version: 66.03
glider: 126
mission: 7
dive: 97
start: 3 9 108 1 50 12
data:
$ID,126
$MISSION,7
$DIVE,97
$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,-621342.56
$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,65
$R_STBD_OVSHOOT,45
$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
$GPS1,012907,1243.581,12043.600,34,0.9,34,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.80
$_SM_ANGLEo,-55.0
$GPS2,014921,1243.544,12043.537,17,1.3,17,-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,145.8,3037,-24.2,-7.990
$D_GRID,916
$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,20,-2.54,-56.0,0.0,0.0,0,95,0.00,0.00,-72.90,0.000,6,0.000,0.000,418,2296,3056
$GC,97,-2.54,-56.0,-0.4,-11.5,14,110,9.82,0.00,0.00,0.000,6,0.173,0.000,2150,2296,3057
$GC,447,-2.45,-56.0,79.8,-18.4,76,453,0.15,1.83,0.00,0.000,4,0.138,0.041,2179,3373,3058
$GC,510,-2.36,-56.0,92.5,-20.1,87,516,0.00,1.67,0.00,0.000,6,0.000,0.024,2179,2310,3058
$GC,854,-2.33,-56.0,148.9,-13.8,148,860,0.12,1.83,0.00,0.000,4,0.130,0.042,2201,3360,3059
$GC,1113,-2.33,-56.0,180.0,-10.8,194,1119,0.00,1.67,0.00,0.000,6,0.000,0.025,2201,2319,3060
$GC,1456,-2.33,-56.0,215.9,-10.1,255,1462,0.00,1.83,0.00,0.000,4,0.000,0.048,2200,3374,3059
$GC,1715,-2.33,-56.0,244.3,-10.4,301,1721,0.00,1.70,0.00,0.000,6,0.000,0.028,2201,2329,3059
$GC,2048,-2.36,-56.0,280.3,-10.8,337,2052,0.00,1.83,0.00,0.000,4,0.000,0.051,2201,3370,3056
$GC,2131,-2.36,-56.0,289.8,-11.4,344,2138,0.00,1.75,0.00,0.000,6,0.000,0.028,2201,2321,3056
$GC,2457,-2.38,-56.0,323.3,-10.6,375,2461,0.00,1.83,0.00,0.000,4,0.000,0.052,2201,3359,3054
$GC,2562,-2.38,-56.0,335.2,-10.9,384,2569,0.00,1.67,0.00,0.000,6,0.000,0.029,2201,2357,3053
$GC,2889,-2.41,-56.0,370.1,-11.1,415,2892,0.00,1.85,0.00,0.000,4,0.000,0.048,2201,1279,3051
$GC,2938,-2.44,-56.0,375.8,-11.7,419,2945,0.00,1.83,0.00,0.000,6,0.000,0.032,2201,2346,3050
$GC,3264,-2.47,-56.0,407.1,-9.0,450,3266,0.15,0.00,0.00,0.000,6,0.065,0.000,2163,2346,3048
$GC,3582,-2.47,-56.0,440.6,-10.8,480,3585,0.00,1.83,0.00,0.000,4,0.000,0.062,2163,3375,3045
$GC,3649,-2.47,-56.0,448.1,-10.6,486,3652,0.00,1.73,0.00,0.000,6,0.000,0.035,2163,2358,3044
$GC,3979,-2.47,-56.0,482.4,-10.1,517,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2358,3043
$GC,4293,-2.47,-56.0,513.2,-10.4,541,4297,0.00,1.85,0.00,0.000,4,0.000,0.069,2163,3369,3040
$GC,4338,-2.47,-56.0,517.9,-10.2,543,4341,0.00,1.75,0.00,0.000,6,0.000,0.043,2163,2358,3039
$GC,4672,-2.47,-56.0,552.5,-11.0,559,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2358,3037
$GC,4979,-2.47,-56.0,585.4,-10.8,574,4983,0.00,2.00,0.00,0.000,4,0.000,0.081,2163,1276,3034
$GC,5028,-2.47,-56.0,591.1,-11.4,576,5032,0.00,2.00,0.00,0.000,6,0.000,0.062,2163,2361,3034
$GC,5355,-2.47,-56.0,626.5,-10.2,592,5358,0.00,2.08,0.00,0.000,4,0.000,0.089,2163,1273,3032
$GC,5495,-2.47,-56.0,640.6,-10.4,598,5498,0.00,2.00,0.00,0.000,6,0.000,0.079,2164,2342,3031
$GC,5822,-2.47,-56.0,670.4,-8.5,614,5825,0.00,2.12,0.00,0.000,4,0.000,0.127,2163,3387,3030
$GC,6050,-2.47,-56.0,693.0,-9.8,624,6055,0.00,2.08,0.00,0.000,6,0.000,0.108,2163,2369,3029
$GC,6378,-2.47,-56.0,726.4,-10.3,640,6382,0.00,2.33,0.00,0.000,4,0.000,0.140,2163,1257,3027
$GC,6440,-2.47,-56.0,732.8,-10.2,643,6444,0.00,2.22,0.00,0.000,6,0.000,0.121,2163,2338,3026
$GC,6766,-2.47,-56.0,765.5,-10.2,659,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2338,3025
$GC,7075,-2.47,-56.0,796.7,-9.5,674,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2338,3024
$GC,7385,-2.47,-56.0,823.3,-8.0,689,7389,0.00,2.60,0.00,0.000,4,0.000,0.213,2163,3385,3023
$GC,7567,-2.47,-56.0,839.6,-9.5,697,7572,0.00,1.90,0.00,0.000,6,0.000,0.038,2163,2303,3022
$GC,7889,-2.47,-56.0,868.2,-8.9,713,7892,0.00,1.83,0.00,0.000,4,0.000,0.057,2163,1277,3021
$GC,7949,-2.47,-56.0,873.8,-9.2,715,7956,0.00,1.85,0.00,0.000,6,0.000,0.037,2163,2340,3021
$GC,8265,-2.47,-56.0,900.8,-8.6,731,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2340,3020
$STATE,8470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8470,begin apogee
$GC,8475,-0.51,0.0,917.5,8.4,741,8522,2.12,0.00,42.40,1.374,6,0.109,0.000,2600,1952,2825
$STATE,8523,end apogee,CONTROL_FINISHED_OK
$STATE,8523,begin climb
$GC,8525,2.54,56.0,918.7,0.0,743,8587,2.95,2.03,49.80,1.345,4,0.065,0.069,3263,905,2596
$GC,8710,2.52,75.6,911.2,5.9,751,8734,0.00,1.85,18.27,1.292,6,0.000,0.035,3263,1976,2516
$GC,9051,2.47,75.6,886.6,8.0,768,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1976,2513
$GC,9361,2.44,76.1,861.9,7.9,783,9362,0.12,0.00,0.00,0.000,6,0.122,0.000,3241,1976,2512
$GC,9669,2.45,82.9,838.7,7.3,798,9682,0.00,2.03,7.00,1.111,4,0.000,0.061,3241,914,2487
$GC,9896,2.43,88.7,822.2,7.4,808,9908,0.00,1.83,7.05,1.118,6,0.000,0.035,3241,1961,2463
$GC,10216,2.44,91.0,797.8,7.7,823,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1962,2462
$GC,10526,2.45,99.3,775.8,7.1,838,10541,0.00,1.90,10.60,1.197,4,0.000,0.059,3241,3010,2419
$GC,10590,2.45,99.3,770.6,8.6,840,10594,0.00,1.90,0.00,0.000,6,0.000,0.049,3241,1955,2419
$GC,10917,2.45,99.3,745.0,8.1,856,10920,0.00,1.90,0.00,0.000,4,0.000,0.064,3241,900,2418
$GC,11029,2.43,99.3,735.3,8.9,861,11033,0.00,1.80,0.00,0.000,6,0.000,0.035,3241,1954,2418
$GC,11360,2.43,99.3,708.1,8.4,877,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1954,2418
$GC,11670,2.44,109.3,685.8,6.9,892,11684,0.00,1.92,9.73,1.137,4,0.000,0.058,3241,2999,2379
$GC,11751,2.44,109.3,679.0,8.4,895,11757,0.00,1.90,0.00,0.000,6,0.000,0.048,3241,1944,2379
$GC,12066,2.45,116.3,655.9,7.2,911,12081,0.00,2.00,7.95,1.077,4,0.000,0.057,3241,3010,2349
$GC,12232,2.45,116.3,641.2,9.4,918,12237,0.00,1.85,0.00,0.000,6,0.000,0.044,3241,1969,2349
$GC,12553,2.45,116.3,610.5,9.7,934,12557,0.00,1.90,0.00,0.000,4,0.000,0.063,3241,912,2349
$GC,12810,2.45,116.3,586.8,8.5,945,12815,0.00,1.80,0.00,0.000,6,0.000,0.033,3241,1957,2349
$GC,13131,2.45,116.3,560.0,8.1,961,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1958,2349
$GC,13441,2.45,116.3,532.6,9.0,976,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1959,2349
$GC,13750,2.46,119.3,507.5,7.7,991,13760,0.00,1.95,4.12,0.756,4,0.000,0.059,3241,910,2338
$GC,13931,2.46,119.3,492.7,8.9,1002,13935,0.00,1.75,0.00,0.000,6,0.000,0.034,3241,1943,2338
$GC,14260,2.46,119.6,466.2,8.0,1033,14264,0.00,1.88,0.00,0.000,4,0.000,0.055,3241,3000,2338
$GC,14350,2.46,119.6,458.9,8.1,1041,14353,0.00,1.85,0.00,0.000,6,0.000,0.045,3241,1940,2338
$GC,14681,2.47,122.9,434.1,7.6,1072,14690,0.00,0.00,4.88,0.802,6,0.000,0.000,3241,1940,2324
$GC,15009,2.47,123.9,408.0,7.9,1103,15012,0.00,1.85,0.00,0.000,4,0.000,0.062,3241,905,2324
$GC,15226,2.47,123.9,389.4,9.5,1122,15233,0.00,1.85,0.00,0.000,6,0.000,0.032,3241,1976,2324
$GC,15552,2.47,127.5,364.9,7.6,1153,15564,0.00,1.83,5.70,0.821,4,0.000,0.054,3241,3011,2305
$GC,15681,2.47,127.5,354.2,8.2,1164,15687,0.00,1.80,0.00,0.000,6,0.000,0.041,3241,1988,2305
$GC,16008,2.49,135.2,329.5,7.2,1195,16023,0.00,1.88,8.48,0.895,4,0.000,0.052,3241,3011,2273
$GC,16130,2.49,135.2,318.9,8.5,1206,16134,0.00,1.75,0.00,0.000,6,0.000,0.040,3241,1996,2272
$GC,16460,2.49,135.2,291.3,8.2,1237,16461,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1996,2272
$GC,16779,2.50,146.0,268.1,6.8,1267,16794,0.00,1.83,10.48,0.874,4,0.000,0.051,3241,3014,2229
$GC,16967,2.50,146.0,254.7,8.3,1283,16974,0.00,1.75,0.00,0.000,6,0.000,0.037,3241,2004,2228
$GC,17307,2.55,157.2,228.8,6.8,1338,17326,0.10,2.00,10.55,0.842,4,0.079,0.056,3269,908,2184
$GC,17517,2.55,157.2,210.6,8.4,1375,17523,0.00,1.85,0.00,0.000,6,0.000,0.030,3269,2011,2184
$GC,17861,2.57,170.6,184.8,6.5,1436,17879,0.00,2.05,12.95,0.822,4,0.000,0.051,3269,907,2129
$GC,17941,2.57,170.6,178.1,8.4,1450,17948,0.00,1.83,0.00,0.000,6,0.000,0.029,3269,1977,2128
$GC,18286,2.63,194.6,154.2,5.4,1511,18314,0.00,1.95,20.83,0.812,4,0.000,0.050,3269,908,2031
$GC,18534,2.64,204.1,136.1,7.0,1555,18551,0.00,1.73,9.32,0.738,6,0.000,0.028,3269,1954,1991
$GC,18892,2.71,219.1,113.3,6.4,1618,18910,0.12,0.00,13.45,0.743,6,0.066,0.000,3305,1954,1931
$GC,19249,2.76,230.1,91.5,6.8,1681,19266,0.00,1.83,10.32,0.699,4,0.000,0.045,3305,2999,1887
$GC,19457,2.80,235.7,75.4,7.4,1718,19468,0.00,1.85,6.28,0.608,6,0.000,0.030,3305,1902,1864
$GC,19806,2.90,265.9,53.8,4.7,1780,19840,0.15,1.95,25.80,0.693,4,0.058,0.041,3352,2994,1741
$GC,19942,2.91,269.4,44.5,7.6,1804,19954,0.00,1.83,4.53,0.502,6,0.000,0.028,3352,1904,1726
$GC,20293,2.93,269.4,12.4,9.5,1866,20300,0.00,1.73,0.00,0.000,4,0.000,0.044,3353,909,1726
$GC,20424,2.94,274.3,2.5,7.5,1889,20436,0.00,1.70,5.75,0.518,6,0.000,0.025,3352,1964,1706
$STATE,20439,end climb,SURFACE_DEPTH_REACHED
$STATE,20440,begin surface coast
$FINISH,-0.8,1.021579
$STATE,20470,end surface coast,CONTROL_FINISHED_OK
$STATE,20470,begin surface
$SM_CCo,20490,158.45,0.624,0,0,586,548.98
$SM_GC,-5.38,0.00,0.00,158.45,0.000,0.000,0.624,416,2311,586,-10.55,-0.40,548.98
$IRIDIUM_FIX,1236.62,12043.05,030697,010100
$TT8_MAMPS,0.026078
$HUMID,1683
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.60
$XPDR_PINGS,342
$24V_AH,23.2,14.843
$10V_AH,10.2,11.984
$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,28.625,125.500,306.225,158.450,0.000,140.148,94.848,589.812,96.000,0.000,0.000,17.335,3132.560,13407.667,599.432,3591.616,1148.978,0.000,2271.496,0.000,3543.723,0.000,76.999
$DEVICE_MAMPS,173.342,213.226,1374.464,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1287.719,791.529,747.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104066,1897
$CAP_FILE_SIZE,204283,0
$CFSIZE,260165632,248815616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090308,073538,1241.784,12044.501,42,0.9,42,-0.8