version: 66.03
glider: 126
mission: 7
dive: 18
start: 2 19 108 23 17 30
data:
$ID,126
$MISSION,7
$DIVE,18
$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,330
$T_MISSION,396
$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,450
$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,-620007.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2706
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$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,2250
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,230402,1249.719,12041.588,43,1.5,43,-0.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.28
$_SM_ANGLEo,-54.3
$GPS2,231639,1249.892,12041.477,12,1.6,12,-0.8
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,SABLAYAN
$TGT_LATLONG,1252.040,12038.500
$TGT_RADIUS,2000.000
$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,307.3,6686,-23.3,-10.000
$D_GRID,1246
$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,-2.46,-86.6,0.0,0.0,0,89,0.00,0.00,-64.82,0.000,6,0.000,0.000,414,2259,3179
$GC,91,-2.46,-86.6,0.8,-21.6,13,108,10.05,1.77,0.00,0.000,4,0.177,0.039,2166,3287,3179
$GC,361,-2.34,-86.6,73.9,-23.4,61,367,0.15,1.70,0.00,0.000,6,0.140,0.025,2191,2232,3180
$GC,704,-2.32,-86.6,136.8,-16.1,122,711,0.00,1.83,0.00,0.000,4,0.000,0.042,2192,3280,3183
$GC,963,-2.32,-86.6,173.8,-14.4,168,969,0.00,1.70,0.00,0.000,6,0.000,0.027,2192,2246,3184
$GC,1308,-2.32,-86.6,219.3,-12.9,229,1313,0.00,1.80,0.00,0.000,4,0.000,0.044,2191,3288,3184
$GC,1566,-2.32,-86.6,253.5,-12.9,273,1569,0.00,1.73,0.00,0.000,6,0.000,0.029,2192,2255,3184
$GC,1895,-2.32,-86.6,294.1,-12.6,304,1899,0.00,1.80,0.00,0.000,4,0.000,0.048,2192,3289,3182
$GC,1996,-2.32,-86.6,307.2,-12.8,313,2000,0.00,1.75,0.00,0.000,6,0.000,0.031,2192,2248,3182
$GC,2326,-2.32,-86.6,348.2,-12.1,344,2329,0.00,1.80,0.00,0.000,4,0.000,0.049,2192,3277,3181
$GC,2374,-2.32,-86.6,354.3,-12.1,348,2381,0.00,1.73,0.00,0.000,6,0.000,0.031,2192,2252,3180
$GC,2699,-2.32,-86.6,391.4,-12.3,379,2703,0.00,1.80,0.00,0.000,4,0.000,0.051,2192,3279,3178
$GC,2822,-2.32,-86.6,406.1,-11.2,390,2826,0.00,1.75,0.00,0.000,6,0.000,0.033,2192,2253,3177
$GC,3153,-2.34,-86.6,444.2,-12.4,421,3156,0.00,1.83,0.00,0.000,4,0.000,0.058,2192,1211,3175
$GC,3213,-2.36,-86.6,451.7,-12.2,426,3219,0.00,1.75,0.00,0.000,6,0.000,0.035,2192,2234,3174
$GC,3538,-2.39,-86.6,487.1,-10.6,457,3541,0.00,1.90,0.00,0.000,4,0.000,0.058,2192,3308,3173
$GC,3677,-2.41,-86.6,503.9,-12.4,468,3681,0.00,1.83,0.00,0.000,6,0.000,0.037,2192,2264,3172
$GC,4003,-2.44,-86.6,539.4,-10.1,484,4007,0.00,1.90,0.00,0.000,4,0.000,0.066,2192,3307,3168
$GC,4137,-2.44,-86.6,553.2,-10.2,490,4141,0.00,1.85,0.00,0.000,6,0.000,0.045,2192,2245,3168
$GC,4469,-2.47,-86.6,588.5,-10.4,506,4471,0.12,0.00,0.00,0.000,6,0.081,0.000,2163,2245,3166
$GC,4778,-2.47,-86.6,624.0,-11.9,521,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2245,3165
$GC,5087,-2.47,-86.6,659.1,-11.3,536,5091,0.00,2.08,0.00,0.000,4,0.000,0.111,2163,3289,3163
$GC,5209,-2.47,-86.6,672.9,-11.2,541,5214,0.00,2.05,0.00,0.000,6,0.000,0.098,2163,2265,3162
$GC,5530,-2.47,-86.6,707.0,-11.0,557,5534,0.00,2.17,0.00,0.000,4,0.000,0.133,2163,3294,3160
$GC,5584,-2.47,-86.6,713.4,-11.6,559,5589,0.00,2.20,0.00,0.000,6,0.000,0.120,2163,2248,3160
$GC,5906,-2.47,-86.6,748.2,-10.3,575,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2249,3159
$GC,6215,-2.47,-86.6,780.4,-10.7,590,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2249,3158
$GC,6525,-2.48,-89.2,812.1,-9.8,605,6529,0.00,2.58,0.00,0.000,4,0.000,0.200,2163,3291,3156
$GC,6635,-2.49,-95.4,823.4,-9.5,610,6639,0.00,2.40,0.00,0.000,6,0.000,0.162,2163,2213,3155
$GC,6961,-2.49,-95.4,858.7,-10.4,626,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2213,3154
$GC,7271,-2.49,-97.6,890.1,-9.8,641,7274,0.00,1.95,0.00,0.000,4,0.000,0.058,2163,3302,3153
$GC,7405,-2.49,-97.6,905.5,-11.7,647,7409,0.00,1.83,0.00,0.000,6,0.000,0.041,2163,2264,3152
$GC,7737,-2.52,-97.6,940.6,-11.3,663,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2264,3152
$GC,8046,-2.56,-104.2,972.3,-9.4,678,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2264,3151
$STATE,8293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8293,begin apogee
$GC,8297,-0.50,0.0,990.3,2.0,690,8374,2.10,0.00,69.60,1.445,6,0.110,0.000,2594,1955,2824
$STATE,8375,end apogee,CONTROL_FINISHED_OK
$STATE,8375,begin climb
$GC,8376,2.48,104.2,989.9,0.0,694,8479,3.03,1.98,91.57,1.412,4,0.081,0.058,3246,3014,2400
$GC,8675,2.45,115.3,974.5,9.0,707,8690,0.00,1.90,10.27,1.244,6,0.000,0.048,3246,1965,2355
$GC,9011,2.42,117.7,942.2,9.8,724,9020,0.00,2.03,3.62,0.798,4,0.000,0.078,3246,908,2345
$GC,9162,2.36,117.7,927.0,10.7,730,9168,0.10,1.85,0.00,0.000,6,0.120,0.037,3224,1966,2345
$GC,9476,2.39,133.7,899.2,8.6,746,9497,0.00,0.00,15.90,1.319,6,0.000,0.000,3224,1966,2278
$GC,9805,2.39,133.7,862.3,11.7,762,9809,0.00,1.85,0.00,0.000,4,0.000,0.054,3224,3015,2277
$GC,9950,2.36,133.7,845.6,12.3,768,9955,0.00,1.90,0.00,0.000,6,0.000,0.045,3224,1952,2276
$GC,10271,2.36,133.7,810.8,10.7,784,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1952,2275
$GC,10580,2.36,133.7,779.1,10.5,799,10584,0.00,1.92,0.00,0.000,4,0.000,0.071,3224,899,2274
$GC,10653,2.34,133.7,771.0,11.6,802,10657,0.00,1.83,0.00,0.000,6,0.000,0.036,3224,1969,2275
$GC,10978,2.34,133.7,734.9,11.2,818,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1969,2274
$GC,11289,2.34,133.7,702.4,10.3,833,11292,0.00,1.83,0.00,0.000,4,0.000,0.055,3224,3012,2274
$GC,11356,2.31,133.7,695.5,10.4,836,11359,0.00,1.85,0.00,0.000,6,0.000,0.045,3224,1957,2273
$GC,11687,2.32,137.3,663.3,9.7,852,11693,0.00,0.00,3.78,0.776,6,0.000,0.000,3224,1957,2265
$GC,11996,2.32,137.3,633.2,10.1,867,12000,0.00,1.92,0.00,0.000,4,0.000,0.071,3224,901,2265
$GC,12097,2.30,137.3,622.9,10.2,871,12101,0.00,1.83,0.00,0.000,6,0.000,0.035,3224,1979,2265
$GC,12417,2.30,137.3,590.6,10.2,887,12421,0.00,1.98,0.00,0.000,4,0.000,0.066,3224,897,2265
$GC,12472,2.32,150.3,585.4,8.9,889,12489,0.00,1.85,12.48,1.141,6,0.000,0.035,3224,1969,2212
$GC,12809,2.32,150.3,549.6,11.1,906,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1969,2211
$GC,13118,2.32,150.3,515.7,10.7,921,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1971,2212
$GC,13433,2.32,150.3,484.2,10.1,943,13436,0.00,1.83,0.00,0.000,4,0.000,0.053,3224,3019,2211
$GC,13544,2.32,150.3,472.4,10.6,953,13548,0.00,1.85,0.00,0.000,6,0.000,0.043,3224,1953,2211
$GC,13874,2.33,157.2,441.3,9.4,984,13886,0.00,1.95,7.53,0.960,4,0.000,0.051,3224,3015,2184
$GC,13975,2.33,157.2,430.8,10.1,993,13979,0.00,1.85,0.00,0.000,6,0.000,0.041,3224,1951,2184
$GC,14305,2.34,163.1,399.8,9.5,1024,14316,0.00,0.00,6.68,0.904,6,0.000,0.000,3224,1951,2160
$GC,14634,2.34,163.1,366.2,10.0,1055,14637,0.00,1.88,0.00,0.000,4,0.000,0.049,3224,3019,2160
$GC,14682,2.34,163.1,360.3,12.5,1059,14689,0.00,1.85,0.00,0.000,6,0.000,0.039,3224,1962,2160
$GC,15008,2.36,174.1,326.7,9.0,1090,15021,0.00,0.00,11.00,0.943,6,0.000,0.000,3224,1960,2115
$GC,15336,2.37,179.6,296.9,9.5,1121,15348,0.00,1.92,6.57,0.829,4,0.000,0.048,3224,3015,2092
$GC,15549,2.37,179.6,273.7,10.9,1140,15554,0.00,1.85,0.00,0.000,6,0.000,0.038,3224,1959,2091
$GC,15878,2.39,179.6,240.8,10.1,1178,15884,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1958,2091
$GC,16223,2.42,187.1,206.3,9.4,1239,16235,0.00,1.92,7.70,0.795,4,0.000,0.047,3224,3018,2062
$GC,16394,2.43,193.4,189.9,9.5,1269,16407,0.00,1.80,7.15,0.769,6,0.000,0.036,3224,1959,2036
$GC,16746,2.48,207.2,157.7,8.8,1331,16764,0.10,1.95,12.73,0.816,4,0.084,0.060,3251,914,1980
$GC,17017,2.48,207.2,128.5,11.7,1379,17023,0.00,1.75,0.00,0.000,6,0.000,0.028,3251,1981,1980
$GC,17362,2.59,253.2,104.0,6.0,1440,17406,0.00,2.00,38.60,0.786,4,0.000,0.052,3251,910,1792
$GC,17468,2.63,262.0,94.6,9.2,1459,17485,0.12,1.75,8.68,0.690,6,0.072,0.033,3284,1978,1756
$GC,17825,2.80,335.8,71.2,3.6,1522,17890,0.15,2.00,59.45,0.733,4,0.067,0.050,3329,901,1455
$GC,18132,2.80,335.8,40.7,10.2,1577,18138,0.00,1.73,0.00,0.000,6,0.000,0.026,3329,1961,1452
$GC,18475,2.82,335.8,6.9,10.9,1638,18481,0.00,1.77,0.00,0.000,4,0.000,0.044,3328,2989,1452
$STATE,18514,end climb,SURFACE_DEPTH_REACHED
$STATE,18514,begin surface coast
$FINISH,-0.0,1.021951
$STATE,18527,end surface coast,CONTROL_FINISHED_OK
$STATE,18528,begin surface
$SM_CCo,18548,75.07,0.653,0,0,990,450.13
$SM_GC,-5.60,0.00,0.00,75.07,0.000,0.000,0.653,415,2222,990,-10.54,-0.79,450.13
$IRIDIUM_FIX,1245.46,12040.38,150597,232327
$TT8_MAMPS,0.026078
$HUMID,1725
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.10
$XPDR_PINGS,376
$24V_AH,22.9,2.750
$10V_AH,10.1,2.120
$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,28.725,109.425,373.300,75.075,0.000,116.985,102.029,248.901,94.000,0.000,0.000,12.506,2687.662,12465.711,545.794,3028.692,677.257,0.000,1990.842,0.000,3023.535,0.000,0.463
$DEVICE_MAMPS,177.177,200.187,1445.028,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.032,650.400,615.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88380,1647
$CAP_FILE_SIZE,165993,0
$CFSIZE,260165632,255840256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200208,042908,1251.598,12040.280,41,1.1,41,-0.8