version: 66.03
glider: 126
mission: 7
dive: 85
start: 3 5 108 21 22 36
data:
$ID,126
$MISSION,7
$DIVE,85
$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,-621119.5
$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,44
$R_STBD_OVSHOOT,46
$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
$GPS1,210501,1256.185,12033.600,39,1.3,44,-0.8
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-4.82
$_SM_ANGLEo,-54.9
$GPS2,212144,1256.196,12033.287,10,1.9,15,-0.8
$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,130.1,12158,-22.0,-7.990
$D_GRID,1052
$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,19,-2.33,-67.0,0.0,0.0,0,100,0.00,0.00,-74.57,0.000,6,0.000,0.000,415,2332,3101
$GC,102,-2.33,-67.0,1.5,-16.5,15,120,10.18,1.77,0.00,0.000,4,0.176,0.031,2196,1274,3102
$GC,244,-2.21,-67.0,38.3,-20.6,40,251,0.12,1.73,0.00,0.000,6,0.127,0.024,2222,2331,3103
$GC,589,-2.13,-67.0,99.2,-17.3,101,595,0.12,1.77,0.00,0.000,4,0.135,0.033,2244,1269,3103
$GC,635,-2.08,-67.0,106.6,-15.8,109,641,0.00,1.70,0.00,0.000,6,0.000,0.025,2244,2317,3103
$GC,978,-2.04,-67.0,158.4,-15.0,170,984,0.00,1.80,0.00,0.000,4,0.000,0.042,2244,3366,3104
$GC,1113,-2.04,-67.0,176.8,-13.0,194,1119,0.00,1.75,0.00,0.000,6,0.000,0.025,2244,2287,3105
$GC,1456,-2.04,-67.0,211.2,-10.2,255,1462,0.00,1.65,0.00,0.000,4,0.000,0.038,2244,1298,3105
$GC,1642,-2.04,-67.0,232.5,-12.0,288,1649,0.00,1.65,0.00,0.000,6,0.000,0.028,2244,2289,3105
$GC,1978,-2.04,-67.0,265.8,-10.4,334,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2289,3104
$GC,2296,-2.04,-67.0,299.0,-10.6,364,2299,0.00,1.85,0.00,0.000,4,0.000,0.048,2244,3367,3103
$GC,2445,-2.04,-67.0,315.7,-11.3,377,2452,0.00,1.77,0.00,0.000,6,0.000,0.028,2244,2299,3102
$GC,2772,-2.07,-67.0,349.6,-10.6,408,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2292,3099
$GC,3090,-2.09,-67.0,380.9,-9.6,438,3094,0.00,1.85,0.00,0.000,4,0.000,0.049,2244,3362,3097
$GC,3157,-2.09,-67.0,387.8,-10.7,444,3161,0.00,1.75,0.00,0.000,6,0.000,0.030,2244,2300,3096
$GC,3487,-2.12,-67.0,418.6,-8.5,475,3491,0.00,1.85,0.00,0.000,4,0.000,0.050,2244,3361,3093
$GC,3536,-2.12,-67.0,423.0,-9.2,479,3543,0.00,1.77,0.00,0.000,6,0.000,0.032,2244,2311,3093
$GC,3862,-2.15,-67.0,454.0,-9.3,510,3866,0.00,1.85,0.00,0.000,4,0.000,0.052,2244,3361,3091
$GC,3918,-2.17,-67.0,459.5,-9.5,515,3922,0.00,1.77,0.00,0.000,6,0.000,0.034,2244,2327,3091
$GC,4249,-2.20,-67.0,489.8,-9.6,546,4253,0.00,1.88,0.00,0.000,4,0.000,0.067,2244,1281,3088
$GC,4332,-2.23,-67.0,498.2,-10.1,553,4338,0.00,1.75,0.00,0.000,6,0.000,0.038,2244,2291,3088
$GC,4649,-2.27,-67.0,528.4,-9.3,570,4651,0.12,0.00,0.00,0.000,6,0.075,0.000,2212,2292,3085
$GC,4957,-2.27,-67.0,559.0,-9.7,585,4960,0.00,1.95,0.00,0.000,4,0.000,0.070,2212,3370,3084
$GC,5034,-2.27,-67.0,566.8,-10.2,588,5038,0.00,1.85,0.00,0.000,6,0.000,0.044,2212,2326,3083
$GC,5355,-2.27,-67.0,598.2,-9.7,604,5358,0.00,1.92,0.00,0.000,4,0.000,0.076,2212,1274,3081
$GC,5415,-2.27,-67.0,604.2,-10.1,606,5422,0.00,1.85,0.00,0.000,6,0.000,0.061,2212,2285,3081
$GC,5731,-2.27,-67.0,633.7,-9.3,622,5734,0.00,2.08,0.00,0.000,4,0.000,0.094,2212,3380,3078
$GC,5847,-2.27,-67.0,645.4,-10.4,627,5852,0.00,2.03,0.00,0.000,6,0.000,0.074,2212,2314,3077
$GC,6174,-2.27,-67.0,676.7,-9.6,643,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2314,3076
$GC,6484,-2.27,-67.0,704.5,-8.9,658,6488,0.00,2.17,0.00,0.000,4,0.000,0.122,2213,3376,3075
$GC,6569,-2.27,-67.0,712.2,-9.1,662,6573,0.00,2.12,0.00,0.000,6,0.000,0.105,2212,2315,3074
$GC,6895,-2.27,-67.0,741.5,-9.1,678,6899,0.00,2.28,0.00,0.000,4,0.000,0.140,2212,3377,3072
$GC,6974,-2.27,-67.0,749.3,-9.7,681,6980,0.00,2.20,0.00,0.000,6,0.000,0.125,2212,2321,3073
$GC,7289,-2.27,-67.0,779.8,-9.1,697,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2310,3071
$GC,7598,-2.27,-68.0,806.1,-7.9,712,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2310,3070
$GC,7908,-2.27,-68.8,831.3,-7.9,727,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2310,3069
$GC,8216,-2.27,-69.2,855.4,-8.0,742,8220,0.00,1.92,0.00,0.000,4,0.000,0.058,2212,3396,3068
$GC,8345,-2.27,-69.2,866.3,-9.2,747,8351,0.00,1.90,0.00,0.000,6,0.000,0.036,2212,2278,3067
$GC,8660,-2.30,-69.2,893.4,-9.1,763,8664,0.00,2.00,0.00,0.000,4,0.000,0.058,2212,3397,3066
$GC,8782,-2.30,-69.2,904.7,-8.9,768,8786,0.00,1.85,0.00,0.000,6,0.000,0.035,2212,2330,3065
$GC,9105,-2.32,-69.2,931.4,-8.0,784,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2329,3065
$GC,9412,-2.32,-70.8,955.1,-7.8,799,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2329,3064
$GC,9722,-2.35,-74.2,978.2,-7.7,814,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2328,3063
$STATE,9886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9886,begin apogee
$GC,9891,-0.51,0.0,991.6,8.0,822,9948,1.88,0.00,52.10,1.438,6,0.108,0.000,2598,1960,2825
$STATE,9949,end apogee,CONTROL_FINISHED_OK
$STATE,9949,begin climb
$GC,9950,2.35,74.2,993.0,0.0,825,10022,2.88,0.00,66.43,1.404,6,0.071,0.000,3222,1960,2522
$GC,10317,2.31,77.7,970.4,7.7,843,10326,0.00,2.00,4.12,0.888,4,0.000,0.074,3222,913,2508
$GC,10489,2.24,77.7,956.5,8.3,850,10496,0.10,1.88,0.00,0.000,6,0.112,0.037,3200,1981,2507
$GC,10804,2.23,84.3,932.7,7.4,866,10818,0.00,1.90,7.45,1.170,4,0.000,0.053,3200,3017,2481
$GC,11062,2.19,84.3,912.1,8.2,877,11065,0.00,1.85,0.00,0.000,6,0.000,0.041,3200,1953,2480
$GC,11382,2.17,91.3,888.7,7.3,893,11396,0.00,2.00,7.88,1.183,4,0.000,0.064,3200,900,2452
$GC,11517,2.13,96.0,878.3,7.5,899,11528,0.10,1.85,5.80,1.074,6,0.113,0.036,3167,1956,2433
$GC,11844,2.16,109.3,855.7,6.7,915,11863,0.00,0.00,13.43,1.282,6,0.000,0.000,3167,1956,2379
$GC,12173,2.17,119.8,832.7,7.0,931,12185,0.00,0.00,10.65,1.233,6,0.000,0.000,3167,1956,2336
$GC,12481,2.17,119.8,806.7,8.5,946,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1956,2336
$GC,12790,2.17,119.8,778.7,9.2,961,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1956,2335
$GC,13100,2.17,119.8,751.3,8.5,976,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1957,2334
$GC,13410,2.17,119.8,725.3,8.8,991,13414,0.00,1.92,0.00,0.000,4,0.000,0.062,3167,898,2333
$GC,13511,2.17,119.8,716.0,9.4,995,13515,0.00,1.83,0.00,0.000,6,0.000,0.035,3167,1973,2334
$GC,13832,2.17,119.8,689.3,8.2,1011,13836,0.00,1.95,0.00,0.000,4,0.000,0.061,3167,900,2334
$GC,13954,2.17,119.8,678.7,8.8,1016,13959,0.00,1.83,0.00,0.000,6,0.000,0.034,3167,1957,2334
$GC,14275,2.17,119.9,653.5,8.0,1032,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1957,2334
$GC,14584,2.17,119.9,628.8,8.0,1047,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1957,2334
$GC,14895,2.17,119.9,602.2,8.4,1062,14898,0.00,1.90,0.00,0.000,4,0.000,0.062,3167,909,2334
$GC,14984,2.17,119.9,594.4,8.6,1066,14988,0.00,1.77,0.00,0.000,6,0.000,0.034,3167,1958,2334
$GC,15315,2.17,119.9,565.8,8.9,1082,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1958,2334
$GC,15625,2.17,119.9,538.7,8.5,1097,15628,0.00,1.92,0.00,0.000,4,0.000,0.062,3167,898,2334
$GC,15730,2.19,127.7,529.9,7.3,1101,15744,0.00,1.75,7.97,1.005,6,0.000,0.033,3167,1921,2304
$GC,16065,2.19,127.7,502.7,8.1,1118,16066,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1922,2304
$GC,16383,2.19,129.8,478.4,7.8,1146,16386,0.00,1.85,0.00,0.000,4,0.000,0.062,3167,901,2303
$GC,16499,2.19,129.8,469.1,8.8,1156,16506,0.00,1.77,0.00,0.000,6,0.000,0.033,3167,1932,2304
$GC,16825,2.21,140.9,445.0,6.9,1187,16848,0.10,1.95,12.98,1.035,4,0.086,0.061,3192,904,2250
$GC,16937,2.21,140.9,435.6,8.3,1197,16941,0.00,1.73,0.00,0.000,6,0.000,0.032,3191,1920,2249
$GC,17268,2.21,142.2,409.4,7.9,1228,17272,0.00,1.85,0.00,0.000,4,0.000,0.061,3192,900,2249
$GC,17414,2.21,142.2,396.9,8.1,1241,17417,0.00,1.70,0.00,0.000,6,0.000,0.032,3192,1906,2249
$GC,17744,2.21,142.2,369.7,8.1,1272,17748,0.00,1.90,0.00,0.000,4,0.000,0.048,3192,3010,2249
$GC,17905,2.21,142.2,355.8,9.5,1286,17912,0.00,1.92,0.00,0.000,6,0.000,0.037,3192,1895,2249
$GC,18232,2.22,145.8,329.1,7.6,1317,18241,0.00,0.00,5.65,0.792,6,0.000,0.000,3192,1895,2230
$GC,18560,2.22,146.2,303.3,8.0,1348,18563,0.00,1.95,0.00,0.000,4,0.000,0.045,3192,3019,2230
$GC,18609,2.22,146.5,298.9,8.0,1352,18615,0.00,1.92,0.00,0.000,6,0.000,0.035,3192,1901,2230
$GC,18934,2.23,152.3,273.5,7.4,1383,18944,0.00,0.00,7.30,0.825,6,0.000,0.000,3192,1901,2204
$GC,19264,2.23,155.8,246.9,7.7,1417,19277,0.00,1.98,4.70,0.686,4,0.000,0.044,3192,3011,2189
$GC,19413,2.23,155.8,235.2,8.0,1443,19419,0.00,1.85,0.00,0.000,6,0.000,0.034,3192,1921,2189
$GC,19756,2.26,159.0,210.7,7.7,1504,19763,0.00,0.00,4.85,0.671,6,0.000,0.000,3192,1920,2176
$GC,20103,2.32,175.3,187.9,6.4,1565,20125,0.10,1.95,14.75,0.838,4,0.083,0.042,3219,3006,2110
$GC,20171,2.34,186.7,183.0,6.9,1577,20188,0.00,1.88,11.02,0.790,6,0.000,0.032,3219,1905,2064
$GC,20528,2.39,202.9,160.1,6.5,1640,20551,0.00,1.98,14.77,0.799,4,0.000,0.041,3220,3010,1997
$GC,20632,2.44,216.8,152.4,6.7,1658,20650,0.00,1.83,12.73,0.773,6,0.000,0.031,3220,1943,1941
$GC,20991,2.51,231.4,129.2,6.6,1721,21014,0.15,1.90,13.40,0.753,4,0.064,0.054,3266,914,1881
$GC,21176,2.51,232.9,113.9,7.8,1754,21182,0.00,1.70,0.00,0.000,6,0.000,0.027,3266,1935,1880
$GC,21520,2.54,237.6,88.4,7.5,1815,21531,0.00,0.00,6.88,0.634,6,0.000,0.000,3265,1935,1855
$GC,21871,2.58,243.2,62.6,7.5,1877,21883,0.00,1.80,6.60,0.604,4,0.000,0.046,3265,914,1832
$GC,22136,2.67,284.2,47.7,4.1,1924,22176,0.08,1.67,33.75,0.688,6,0.055,0.025,3297,1929,1666
$GC,22515,2.72,300.3,18.8,6.5,1991,22537,0.00,1.83,14.27,0.630,4,0.000,0.045,3297,914,1600
$STATE,22726,end climb,SURFACE_DEPTH_REACHED
$STATE,22726,begin surface coast
$FINISH,-0.5,1.021849
$STATE,22750,end surface coast,CONTROL_FINISHED_OK
$STATE,22750,begin surface
$SM_CCo,22772,141.73,0.622,0,0,587,548.98
$SM_GC,-5.17,0.00,0.00,141.73,0.000,0.000,0.622,413,2323,587,-10.56,-0.06,548.98
$IRIDIUM_FIX,1252.10,12033.54,300597,212131
$TT8_MAMPS,0.025311
$HUMID,1689
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.40
$XPDR_PINGS,395
$24V_AH,23.1,12.765
$10V_AH,10.2,10.310
$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,28.500,128.325,339.475,141.725,0.000,138.091,135.739,351.946,111.250,0.000,0.000,16.911,3340.271,15306.285,649.180,3702.521,937.329,0.000,2368.695,0.000,3652.902,0.000,91.473
$DEVICE_MAMPS,175.643,139.594,1438.125,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1379.925,810.196,763.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110479,2033
$CAP_FILE_SIZE,211598,0
$CFSIZE,260165632,250068992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,034538,1254.406,12034.890,33,1.1,33,-0.8