version: 66.03
glider: 126
mission: 7
dive: 95
start: 3 8 108 13 28 36
data:
$ID,126
$MISSION,7
$DIVE,95
$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,-621310.31
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,130938,1244.730,12043.095,25,1.7,25,-0.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,-4.90
$_SM_ANGLEo,-53.3
$GPS2,132745,1244.743,12043.044,15,1.9,15,-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,151.6,5395,-22.0,-7.990
$D_GRID,936
$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,-73.35,0.000,6,0.000,0.000,417,2317,3100
$GC,98,-2.33,-67.0,0.1,-13.8,14,115,10.10,1.77,0.00,0.000,4,0.173,0.033,2196,1267,3102
$GC,268,-2.22,-67.0,44.0,-20.6,44,275,0.12,1.75,0.00,0.000,6,0.118,0.025,2223,2323,3103
$GC,613,-2.14,-67.0,103.6,-17.1,105,619,0.10,1.77,0.00,0.000,4,0.136,0.032,2240,1259,3103
$GC,659,-2.09,-67.0,110.8,-15.3,113,665,0.00,1.70,0.00,0.000,6,0.000,0.025,2240,2308,3103
$GC,1002,-2.09,-67.0,160.1,-11.6,174,1009,0.00,1.83,0.00,0.000,4,0.000,0.043,2240,3370,3104
$GC,1261,-2.09,-67.0,190.4,-10.4,220,1267,0.00,1.70,0.00,0.000,6,0.000,0.025,2240,2307,3105
$GC,1604,-2.09,-67.0,225.7,-11.4,281,1610,0.00,1.83,0.00,0.000,4,0.000,0.045,2240,3366,3104
$GC,1863,-2.09,-67.0,253.5,-10.3,324,1867,0.00,1.62,0.00,0.000,6,0.000,0.028,2240,2367,3104
$GC,2193,-2.09,-67.0,287.4,-11.0,355,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2361,3102
$GC,2512,-2.09,-67.0,321.8,-10.2,385,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2361,3099
$GC,2830,-2.11,-67.0,353.2,-9.7,415,2834,0.00,1.80,0.00,0.000,4,0.000,0.043,2240,1314,3097
$GC,2920,-2.13,-67.0,362.1,-9.5,423,2924,0.00,1.77,0.00,0.000,6,0.000,0.032,2240,2368,3096
$GC,3251,-2.16,-67.0,392.2,-9.5,454,3254,0.00,1.85,0.00,0.000,4,0.000,0.046,2240,1305,3093
$GC,3379,-2.19,-67.0,405.5,-9.9,465,3385,0.00,1.80,0.00,0.000,6,0.000,0.035,2240,2351,3093
$GC,3704,-2.21,-67.0,436.8,-10.2,496,3708,0.00,1.80,0.00,0.000,4,0.000,0.061,2240,3372,3090
$GC,3906,-2.21,-67.0,457.2,-9.9,514,3910,0.00,1.67,0.00,0.000,6,0.000,0.036,2240,2397,3087
$GC,4237,-2.25,-67.0,489.2,-9.6,545,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2396,3085
$GC,4559,-2.28,-67.0,519.7,-9.0,566,4561,0.12,0.00,0.00,0.000,6,0.071,0.000,2207,2396,3083
$GC,4870,-2.28,-67.0,550.8,-10.7,581,4873,0.00,2.00,0.00,0.000,4,0.000,0.077,2207,1314,3080
$GC,4930,-2.28,-67.0,557.4,-10.4,583,4937,0.00,1.90,0.00,0.000,6,0.000,0.051,2207,2366,3080
$GC,5245,-2.28,-67.0,589.4,-10.1,599,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2366,3078
$GC,5555,-2.28,-67.0,618.6,-9.2,614,5558,0.00,1.98,0.00,0.000,4,0.000,0.084,2206,1323,3076
$GC,5611,-2.28,-67.0,623.8,-9.1,616,5615,0.00,1.98,0.00,0.000,6,0.000,0.071,2207,2388,3075
$GC,5931,-2.28,-67.0,651.7,-8.4,632,5934,0.00,1.98,0.00,0.000,4,0.000,0.114,2207,3384,3074
$GC,6015,-2.28,-67.0,659.1,-8.7,635,6021,0.00,1.83,0.00,0.000,6,0.000,0.089,2207,2435,3074
$GC,6331,-2.28,-67.0,690.9,-10.7,651,6335,0.00,2.22,0.00,0.000,4,0.000,0.117,2207,1321,3072
$GC,6419,-2.28,-67.0,700.9,-11.0,655,6424,0.00,2.10,0.00,0.000,6,0.000,0.101,2207,2368,3071
$GC,6746,-2.28,-67.0,733.7,-9.3,671,6750,0.00,2.20,0.00,0.000,4,0.000,0.152,2207,3389,3070
$GC,6807,-2.28,-67.0,739.9,-10.1,674,6813,0.00,2.00,0.00,0.000,6,0.000,0.130,2206,2456,3070
$GC,7141,-2.28,-67.0,770.5,-9.4,690,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2445,3068
$GC,7448,-2.28,-67.0,797.5,-8.1,705,7451,0.00,1.98,0.00,0.000,4,0.000,0.048,2206,1315,3066
$GC,7496,-2.28,-67.0,801.7,-8.4,707,7501,0.00,1.88,0.00,0.000,6,0.000,0.036,2206,2396,3066
$GC,7824,-2.30,-78.8,824.3,-6.9,723,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2397,3065
$GC,8132,-2.30,-78.8,852.5,-9.7,738,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2397,3064
$GC,8444,-2.30,-78.8,881.2,-8.6,753,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2397,3064
$GC,8751,-2.30,-78.8,906.7,-8.2,768,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2397,3063
$GC,9060,-2.30,-78.8,933.9,-9.0,783,9063,0.00,1.92,0.00,0.000,4,0.000,0.052,2206,1310,3062
$STATE,9085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9085,begin apogee
$GC,9091,-0.51,0.0,936.3,8.6,784,9148,1.85,0.00,51.47,1.394,6,0.107,0.000,2598,1995,2825
$STATE,9148,end apogee,CONTROL_FINISHED_OK
$STATE,9148,begin climb
$GC,9150,2.35,78.8,938.3,0.0,787,9231,2.80,1.92,69.18,1.368,4,0.066,0.065,3224,3006,2503
$GC,9345,2.31,86.6,929.3,7.3,796,9359,0.00,1.80,8.00,1.151,6,0.000,0.053,3224,2005,2472
$GC,9675,2.26,86.6,901.6,9.3,812,9679,0.12,2.03,0.00,0.000,4,0.117,0.067,3201,899,2470
$GC,9932,2.22,86.6,877.4,9.8,823,9938,0.00,1.85,0.00,0.000,6,0.000,0.035,3201,1958,2469
$GC,10247,2.19,90.1,850.7,7.7,839,10256,0.00,1.90,4.50,0.918,4,0.000,0.060,3201,3017,2457
$GC,10364,2.18,104.2,842.2,6.7,844,10383,0.00,1.85,13.77,1.261,6,0.000,0.048,3201,1969,2400
$GC,10712,2.19,126.8,820.2,5.8,861,10738,0.00,1.98,21.20,1.291,4,0.000,0.066,3201,902,2308
$GC,10845,2.16,126.8,809.1,9.5,867,10849,0.00,1.85,0.00,0.000,6,0.000,0.035,3201,1975,2306
$GC,11171,2.16,126.8,775.5,9.7,883,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1975,2305
$GC,11481,2.14,126.8,747.2,9.3,898,11485,0.12,1.95,0.00,0.000,4,0.123,0.066,3179,909,2305
$GC,11549,2.14,126.8,741.0,8.3,901,11553,0.00,1.77,0.00,0.000,6,0.000,0.033,3179,1955,2305
$GC,11880,2.14,126.8,714.5,9.1,917,11884,0.00,1.85,0.00,0.000,4,0.000,0.056,3179,3010,2303
$GC,11997,2.14,126.8,702.8,9.7,922,12001,0.00,1.88,0.00,0.000,6,0.000,0.047,3178,1958,2303
$GC,12323,2.14,126.8,669.4,10.1,938,12327,0.00,1.90,0.00,0.000,4,0.000,0.067,3179,907,2303
$GC,12574,2.14,126.8,641.4,10.7,949,12579,0.00,1.77,0.00,0.000,6,0.000,0.032,3178,1941,2302
$GC,12901,2.14,126.8,608.5,9.4,965,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1941,2303
$GC,13211,2.17,144.5,585.4,6.3,980,13231,0.00,0.00,15.95,1.144,6,0.000,0.000,3179,1941,2234
$GC,13540,2.17,144.5,560.3,8.2,996,13543,0.00,1.90,0.00,0.000,4,0.000,0.061,3179,898,2233
$GC,13667,2.17,144.5,548.1,9.9,1001,13674,0.00,1.80,0.00,0.000,6,0.000,0.033,3179,1940,2233
$GC,13984,2.17,144.5,519.2,8.7,1017,13988,0.00,1.88,0.00,0.000,4,0.000,0.056,3179,3010,2233
$GC,14090,2.17,144.5,509.8,9.3,1021,14096,0.00,1.90,0.00,0.000,6,0.000,0.045,3178,1941,2233
$GC,14413,2.17,144.5,480.2,8.9,1047,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1941,2233
$GC,14730,2.17,144.5,451.7,9.2,1077,14733,0.00,1.85,0.00,0.000,4,0.000,0.065,3178,909,2233
$GC,14812,2.17,144.5,444.0,8.8,1084,14819,0.00,1.80,0.00,0.000,6,0.000,0.032,3178,1958,2233
$GC,15140,2.17,144.5,416.9,8.4,1115,15143,0.00,1.83,0.00,0.000,4,0.000,0.054,3179,3005,2233
$GC,15274,2.17,144.5,404.6,9.2,1127,15278,0.00,1.83,0.00,0.000,6,0.000,0.053,3179,1955,2233
$GC,15604,2.18,148.1,377.6,7.6,1158,15615,0.00,1.92,4.38,0.726,4,0.000,0.064,3178,912,2221
$GC,15806,2.19,158.4,363.7,7.0,1176,15820,0.00,1.83,10.48,0.955,6,0.000,0.031,3179,1993,2179
$GC,16140,2.22,158.4,336.7,8.3,1207,16144,0.00,1.77,0.00,0.000,4,0.000,0.053,3179,3009,2178
$GC,16325,2.22,158.4,320.8,8.6,1223,16331,0.00,1.70,0.00,0.000,6,0.000,0.039,3179,2018,2178
$GC,16650,2.25,158.4,294.2,8.1,1254,16652,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2018,2178
$GC,16968,2.27,158.4,269.0,8.0,1284,16972,0.12,1.98,0.00,0.000,4,0.074,0.059,3212,909,2179
$GC,17052,2.27,158.4,261.5,8.1,1291,17058,0.00,1.92,0.00,0.000,6,0.000,0.038,3212,2041,2179
$GC,17389,2.27,160.5,232.2,7.8,1340,17401,0.00,2.08,3.88,0.591,4,0.000,0.053,3212,906,2170
$GC,17524,2.27,160.5,221.4,8.6,1364,17531,0.00,1.90,0.00,0.000,6,0.000,0.029,3212,2026,2170
$GC,17869,2.27,161.4,193.8,7.9,1425,17875,0.00,1.67,0.00,0.000,4,0.000,0.048,3212,3004,2170
$GC,18083,2.27,161.4,177.1,8.1,1463,18089,0.00,1.67,0.00,0.000,6,0.000,0.032,3212,2005,2170
$GC,18426,2.35,207.9,157.0,3.6,1524,18469,0.00,0.00,40.03,0.832,6,0.000,0.000,3212,2004,1977
$GC,18808,2.43,227.3,135.4,6.2,1592,18832,0.12,1.77,17.02,0.778,4,0.067,0.042,3249,3009,1897
$GC,18934,2.44,233.6,126.1,7.4,1614,18947,0.00,1.62,6.62,0.667,6,0.000,0.030,3249,2052,1872
$GC,19286,2.47,233.6,101.4,8.3,1676,19292,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2052,1872
$GC,19630,2.57,265.4,81.1,5.0,1737,19663,0.00,2.00,27.30,0.723,4,0.000,0.046,3249,916,1741
$GC,19917,2.62,272.3,61.7,7.3,1788,19930,0.10,2.00,7.03,0.604,6,0.048,0.025,3288,2115,1714
$GC,20269,2.66,278.2,36.4,7.4,1850,20281,0.00,1.52,6.53,0.568,4,0.000,0.043,3288,3013,1689
$GC,20535,2.72,297.6,18.4,6.2,1897,20557,0.00,1.58,17.12,0.638,6,0.000,0.026,3288,2059,1611
$STATE,20764,end climb,SURFACE_DEPTH_REACHED
$STATE,20764,begin surface coast
$FINISH,-0.7,1.021655
$STATE,20793,end surface coast,CONTROL_FINISHED_OK
$STATE,20793,begin surface
$SM_CCo,20814,144.00,0.621,0,0,585,548.98
$SM_GC,-5.30,0.00,0.00,144.00,0.000,0.000,0.621,419,2339,585,-10.54,0.42,548.98
$IRIDIUM_FIX,1241.04,12044.18,020697,131311
$TT8_MAMPS,0.025311
$HUMID,1683
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,377
$24V_AH,23.2,14.488
$10V_AH,10.2,11.703
$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,28.125,122.300,324.450,144.000,0.000,133.594,96.833,472.924,105.250,0.000,0.000,15.716,3200.305,13608.959,593.247,3638.790,1023.933,0.000,2279.527,0.000,3590.797,0.000,80.614
$DEVICE_MAMPS,173.342,151.866,1394.406,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1318.691,827.593,765.149,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107151,1943
$CAP_FILE_SIZE,202580,0
$CFSIZE,260165632,249008128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080308,191907,1242.402,12044.347,37,1.4,37,-0.8