version: 66.03
glider: 126
mission: 7
dive: 17
start: 2 19 108 17 57 31
data:
$ID,126
$MISSION,7
$DIVE,17
$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,330
$T_MISSION,396
$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,450
$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,-619994.12
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2706
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$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,2250
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,175138,1246.828,12043.306,39,1.2,39,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.20
$_SM_ANGLEo,-58.1
$GPS2,175639,1246.897,12043.274,14,1.5,14,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,SABLAYAN
$TGT_LATLONG,1252.040,12038.500
$TGT_RADIUS,2000.000
$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,318.7,12846,-23.3,-10.000
$D_GRID,1218
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-2.46,-86.6,0.0,0.0,0,88,0.00,0.00,-64.45,0.000,6,0.000,0.000,415,2222,3179
$GC,90,-2.46,-86.6,1.3,-23.0,13,107,10.00,1.83,0.00,0.000,4,0.175,0.040,2168,3282,3179
$GC,315,-2.33,-86.6,65.2,-24.9,53,322,0.15,1.73,0.00,0.000,6,0.135,0.026,2194,2216,3180
$GC,659,-2.31,-86.6,130.4,-14.8,114,665,0.00,1.70,0.00,0.000,4,0.000,0.038,2194,1211,3182
$GC,715,-2.28,-86.6,139.7,-17.2,124,721,0.00,1.70,0.00,0.000,6,0.000,0.026,2194,2244,3183
$GC,1058,-2.28,-86.6,187.8,-13.0,185,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2244,3184
$GC,1400,-2.28,-86.6,232.0,-13.9,246,1406,0.00,1.83,0.00,0.000,4,0.000,0.046,2194,3293,3184
$GC,1514,-2.28,-86.6,247.1,-12.6,266,1520,0.00,1.73,0.00,0.000,6,0.000,0.030,2193,2254,3184
$GC,1845,-2.28,-86.6,288.0,-12.2,299,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2249,3184
$GC,2163,-2.30,-86.6,328.2,-12.4,329,2167,0.00,1.83,0.00,0.000,4,0.000,0.049,2194,3299,3182
$GC,2336,-2.30,-86.6,350.3,-11.6,344,2343,0.00,1.77,0.00,0.000,6,0.000,0.031,2194,2254,3181
$GC,2663,-2.33,-86.6,384.1,-10.0,375,2666,0.00,1.83,0.00,0.000,4,0.000,0.051,2194,3293,3180
$GC,2920,-2.33,-86.6,414.0,-12.2,398,2924,0.00,1.77,0.00,0.000,6,0.000,0.035,2194,2257,3178
$GC,3252,-2.36,-86.6,451.2,-11.5,429,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2256,3177
$GC,3569,-2.39,-86.6,487.4,-11.5,459,3573,0.00,1.88,0.00,0.000,4,0.000,0.068,2194,1213,3175
$GC,3638,-2.42,-86.6,495.2,-11.4,465,3641,0.00,1.75,0.00,0.000,6,0.000,0.039,2194,2245,3174
$GC,3970,-2.45,-86.6,532.3,-11.2,483,3974,0.00,1.90,0.00,0.000,4,0.000,0.067,2194,3306,3172
$GC,4082,-2.47,-86.6,544.7,-10.9,488,4087,0.12,1.83,0.00,0.000,6,0.080,0.044,2165,2257,3172
$GC,4415,-2.47,-86.6,583.5,-12.0,504,4418,0.00,1.95,0.00,0.000,4,0.000,0.081,2165,1193,3169
$GC,4486,-2.47,-86.6,592.4,-12.0,507,4491,0.00,1.92,0.00,0.000,6,0.000,0.061,2165,2247,3169
$GC,4813,-2.47,-86.6,628.7,-10.9,523,4816,0.00,2.05,0.00,0.000,4,0.000,0.098,2166,3313,3167
$GC,4903,-2.47,-86.6,638.8,-11.5,527,4907,0.00,2.00,0.00,0.000,6,0.000,0.082,2165,2263,3166
$GC,5234,-2.47,-86.6,674.4,-10.7,543,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2262,3165
$GC,5544,-2.47,-86.6,707.8,-10.9,558,5548,0.00,2.20,0.00,0.000,4,0.000,0.136,2165,3301,3163
$GC,5682,-2.47,-86.6,723.6,-11.3,564,5687,0.00,2.25,0.00,0.000,6,0.000,0.129,2165,2249,3163
$GC,6004,-2.47,-86.6,758.2,-10.9,580,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2249,3161
$GC,6313,-2.47,-86.6,791.8,-10.7,595,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2249,3160
$GC,6622,-2.49,-95.2,821.0,-9.3,610,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2249,3159
$GC,6931,-2.50,-100.6,849.7,-9.5,625,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2248,3158
$GC,7241,-2.53,-105.3,878.0,-9.6,640,7245,0.00,1.92,0.00,0.000,4,0.000,0.058,2165,3324,3156
$GC,7325,-2.53,-105.3,886.9,-11.1,643,7331,0.00,1.90,0.00,0.000,6,0.000,0.039,2165,2215,3156
$GC,7639,-2.54,-112.9,918.8,-9.3,659,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2216,3155
$GC,7949,-2.57,-116.1,942.8,-9.7,674,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2215,3154
$GC,8258,-2.61,-121.9,973.3,-9.5,689,8260,0.12,0.00,0.00,0.000,6,0.091,0.000,2138,2216,3154
$STATE,8421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8421,begin apogee
$GC,8425,-0.50,0.0,990.8,10.8,697,8504,2.25,0.00,70.30,1.447,6,0.117,0.000,2594,1970,2824
$STATE,8505,end apogee,CONTROL_FINISHED_OK
$STATE,8505,begin climb
$GC,8506,2.51,121.9,993.5,0.0,701,8622,3.00,2.08,106.45,1.414,4,0.069,0.079,3257,912,2327
$GC,8705,2.46,121.9,980.4,10.4,710,8710,0.00,1.90,0.00,0.000,6,0.000,0.038,3257,1985,2323
$GC,9028,2.44,134.7,950.8,8.9,726,9048,0.00,2.10,11.77,1.272,4,0.000,0.067,3257,907,2276
$GC,9178,2.40,145.2,937.8,9.1,732,9193,0.15,1.85,10.48,1.246,6,0.127,0.038,3230,1977,2232
$GC,9507,2.40,145.2,899.0,13.6,749,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1977,2230
$GC,9817,2.40,145.2,853.1,15.9,764,9820,0.00,1.98,0.00,0.000,4,0.000,0.066,3230,906,2229
$GC,9889,2.36,145.2,841.6,15.1,767,9893,0.00,1.85,0.00,0.000,6,0.000,0.037,3230,1966,2229
$GC,10215,2.36,146.6,803.6,9.9,783,10218,0.00,1.85,0.00,0.000,4,0.000,0.055,3230,3019,2228
$GC,10292,2.34,147.9,796.2,9.9,786,10297,0.00,1.88,0.00,0.000,6,0.000,0.046,3230,1966,2228
$GC,10613,2.34,147.9,763.2,11.8,802,10617,0.00,1.92,0.00,0.000,4,0.000,0.070,3230,908,2228
$GC,10870,2.32,147.9,731.1,11.1,813,10874,0.00,1.83,0.00,0.000,6,0.000,0.044,3230,1962,2227
$GC,11191,2.32,147.9,698.0,10.7,829,11194,0.00,1.85,0.00,0.000,4,0.000,0.055,3230,3019,2226
$GC,11251,2.29,147.9,691.1,11.9,831,11258,0.10,1.88,0.00,0.000,6,0.120,0.044,3208,1962,2227
$GC,11566,2.29,147.9,657.4,10.8,847,11570,0.00,1.85,0.00,0.000,4,0.000,0.053,3209,3011,2226
$GC,11633,2.29,147.9,650.2,10.6,850,11637,0.00,1.85,0.00,0.000,6,0.000,0.044,3209,1965,2226
$GC,11964,2.30,154.0,616.8,9.5,866,11978,0.00,2.00,8.02,1.075,4,0.000,0.069,3208,906,2197
$GC,12057,2.30,154.0,607.3,10.3,870,12061,0.00,1.85,0.00,0.000,6,0.000,0.035,3208,1967,2197
$GC,12385,2.31,159.4,574.6,9.5,886,12393,0.00,0.00,6.25,0.986,6,0.000,0.000,3208,1967,2176
$GC,12693,2.31,159.4,541.2,11.2,901,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1968,2175
$GC,13002,2.31,159.4,508.7,10.5,916,13005,0.00,1.83,0.00,0.000,4,0.000,0.054,3208,3011,2175
$GC,13192,2.31,159.4,489.0,10.2,929,13196,0.00,1.85,0.00,0.000,6,0.000,0.044,3208,1964,2175
$GC,13522,2.32,160.7,455.1,9.9,960,13526,0.00,1.92,0.00,0.000,4,0.000,0.070,3208,903,2175
$GC,13645,2.32,161.1,442.6,10.0,971,13649,0.00,1.80,0.00,0.000,6,0.000,0.035,3208,1972,2175
$GC,13976,2.33,167.8,411.1,9.4,1002,13990,0.00,2.00,9.18,0.977,4,0.000,0.064,3208,913,2140
$GC,14121,2.34,176.8,396.9,9.2,1015,14136,0.00,1.80,9.20,0.966,6,0.000,0.034,3209,1973,2104
$GC,14460,2.37,183.4,363.5,9.4,1047,14472,0.00,1.90,7.22,0.895,4,0.000,0.053,3208,3016,2077
$GC,14562,2.37,183.4,353.3,10.1,1056,14565,0.00,1.85,0.00,0.000,6,0.000,0.042,3209,1952,2077
$GC,14891,2.40,183.4,320.8,10.4,1087,14895,0.00,1.90,0.00,0.000,4,0.000,0.067,3208,901,2077
$GC,14996,2.40,183.4,309.7,10.4,1096,15003,0.00,1.83,0.00,0.000,6,0.000,0.031,3209,1970,2077
$GC,15322,2.43,183.4,276.0,10.7,1127,15324,0.12,0.00,0.00,0.000,6,0.082,0.000,3239,1970,2077
$GC,15644,2.43,186.4,242.8,9.7,1163,15650,0.00,0.00,4.20,0.647,6,0.000,0.000,3239,1971,2065
$GC,15989,2.45,196.9,209.1,9.1,1224,16006,0.00,0.00,10.55,0.846,6,0.000,0.000,3239,1971,2022
$GC,16345,2.45,196.9,174.2,10.0,1287,16350,0.00,1.80,0.00,0.000,4,0.000,0.049,3239,3016,2022
$GC,16418,2.45,196.9,166.7,10.2,1300,16425,0.00,1.83,0.00,0.000,6,0.000,0.035,3239,1953,2022
$GC,16762,2.52,218.9,134.4,8.1,1361,16790,0.00,1.90,19.65,0.815,4,0.000,0.044,3239,3004,1932
$GC,16824,2.58,238.4,129.2,8.3,1372,16847,0.08,1.80,17.23,0.785,6,0.066,0.033,3266,1961,1853
$GC,17186,2.63,252.2,94.7,8.8,1436,17204,0.00,1.88,12.62,0.745,4,0.000,0.054,3267,910,1797
$GC,17300,2.75,304.2,87.2,5.5,1456,17349,0.12,1.77,42.65,0.759,6,0.055,0.028,3307,1981,1585
$GC,17689,2.79,314.1,54.7,9.1,1525,17700,0.00,0.00,9.30,0.661,6,0.000,0.000,3307,1981,1544
$GC,18039,2.85,327.2,19.4,8.9,1587,18056,0.00,1.80,12.00,0.648,4,0.000,0.042,3307,2998,1491
$GC,18181,2.89,327.2,4.3,11.2,1612,18188,0.08,1.75,0.00,0.000,6,0.059,0.028,3338,1952,1490
$STATE,18198,end climb,SURFACE_DEPTH_REACHED
$STATE,18198,begin surface coast
$FINISH,-0.2,1.021923
$STATE,18216,end surface coast,CONTROL_FINISHED_OK
$STATE,18216,begin surface
$SM_CCo,18235,78.53,0.653,0,0,989,450.13
$SM_GC,-5.43,0.00,0.00,78.53,0.000,0.000,0.653,413,2253,989,-10.54,0.08,450.13
$IRIDIUM_FIX,1241.04,12044.18,150597,131335
$TT8_MAMPS,0.026078
$HUMID,1719
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.30
$XPDR_PINGS,305
$24V_AH,23.1,2.585
$10V_AH,10.1,2.005
$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,29.150,105.850,367.075,78.525,0.000,24.093,13.434,167.222,76.250,0.000,0.000,14.324,2667.984,12017.008,538.855,3015.026,404.613,0.000,1986.488,0.000,3007.449,0.000,0.464
$DEVICE_MAMPS,174.876,135.759,1447.329,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1098.337,633.192,606.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88261,1618
$CAP_FILE_SIZE,164097,0
$CFSIZE,260165632,255926272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190208,230402,1249.719,12041.588,43,1.5,43,-0.8