version: 66.03
glider: 126
mission: 7
dive: 89
start: 3 6 108 23 53 43
data:
$ID,126
$MISSION,7
$DIVE,89
$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,-621199.38
$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,28
$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
$GPS1,233325,1250.288,12038.599,39,1.3,39,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.80
$_SM_ANGLEo,-55.8
$GPS2,235251,1250.344,12038.404,13,1.5,13,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,DONGON
$TGT_LATLONG,1242.200,12044.500
$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,144.7,18677,-22.0,-7.990
$D_GRID,1485
$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,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,95,0.00,0.00,-73.28,0.000,6,0.000,0.000,415,2350,3100
$GC,97,-2.33,-67.0,0.2,-13.8,14,115,10.07,1.85,0.00,0.000,4,0.172,0.033,2196,1253,3102
$GC,228,-2.22,-67.0,34.0,-20.9,37,234,0.15,1.75,0.00,0.000,6,0.127,0.026,2224,2323,3102
$GC,571,-2.14,-67.0,95.3,-16.8,98,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2323,3103
$GC,915,-2.10,-67.0,149.1,-14.0,159,920,0.15,0.00,0.00,0.000,6,0.119,0.000,2255,2323,3103
$GC,1258,-2.10,-67.0,188.7,-10.7,220,1264,0.00,1.83,0.00,0.000,4,0.000,0.037,2255,1256,3104
$GC,1516,-2.10,-67.0,215.7,-10.0,266,1522,0.00,1.75,0.00,0.000,6,0.000,0.028,2255,2308,3104
$GC,1865,-2.12,-67.0,251.1,-10.4,327,1868,0.00,1.77,0.00,0.000,4,0.000,0.039,2255,1262,3104
$GC,2034,-2.14,-67.0,268.6,-10.3,342,2038,0.00,1.73,0.00,0.000,6,0.000,0.029,2255,2306,3102
$GC,2366,-2.17,-67.0,300.0,-8.6,373,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2307,3100
$GC,2683,-2.20,-67.0,331.4,-10.5,403,2687,0.12,1.85,0.00,0.000,4,0.067,0.048,2220,3379,3098
$GC,2833,-2.20,-67.0,348.2,-11.3,416,2839,0.00,1.83,0.00,0.000,6,0.000,0.029,2220,2288,3097
$GC,3158,-2.20,-67.0,382.0,-10.8,447,3161,0.00,1.73,0.00,0.000,4,0.000,0.049,2220,1287,3094
$GC,3207,-2.20,-67.0,387.5,-11.1,451,3214,0.00,1.73,0.00,0.000,6,0.000,0.031,2220,2307,3094
$GC,3532,-2.20,-67.0,421.8,-10.0,482,3536,0.00,1.77,0.00,0.000,4,0.000,0.050,2219,1293,3092
$GC,3581,-2.20,-67.0,426.6,-8.8,486,3588,0.00,1.73,0.00,0.000,6,0.000,0.034,2220,2301,3091
$GC,3909,-2.20,-67.0,457.6,-9.5,517,3912,0.00,1.88,0.00,0.000,4,0.000,0.055,2220,3373,3088
$GC,4014,-2.20,-67.0,468.6,-10.0,526,4021,0.00,1.77,0.00,0.000,6,0.000,0.033,2220,2338,3088
$GC,4341,-2.20,-67.0,498.9,-9.5,557,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2338,3085
$GC,4650,-2.20,-67.0,527.9,-9.5,573,4653,0.00,1.92,0.00,0.000,4,0.000,0.071,2219,1276,3083
$GC,4704,-2.20,-67.0,533.3,-9.6,575,4709,0.00,1.83,0.00,0.000,6,0.000,0.044,2220,2316,3083
$GC,5025,-2.20,-67.0,564.3,-9.5,591,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2316,3081
$GC,5334,-2.20,-67.0,593.5,-9.3,606,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2316,3078
$GC,5644,-2.20,-67.0,622.2,-9.2,621,5648,0.00,2.03,0.00,0.000,4,0.000,0.095,2220,3380,3076
$GC,5726,-2.20,-67.0,630.0,-8.9,624,5735,0.00,1.98,0.00,0.000,6,0.000,0.071,2220,2334,3075
$GC,6043,-2.20,-67.0,657.1,-8.5,640,6046,0.00,2.08,0.00,0.000,4,0.000,0.102,2219,1257,3074
$GC,6077,-2.20,-67.0,660.2,-9.8,641,6081,0.00,1.98,0.00,0.000,6,0.000,0.083,2220,2302,3074
$GC,6399,-2.22,-67.0,688.3,-9.0,657,6403,0.00,2.17,0.00,0.000,4,0.000,0.121,2220,3385,3072
$GC,6482,-2.22,-67.0,695.9,-9.5,661,6486,0.00,2.15,0.00,0.000,6,0.000,0.101,2220,2303,3072
$GC,6809,-2.24,-67.0,725.0,-8.6,677,6813,0.00,2.30,0.00,0.000,4,0.000,0.135,2220,3390,3070
$GC,6947,-2.24,-67.0,737.8,-9.1,683,6952,0.00,2.25,0.00,0.000,6,0.000,0.123,2220,2323,3070
$GC,7269,-2.27,-67.0,764.2,-8.4,699,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2323,3069
$GC,7581,-2.29,-67.0,791.3,-9.0,714,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2323,3068
$GC,7887,-2.31,-67.0,818.6,-8.9,729,7891,0.00,2.55,0.00,0.000,4,0.000,0.191,2220,3383,3065
$GC,7948,-2.31,-67.0,824.3,-9.1,732,7953,0.00,2.47,0.00,0.000,6,0.000,0.176,2220,2330,3065
$GC,8276,-2.34,-67.0,852.8,-8.2,748,8279,0.00,1.88,0.00,0.000,4,0.000,0.053,2219,1249,3065
$GC,8320,-2.37,-67.0,856.9,-9.0,750,8324,0.12,1.88,0.00,0.000,6,0.076,0.035,2189,2352,3064
$GC,8652,-2.37,-67.0,885.4,-8.1,766,8656,0.00,1.83,0.00,0.000,4,0.000,0.061,2189,3382,3063
$GC,8712,-2.37,-67.0,890.4,-8.8,768,8719,0.00,1.88,0.00,0.000,6,0.000,0.035,2189,2298,3062
$GC,9029,-2.37,-67.0,915.2,-8.3,784,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2297,3061
$GC,9339,-2.37,-67.0,940.3,-8.4,799,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2297,3061
$GC,9646,-2.37,-67.0,966.0,-8.3,814,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2297,3060
$STATE,9955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9955,begin apogee
$GC,9960,-0.51,0.0,990.4,7.6,829,10017,1.98,0.00,51.58,1.431,6,0.107,0.000,2596,1961,2825
$STATE,10017,end apogee,CONTROL_FINISHED_OK
$STATE,10017,begin climb
$GC,10019,2.33,67.0,991.6,0.0,832,10089,2.85,2.08,60.17,1.397,4,0.067,0.077,3218,906,2551
$GC,10174,2.29,77.0,984.9,7.0,839,10188,0.00,1.85,9.90,1.234,6,0.000,0.036,3218,1976,2511
$GC,10516,2.25,80.9,959.5,7.6,856,10523,0.00,0.00,4.95,0.993,6,0.000,0.000,3218,1976,2495
$GC,10825,2.21,85.4,935.5,7.6,871,10833,0.12,0.00,5.72,1.069,6,0.120,0.000,3196,1976,2476
$GC,11134,2.20,94.1,913.0,7.2,886,11145,0.00,0.00,9.50,1.235,6,0.000,0.000,3195,1976,2441
$GC,11443,2.20,103.3,890.6,7.1,901,11457,0.00,2.03,9.68,1.235,4,0.000,0.062,3195,900,2403
$GC,11536,2.17,103.3,882.5,9.5,905,11540,0.00,1.88,0.00,0.000,6,0.000,0.035,3195,1971,2402
$GC,11864,2.17,103.3,854.3,8.3,921,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1971,2401
$GC,12172,2.17,103.3,828.9,8.1,936,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1971,2401
$GC,12481,2.17,103.3,804.2,8.2,951,12484,0.00,1.83,0.00,0.000,4,0.000,0.054,3195,3015,2401
$GC,12639,2.16,113.9,791.8,7.0,958,12654,0.00,1.83,10.48,1.212,6,0.000,0.041,3195,1964,2360
$GC,12970,2.16,113.9,764.5,8.7,974,12973,0.00,1.92,0.00,0.000,4,0.000,0.065,3195,903,2359
$GC,13037,2.13,113.9,758.4,8.9,977,13041,0.12,1.83,0.00,0.000,6,0.120,0.035,3173,1970,2359
$GC,13368,2.13,115.3,730.6,7.9,993,13372,0.00,1.80,0.00,0.000,4,0.000,0.052,3173,3005,2359
$GC,13608,2.13,115.3,710.3,8.4,1003,13615,0.00,1.80,0.00,0.000,6,0.000,0.041,3173,1989,2358
$GC,13924,2.14,122.8,686.6,7.3,1019,13935,0.00,0.00,9.05,1.131,6,0.000,0.000,3173,1989,2324
$GC,14233,2.15,125.2,662.1,7.8,1034,14242,0.00,1.85,3.90,0.792,4,0.000,0.050,3173,3004,2314
$GC,14360,2.16,131.9,652.2,7.3,1039,14372,0.00,1.77,7.62,1.068,6,0.000,0.038,3173,1996,2287
$GC,14692,2.16,131.9,625.4,8.3,1056,14696,0.00,1.80,0.00,0.000,4,0.000,0.049,3173,3017,2287
$GC,14752,2.16,132.0,620.1,8.0,1058,14759,0.00,1.77,0.00,0.000,6,0.000,0.038,3173,2005,2287
$GC,15068,2.16,132.0,593.2,8.7,1074,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2004,2287
$GC,15377,2.16,132.0,567.0,8.2,1089,15380,0.00,1.77,0.00,0.000,4,0.000,0.049,3173,3018,2287
$GC,15431,2.16,132.0,562.4,8.3,1091,15436,0.00,1.73,0.00,0.000,6,0.000,0.038,3173,2029,2286
$GC,15753,2.16,132.0,536.9,8.0,1107,15754,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2030,2287
$GC,16062,2.16,132.4,512.1,8.0,1122,16063,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2029,2287
$GC,16376,2.18,144.6,488.9,6.8,1144,16390,0.00,0.00,12.43,1.060,6,0.000,0.000,3173,2029,2235
$GC,16704,2.18,146.5,462.8,7.8,1175,16705,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2029,2235
$GC,17023,2.20,156.2,438.8,7.1,1205,17037,0.00,0.00,11.40,1.012,6,0.000,0.000,3172,2029,2188
$GC,17350,2.22,156.2,409.9,9.5,1236,17354,0.00,2.03,0.00,0.000,4,0.000,0.065,3173,908,2187
$GC,17433,2.22,156.2,401.6,10.0,1243,17440,0.00,1.95,0.00,0.000,6,0.000,0.032,3173,2041,2187
$GC,17761,2.25,156.2,370.1,9.2,1274,17765,0.12,2.05,0.00,0.000,4,0.077,0.058,3205,907,2186
$GC,17922,2.25,156.2,353.6,9.5,1288,17926,0.00,1.92,0.00,0.000,6,0.000,0.032,3205,2043,2187
$GC,18253,2.25,156.2,324.3,8.5,1319,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2043,2187
$GC,18571,2.25,156.2,294.2,9.9,1349,18572,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2045,2187
$GC,18889,2.25,156.2,266.3,8.4,1379,18892,0.00,2.03,0.00,0.000,4,0.000,0.056,3205,914,2187
$GC,18990,2.25,156.2,257.6,8.2,1388,18993,0.00,1.90,0.00,0.000,6,0.000,0.031,3204,2045,2187
$GC,19328,2.25,159.0,230.6,7.7,1440,19339,0.00,1.70,4.32,0.640,4,0.000,0.046,3205,3012,2176
$GC,19575,2.27,166.4,211.3,7.3,1484,19587,0.00,1.70,8.02,0.794,6,0.000,0.032,3204,2018,2146
$GC,19926,2.27,166.9,184.3,7.9,1546,19932,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2018,2146
$GC,20270,2.33,187.6,163.0,6.0,1607,20293,0.00,2.08,18.88,0.826,4,0.000,0.056,3205,902,2060
$GC,20344,2.36,209.9,158.7,5.9,1620,20372,0.00,1.90,19.75,0.807,6,0.000,0.028,3205,2022,1968
$GC,20712,2.44,224.2,137.9,6.6,1685,20729,0.15,0.00,13.12,0.765,6,0.061,0.000,3251,2024,1910
$GC,21067,2.48,231.7,111.8,7.3,1748,21079,0.00,1.75,7.57,0.677,4,0.000,0.041,3251,3016,1880
$GC,21237,2.52,246.9,100.0,6.5,1778,21256,0.00,1.70,13.93,0.724,6,0.000,0.027,3252,1999,1817
$GC,21596,2.57,255.9,73.8,7.1,1841,21613,0.00,1.92,9.10,0.659,4,0.000,0.047,3252,923,1780
$GC,21868,2.62,260.1,55.4,7.6,1889,21881,0.12,1.77,5.15,0.544,6,0.061,0.025,3290,2014,1764
$GC,22221,2.67,276.3,31.2,6.5,1951,22244,0.00,1.95,14.62,0.648,4,0.000,0.044,3290,926,1698
$GC,22497,2.67,276.3,9.7,8.6,2000,22503,0.00,1.80,0.00,0.000,6,0.000,0.025,3290,2018,1698
$STATE,22592,end climb,SURFACE_DEPTH_REACHED
$STATE,22592,begin surface coast
$FINISH,-0.4,1.021544
$STATE,22622,end surface coast,CONTROL_FINISHED_OK
$STATE,22622,begin surface
$SM_CCo,22643,159.23,0.624,0,0,586,548.98
$SM_GC,-5.27,0.00,0.00,159.23,0.000,0.000,0.624,418,2340,586,-10.54,0.42,548.98
$IRIDIUM_FIX,1245.46,12037.35,310597,232352
$TT8_MAMPS,0.025311
$HUMID,1691
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.60
$XPDR_PINGS,394
$24V_AH,23.1,13.433
$10V_AH,10.2,10.874
$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,28.550,118.875,320.850,159.225,0.000,142.458,101.596,541.018,111.000,0.000,0.000,13.127,3330.988,15270.524,630.009,3636.839,1118.700,0.000,2308.574,0.000,3596.299,0.000,91.493
$DEVICE_MAMPS,171.808,190.983,1431.222,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1373.898,817.025,755.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110427,2022
$CAP_FILE_SIZE,211815,0
$CFSIZE,260165632,249565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070308,061502,1248.371,12039.732,41,0.9,41,-0.8