version: 66.03
glider: 126
mission: 7
dive: 93
start: 3 8 108 1 21 48
data:
$ID,126
$MISSION,7
$DIVE,93
$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,-621281
$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,48
$R_STBD_OVSHOOT,59
$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
$GPS1,010238,1242.551,12044.399,31,0.9,31,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.86
$_SM_ANGLEo,-56.0
$GPS2,012056,1242.592,12044.418,11,1.4,16,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,SABLAYAN_NB
$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,329.4,20502,-22.0,-7.990
$D_GRID,916
$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,18,begin dive
$GC,20,-2.33,-67.0,0.0,0.0,0,95,0.00,0.00,-73.43,0.000,6,0.000,0.000,418,2337,3100
$GC,98,-2.33,-67.0,-0.1,-12.9,14,115,10.07,1.73,0.00,0.000,4,0.173,0.038,2195,3353,3101
$GC,368,-2.21,-67.0,67.3,-20.3,62,375,0.12,1.70,0.00,0.000,6,0.125,0.023,2222,2289,3101
$GC,713,-2.15,-67.0,127.6,-15.1,123,719,0.00,1.62,0.00,0.000,4,0.000,0.034,2222,1301,3103
$GC,972,-2.12,-67.0,164.6,-10.7,169,978,0.12,1.70,0.00,0.000,6,0.126,0.025,2244,2353,3104
$GC,1314,-2.12,-67.0,201.0,-11.4,230,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2353,3104
$GC,1658,-2.12,-67.0,235.7,-10.0,291,1663,0.00,1.73,0.00,0.000,4,0.000,0.045,2244,3363,3103
$GC,1764,-2.12,-67.0,247.0,-10.6,310,1770,0.00,1.62,0.00,0.000,6,0.000,0.027,2244,2349,3103
$GC,2097,-2.12,-67.0,284.2,-12.2,344,2101,0.00,1.75,0.00,0.000,4,0.000,0.039,2245,1318,3101
$GC,2270,-2.12,-67.0,305.4,-11.6,359,2277,0.00,1.73,0.00,0.000,6,0.000,0.029,2245,2342,3100
$GC,2596,-2.15,-67.0,343.1,-11.9,390,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2342,3097
$GC,2914,-2.17,-67.0,377.1,-10.6,420,2918,0.00,1.77,0.00,0.000,4,0.000,0.043,2244,1315,3095
$GC,2975,-2.20,-67.0,383.5,-10.5,425,2981,0.00,1.73,0.00,0.000,6,0.000,0.031,2244,2348,3095
$GC,3301,-2.23,-67.0,414.6,-9.6,456,3304,0.00,1.80,0.00,0.000,4,0.000,0.055,2244,3378,3092
$GC,3338,-2.23,-67.0,418.8,-10.3,459,3345,0.00,1.65,0.00,0.000,6,0.000,0.031,2244,2399,3092
$GC,3665,-2.26,-67.0,451.3,-10.2,490,3667,0.12,0.00,0.00,0.000,6,0.070,0.000,2211,2397,3090
$GC,3983,-2.26,-67.0,485.0,-10.0,520,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2397,3087
$GC,4306,-2.26,-67.0,517.4,-10.6,543,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2396,3084
$GC,4615,-2.26,-67.0,550.0,-10.4,558,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2396,3082
$GC,4927,-2.26,-67.0,581.2,-9.7,573,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2395,3080
$GC,5236,-2.26,-67.0,610.5,-9.6,588,5240,0.00,2.00,0.00,0.000,4,0.000,0.083,2210,1327,3078
$GC,5388,-2.26,-67.0,624.3,-8.8,594,5394,0.00,1.88,0.00,0.000,6,0.000,0.072,2210,2341,3077
$GC,5702,-2.26,-67.0,652.8,-9.5,610,5706,0.00,2.08,0.00,0.000,4,0.000,0.116,2210,3385,3075
$GC,5842,-2.26,-67.0,666.4,-10.1,616,5845,0.00,1.88,0.00,0.000,6,0.000,0.093,2211,2435,3074
$GC,6168,-2.26,-67.0,699.7,-10.3,632,6173,0.00,2.22,0.00,0.000,4,0.000,0.122,2210,1332,3073
$GC,6245,-2.26,-67.0,707.6,-10.1,635,6249,0.00,2.08,0.00,0.000,6,0.000,0.106,2211,2354,3073
$GC,6567,-2.26,-67.0,740.7,-10.3,651,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2355,3071
$GC,6876,-2.26,-67.0,769.2,-8.4,666,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2355,3070
$GC,7184,-2.26,-67.0,796.4,-9.1,681,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2355,3069
$GC,7493,-2.26,-67.0,825.2,-9.3,696,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2355,3067
$GC,7803,-2.26,-67.0,852.2,-8.7,711,7807,0.00,2.67,0.00,0.000,4,0.000,0.229,2211,3384,3066
$GC,7874,-2.26,-67.0,858.5,-8.4,714,7878,0.00,2.08,0.00,0.000,6,0.000,0.130,2210,2388,3065
$GC,8195,-2.29,-79.3,882.6,-6.8,730,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2386,3065
$GC,8506,-2.31,-79.3,906.7,-8.6,745,8510,0.00,1.85,0.00,0.000,4,0.000,0.069,2211,3396,3064
$GC,8577,-2.31,-79.3,913.4,-9.1,748,8582,0.00,1.73,0.00,0.000,6,0.000,0.041,2211,2417,3063
$STATE,8614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8614,begin apogee
$GC,8618,-0.51,0.0,916.6,9.2,750,8677,1.85,0.00,51.80,1.371,6,0.100,0.000,2597,2021,2825
$STATE,8677,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8679,2.35,79.3,917.9,0.0,753,8758,2.85,2.03,69.78,1.344,4,0.067,0.068,3220,971,2502
$GC,8859,2.30,83.8,908.3,7.6,761,8871,0.00,1.77,5.20,0.976,6,0.000,0.036,3220,1997,2483
$GC,9179,2.26,83.8,882.9,8.1,777,9183,0.00,1.83,0.00,0.000,4,0.000,0.060,3220,3022,2481
$GC,9307,2.21,83.8,871.4,8.9,782,9314,0.12,1.80,0.00,0.000,6,0.107,0.046,3193,2020,2481
$GC,9625,2.20,89.3,846.9,7.5,798,9633,0.00,0.00,6.20,1.065,6,0.000,0.000,3193,2020,2461
$GC,9932,2.21,94.4,822.6,7.5,813,9940,0.00,0.00,6.03,1.053,6,0.000,0.000,3193,2020,2440
$GC,10241,2.21,96.7,798.3,7.8,828,10250,0.00,1.85,3.85,0.817,4,0.000,0.058,3193,3017,2430
$GC,10370,2.18,96.7,788.3,8.0,833,10375,0.00,1.75,0.00,0.000,6,0.000,0.044,3193,2015,2429
$GC,10684,2.21,112.8,766.1,6.5,849,10705,0.00,0.00,15.48,1.243,6,0.000,0.000,3193,2015,2365
$GC,11014,2.21,115.0,742.3,7.8,865,11017,0.00,1.80,0.00,0.000,4,0.000,0.056,3193,3020,2363
$GC,11136,2.21,115.0,731.2,9.7,870,11140,0.00,1.75,0.00,0.000,6,0.000,0.043,3193,2035,2363
$GC,11458,2.21,115.0,702.9,8.7,886,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2035,2363
$GC,11766,2.21,115.0,677.8,8.2,901,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2035,2362
$GC,12075,2.21,115.0,650.6,8.9,916,12079,0.00,1.75,0.00,0.000,4,0.000,0.055,3193,3021,2362
$GC,12204,2.21,115.0,638.7,9.5,921,12210,0.00,1.75,0.00,0.000,6,0.000,0.043,3193,2011,2362
$GC,12519,2.22,120.0,613.4,7.5,937,12534,0.00,2.08,7.35,1.034,4,0.000,0.063,3192,905,2335
$GC,12787,2.20,120.0,590.1,8.8,949,12791,0.00,1.80,0.00,0.000,6,0.000,0.033,3192,1963,2335
$GC,13120,2.20,120.0,561.3,8.6,965,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1964,2335
$GC,13428,2.21,127.0,536.2,7.3,980,13441,0.00,1.90,7.50,0.997,4,0.000,0.052,3192,3010,2307
$GC,13638,2.21,127.0,520.0,8.5,989,13642,0.00,1.88,0.00,0.000,6,0.000,0.042,3192,1950,2307
$GC,13961,2.21,127.0,492.2,9.7,1008,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1950,2307
$GC,14281,2.21,127.0,462.9,9.4,1038,14284,0.00,1.88,0.00,0.000,4,0.000,0.052,3192,3015,2307
$GC,14438,2.21,127.0,448.2,8.9,1052,14442,0.00,1.83,0.00,0.000,6,0.000,0.040,3193,1972,2307
$GC,14767,2.21,127.0,420.5,8.4,1083,14770,0.00,1.90,0.00,0.000,4,0.000,0.062,3193,910,2307
$GC,14913,2.21,127.0,407.6,8.5,1096,14916,0.00,1.77,0.00,0.000,6,0.000,0.032,3192,1964,2307
$GC,15242,2.22,132.4,381.9,7.5,1127,15254,0.00,1.88,6.50,0.871,4,0.000,0.050,3192,3005,2285
$GC,15332,2.22,132.4,374.8,8.1,1135,15336,0.00,1.83,0.00,0.000,6,0.000,0.041,3192,1951,2284
$GC,15662,2.24,141.7,350.7,7.1,1166,15676,0.00,1.90,9.48,0.929,4,0.000,0.050,3192,3011,2247
$GC,15732,2.25,151.4,345.6,7.1,1172,15749,0.00,1.85,9.85,0.920,6,0.000,0.037,3192,1956,2207
$GC,16067,2.25,151.4,318.7,8.2,1204,16070,0.00,1.88,0.00,0.000,4,0.000,0.061,3192,905,2206
$GC,16257,2.25,151.4,301.9,8.5,1221,16261,0.00,1.73,0.00,0.000,6,0.000,0.031,3192,1936,2206
$GC,16588,2.25,151.4,275.0,8.1,1252,16591,0.00,1.85,0.00,0.000,4,0.000,0.054,3192,900,2206
$GC,16711,2.26,156.3,264.3,7.5,1263,16723,0.00,1.70,5.53,0.742,6,0.000,0.030,3192,1922,2187
$GC,17049,2.26,156.3,237.5,8.0,1308,17055,0.00,1.88,0.00,0.000,4,0.000,0.047,3192,2998,2187
$GC,17185,2.26,156.3,225.8,9.0,1332,17191,0.00,1.85,0.00,0.000,6,0.000,0.036,3192,1928,2187
$GC,17529,2.29,157.7,197.8,7.9,1393,17535,0.00,1.80,0.00,0.000,4,0.000,0.057,3192,904,2187
$GC,17790,2.31,171.0,177.9,6.7,1439,17812,0.00,1.70,13.80,0.825,6,0.000,0.028,3192,1930,2129
$GC,18151,2.39,194.6,151.7,5.7,1503,18180,0.15,1.90,20.75,0.810,4,0.066,0.051,3237,905,2031
$GC,18433,2.43,216.3,135.8,5.9,1553,18457,0.00,1.70,18.92,0.785,6,0.000,0.028,3237,1938,1943
$GC,18797,2.49,236.8,110.3,6.0,1617,18820,0.00,1.90,17.95,0.752,4,0.000,0.048,3237,911,1859
$GC,19073,2.57,261.2,94.4,5.7,1666,19102,0.10,1.70,21.12,0.732,6,0.053,0.027,3274,1932,1759
$GC,19441,2.63,278.2,67.2,6.4,1731,19458,0.00,0.00,14.88,0.689,6,0.000,0.000,3274,1932,1689
$GC,19797,2.67,282.8,42.7,7.6,1794,19809,0.00,1.80,5.55,0.542,4,0.000,0.040,3274,2995,1670
$GC,19906,2.72,288.9,34.7,7.4,1813,19919,0.12,1.77,6.53,0.570,6,0.065,0.026,3313,1910,1647
$GC,20259,2.76,297.3,6.6,7.2,1875,20271,0.00,0.00,8.75,0.582,6,0.000,0.000,3314,1910,1612
$STATE,20321,end climb,SURFACE_DEPTH_REACHED
$STATE,20321,begin surface coast
$FINISH,-0.3,1.021519
$STATE,20349,end surface coast,CONTROL_FINISHED_OK
$STATE,20349,begin surface
$SM_CCo,20370,145.00,0.621,0,0,587,548.98
$SM_GC,-5.17,0.00,0.00,145.00,0.000,0.000,0.621,413,2330,587,-10.56,0.11,548.98
$IRIDIUM_FIX,1236.62,12046.08,020697,010119
$TT8_MAMPS,0.026078
$HUMID,1681
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.50
$XPDR_PINGS,431
$24V_AH,23.2,14.135
$10V_AH,10.2,11.425
$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,28.250,108.050,332.775,145.000,0.000,136.442,116.094,466.051,118.250,0.000,0.000,16.395,3103.034,13400.466,622.398,3459.312,1047.053,0.000,2218.041,0.000,3435.192,0.000,77.005
$DEVICE_MAMPS,173.342,229.333,1371.396,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1282.974,798.595,746.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104030,1891
$CAP_FILE_SIZE,194536,0
$CFSIZE,260165632,249204736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080308,070456,1243.898,12043.599,37,1.9,37,-0.8