version: 66.03
glider: 126
mission: 7
dive: 19
start: 2 20 108 4 45 36
data:
$ID,126
$MISSION,7
$DIVE,19
$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,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,-620024.12
$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,37
$R_STBD_OVSHOOT,52
$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
$GPS1,042908,1251.598,12040.280,41,1.1,41,-0.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,-5.20
$_SM_ANGLEo,-52.8
$GPS2,044445,1251.782,12040.039,15,1.5,15,-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,280.6,2819,-25.0,-10.000
$D_GRID,967
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-2.61,-75.6,0.0,0.0,0,83,0.00,0.00,-63.08,0.000,6,0.000,0.000,415,2222,3135
$GC,85,-2.61,-75.6,-0.2,-17.5,12,102,9.85,1.83,0.00,0.000,4,0.178,0.039,2133,3284,3137
$GC,355,-2.50,-75.6,72.2,-24.6,60,362,0.10,1.73,0.00,0.000,6,0.140,0.026,2154,2232,3138
$GC,699,-2.48,-75.6,135.3,-15.8,121,705,0.00,1.70,0.00,0.000,4,0.000,0.038,2154,1210,3140
$GC,794,-2.48,-75.6,149.8,-14.2,138,801,0.00,1.70,0.00,0.000,6,0.000,0.027,2155,2242,3140
$GC,1139,-2.48,-75.6,198.1,-12.5,199,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2243,3140
$GC,1481,-2.48,-75.6,245.5,-12.1,260,1487,0.00,1.83,0.00,0.000,4,0.000,0.046,2155,3289,3140
$GC,1586,-2.48,-75.6,259.2,-13.3,273,1594,0.00,1.73,0.00,0.000,6,0.000,0.028,2154,2253,3140
$GC,1912,-2.48,-75.6,299.5,-12.7,304,1915,0.00,1.80,0.00,0.000,4,0.000,0.047,2154,3287,3139
$GC,2079,-2.48,-75.6,322.1,-13.2,319,2083,0.00,1.75,0.00,0.000,6,0.000,0.030,2154,2247,3138
$GC,2410,-2.50,-75.6,362.1,-12.7,350,2413,0.00,1.83,0.00,0.000,4,0.000,0.048,2155,3290,3136
$GC,2514,-2.50,-75.6,375.6,-12.7,359,2522,0.00,1.77,0.00,0.000,6,0.000,0.031,2155,2247,3135
$GC,2840,-2.52,-75.6,417.6,-12.9,390,2844,0.00,1.83,0.00,0.000,4,0.000,0.058,2155,1206,3133
$GC,2923,-2.52,-75.6,428.3,-12.4,397,2930,0.00,1.75,0.00,0.000,6,0.000,0.032,2154,2236,3133
$GC,3249,-2.54,-75.6,466.8,-12.9,428,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2237,3130
$GC,3576,-2.57,-75.6,506.1,-12.4,457,3580,0.00,1.90,0.00,0.000,4,0.000,0.062,2155,3301,3129
$GC,3658,-2.57,-75.6,516.5,-12.4,460,3665,0.00,1.83,0.00,0.000,6,0.000,0.038,2155,2257,3128
$GC,3974,-2.60,-75.6,551.1,-10.7,476,3978,0.00,1.92,0.00,0.000,4,0.000,0.070,2155,3302,3125
$GC,4068,-2.60,-75.6,561.6,-11.1,480,4073,0.00,1.88,0.00,0.000,6,0.000,0.050,2155,2260,3125
$GC,4395,-2.63,-75.6,598.6,-11.9,496,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2258,3123
$GC,4704,-2.66,-75.6,631.6,-10.5,511,4709,0.12,2.03,0.00,0.000,4,0.086,0.098,2126,3293,3121
$GC,4820,-2.66,-75.6,644.9,-11.2,516,4825,0.00,2.03,0.00,0.000,6,0.000,0.085,2126,2254,3120
$GC,5142,-2.66,-75.6,681.9,-12.1,532,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2253,3118
$GC,5451,-2.66,-75.6,719.6,-12.2,547,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2253,3116
$GC,5761,-2.85,-104.5,754.3,-7.2,562,5765,0.15,2.38,0.00,0.000,4,0.079,0.173,2086,1191,3115
$GC,5804,-3.13,-146.0,754.9,-1.2,564,5809,0.28,2.20,0.00,0.000,6,0.061,0.139,2018,2224,3115
$STATE,5943,end dive,NO_VERTICAL_VELOCITY
$STATE,5943,begin apogee
$GC,5947,-0.50,0.0,756.0,0.0,571,6012,2.70,0.00,60.12,1.253,6,0.092,0.000,2594,1960,2825
$STATE,6013,end apogee,CONTROL_FINISHED_OK
$STATE,6013,begin climb
$GC,6015,2.72,146.0,756.0,0.0,574,6147,3.15,2.53,122.68,1.225,4,0.061,0.176,3303,899,2229
$GC,6401,2.68,146.0,718.4,12.5,592,6405,0.00,2.20,0.00,0.000,6,0.000,0.112,3304,1974,2224
$GC,6728,2.65,146.0,679.6,11.6,608,6732,0.00,2.25,0.00,0.000,4,0.000,0.123,3304,897,2222
$GC,6984,2.60,146.0,648.5,12.9,619,6992,0.12,2.05,0.00,0.000,6,0.118,0.071,3276,1976,2220
$GC,7299,2.60,146.0,613.2,11.0,635,7303,0.00,2.10,0.00,0.000,4,0.000,0.090,3276,890,2219
$GC,7467,2.58,146.0,592.2,13.2,642,7471,0.00,1.92,0.00,0.000,6,0.000,0.049,3275,1976,2219
$GC,7787,2.58,146.0,553.3,11.6,658,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1976,2218
$GC,8098,2.58,146.0,517.7,10.9,673,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1976,2217
$GC,8410,2.58,146.0,483.4,11.3,695,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1976,2216
$GC,8729,2.58,146.0,447.1,11.7,725,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1976,2216
$GC,9047,2.58,146.0,412.8,11.6,755,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1976,2216
$GC,9366,2.58,146.0,379.3,10.0,785,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1976,2215
$GC,9686,2.59,152.9,350.1,9.3,815,9697,0.00,1.83,4.75,0.742,4,0.000,0.048,3276,3027,2201
$GC,9825,2.59,152.9,335.8,10.5,827,9832,0.00,1.90,0.00,0.000,6,0.000,0.037,3275,1934,2201
$GC,10151,2.59,156.0,303.7,9.7,858,10161,0.00,0.00,4.22,0.679,6,0.000,0.000,3276,1934,2189
$GC,10479,2.60,160.9,271.3,9.5,889,10491,0.00,1.92,6.30,0.798,4,0.000,0.044,3276,3034,2167
$GC,10547,2.63,176.8,265.2,8.5,895,10568,0.00,1.85,14.55,0.906,6,0.000,0.036,3276,1949,2104
$GC,10897,2.64,184.3,228.2,9.3,945,10909,0.00,0.00,7.62,0.802,6,0.000,0.000,3276,1949,2073
$GC,11246,2.64,184.3,192.1,11.1,1007,11251,0.00,1.88,0.00,0.000,4,0.000,0.044,3276,3030,2072
$GC,11398,2.64,184.3,175.4,10.8,1034,11405,0.00,1.83,0.00,0.000,6,0.000,0.035,3276,1964,2072
$GC,11742,2.67,188.1,143.2,9.6,1095,11754,0.00,0.00,4.82,0.624,6,0.000,0.000,3276,1964,2058
$GC,12091,2.76,218.5,117.8,7.0,1157,12124,0.15,0.00,26.05,0.795,6,0.070,0.000,3315,1964,1934
$GC,12464,2.91,285.8,91.0,3.5,1223,12524,0.10,1.95,54.30,0.759,4,0.079,0.054,3343,908,1659
$GC,12777,2.91,285.8,64.6,11.7,1279,12783,0.00,1.77,0.00,0.000,6,0.000,0.026,3343,1998,1656
$GC,13122,2.95,290.1,35.9,9.6,1340,13134,0.00,1.95,4.78,0.515,4,0.000,0.048,3343,913,1642
$GC,13190,2.99,297.2,28.9,9.3,1352,13202,0.00,1.73,7.60,0.605,6,0.000,0.025,3343,1966,1612
$STATE,13454,end climb,SURFACE_DEPTH_REACHED
$STATE,13454,begin surface coast
$FINISH,0.9,1.021889
$STATE,13471,end surface coast,CONTROL_FINISHED_OK
$STATE,13471,begin surface
$SM_CCo,13491,145.00,0.647,0,0,587,548.98
$SM_GC,-4.88,0.00,0.00,145.00,0.000,0.000,0.647,416,2254,587,-10.53,0.11,548.98
$IRIDIUM_FIX,1247.67,12040.38,160597,040423
$TT8_MAMPS,0.026078
$HUMID,1696
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.40
$XPDR_PINGS,407
$24V_AH,23.2,2.910
$10V_AH,10.1,2.222
$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,29.600,70.100,317.800,145.000,0.000,138.751,141.373,296.592,101.750,0.000,0.000,16.253,2247.091,8493.692,552.204,2543.286,761.984,0.000,1740.946,0.000,2539.573,0.000,0.463
$DEVICE_MAMPS,177.944,175.643,1252.511,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,948.570,653.895,610.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78874,1402
$CAP_FILE_SIZE,135498,0
$CFSIZE,260165632,255778816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,083407,1252.466,12038.773,41,1.2,41,-0.8