version: 66.03
glider: 126
mission: 7
dive: 92
start: 3 7 108 19 21 13
data:
$ID,126
$MISSION,7
$DIVE,92
$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,-621264
$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,76
$R_STBD_OVSHOOT,52
$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
$GPS1,185938,1243.732,12043.174,34,1.4,34,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,1
$_SM_DEPTHo,-4.95
$_SM_ANGLEo,-56.1
$GPS2,192021,1243.824,12043.021,13,1.5,13,-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,139.2,4024,-22.0,-7.990
$D_GRID,917
$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,-67.0,0.0,0.0,0,95,0.00,0.00,-73.40,0.000,6,0.000,0.000,415,2282,3102
$GC,97,-2.33,-67.0,0.2,-14.0,14,115,10.10,1.65,0.00,0.000,4,0.173,0.031,2195,1304,3103
$GC,217,-2.22,-67.0,32.7,-21.0,35,223,0.15,1.65,0.00,0.000,6,0.128,0.025,2222,2322,3103
$GC,561,-2.15,-67.0,97.3,-17.0,96,568,0.10,1.77,0.00,0.000,4,0.135,0.039,2239,3363,3103
$GC,607,-2.09,-67.0,105.5,-18.1,104,614,0.00,1.62,0.00,0.000,6,0.000,0.023,2239,2343,3104
$GC,951,-2.06,-67.0,154.8,-13.0,165,957,0.10,1.70,0.00,0.000,4,0.128,0.031,2257,1312,3105
$GC,1210,-2.06,-67.0,184.1,-10.9,211,1216,0.00,1.62,0.00,0.000,6,0.000,0.025,2257,2314,3105
$GC,1554,-2.09,-67.0,220.8,-11.4,272,1560,0.00,1.73,0.00,0.000,4,0.000,0.036,2257,1311,3105
$GC,1813,-2.11,-67.0,249.3,-10.4,318,1819,0.00,1.65,0.00,0.000,6,0.000,0.028,2257,2297,3105
$GC,2145,-2.14,-67.0,285.6,-10.7,350,2149,0.00,1.67,0.00,0.000,4,0.000,0.038,2257,1312,3103
$GC,2217,-2.17,-67.0,293.6,-10.8,356,2223,0.00,1.62,0.00,0.000,6,0.000,0.028,2257,2280,3103
$GC,2543,-2.20,-67.0,327.4,-12.2,387,2547,0.12,1.90,0.00,0.000,4,0.066,0.049,2222,3377,3100
$GC,2620,-2.20,-67.0,338.0,-13.1,394,2624,0.00,1.73,0.00,0.000,6,0.000,0.028,2222,2312,3099
$GC,2951,-2.20,-67.0,372.3,-9.2,425,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2306,3097
$GC,3268,-2.20,-67.0,406.0,-10.0,455,3272,0.00,1.75,0.00,0.000,4,0.000,0.046,2222,1292,3094
$GC,3328,-2.20,-67.0,412.1,-9.9,460,3335,0.00,1.70,0.00,0.000,6,0.000,0.040,2222,2292,3094
$GC,3655,-2.20,-67.0,443.1,-9.7,491,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2293,3092
$GC,3973,-2.20,-67.0,474.3,-10.7,521,3977,0.00,1.75,0.00,0.000,4,0.000,0.053,2222,1304,3088
$GC,4022,-2.20,-67.0,479.7,-11.0,525,4029,0.00,1.65,0.00,0.000,6,0.000,0.035,2222,2264,3088
$GC,4356,-2.20,-67.0,511.0,-8.3,551,4359,0.00,1.98,0.00,0.000,4,0.000,0.066,2222,3366,3086
$GC,4405,-2.20,-67.0,515.5,-9.0,553,4409,0.00,1.83,0.00,0.000,6,0.000,0.037,2222,2316,3085
$GC,4731,-2.20,-67.0,545.7,-9.1,569,4735,0.00,1.92,0.00,0.000,4,0.000,0.071,2222,3362,3083
$GC,4870,-2.20,-67.0,559.2,-9.7,575,4875,0.00,1.88,0.00,0.000,6,0.000,0.047,2222,2306,3082
$GC,5197,-2.20,-67.0,589.5,-9.7,591,5200,0.00,2.00,0.00,0.000,4,0.000,0.083,2222,3366,3080
$GC,5286,-2.20,-67.0,599.5,-11.5,595,5291,0.00,1.90,0.00,0.000,6,0.000,0.062,2222,2321,3079
$GC,5618,-2.20,-67.0,633.0,-9.7,611,5622,0.00,2.00,0.00,0.000,4,0.000,0.092,2222,1261,3077
$GC,5708,-2.22,-67.0,641.7,-9.5,615,5711,0.00,1.92,0.00,0.000,6,0.000,0.077,2222,2289,3076
$GC,6041,-2.25,-67.0,673.4,-9.3,631,6045,0.00,2.20,0.00,0.000,4,0.000,0.120,2222,3382,3075
$GC,6192,-2.25,-67.0,689.5,-12.1,638,6196,0.00,2.08,0.00,0.000,6,0.000,0.102,2222,2337,3074
$GC,6526,-2.27,-67.0,725.3,-10.0,654,6530,0.00,2.22,0.00,0.000,4,0.000,0.137,2222,1265,3072
$GC,6687,-2.27,-67.0,740.7,-9.0,661,6692,0.00,1.85,0.00,0.000,6,0.000,0.034,2222,2341,3072
$GC,7010,-2.30,-67.0,769.4,-9.9,677,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2341,3071
$GC,7318,-2.33,-67.0,799.7,-9.4,692,7323,0.00,1.85,0.00,0.000,4,0.000,0.065,2222,3376,3069
$GC,7441,-2.33,-67.0,810.4,-8.4,697,7445,0.00,1.85,0.00,0.000,6,0.000,0.037,2222,2287,3069
$GC,7761,-2.36,-67.0,836.6,-8.2,713,7763,0.12,0.00,0.00,0.000,6,0.074,0.000,2191,2287,3067
$GC,8071,-2.36,-67.0,864.5,-9.0,728,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2287,3065
$GC,8379,-2.36,-67.0,892.1,-8.3,743,8383,0.00,1.98,0.00,0.000,4,0.000,0.064,2192,3378,3065
$GC,8524,-2.36,-67.0,904.6,-8.7,749,8528,0.00,1.83,0.00,0.000,6,0.000,0.038,2191,2323,3064
$STATE,8678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8678,begin apogee
$GC,8683,-0.51,0.0,918.5,8.9,757,8741,1.95,0.00,51.88,1.376,6,0.104,0.000,2596,1957,2825
$STATE,8742,end apogee,CONTROL_FINISHED_OK
$STATE,8742,begin climb
$GC,8744,2.33,67.0,920.6,0.0,760,8809,2.85,0.00,59.72,1.348,6,0.065,0.000,3221,1957,2551
$GC,9111,2.32,88.9,902.8,5.9,778,9135,0.00,1.95,20.15,1.299,4,0.000,0.067,3221,907,2461
$GC,9270,2.26,88.9,890.5,8.3,785,9274,0.00,1.83,0.00,0.000,6,0.000,0.035,3221,1965,2460
$GC,9597,2.21,90.8,864.7,7.8,801,9601,0.15,1.88,0.00,0.000,4,0.116,0.059,3190,3019,2458
$GC,9759,2.19,95.9,853.0,7.5,808,9770,0.00,1.85,6.88,1.101,6,0.000,0.044,3190,1957,2434
$GC,10079,2.20,97.4,828.0,7.8,823,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1957,2433
$GC,10388,2.17,97.4,802.6,8.2,838,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1957,2432
$GC,10697,2.20,110.7,779.0,6.7,853,10717,0.00,0.00,14.32,1.239,6,0.000,0.000,3190,1957,2373
$GC,11026,2.20,110.7,753.3,8.3,869,11030,0.00,1.88,0.00,0.000,4,0.000,0.054,3190,3012,2371
$GC,11176,2.20,110.7,739.9,8.4,875,11183,0.00,1.88,0.00,0.000,6,0.000,0.041,3190,1947,2371
$GC,11492,2.21,115.6,714.4,7.5,891,11502,0.00,1.90,5.75,0.996,4,0.000,0.064,3190,908,2353
$GC,11648,2.18,115.6,700.5,8.6,898,11652,0.00,1.77,0.00,0.000,6,0.000,0.034,3190,1955,2353
$GC,11976,2.19,122.1,675.0,7.4,914,11989,0.00,1.92,7.30,1.063,4,0.000,0.055,3190,3003,2327
$GC,12147,2.20,129.1,662.3,7.3,921,12159,0.00,1.88,7.80,1.072,6,0.000,0.042,3190,1942,2298
$GC,12479,2.20,129.1,635.2,9.3,938,12483,0.00,1.90,0.00,0.000,4,0.000,0.053,3190,3010,2298
$GC,12569,2.20,129.1,626.6,9.8,942,12572,0.00,1.85,0.00,0.000,6,0.000,0.041,3190,1947,2297
$GC,12900,2.21,133.9,598.7,7.5,958,12908,0.00,0.00,5.68,0.940,6,0.000,0.000,3190,1946,2279
$GC,13209,2.21,133.9,572.5,8.7,973,13213,0.00,1.88,0.00,0.000,4,0.000,0.052,3190,3006,2278
$GC,13354,2.21,133.9,559.2,9.3,979,13358,0.00,1.80,0.00,0.000,6,0.000,0.048,3190,1985,2278
$GC,13675,2.21,133.9,529.1,9.4,995,13679,0.00,1.95,0.00,0.000,4,0.000,0.066,3189,907,2278
$GC,13814,2.21,133.9,516.3,9.3,1001,13818,0.00,1.83,0.00,0.000,6,0.000,0.033,3190,1969,2278
$GC,14134,2.21,133.9,487.6,9.2,1022,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1970,2278
$GC,14453,2.22,141.7,462.9,7.2,1052,14468,0.00,1.88,8.50,0.981,4,0.000,0.052,3190,3004,2247
$GC,14546,2.23,146.2,455.7,7.6,1060,14555,0.00,1.85,5.50,0.859,6,0.000,0.050,3189,1954,2228
$GC,14881,2.23,146.2,426.4,9.4,1092,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1954,2228
$GC,15200,2.23,146.2,397.9,8.9,1122,15201,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1954,2228
$GC,15518,2.23,146.2,371.1,8.2,1152,15521,0.00,1.88,0.00,0.000,4,0.000,0.062,3190,905,2227
$GC,15567,2.23,146.2,366.6,8.6,1156,15573,0.00,1.83,0.00,0.000,6,0.000,0.031,3190,1974,2228
$GC,15892,2.23,146.2,338.5,8.0,1187,15893,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1974,2227
$GC,16211,2.25,153.8,313.0,7.3,1217,16221,0.00,0.00,8.07,0.874,6,0.000,0.000,3189,1975,2198
$GC,16539,2.26,160.9,288.2,7.3,1248,16549,0.00,0.00,7.53,0.844,6,0.000,0.000,3190,1975,2169
$GC,16869,2.28,160.9,259.7,9.1,1279,16872,0.00,1.92,0.00,0.000,4,0.000,0.055,3190,901,2169
$GC,16913,2.28,160.9,255.4,8.5,1283,16917,0.00,1.85,0.00,0.000,6,0.000,0.030,3190,2008,2169
$GC,17252,2.30,160.9,226.2,9.3,1338,17258,0.00,1.98,0.00,0.000,4,0.000,0.053,3190,914,2169
$GC,17394,2.30,161.7,214.2,7.9,1363,17400,0.00,1.77,0.00,0.000,6,0.000,0.030,3190,1980,2169
$GC,17737,2.33,161.7,186.2,8.1,1424,17744,0.12,1.75,0.00,0.000,4,0.074,0.044,3223,2994,2170
$GC,17789,2.33,162.8,181.8,7.9,1433,17801,0.00,1.75,3.83,0.560,6,0.000,0.031,3224,1949,2160
$GC,18140,2.42,214.3,162.7,3.1,1495,18189,0.00,1.88,43.30,0.835,4,0.000,0.055,3223,914,1950
$GC,18443,2.49,241.2,143.5,5.4,1549,18471,0.12,1.73,22.92,0.791,6,0.068,0.028,3258,1961,1842
$GC,18810,2.51,258.8,114.2,6.3,1614,18833,0.00,1.83,15.55,0.748,4,0.000,0.041,3258,2999,1768
$GC,19008,2.55,262.1,99.2,7.7,1649,19019,0.00,1.73,4.35,0.536,6,0.000,0.028,3258,1954,1755
$GC,19360,2.63,285.2,72.4,5.8,1711,19388,0.10,1.85,19.90,0.706,4,0.071,0.038,3289,2997,1661
$GC,19451,2.64,295.6,65.6,7.0,1727,19468,0.00,1.60,10.45,0.655,6,0.000,0.025,3289,2021,1618
$GC,19809,2.69,302.8,36.6,7.3,1790,19821,0.00,1.73,7.10,0.591,4,0.000,0.036,3289,3001,1590
$GC,20075,2.73,304.3,14.3,7.8,1837,20081,0.00,1.65,0.00,0.000,6,0.000,0.025,3289,1986,1590
$STATE,20225,end climb,SURFACE_DEPTH_REACHED
$STATE,20225,begin surface coast
$FINISH,-0.4,1.021571
$STATE,20256,end surface coast,CONTROL_FINISHED_OK
$STATE,20256,begin surface
$SM_CCo,20276,142.40,0.624,0,0,586,548.98
$SM_GC,-5.26,0.00,0.00,142.40,0.000,0.000,0.624,417,2337,586,-10.54,0.34,548.98
$IRIDIUM_FIX,1238.83,12044.18,010697,191922
$TT8_MAMPS,0.026078
$HUMID,1693
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,376
$24V_AH,23.2,13.961
$10V_AH,10.2,11.289
$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,28.450,121.975,336.475,142.400,0.000,136.776,105.035,616.274,104.500,0.000,0.000,13.106,3087.302,13315.456,616.930,3481.026,1178.519,0.000,2236.423,0.000,3444.091,0.000,78.188
$DEVICE_MAMPS,172.575,137.293,1375.998,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1268.323,774.342,730.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100823,1869
$CAP_FILE_SIZE,202501,0
$CFSIZE,260165632,249303040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080308,010238,1242.551,12044.399,31,0.9,31,-0.8