version: 66.03
glider: 126
mission: 7
dive: 87
start: 3 6 108 10 35 7
data:
$ID,126
$MISSION,7
$DIVE,87
$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,-621169.31
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,101808,1253.040,12036.295,35,1.1,35,-0.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,-4.91
$_SM_ANGLEo,-50.4
$GPS2,103417,1253.110,12035.985,11,2.3,30,-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,114.4,4954,-22.0,-7.990
$D_GRID,1297
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,100,0.00,0.00,-74.25,0.000,6,0.000,0.000,418,2330,3099
$GC,102,-2.33,-67.0,1.4,-17.0,15,120,10.05,1.80,0.00,0.000,4,0.173,0.031,2195,1259,3099
$GC,137,-1.88,-67.0,15.6,-39.1,21,144,0.52,1.75,0.00,0.000,6,0.118,0.027,2297,2321,3100
$GC,482,-1.88,-67.0,70.2,-13.1,82,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2321,3101
$GC,824,-1.88,-67.0,118.8,-14.1,143,830,0.00,1.75,0.00,0.000,4,0.000,0.035,2297,1264,3101
$GC,892,-1.88,-67.0,128.5,-13.8,155,898,0.00,1.83,0.00,0.000,6,0.000,0.026,2297,2376,3101
$GC,1235,-1.91,-67.0,170.3,-12.3,216,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2377,3102
$GC,1578,-1.97,-67.0,203.2,-9.8,277,1584,0.00,1.88,0.00,0.000,4,0.000,0.037,2297,1262,3102
$GC,1837,-2.02,-67.0,227.2,-9.3,323,1843,0.12,1.83,0.00,0.000,6,0.063,0.028,2261,2368,3102
$GC,2175,-2.04,-67.0,260.6,-9.7,374,2178,0.00,1.88,0.00,0.000,4,0.000,0.039,2260,1270,3101
$GC,2258,-2.07,-67.0,269.3,-9.7,381,2264,0.00,1.83,0.00,0.000,6,0.000,0.030,2260,2356,3101
$GC,2583,-2.10,-67.0,299.6,-9.3,412,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2356,3098
$GC,2902,-2.14,-67.0,328.8,-8.9,442,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2356,3096
$GC,3220,-2.18,-67.0,357.4,-9.2,472,3224,0.12,1.88,0.00,0.000,4,0.067,0.044,2226,1277,3094
$GC,3265,-2.18,-67.0,361.6,-9.5,476,3268,0.00,1.80,0.00,0.000,6,0.000,0.032,2225,2351,3094
$GC,3595,-2.18,-67.0,393.1,-8.9,507,3599,0.00,1.77,0.00,0.000,4,0.000,0.051,2226,3375,3091
$GC,3633,-2.18,-67.0,396.8,-9.7,510,3640,0.00,1.75,0.00,0.000,6,0.000,0.031,2226,2343,3091
$GC,3958,-2.18,-67.0,427.1,-9.9,541,3962,0.00,1.88,0.00,0.000,4,0.000,0.058,2226,1276,3088
$GC,4047,-2.18,-67.0,436.2,-9.8,549,4051,0.00,1.83,0.00,0.000,6,0.000,0.036,2226,2354,3088
$GC,4377,-2.18,-67.0,466.2,-8.8,580,4381,0.00,1.90,0.00,0.000,4,0.000,0.053,2225,1278,3085
$GC,4471,-2.18,-67.0,475.0,-9.3,588,4478,0.00,1.85,0.00,0.000,6,0.000,0.037,2225,2353,3084
$GC,4797,-2.18,-67.0,504.3,-9.1,617,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2353,3082
$GC,5104,-2.18,-67.0,532.6,-8.8,632,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2353,3080
$GC,5415,-2.20,-67.0,560.2,-9.2,647,5418,0.00,1.95,0.00,0.000,4,0.000,0.069,2225,1290,3077
$GC,5498,-2.22,-67.0,568.5,-9.0,650,5504,0.00,1.90,0.00,0.000,6,0.000,0.051,2226,2348,3077
$GC,5813,-2.24,-67.0,597.5,-9.0,666,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2349,3075
$GC,6124,-2.27,-67.0,625.9,-9.1,681,6127,0.00,2.00,0.00,0.000,4,0.000,0.087,2225,1295,3074
$GC,6201,-2.29,-67.0,633.1,-9.2,684,6205,0.00,1.98,0.00,0.000,6,0.000,0.072,2226,2349,3073
$GC,6523,-2.32,-67.0,661.2,-8.9,700,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2349,3072
$GC,6832,-2.34,-67.0,687.1,-8.4,715,6833,0.12,0.00,0.00,0.000,6,0.072,0.000,2193,2349,3070
$GC,7142,-2.34,-67.0,716.0,-9.7,730,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2349,3069
$GC,7450,-2.34,-67.0,743.8,-9.0,745,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2349,3068
$GC,7760,-2.34,-67.0,770.0,-8.5,760,7764,0.00,2.35,0.00,0.000,4,0.000,0.159,2193,1295,3065
$GC,7892,-2.34,-67.0,781.9,-9.8,766,7897,0.00,2.30,0.00,0.000,6,0.000,0.142,2193,2346,3065
$GC,8220,-2.34,-67.0,811.5,-8.9,782,8224,0.00,2.35,0.00,0.000,4,0.000,0.161,2193,1280,3064
$GC,8251,-2.34,-67.0,814.7,-9.7,783,8258,0.00,1.88,0.00,0.000,6,0.000,0.035,2193,2369,3063
$GC,8568,-2.34,-67.0,841.7,-8.1,799,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2369,3063
$GC,8878,-2.34,-67.0,867.0,-8.2,814,8882,0.00,1.92,0.00,0.000,4,0.000,0.052,2193,1278,3062
$GC,8926,-2.34,-67.0,871.3,-8.2,816,8931,0.00,1.83,0.00,0.000,6,0.000,0.038,2193,2333,3062
$GC,9253,-2.35,-72.0,897.6,-7.5,832,9257,0.00,1.85,0.00,0.000,4,0.000,0.060,2193,3381,3061
$GC,9314,-2.35,-72.0,902.4,-8.4,834,9320,0.00,1.80,0.00,0.000,6,0.000,0.037,2193,2344,3061
$GC,9629,-2.35,-73.8,927.4,-7.8,850,9633,0.00,1.90,0.00,0.000,4,0.000,0.061,2193,1274,3060
$GC,9718,-2.35,-73.8,935.0,-8.2,854,9722,0.00,1.80,0.00,0.000,6,0.000,0.039,2193,2323,3059
$GC,10049,-2.35,-73.8,962.6,-8.2,870,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2323,3059
$GC,10361,-2.35,-73.8,987.4,-8.4,885,10364,0.00,1.88,0.00,0.000,4,0.000,0.057,2193,1275,3058
$STATE,10394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10394,begin apogee
$GC,10399,-0.51,0.0,990.5,9.8,886,10455,1.92,0.00,51.08,1.440,6,0.108,0.000,2598,1972,2825
$STATE,10455,end apogee,CONTROL_FINISHED_OK
$STATE,10456,begin climb
$GC,10457,2.35,73.8,992.1,0.0,889,10531,2.88,0.00,65.93,1.411,6,0.068,0.000,3225,1972,2524
$GC,10840,2.31,80.4,968.8,7.4,908,10848,0.00,0.00,6.97,1.159,6,0.000,0.000,3224,1971,2497
$GC,11149,2.28,93.7,947.3,6.7,923,11170,0.00,1.90,13.50,1.317,4,0.000,0.053,3224,3010,2442
$GC,11265,2.22,93.7,937.7,8.1,928,11270,0.12,1.88,0.00,0.000,6,0.106,0.043,3197,1960,2441
$GC,11592,2.20,93.7,911.1,8.2,944,11596,0.00,1.92,0.00,0.000,4,0.000,0.070,3197,912,2441
$GC,11731,2.17,93.7,899.4,8.1,950,11735,0.00,1.83,0.00,0.000,6,0.000,0.037,3197,1957,2440
$GC,12057,2.15,95.7,874.5,7.8,966,12061,0.00,1.85,0.00,0.000,4,0.000,0.054,3197,3015,2439
$GC,12205,2.14,107.4,863.3,6.9,972,12225,0.12,1.85,12.90,1.289,6,0.121,0.041,3174,1949,2387
$GC,12547,2.14,108.0,837.2,7.9,989,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1949,2386
$GC,12855,2.14,108.0,812.7,8.3,1004,12859,0.00,1.88,0.00,0.000,4,0.000,0.050,3174,3013,2386
$GC,13018,2.14,108.6,799.2,7.9,1011,13022,0.00,1.88,0.00,0.000,6,0.000,0.041,3174,1931,2385
$GC,13344,2.15,114.3,774.2,7.4,1027,13357,0.00,1.95,7.43,1.131,4,0.000,0.067,3175,906,2359
$GC,13421,2.15,114.3,768.1,8.2,1030,13424,0.00,1.80,0.00,0.000,6,0.000,0.035,3174,1957,2359
$GC,13741,2.16,118.1,744.2,7.6,1046,13750,0.00,1.92,5.12,0.983,4,0.000,0.061,3175,913,2342
$GC,13879,2.16,118.1,732.1,8.2,1052,13883,0.00,1.77,0.00,0.000,6,0.000,0.035,3174,1936,2343
$GC,14205,2.16,118.1,703.6,8.5,1068,14206,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1935,2342
$GC,14516,2.16,118.1,678.1,8.1,1083,14519,0.00,1.88,0.00,0.000,4,0.000,0.051,3174,3013,2342
$GC,14728,2.16,118.1,660.2,8.3,1092,14732,0.00,1.90,0.00,0.000,6,0.000,0.049,3174,1937,2342
$GC,15049,2.16,121.7,635.1,7.6,1108,15056,0.00,0.00,4.85,0.903,6,0.000,0.000,3174,1936,2328
$GC,15358,2.16,121.7,610.5,8.3,1123,15362,0.00,1.90,0.00,0.000,4,0.000,0.049,3174,3018,2328
$GC,15503,2.16,121.7,598.3,8.1,1129,15507,0.00,1.85,0.00,0.000,6,0.000,0.038,3174,1956,2328
$GC,15824,2.18,131.2,574.6,7.1,1145,15839,0.00,1.90,9.85,1.086,4,0.000,0.049,3174,3013,2290
$GC,15969,2.19,138.8,563.8,7.3,1151,15983,0.00,1.83,8.68,1.053,6,0.000,0.038,3174,1958,2258
$GC,16310,2.19,138.8,536.3,8.3,1168,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1958,2257
$GC,16619,2.19,138.8,508.8,9.1,1183,16622,0.00,1.85,0.00,0.000,4,0.000,0.048,3174,3015,2257
$GC,16747,2.19,138.8,497.0,8.1,1189,16753,0.00,1.85,0.00,0.000,6,0.000,0.038,3174,1954,2256
$GC,17072,2.19,138.8,469.7,8.6,1220,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1954,2256
$GC,17390,2.19,138.8,441.8,9.0,1250,17393,0.00,1.85,0.00,0.000,4,0.000,0.047,3174,3016,2256
$GC,17468,2.19,138.8,434.7,9.0,1257,17471,0.00,1.83,0.00,0.000,6,0.000,0.038,3174,1952,2256
$GC,17798,2.19,138.8,406.5,8.1,1288,17799,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1952,2256
$GC,18117,2.22,140.6,380.3,7.8,1318,18118,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1952,2257
$GC,18435,2.26,155.2,359.3,6.6,1348,18455,0.12,0.00,15.02,0.992,6,0.078,0.000,3206,1953,2192
$GC,18773,2.26,155.2,331.4,8.2,1380,18774,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1952,2190
$GC,19091,2.26,155.2,302.4,9.2,1410,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1952,2190
$GC,19410,2.26,155.2,277.1,8.0,1440,19414,0.00,1.85,0.00,0.000,4,0.000,0.045,3206,3018,2191
$GC,19662,2.28,167.9,257.2,6.8,1462,19679,0.00,1.80,12.20,0.889,6,0.000,0.033,3206,1973,2140
$GC,20010,2.30,174.9,230.0,7.3,1516,20023,0.00,1.98,7.35,0.791,4,0.000,0.058,3206,907,2112
$GC,20113,2.30,175.8,222.0,7.9,1534,20119,0.00,1.80,0.00,0.000,6,0.000,0.030,3206,1969,2112
$GC,20457,2.30,175.8,191.1,10.3,1595,20463,0.00,1.88,0.00,0.000,4,0.000,0.051,3206,911,2111
$GC,20583,2.31,181.0,179.5,7.5,1617,20595,0.00,1.70,7.20,0.749,6,0.000,0.028,3206,1947,2086
$GC,20934,2.40,218.6,159.6,4.4,1679,20973,0.12,1.90,32.08,0.828,4,0.068,0.051,3242,904,1933
$GC,21113,2.41,222.0,147.6,7.7,1711,21126,0.00,1.60,4.25,0.571,6,0.000,0.028,3242,1884,1919
$GC,21464,2.46,237.7,120.9,6.5,1773,21486,0.00,1.80,14.55,0.755,4,0.000,0.050,3243,905,1855
$GC,21538,2.50,250.6,115.6,6.8,1786,21555,0.00,1.52,11.77,0.723,6,0.000,0.027,3242,1841,1803
$GC,21895,2.56,260.1,89.7,7.1,1849,21913,0.10,2.00,9.45,0.680,4,0.068,0.038,3274,2989,1764
$GC,22166,2.56,260.1,66.8,8.5,1897,22172,0.00,1.92,0.00,0.000,6,0.000,0.027,3275,1820,1763
$GC,22510,2.62,278.4,49.0,6.3,1958,22534,0.00,2.05,16.27,0.670,4,0.000,0.036,3275,2991,1689
$GC,22788,2.66,278.9,27.2,7.9,2007,22793,0.00,1.95,0.00,0.000,6,0.000,0.027,3274,1806,1689
$GC,23131,2.74,294.5,4.1,6.5,2068,23154,0.12,1.60,14.73,0.619,4,0.062,0.047,3314,907,1624
$STATE,23163,end climb,SURFACE_DEPTH_REACHED
$STATE,23163,begin surface coast
$FINISH,-0.2,1.021697
$STATE,23193,end surface coast,CONTROL_FINISHED_OK
$STATE,23193,begin surface
$SM_CCo,23216,144.30,0.619,0,0,587,548.98
$SM_GC,-5.34,0.00,0.00,144.30,0.000,0.000,0.619,417,2330,587,-10.55,0.11,548.98
$IRIDIUM_FIX,1249.88,12035.45,310597,101057
$TT8_MAMPS,0.026078
$HUMID,1665
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.60
$XPDR_PINGS,344
$24V_AH,23.1,13.093
$10V_AH,10.1,10.594
$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,29.100,130.875,331.175,144.300,0.000,138.821,187.831,239.815,98.500,0.000,0.000,31.314,3402.002,15589.631,639.118,3823.794,892.368,0.000,2401.549,0.000,3761.698,0.000,91.480
$DEVICE_MAMPS,172.575,161.070,1439.659,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1411.991,836.315,783.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113560,2079
$CAP_FILE_SIZE,211482,0
$CFSIZE,260165632,249794560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,170537,1251.881,12038.249,34,1.1,34,-0.8