version: 66.03
glider: 126
mission: 7
dive: 94
start: 3 8 108 7 26 6
data:
$ID,126
$MISSION,7
$DIVE,94
$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,-621294
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,070456,1243.898,12043.599,37,1.9,37,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.83
$_SM_ANGLEo,-54.4
$GPS2,072515,1244.023,12043.446,12,1.2,12,-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,329.8,17327,-22.0,-7.990
$D_GRID,938
$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,20,-2.33,-67.0,0.0,0.0,0,95,0.00,0.00,-73.07,0.000,6,0.000,0.000,413,2331,3100
$GC,97,-2.33,-67.0,0.1,-12.9,14,115,10.15,1.83,0.00,0.000,4,0.175,0.035,2197,1255,3102
$GC,334,-2.22,-67.0,58.4,-21.1,56,341,0.10,1.77,0.00,0.000,6,0.119,0.026,2219,2328,3102
$GC,680,-2.16,-67.0,122.1,-15.7,117,687,0.10,1.75,0.00,0.000,4,0.128,0.041,2238,3373,3103
$GC,877,-2.12,-67.0,152.7,-13.8,152,884,0.00,1.77,0.00,0.000,6,0.000,0.024,2237,2273,3104
$GC,1222,-2.12,-67.0,189.7,-11.2,213,1227,0.00,1.88,0.00,0.000,4,0.000,0.043,2237,3367,3104
$GC,1339,-2.12,-67.0,203.1,-11.9,234,1346,0.00,1.77,0.00,0.000,6,0.000,0.026,2237,2277,3104
$GC,1682,-2.12,-67.0,241.8,-11.7,295,1688,0.00,1.62,0.00,0.000,4,0.000,0.039,2237,1310,3104
$GC,1717,-2.12,-67.0,245.6,-11.1,301,1723,0.00,1.67,0.00,0.000,6,0.000,0.028,2237,2329,3104
$GC,2049,-2.12,-67.0,281.1,-10.3,336,2052,0.00,1.77,0.00,0.000,4,0.000,0.039,2237,1308,3101
$GC,2093,-2.12,-67.0,285.6,-10.4,340,2097,0.00,1.70,0.00,0.000,6,0.000,0.030,2237,2320,3101
$GC,2423,-2.12,-67.0,320.7,-10.3,371,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2320,3098
$GC,2742,-2.12,-67.0,353.9,-10.6,401,2746,0.00,1.75,0.00,0.000,4,0.000,0.042,2237,1305,3096
$GC,2888,-2.12,-67.0,368.4,-9.7,414,2892,0.00,1.67,0.00,0.000,6,0.000,0.031,2237,2308,3094
$GC,3218,-2.14,-67.0,400.1,-9.5,445,3222,0.00,1.90,0.00,0.000,4,0.000,0.056,2237,3373,3092
$GC,3268,-2.14,-67.0,405.1,-9.5,449,3274,0.00,1.77,0.00,0.000,6,0.000,0.031,2237,2330,3092
$GC,3593,-2.17,-67.0,435.4,-9.3,480,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2328,3088
$GC,3912,-2.20,-67.0,464.7,-9.1,510,3916,0.00,1.88,0.00,0.000,4,0.000,0.061,2237,3374,3086
$GC,4017,-2.20,-67.0,475.1,-9.7,519,4024,0.00,1.80,0.00,0.000,6,0.000,0.035,2237,2337,3085
$GC,4353,-2.23,-67.0,506.7,-9.5,548,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2336,3083
$GC,4660,-2.26,-67.0,535.7,-8.9,563,4664,0.00,1.92,0.00,0.000,4,0.000,0.073,2238,3362,3081
$GC,4789,-2.28,-67.0,547.6,-9.7,568,4795,0.05,1.85,0.00,0.000,6,0.074,0.048,2210,2324,3079
$GC,5104,-2.28,-67.0,577.4,-9.2,584,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2323,3077
$GC,5413,-2.28,-67.0,607.3,-10.0,599,5416,0.00,1.95,0.00,0.000,4,0.000,0.082,2210,1269,3075
$GC,5457,-2.28,-67.0,611.4,-9.1,601,5461,0.00,1.92,0.00,0.000,6,0.000,0.067,2210,2321,3075
$GC,5791,-2.28,-67.0,641.4,-9.0,617,5794,0.00,2.08,0.00,0.000,4,0.000,0.108,2210,3380,3073
$GC,6002,-2.28,-67.0,660.9,-8.6,626,6007,0.00,2.00,0.00,0.000,6,0.000,0.088,2210,2359,3072
$GC,6323,-2.28,-67.0,688.6,-9.2,642,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2359,3071
$GC,6634,-2.28,-67.0,717.5,-9.1,657,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2359,3069
$GC,6942,-2.28,-67.0,744.6,-8.6,672,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2359,3068
$GC,7252,-2.28,-67.0,771.1,-8.4,687,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2358,3066
$GC,7560,-2.28,-67.0,796.1,-8.5,702,7564,0.00,2.42,0.00,0.000,4,0.000,0.186,2210,3380,3065
$GC,7632,-2.28,-67.0,802.8,-9.1,705,7636,0.00,2.22,0.00,0.000,6,0.000,0.138,2210,2326,3064
$GC,7954,-2.28,-67.0,831.3,-8.3,721,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2325,3063
$GC,8262,-2.30,-77.1,854.1,-7.0,736,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2325,3062
$GC,8572,-2.31,-87.7,874.6,-7.0,751,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2325,3061
$GC,8881,-2.34,-102.5,895.3,-6.6,766,8884,0.00,1.95,0.00,0.000,4,0.000,0.071,2210,3386,3060
$GC,8972,-2.34,-103.8,901.7,-7.9,770,8975,0.00,1.77,0.00,0.000,6,0.000,0.041,2210,2362,3060
$GC,9303,-2.37,-121.8,921.5,-6.3,786,9307,0.00,1.95,0.00,0.000,4,0.000,0.062,2210,1266,3060
$GC,9477,-2.40,-136.7,933.0,-6.6,793,9483,0.00,1.92,0.00,0.000,6,0.000,0.041,2210,2380,3059
$STATE,9563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9563,begin apogee
$GC,9569,-0.51,0.0,939.1,7.2,798,9626,1.85,0.00,51.03,1.395,6,0.100,0.000,2597,1964,2825
$STATE,9627,end apogee,CONTROL_FINISHED_OK
$STATE,9627,begin climb
$GC,9628,2.45,136.7,940.1,0.0,801,9754,2.97,0.00,120.25,1.373,6,0.067,0.000,3249,1964,2267
$GC,10056,2.40,136.7,898.6,12.8,822,10059,0.00,1.92,0.00,0.000,4,0.000,0.068,3249,914,2261
$GC,10139,2.33,136.7,887.2,13.5,825,10146,0.12,1.88,0.00,0.000,6,0.107,0.036,3221,1979,2260
$GC,10454,2.30,136.7,853.6,9.7,841,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1979,2259
$GC,10764,2.26,136.7,825.9,9.2,856,10767,0.00,1.98,0.00,0.000,4,0.000,0.062,3221,903,2258
$GC,10880,2.22,136.7,813.3,11.3,861,10885,0.10,1.83,0.00,0.000,6,0.110,0.035,3197,1947,2257
$GC,11207,2.22,136.7,777.5,11.0,877,11211,0.00,1.90,0.00,0.000,4,0.000,0.062,3197,913,2257
$GC,11268,2.20,136.7,770.5,11.5,879,11274,0.00,1.77,0.00,0.000,6,0.000,0.035,3197,1929,2257
$GC,11585,2.20,136.7,736.3,10.7,895,11588,0.00,1.88,0.00,0.000,4,0.000,0.062,3197,907,2256
$GC,11730,2.17,136.7,720.4,10.3,901,11733,0.00,1.75,0.00,0.000,6,0.000,0.035,3197,1913,2256
$GC,12050,2.17,136.7,687.3,10.3,917,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1914,2256
$GC,12359,2.17,136.7,656.8,9.8,932,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1914,2255
$GC,12669,2.17,136.7,627.6,9.4,947,12672,0.00,1.92,0.00,0.000,4,0.000,0.057,3197,3010,2255
$GC,12718,2.17,136.7,622.9,9.5,949,12722,0.00,1.92,0.00,0.000,6,0.000,0.046,3197,1927,2254
$GC,13045,2.17,136.7,592.7,9.9,965,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1927,2254
$GC,13354,2.17,136.7,560.1,10.6,980,13358,0.00,1.85,0.00,0.000,4,0.000,0.064,3197,902,2254
$GC,13521,2.17,136.7,541.5,10.5,987,13525,0.00,1.80,0.00,0.000,6,0.000,0.034,3197,1943,2254
$GC,13842,2.17,136.7,511.3,8.5,1003,13846,0.00,1.88,0.00,0.000,4,0.000,0.054,3197,3014,2254
$GC,13925,2.17,136.7,503.9,8.8,1006,13932,0.00,1.88,0.00,0.000,6,0.000,0.045,3197,1956,2254
$GC,14250,2.17,136.7,474.5,9.3,1035,14253,0.00,1.90,0.00,0.000,4,0.000,0.064,3197,901,2254
$GC,14451,2.17,136.7,454.7,9.7,1053,14455,0.00,1.80,0.00,0.000,6,0.000,0.034,3197,1965,2254
$GC,14781,2.17,136.7,422.9,9.6,1084,14782,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1965,2255
$GC,15099,2.17,136.7,394.1,8.8,1114,15103,0.00,1.92,0.00,0.000,4,0.000,0.059,3197,899,2254
$GC,15359,2.17,136.7,370.6,8.5,1137,15362,0.00,1.75,0.00,0.000,6,0.000,0.033,3197,1938,2254
$GC,15689,2.17,136.7,341.5,8.5,1168,15692,0.00,1.88,0.00,0.000,4,0.000,0.053,3198,3015,2254
$GC,15790,2.17,136.7,332.9,8.3,1177,15793,0.00,1.85,0.00,0.000,6,0.000,0.041,3197,1941,2254
$GC,16120,2.19,145.8,309.2,7.1,1208,16130,0.00,0.00,6.82,0.822,6,0.000,0.000,3197,1941,2230
$GC,16449,2.19,146.1,282.9,8.0,1239,16453,0.00,1.88,0.00,0.000,4,0.000,0.052,3197,3004,2230
$GC,16573,2.19,148.5,272.4,7.8,1250,16584,0.00,1.85,4.07,0.642,6,0.000,0.038,3197,1940,2219
$GC,16903,2.19,150.2,246.5,7.8,1284,16910,0.00,1.85,0.00,0.000,4,0.000,0.059,3197,911,2219
$GC,16955,2.19,150.2,242.2,8.0,1293,16961,0.00,1.75,0.00,0.000,6,0.000,0.031,3197,1960,2219
$GC,17297,2.19,150.2,214.4,8.1,1354,17303,0.00,1.80,0.00,0.000,4,0.000,0.048,3197,2996,2220
$GC,17416,2.20,154.9,205.1,7.5,1375,17429,0.00,1.77,7.40,0.774,6,0.000,0.035,3197,1945,2193
$GC,17769,2.24,162.4,179.9,7.3,1437,17782,0.00,1.90,7.95,0.769,4,0.000,0.054,3197,911,2162
$GC,17968,2.28,187.5,166.0,5.6,1472,17997,0.00,1.70,21.88,0.832,6,0.000,0.028,3197,1922,2060
$GC,18337,2.39,225.9,145.5,4.4,1537,18376,0.15,1.88,32.35,0.804,4,0.066,0.044,3242,2998,1904
$GC,18630,2.43,230.8,123.6,7.5,1589,18642,0.00,1.75,5.15,0.607,6,0.000,0.030,3242,1949,1883
$GC,18982,2.53,271.6,100.9,4.1,1651,19025,0.00,1.88,34.58,0.748,4,0.000,0.041,3242,2997,1717
$GC,19278,2.58,271.6,78.9,8.1,1704,19285,0.10,1.83,0.00,0.000,6,0.050,0.028,3280,1911,1714
$GC,19623,2.63,283.1,55.6,6.9,1765,19641,0.00,1.75,10.48,0.648,4,0.000,0.046,3280,923,1670
$GC,19698,2.65,283.3,49.7,8.0,1778,19704,0.00,1.65,0.00,0.000,6,0.000,0.025,3280,1928,1670
$GC,20043,2.70,290.1,25.1,7.4,1839,20054,0.00,0.00,7.47,0.579,6,0.000,0.000,3280,1928,1641
$STATE,20350,end climb,SURFACE_DEPTH_REACHED
$STATE,20350,begin surface coast
$FINISH,-0.3,1.021444
$STATE,20380,end surface coast,CONTROL_FINISHED_OK
$STATE,20380,begin surface
$SM_CCo,20400,150.62,0.624,0,0,586,548.98
$SM_GC,-5.25,0.00,0.00,150.62,0.000,0.000,0.624,417,2312,586,-10.55,-0.37,548.98
$IRIDIUM_FIX,1241.04,12042.28,020697,070753
$TT8_MAMPS,0.025311
$HUMID,1692
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,358
$24V_AH,23.1,14.314
$10V_AH,10.2,11.563
$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,28.100,116.125,309.425,150.625,0.000,124.943,207.858,502.466,100.500,0.000,0.000,12.362,3107.469,13467.923,611.146,3454.257,1148.863,0.000,2200.210,0.000,3417.084,0.000,80.606
$DEVICE_MAMPS,174.876,185.614,1395.173,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.583,802.030,745.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104138,1899
$CAP_FILE_SIZE,195748,0
$CFSIZE,260165632,249106432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080308,130938,1244.730,12043.095,25,1.7,25,-0.8