version: 66.03
glider: 126
mission: 7
dive: 96
start: 3 8 108 19 39 49
data:
$ID,126
$MISSION,7
$DIVE,96
$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,-621324.62
$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,34
$R_STBD_OVSHOOT,51
$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
$GPS1,191907,1242.402,12044.347,37,1.4,37,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.77
$_SM_ANGLEo,-55.4
$GPS2,193857,1242.494,12044.275,13,1.8,13,-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,330.3,20525,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.33,-67.0,0.0,0.0,0,101,0.00,0.00,-73.88,0.000,6,0.000,0.000,419,2340,3101
$GC,103,-2.33,-67.0,1.5,-16.4,15,121,10.05,1.75,0.00,0.000,4,0.173,0.038,2195,3369,3102
$GC,217,-2.19,-67.0,34.3,-22.9,35,224,0.17,1.73,0.00,0.000,6,0.119,0.024,2228,2287,3103
$GC,563,-2.13,-67.0,102.9,-17.9,96,569,0.00,1.85,0.00,0.000,4,0.000,0.040,2228,3356,3103
$GC,597,-2.06,-67.0,109.4,-18.1,102,604,0.12,1.65,0.00,0.000,6,0.102,0.024,2257,2330,3103
$GC,943,-2.06,-67.0,155.0,-9.3,163,949,0.00,1.70,0.00,0.000,4,0.000,0.035,2257,1299,3104
$GC,977,-2.06,-67.0,158.9,-10.6,169,983,0.00,1.60,0.00,0.000,6,0.000,0.025,2257,2290,3104
$GC,1320,-2.06,-67.0,193.1,-10.4,230,1327,0.00,1.85,0.00,0.000,4,0.000,0.046,2257,3356,3104
$GC,1366,-2.06,-67.0,198.1,-11.3,238,1373,0.00,1.73,0.00,0.000,6,0.000,0.026,2257,2296,3104
$GC,1710,-2.08,-67.0,235.7,-11.2,299,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2289,3104
$GC,2041,-2.11,-67.0,269.6,-10.3,342,2045,0.00,1.88,0.00,0.000,4,0.000,0.050,2257,3367,3103
$GC,2113,-2.11,-67.0,277.5,-11.5,348,2120,0.00,1.75,0.00,0.000,6,0.000,0.028,2257,2311,3103
$GC,2439,-2.14,-67.0,310.6,-10.1,379,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2307,3100
$GC,2757,-2.18,-67.0,342.3,-9.5,409,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2306,3098
$GC,3076,-2.22,-67.0,373.5,-9.7,439,3080,0.15,1.88,0.00,0.000,4,0.064,0.055,2212,3366,3095
$GC,3181,-2.22,-67.0,386.4,-11.6,448,3188,0.00,1.77,0.00,0.000,6,0.000,0.031,2212,2320,3094
$GC,3507,-2.22,-67.0,419.9,-9.5,479,3511,0.00,1.85,0.00,0.000,4,0.000,0.057,2212,3362,3092
$GC,3624,-2.22,-67.0,431.8,-10.3,489,3630,0.00,1.73,0.00,0.000,6,0.000,0.034,2212,2355,3091
$GC,3950,-2.22,-67.0,463.4,-9.8,520,3953,0.00,1.90,0.00,0.000,4,0.000,0.061,2212,1281,3088
$GC,4032,-2.22,-67.0,472.2,-10.5,527,4039,0.00,1.80,0.00,0.000,6,0.000,0.038,2212,2314,3088
$GC,4367,-2.22,-67.0,507.2,-10.4,556,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2314,3085
$GC,4678,-2.22,-67.0,540.6,-10.4,571,4681,0.00,1.95,0.00,0.000,4,0.000,0.076,2212,3376,3083
$GC,4710,-2.22,-67.0,544.3,-10.3,572,4715,0.00,1.88,0.00,0.000,6,0.000,0.048,2212,2329,3083
$GC,5033,-2.22,-67.0,576.2,-10.1,588,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2329,3081
$GC,5340,-2.22,-67.0,609.0,-10.3,603,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2328,3078
$GC,5650,-2.22,-67.0,640.1,-10.4,618,5654,0.00,2.03,0.00,0.000,4,0.000,0.097,2212,1268,3076
$GC,5711,-2.22,-67.0,647.0,-11.7,620,5717,0.00,1.98,0.00,0.000,6,0.000,0.081,2213,2299,3076
$GC,6030,-2.22,-67.0,680.5,-10.0,636,6034,0.00,2.25,0.00,0.000,4,0.000,0.130,2212,3392,3075
$GC,6207,-2.22,-67.0,698.5,-9.5,644,6212,0.00,2.15,0.00,0.000,6,0.000,0.111,2212,2345,3074
$GC,6534,-2.22,-67.0,726.9,-8.3,660,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2345,3072
$GC,6844,-2.23,-73.2,749.9,-7.4,675,6849,0.00,2.33,0.00,0.000,4,0.000,0.161,2212,3383,3071
$GC,6955,-2.23,-73.7,758.9,-7.9,680,6960,0.00,2.28,0.00,0.000,6,0.000,0.145,2212,2342,3070
$GC,7282,-2.23,-73.7,786.3,-9.5,696,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2331,3069
$GC,7592,-2.24,-80.4,810.9,-7.4,711,7595,0.00,1.90,0.00,0.000,4,0.000,0.054,2212,1251,3067
$GC,7663,-2.24,-80.4,816.9,-8.7,714,7668,0.00,1.92,0.00,0.000,6,0.000,0.038,2212,2354,3068
$GC,7991,-2.24,-81.8,844.8,-7.9,730,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2354,3065
$GC,8301,-2.24,-84.3,868.0,-7.8,745,8304,0.00,1.98,0.00,0.000,4,0.000,0.054,2212,1242,3064
$GC,8459,-2.24,-84.3,881.1,-8.1,752,8462,0.00,1.88,0.00,0.000,6,0.000,0.039,2212,2328,3064
$GC,8790,-2.25,-89.6,907.0,-7.5,768,8794,0.00,1.90,0.00,0.000,4,0.000,0.072,2212,3375,3063
$GC,8867,-2.25,-89.6,913.5,-8.4,771,8872,0.00,1.88,0.00,0.000,6,0.000,0.043,2212,2310,3062
$STATE,8920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8920,begin apogee
$GC,8925,-0.51,0.0,917.7,8.1,774,8982,1.85,0.00,51.72,1.381,6,0.104,0.000,2596,1954,2825
$STATE,8983,end apogee,CONTROL_FINISHED_OK
$STATE,8983,begin climb
$GC,8984,2.37,89.6,919.3,0.0,777,9069,2.90,0.00,79.12,1.355,6,0.067,0.000,3227,1954,2459
$GC,9371,2.33,92.6,893.3,7.7,796,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1953,2454
$GC,9679,2.29,92.6,867.7,8.2,811,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1953,2453
$GC,9989,2.25,96.4,844.0,7.6,826,10000,0.15,1.92,6.45,1.081,4,0.117,0.069,3199,911,2431
$GC,10225,2.22,98.6,825.3,7.8,836,10231,0.00,1.88,0.00,0.000,6,0.000,0.035,3200,1985,2430
$GC,10541,2.22,114.0,804.9,6.5,852,10562,0.00,2.08,16.52,1.272,4,0.000,0.061,3199,908,2359
$GC,10608,2.19,116.9,799.9,7.7,855,10618,0.00,1.83,4.25,0.869,6,0.000,0.034,3199,1967,2347
$GC,10938,2.19,116.9,774.1,8.1,871,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1967,2347
$GC,11248,2.19,116.9,747.5,8.6,886,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1967,2346
$GC,11558,2.20,122.6,723.8,7.5,901,11569,0.00,1.85,6.30,1.044,4,0.000,0.058,3199,3004,2324
$GC,11695,2.18,122.6,712.9,8.5,907,11698,0.00,1.88,0.00,0.000,6,0.000,0.049,3200,1941,2324
$GC,12021,2.18,122.6,683.3,9.4,923,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1941,2323
$GC,12331,2.18,122.6,653.8,9.6,938,12335,0.00,1.90,0.00,0.000,4,0.000,0.058,3199,3002,2323
$GC,12471,2.16,124.3,640.9,7.8,944,12475,0.00,1.88,0.00,0.000,6,0.000,0.048,3199,1932,2323
$GC,12797,2.16,124.3,613.4,8.3,960,12800,0.00,1.85,0.00,0.000,4,0.000,0.065,3199,903,2323
$GC,13044,2.13,124.3,591.0,8.2,971,13048,0.15,1.75,0.00,0.000,6,0.116,0.033,3172,1936,2322
$GC,13375,2.13,124.3,565.4,8.1,987,13378,0.00,1.88,0.00,0.000,4,0.000,0.061,3171,901,2323
$GC,13491,2.13,124.3,555.3,8.8,992,13495,0.00,1.75,0.00,0.000,6,0.000,0.031,3171,1922,2322
$GC,13818,2.14,131.7,529.4,7.3,1008,13832,0.00,1.98,9.27,1.042,4,0.000,0.054,3172,3006,2287
$GC,13962,2.14,131.7,518.2,8.0,1014,13966,0.00,1.90,0.00,0.000,6,0.000,0.045,3171,1919,2287
$GC,14285,2.14,131.7,490.2,8.5,1035,14289,0.00,1.83,0.00,0.000,4,0.000,0.064,3171,901,2287
$GC,14466,2.14,131.7,474.4,8.5,1051,14469,0.00,1.73,0.00,0.000,6,0.000,0.033,3171,1921,2287
$GC,14798,2.14,131.7,445.5,8.6,1082,14801,0.00,1.90,0.00,0.000,4,0.000,0.054,3171,3010,2287
$GC,14937,2.14,131.7,433.2,8.4,1094,14943,0.00,1.92,0.00,0.000,6,0.000,0.044,3171,1903,2287
$GC,15262,2.14,131.7,406.9,8.7,1125,15266,0.00,1.80,0.00,0.000,4,0.000,0.064,3171,911,2287
$GC,15480,2.14,132.9,388.5,7.9,1144,15486,0.00,1.70,0.00,0.000,6,0.000,0.032,3171,1906,2287
$GC,15806,2.17,132.9,362.4,8.6,1175,15809,0.00,1.92,0.00,0.000,4,0.000,0.061,3171,3012,2287
$GC,15889,2.17,134.4,355.6,7.9,1182,15899,0.00,1.95,3.95,0.667,6,0.000,0.043,3171,1884,2277
$GC,16225,2.21,143.5,332.0,7.1,1214,16239,0.00,2.05,9.45,0.917,4,0.000,0.051,3171,3004,2239
$GC,16384,2.21,143.5,319.1,8.8,1228,16391,0.00,1.90,0.00,0.000,6,0.000,0.038,3172,1916,2239
$GC,16711,2.24,143.5,293.1,8.0,1259,16713,0.12,0.00,0.00,0.000,6,0.076,0.000,3205,1914,2239
$GC,17030,2.24,143.5,267.2,8.0,1289,17033,0.00,1.92,0.00,0.000,4,0.000,0.050,3204,3013,2239
$GC,17221,2.24,143.5,250.8,8.2,1306,17225,0.00,1.88,0.00,0.000,6,0.000,0.038,3204,1915,2240
$GC,17564,2.27,165.5,225.4,5.9,1366,17592,0.00,2.00,19.80,0.886,4,0.000,0.048,3204,3004,2149
$GC,17677,2.28,169.0,217.1,7.7,1386,17689,0.00,1.88,4.62,0.653,6,0.000,0.037,3204,1930,2134
$GC,18026,2.28,169.0,190.2,8.5,1448,18032,0.00,1.83,0.00,0.000,4,0.000,0.061,3204,914,2134
$GC,18082,2.28,169.0,185.3,8.6,1458,18089,0.00,1.73,0.00,0.000,6,0.000,0.029,3204,1937,2134
$GC,18428,2.37,206.1,160.7,4.5,1519,18466,0.00,1.88,31.60,0.830,4,0.000,0.047,3204,2998,1983
$GC,18721,2.45,229.8,144.5,5.7,1571,18749,0.17,1.75,20.23,0.794,6,0.059,0.033,3252,1958,1887
$GC,19089,2.52,255.1,119.9,5.6,1636,19117,0.00,1.83,21.92,0.765,4,0.000,0.042,3252,3003,1783
$GC,19369,2.55,255.1,96.5,8.9,1686,19376,0.00,1.73,0.00,0.000,6,0.000,0.029,3252,1980,1781
$GC,19713,2.60,255.1,68.9,8.1,1747,19719,0.10,1.75,0.00,0.000,4,0.072,0.040,3284,3001,1781
$GC,19782,2.60,258.4,63.0,7.7,1759,19794,0.00,1.70,4.20,0.492,6,0.000,0.028,3284,1966,1770
$GC,20134,2.67,283.1,41.9,5.7,1821,20161,0.00,0.00,21.55,0.675,6,0.000,0.000,3284,1965,1669
$GC,20499,2.75,303.9,18.9,6.0,1886,20523,0.10,1.85,17.75,0.639,4,0.069,0.040,3319,3001,1585
$STATE,20701,end climb,SURFACE_DEPTH_REACHED
$STATE,20701,begin surface coast
$FINISH,-0.1,1.021613
$STATE,20724,end surface coast,CONTROL_FINISHED_OK
$STATE,20724,begin surface
$SM_CCo,20746,141.98,0.623,0,0,586,548.98
$SM_GC,-5.27,0.00,0.00,141.98,0.000,0.000,0.623,417,2296,586,-10.54,-0.85,548.98
$IRIDIUM_FIX,1236.62,12044.18,020697,191952
$TT8_MAMPS,0.025311
$HUMID,1706
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.80
$XPDR_PINGS,469
$24V_AH,23.2,14.670
$10V_AH,10.2,11.845
$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,28.650,127.125,328.725,141.975,0.000,138.371,105.437,564.308,127.750,0.000,0.000,13.690,3178.398,13525.377,623.583,3610.121,1160.320,0.000,2301.949,0.000,3579.763,0.000,77.002
$DEVICE_MAMPS,172.575,161.070,1380.600,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1306.247,810.305,758.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104156,1926
$CAP_FILE_SIZE,206711,0
$CFSIZE,260165632,248909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090308,012907,1243.581,12043.600,34,0.9,34,-0.8