.9,-10.1,525,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2467,3042
$GC,4867,-2.44,-56.0,609.3,-10.7,540,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2467,3040
$GC,5175,-2.44,-56.0,638.1,-9.0,555,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2467,3038
$GC,5484,-2.44,-56.0,667.1,-9.2,570,5488,0.00,2.22,0.00,0.000,4,0.000,0.105,2170,1327,3036
$GC,5602,-2.44,-56.0,678.1,-9.1,575,5606,0.00,2.05,0.00,0.000,6,0.000,0.091,2170,2393,3035
$GC,5922,-2.44,-56.0,707.2,-9.2,591,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3033
$GC,6232,-2.44,-56.0,735.6,-9.0,606,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3032
$GC,6541,-2.44,-56.0,763.7,-9.1,621,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3030
$GC,6850,-2.44,-56.0,793.4,-9.8,636,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3028
$GC,7160,-2.44,-56.0,823.1,-9.3,651,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2397,3027
$GC,7469,-2.44,-56.0,852.1,-9.7,666,7472,0.00,1.92,0.00,0.000,4,0.000,0.051,2170,1309,3026
$GC,7580,-2.44,-56.0,862.9,-9.5,671,7584,0.00,1.88,0.00,0.000,6,0.000,0.038,2170,2402,3025
$GC,7912,-2.44,-56.0,893.4,-9.2,687,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3025
$GC,8221,-2.44,-56.0,922.1,-9.2,702,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2402,3023
$GC,8531,-2.44,-56.0,951.2,-9.3,717,8535,0.00,1.92,0.00,0.000,4,0.000,0.054,2170,1320,3023
$GC,8608,-2.44,-56.0,958.9,-10.1,720,8613,0.00,1.88,0.00,0.000,6,0.000,0.040,2170,2393,3022
$GC,8929,-2.44,-56.0,987.6,-8.3,736,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2394,3021
$STATE,8970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8970,begin apogee
$GC,8974,-0.51,0.0,991.1,8.3,738,9022,2.10,0.00,43.08,1.443,6,0.112,0.000,2600,2001,2825
$STATE,9023,end apogee,CONTROL_FINISHED_OK
$STATE,9023,begin climb
$GC,9024,2.54,56.0,992.2,0.0,740,9080,3.03,0.00,50.33,1.405,6,0.071,0.000,3267,2000,2596
$GC,9381,2.55,81.3,976.0,5.3,758,9406,0.00,0.00,23.12,1.381,6,0.000,0.000,3266,2000,2493
$GC,9710,2.54,89.4,953.2,7.1,774,9720,0.00,0.00,8.60,1.231,6,0.000,0.000,3267,2000,2460
$GC,10019,2.51,89.4,928.8,8.1,789,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2000,2459
$GC,10328,2.51,89.4,903.2,8.4,804,10331,0.00,1.98,0.00,0.000,4,0.000,0.067,3266,916,2458
$GC,10405,2.47,91.7,896.8,7.7,807,10410,0.00,1.80,0.00,0.000,6,0.000,0.035,3266,1949,2459
$GC,10726,2.46,96.0,872.1,7.5,823,10735,0.00,0.00,7.05,1.159,6,0.000,0.000,3267,1949,2433
$GC,11035,2.44,96.0,846.2,8.5,838,11037,0.15,0.00,0.00,0.000,6,0.126,0.000,3239,1949,2432
$GC,11344,2.44,99.8,821.9,7.6,853,11350,0.00,0.00,4.80,0.988,6,0.000,0.000,3239,1950,2418
$GC,11653,2.45,101.3,797.6,7.8,868,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1950,2418
$GC,11962,2.46,106.9,774.1,7.4,883,11972,0.00,0.00,7.97,1.161,6,0.000,0.000,3239,1951,2389
$GC,12272,2.46,108.0,750.0,7.9,898,12273,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1951,2388
$GC,12581,2.46,108.0,724.9,8.5,913,12585,0.00,1.90,0.00,0.000,4,0.000,0.067,3239,908,2388
$GC,12727,2.46,108.0,712.8,8.3,919,12730,0.00,1.83,0.00,0.000,6,0.000,0.035,3239,1980,2388
$GC,13047,2.46,108.0,686.5,8.1,935,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1981,2387
$GC,13358,2.46,108.6,661.6,7.9,950,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1981,2388
$GC,13665,2.46,112.4,638.3,7.6,965,13673,0.00,0.00,6.18,1.010,6,0.000,0.000,3239,1981,2366
$GC,13974,2.46,112.4,614.9,8.0,980,13978,0.00,1.95,0.00,0.000,4,0.000,0.061,3239,908,2366
$GC,14051,2.48,119.5,608.8,7.2,983,14064,0.00,1.83,8.02,1.073,6,0.000,0.035,3239,1967,2337
$GC,14372,2.48,120.6,584.1,7.9,999,14376,0.00,1.83,0.00,0.000,4,0.000,0.051,3239,3017,2337
$GC,14484,2.48,120.6,574.7,8.6,1004,14488,0.00,1.83,0.00,0.000,6,0.000,0.041,3239,1965,2337
$GC,14817,2.48,121.2,548.2,7.9,1020,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1965,2337
$GC,15125,2.48,121.2,523.2,8.2,1035,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1966,2337
$GC,15434,2.49,128.6,499.6,7.2,1050,15448,0.00,1.98,9.43,1.036,4,0.000,0.065,3239,911,2300
$GC,15559,2.49,128.6,489.4,8.5,1061,15566,0.00,1.85,0.00,0.000,6,0.000,0.032,3239,1984,2300
$GC,15886,2.52,136.4,464.7,7.1,1092,15900,0.00,1.83,8.32,0.988,4,0.000,0.048,3240,3004,2268
$GC,15952,2.53,141.5,459.4,7.4,1098,15963,0.00,1.83,6.07,0.897,6,0.000,0.039,3239,1968,2248
$GC,16281,2.56,141.5,430.9,8.4,1129,16283,0.12,0.00,0.00,0.000,6,0.082,0.000,3269,1968,2248
$GC,16600,2.56,141.5,403.8,8.7,1159,16601,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1968,2247
$GC,16918,2.56,142.4,378.1,7.9,1189,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1968,2248
$GC,17236,2.56,142.4,351.3,8.0,1219,17237,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1968,2248
$GC,17554,2.56,142.4,324.1,8.3,1249,17556,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1968,2248
$GC,17873,2.56,142.4,297.6,8.2,1279,17877,0.00,1.83,0.00,0.000,4,0.000,0.049,3270,3019,2248
$GC,17990,2.57,147.4,288.1,7.5,1289,18001,0.00,1.85,6.57,0.804,6,0.000,0.035,3270,1946,2224
$GC,18319,2.57,147.4,261.5,8.9,1320,18323,0.00,1.83,0.00,0.000,4,0.000,0.059,3270,916,2224
$GC,18579,2.57,148.0,239.5,7.9,1354,18585,0.00,1.77,0.00,0.000,6,0.000,0.038,3270,1966,2224
$GC,18921,2.58,153.6,212.3,7.4,1415,18932,0.00,0.00,7.35,0.778,6,0.000,0.000,3270,1966,2198
$GC,19271,2.61,162.7,186.7,7.0,1477,19288,0.00,1.95,9.27,0.795,4,0.000,0.053,3270,907,2161
$GC,19541,2.63,175.3,168.9,6.6,1525,19558,0.00,1.77,11.70,0.803,6,0.000,0.029,3269,1981,2110
$GC,19898,2.70,195.8,146.5,5.8,1588,19921,0.12,0.00,18.20,0.803,6,0.073,0.000,3304,1981,2026
$GC,20259,2.73,198.7,118.1,7.7,1652,20271,0.00,1.92,4.07,0.541,4,0.000,0.049,3304,917,2014
$GC,20345,2.75,210.4,112.0,6.7,1667,20362,0.00,1.83,11.15,0.736,6,0.000,0.028,3304,2023,1966
$GC,20700,2.80,220.2,89.3,6.9,1730,20718,0.00,1.73,9.32,0.691,4,0.000,0.041,3304,3002,1927
$GC,20971,2.88,244.7,70.5,5.3,1778,21000,0.10,1.65,21.33,0.719,6,0.053,0.027,3341,2013,1827
$GC,21340,2.96,273.6,49.7,4.9,1843,21372,0.00,1.75,24.33,0.693,4,0.000,0.037,3341,3004,1708
$GC,21475,3.00,273.6,39.8,10.7,1867,21480,0.00,1.55,0.00,0.000,6,0.000,0.026,3341,2070,1707
$GC,21817,3.08,292.5,16.7,5.9,1928,21839,0.15,0.00,16.42,0.643,6,0.059,0.000,3389,2069,1631
$STATE,22006,end climb,SURFACE_DEPTH_REACHED
$STATE,22006,begin surface coast
$FINISH,-1.2,1.021804
$STATE,22036,end surface coast,CONTROL_FINISHED_OK
$STATE,22036,begin surface
$SM_CCo,22056,144.38,0.624,0,0,587,548.98
$SM_GC,-5.16,0.00,0.00,144.38,0.000,0.000,0.624,416,2346,587,-10.55,0.59,548.98
$IRIDIUM_FIX,1329.75,12015.23,230597,090932
$TT8_MAMPS,0.026078
$HUMID,1695
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.30
$XPDR_PINGS,342
$24V_AH,23.1,8.022
$10V_AH,10.1,6.347
$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,29.175,80.975,322.700,144.375,0.000,129.211,81.493,368.975,98.000,0.000,0.000,9.909,3186.342,15161.173,588.560,3367.204,871.153,0.000,2130.835,0.000,3337.098,0.000,91.477
$DEVICE_MAMPS,177.177,105.079,1443.494,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1336.809,790.945,733.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107196,1967
$CAP_FILE_SIZE,191906,0
$CFSIZE,260165632,252866560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270208,155255,1337.869,12013.319,39,1.4,39,-1.0