version: 66.03
glider: 126
mission: 7
dive: 84
start: 3 5 108 14 49 31
data:
$ID,126
$MISSION,7
$DIVE,84
$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,-621101.94
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,143008,1257.337,12032.616,34,1.4,34,-0.9
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.78
$_SM_ANGLEo,-54.4
$GPS2,144839,1257.431,12032.318,16,1.4,16,-0.9
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,SABLAYAN_SB
$TGT_LATLONG,1252.040,12038.500
$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,132.7,14975,-22.0,-7.990
$D_GRID,997
$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,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,89,0.00,0.00,-65.45,0.000,6,0.000,0.000,418,2323,3100
$GC,91,-2.33,-67.0,0.6,-15.2,13,108,10.05,1.80,0.00,0.000,4,0.173,0.036,2194,1265,3102
$GC,148,-2.19,-67.0,19.7,-24.5,23,154,0.20,1.75,0.00,0.000,6,0.125,0.025,2232,2348,3102
$GC,493,-2.12,-67.0,83.7,-17.3,84,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2348,3103
$GC,836,-2.07,-67.0,140.1,-14.1,145,842,0.15,0.00,0.00,0.000,6,0.117,0.000,2264,2349,3104
$GC,1179,-2.07,-67.0,183.8,-12.8,206,1185,0.00,1.75,0.00,0.000,4,0.000,0.042,2264,3369,3104
$GC,1269,-2.07,-67.0,194.5,-10.6,222,1276,0.00,1.77,0.00,0.000,6,0.000,0.025,2264,2273,3104
$GC,1614,-2.09,-67.0,229.2,-10.4,283,1619,0.00,1.88,0.00,0.000,4,0.000,0.044,2264,3365,3104
$GC,1687,-2.09,-67.0,237.7,-11.4,296,1693,0.00,1.73,0.00,0.000,6,0.000,0.027,2264,2303,3104
$GC,2018,-2.12,-67.0,270.1,-8.9,337,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2298,3104
$GC,2338,-2.16,-67.0,299.3,-10.1,367,2340,0.12,0.00,0.00,0.000,6,0.069,0.000,2229,2298,3102
$GC,2656,-2.16,-67.0,332.7,-10.4,397,2660,0.00,1.85,0.00,0.000,4,0.000,0.048,2229,3369,3099
$GC,2700,-2.16,-67.0,337.7,-11.0,401,2704,0.00,1.70,0.00,0.000,6,0.000,0.029,2229,2321,3099
$GC,3031,-2.16,-67.0,371.3,-9.6,432,3034,0.00,1.83,0.00,0.000,4,0.000,0.049,2229,3368,3097
$GC,3136,-2.16,-67.0,381.7,-10.2,441,3143,0.00,1.67,0.00,0.000,6,0.000,0.030,2229,2357,3096
$GC,3462,-2.16,-67.0,413.9,-10.8,472,3465,0.00,1.83,0.00,0.000,4,0.000,0.048,2229,1298,3094
$GC,3590,-2.16,-67.0,427.0,-9.4,483,3596,0.00,1.75,0.00,0.000,6,0.000,0.033,2229,2322,3093
$GC,3915,-2.16,-67.0,458.5,-9.9,514,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2324,3091
$GC,4234,-2.18,-67.0,489.3,-9.4,544,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2324,3088
$GC,4559,-2.20,-67.0,521.4,-10.2,565,4562,0.00,1.85,0.00,0.000,4,0.000,0.064,2229,1301,3086
$GC,4619,-2.22,-67.0,528.3,-11.3,567,4626,0.00,1.80,0.00,0.000,6,0.000,0.042,2229,2332,3086
$GC,4937,-2.25,-67.0,560.2,-9.9,583,4941,0.00,1.90,0.00,0.000,4,0.000,0.070,2229,3368,3083
$GC,4997,-2.25,-67.0,566.8,-10.6,585,5004,0.00,1.75,0.00,0.000,6,0.000,0.042,2229,2373,3083
$GC,5313,-2.27,-67.0,596.1,-9.1,601,5316,0.00,2.03,0.00,0.000,4,0.000,0.075,2229,1265,3081
$GC,5359,-2.29,-67.0,600.2,-9.2,603,5363,0.00,1.90,0.00,0.000,6,0.000,0.059,2229,2323,3081
$GC,5691,-2.32,-67.0,629.4,-8.8,619,5695,0.12,2.00,0.00,0.000,4,0.073,0.091,2197,3380,3078
$GC,5773,-2.32,-67.0,637.9,-9.9,622,5780,0.00,1.98,0.00,0.000,6,0.000,0.070,2196,2333,3078
$GC,6089,-2.32,-67.0,669.0,-9.9,638,6092,0.00,2.08,0.00,0.000,4,0.000,0.105,2197,3379,3076
$GC,6133,-2.32,-67.0,673.5,-10.6,640,6137,0.00,2.00,0.00,0.000,6,0.000,0.087,2197,2337,3076
$GC,6466,-2.32,-67.0,705.8,-9.4,656,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2335,3074
$GC,6773,-2.32,-67.0,734.2,-9.0,671,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2335,3073
$GC,7083,-2.32,-67.0,765.9,-10.4,686,7087,0.00,2.30,0.00,0.000,4,0.000,0.154,2197,3377,3072
$GC,7215,-2.32,-67.0,779.8,-9.8,692,7221,0.00,2.30,0.00,0.000,6,0.000,0.143,2197,2331,3071
$GC,7545,-2.32,-67.0,811.0,-9.4,708,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2320,3070
$GC,7854,-2.32,-67.0,840.1,-9.1,723,7857,0.00,1.90,0.00,0.000,4,0.000,0.056,2197,1246,3069
$GC,7988,-2.32,-67.0,851.9,-8.6,729,7991,0.00,1.88,0.00,0.000,6,0.000,0.037,2197,2342,3069
$GC,8319,-2.32,-67.0,878.9,-8.0,745,8323,0.00,1.83,0.00,0.000,4,0.000,0.060,2197,3377,3068
$GC,8375,-2.32,-67.0,883.5,-8.1,747,8379,0.00,1.85,0.00,0.000,6,0.000,0.036,2197,2289,3067
$GC,8698,-2.32,-67.0,911.7,-9.0,763,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2288,3066
$GC,9004,-2.32,-67.0,937.7,-8.3,778,9008,0.00,1.95,0.00,0.000,4,0.000,0.058,2197,3377,3064
$GC,9149,-2.32,-67.0,949.9,-8.9,784,9155,0.00,1.77,0.00,0.000,6,0.000,0.036,2197,2351,3064
$GC,9470,-2.32,-68.0,976.2,-7.9,800,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2351,3063
$STATE,9654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9654,begin apogee
$GC,9659,-0.51,0.0,991.0,8.3,809,9716,1.95,0.00,52.22,1.443,6,0.110,0.000,2597,1971,2825
$STATE,9717,end apogee,CONTROL_FINISHED_OK
$STATE,9717,begin climb
$GC,9719,2.34,68.0,992.4,0.0,812,9789,2.80,2.08,60.38,1.407,4,0.071,0.078,3219,912,2547
$GC,9847,2.31,94.6,988.0,5.5,818,9876,0.00,1.88,24.70,1.358,6,0.000,0.037,3219,1971,2439
$GC,10199,2.28,100.1,960.8,7.5,835,10209,0.00,1.88,5.95,1.084,4,0.000,0.053,3219,3023,2417
$GC,10334,2.23,100.1,949.2,8.8,841,10338,0.12,1.85,0.00,0.000,6,0.122,0.041,3197,1964,2416
$GC,10660,2.21,105.6,924.7,7.5,857,10668,0.00,0.00,6.40,1.114,6,0.000,0.000,3197,1964,2395
$GC,10968,2.19,105.6,900.7,8.3,872,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1964,2393
$GC,11278,2.17,106.9,875.5,7.9,887,11282,0.00,1.88,0.00,0.000,4,0.000,0.051,3197,3023,2392
$GC,11513,2.15,106.9,855.3,8.5,897,11517,0.00,1.85,0.00,0.000,6,0.000,0.040,3197,1973,2391
$GC,11834,2.13,106.9,828.4,8.2,913,11838,0.12,1.92,0.00,0.000,4,0.122,0.063,3174,905,2391
$GC,11940,2.13,106.9,819.1,8.5,917,11946,0.00,1.85,0.00,0.000,6,0.000,0.035,3174,1975,2391
$GC,12256,2.13,107.2,793.8,8.0,933,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1976,2390
$GC,12564,2.13,111.8,770.2,7.6,948,12573,0.00,0.00,6.32,1.071,6,0.000,0.000,3174,1976,2369
$GC,12874,2.14,114.7,746.4,7.7,963,12883,0.00,1.85,4.43,0.907,4,0.000,0.051,3174,3005,2357
$GC,13019,2.15,122.2,735.3,7.3,969,13033,0.00,1.77,8.52,1.147,6,0.000,0.040,3174,1978,2326
$GC,13360,2.15,122.2,706.4,8.4,986,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1978,2325
$GC,13670,2.17,131.0,682.8,7.2,1001,13681,0.00,0.00,9.20,1.134,6,0.000,0.000,3174,1978,2290
$GC,13979,2.17,133.6,658.6,7.7,1016,13984,0.00,0.00,3.88,0.791,6,0.000,0.000,3174,1978,2280
$GC,14288,2.17,135.6,634.5,7.8,1031,14289,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1978,2280
$GC,14597,2.17,135.6,609.3,8.2,1046,14601,0.00,1.83,0.00,0.000,4,0.000,0.050,3174,3019,2280
$GC,14664,2.17,136.1,603.4,7.9,1049,14674,0.00,1.83,3.95,0.778,6,0.000,0.038,3174,1960,2270
$GC,14995,2.17,136.1,573.7,9.1,1065,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1960,2270
$GC,15304,2.17,136.1,545.3,9.0,1080,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1960,2270
$GC,15615,2.17,136.1,519.9,8.1,1095,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1960,2270
$GC,15924,2.18,140.0,495.3,7.6,1112,15934,0.00,0.00,5.28,0.867,6,0.000,0.000,3174,1960,2254
$GC,16253,2.18,140.0,468.8,8.1,1143,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1960,2254
$GC,16572,2.18,141.9,443.9,7.8,1173,16576,0.00,1.83,0.00,0.000,4,0.000,0.047,3174,3011,2254
$GC,16767,2.21,154.9,427.6,6.8,1190,16788,0.00,1.83,14.35,1.032,6,0.000,0.036,3175,1956,2192
$GC,17113,2.23,154.9,398.9,8.5,1223,17117,0.00,1.88,0.00,0.000,4,0.000,0.062,3174,909,2192
$GC,17252,2.23,154.9,386.3,8.7,1235,17259,0.00,1.80,0.00,0.000,6,0.000,0.031,3174,1963,2192
$GC,17578,2.26,154.9,357.8,9.0,1266,17582,0.12,1.80,0.00,0.000,4,0.078,0.047,3205,3012,2192
$GC,17818,2.26,154.9,335.2,8.6,1287,17825,0.00,1.83,0.00,0.000,6,0.000,0.035,3206,1958,2192
$GC,18144,2.26,154.9,308.2,8.6,1318,18148,0.00,1.90,0.00,0.000,4,0.000,0.061,3206,911,2192
$GC,18301,2.26,154.9,294.1,8.7,1332,18304,0.00,1.77,0.00,0.000,6,0.000,0.031,3206,1973,2192
$GC,18630,2.26,157.2,265.6,7.8,1363,18634,0.00,1.77,0.00,0.000,4,0.000,0.047,3206,3000,2192
$GC,18708,2.26,157.2,258.6,8.9,1370,18712,0.00,1.73,0.00,0.000,6,0.000,0.033,3206,1975,2192
$GC,19046,2.26,157.2,231.6,9.2,1420,19052,0.00,1.90,0.00,0.000,4,0.000,0.058,3206,914,2193
$GC,19154,2.26,157.2,222.2,8.1,1439,19166,0.00,1.80,3.90,0.582,6,0.000,0.029,3205,2000,2184
$GC,19503,2.27,164.0,197.4,7.3,1501,19515,0.00,0.00,7.30,0.767,6,0.000,0.000,3206,2000,2157
$GC,19854,2.32,190.9,176.5,5.4,1563,19881,0.00,1.80,23.73,0.841,4,0.000,0.043,3205,3004,2045
$GC,20006,2.39,214.0,167.2,5.8,1590,20035,0.08,1.73,20.17,0.815,6,0.061,0.029,3234,1987,1952
$GC,20375,2.44,225.9,143.0,6.9,1655,20392,0.00,0.00,11.00,0.755,6,0.000,0.000,3234,1987,1903
$GC,20731,2.51,245.4,117.3,6.1,1718,20754,0.00,1.77,17.52,0.754,4,0.000,0.038,3234,3007,1823
$GC,20835,2.56,249.7,110.1,7.6,1736,20848,0.10,1.73,5.03,0.579,6,0.054,0.027,3270,1979,1806
$GC,21187,2.58,253.0,81.2,7.7,1798,21199,0.00,1.88,4.40,0.520,4,0.000,0.047,3270,921,1792
$GC,21453,2.63,265.1,61.5,6.8,1845,21470,0.00,1.73,11.68,0.667,6,0.000,0.025,3270,1985,1744
$GC,21810,2.73,302.2,40.6,4.5,1908,21850,0.15,1.75,30.92,0.673,4,0.059,0.038,3315,2987,1591
$GC,22103,2.73,302.2,15.8,9.7,1960,22109,0.00,1.80,0.00,0.000,6,0.000,0.026,3315,1905,1590
$STATE,22264,end climb,SURFACE_DEPTH_REACHED
$STATE,22265,begin surface coast
$FINISH,-0.1,1.021870
$STATE,22288,end surface coast,CONTROL_FINISHED_OK
$STATE,22288,begin surface
$SM_CCo,22308,141.57,0.623,0,0,586,548.98
$SM_GC,-5.18,0.00,0.00,141.57,0.000,0.000,0.623,414,2332,586,-10.56,0.20,548.98
$IRIDIUM_FIX,1254.31,12033.54,300597,141436
$TT8_MAMPS,0.026078
$HUMID,1681
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.70
$XPDR_PINGS,413
$24V_AH,23.1,12.593
$10V_AH,10.2,10.168
$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,28.700,116.150,341.225,141.575,0.000,133.696,113.770,482.127,115.750,0.000,0.000,16.398,3294.546,14959.422,608.415,3661.298,1056.573,0.000,2312.580,0.000,3608.412,0.000,91.494
$DEVICE_MAMPS,172.575,154.167,1442.727,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1353.342,799.841,750.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107309,1993
$CAP_FILE_SIZE,210734,0
$CFSIZE,260165632,250167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050308,210501,1256.185,12033.600,39,1.3,44,-0.8