version: 66.03
glider: 126
mission: 7
dive: 98
start: 3 9 108 7 56 19
data:
$ID,126
$MISSION,7
$DIVE,98
$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,475
$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,-621356.19
$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,30
$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
$GPS1,073538,1241.784,12044.501,42,0.9,42,-0.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.92
$_SM_ANGLEo,-54.6
$GPS2,075527,1241.941,12044.539,13,2.0,13,-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,330.6,21649,-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,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,95,0.00,0.00,-73.55,0.000,6,0.000,0.000,416,2312,3100
$GC,97,-2.33,-67.0,0.1,-13.9,14,115,10.07,1.80,0.00,0.000,4,0.172,0.034,2198,1256,3103
$GC,275,-2.21,-67.0,42.3,-20.5,45,282,0.15,1.75,0.00,0.000,6,0.127,0.026,2226,2326,3103
$GC,619,-2.15,-67.0,103.6,-16.1,106,625,0.00,1.80,0.00,0.000,4,0.000,0.046,2226,3368,3104
$GC,877,-2.10,-67.0,143.7,-14.3,152,884,0.10,1.65,0.00,0.000,6,0.104,0.025,2249,2340,3104
$GC,1221,-2.10,-67.0,182.5,-11.5,213,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2334,3105
$GC,1563,-2.10,-67.0,219.7,-10.3,274,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2334,3105
$GC,1907,-2.10,-67.0,256.9,-10.4,330,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2333,3104
$GC,2228,-2.12,-67.0,289.5,-9.9,360,2231,0.00,1.75,0.00,0.000,4,0.000,0.041,2249,1305,3102
$GC,2317,-2.14,-67.0,298.7,-10.5,368,2321,0.00,1.80,0.00,0.000,6,0.000,0.031,2250,2376,3101
$GC,2648,-2.16,-67.0,332.3,-10.1,399,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2377,3098
$GC,2967,-2.19,-67.0,365.2,-10.3,429,2970,0.00,1.85,0.00,0.000,4,0.000,0.044,2249,1311,3096
$GC,3072,-2.22,-67.0,375.8,-9.2,438,3079,0.05,1.83,0.00,0.000,6,0.042,0.033,2219,2374,3095
$GC,3396,-2.22,-67.0,408.6,-9.9,469,3400,0.00,1.85,0.00,0.000,4,0.000,0.048,2219,1317,3093
$GC,3464,-2.22,-67.0,415.1,-9.4,475,3467,0.00,1.80,0.00,0.000,6,0.000,0.035,2219,2375,3092
$GC,3794,-2.22,-67.0,446.8,-9.5,506,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2376,3089
$GC,4112,-2.22,-67.0,477.9,-10.4,536,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2376,3087
$GC,4439,-2.22,-67.0,511.3,-10.1,562,4442,0.00,1.83,0.00,0.000,4,0.000,0.076,2219,3373,3084
$GC,4516,-2.22,-67.0,519.2,-9.9,565,4520,0.00,1.65,0.00,0.000,6,0.000,0.047,2219,2443,3083
$GC,4837,-2.22,-67.0,546.8,-8.1,581,4840,0.00,2.03,0.00,0.000,4,0.000,0.069,2219,1325,3082
$GC,4897,-2.22,-67.0,552.3,-9.4,583,4904,0.00,1.90,0.00,0.000,6,0.000,0.051,2219,2381,3081
$GC,5214,-2.22,-67.0,580.6,-8.8,599,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2381,3078
$GC,5522,-2.22,-67.0,608.4,-9.1,614,5525,0.00,1.90,0.00,0.000,4,0.000,0.100,2219,3371,3076
$GC,5627,-2.22,-67.0,618.9,-10.2,618,5633,0.00,1.77,0.00,0.000,6,0.000,0.075,2219,2437,3075
$GC,5942,-2.22,-67.0,648.1,-9.0,634,5946,0.00,2.12,0.00,0.000,4,0.000,0.098,2218,1319,3074
$GC,6060,-2.22,-70.7,658.1,-7.6,639,6064,0.00,1.98,0.00,0.000,6,0.000,0.085,2219,2358,3073
$GC,6388,-2.24,-70.7,687.1,-9.4,655,6391,0.00,2.12,0.00,0.000,4,0.000,0.133,2220,3386,3072
$GC,6583,-2.24,-70.7,707.3,-10.8,663,6589,0.00,1.98,0.00,0.000,6,0.000,0.117,2219,2438,3071
$GC,6899,-2.26,-70.7,736.1,-8.4,679,6903,0.00,2.35,0.00,0.000,4,0.000,0.143,2219,1325,3070
$GC,6992,-2.26,-70.7,744.2,-9.0,683,6997,0.00,2.17,0.00,0.000,6,0.000,0.126,2219,2353,3069
$GC,7315,-2.29,-70.7,773.2,-9.1,699,7319,0.00,2.38,0.00,0.000,4,0.000,0.179,2219,3390,3068
$GC,7432,-2.29,-70.7,784.4,-9.0,704,7436,0.00,2.15,0.00,0.000,6,0.000,0.160,2220,2438,3068
$GC,7749,-2.31,-70.7,810.3,-8.8,719,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2437,3066
$GC,8056,-2.33,-70.7,838.4,-8.5,734,8061,0.00,2.72,0.00,0.000,4,0.000,0.207,2219,1326,3065
$GC,8151,-2.35,-70.7,846.4,-8.0,738,8155,0.00,1.85,0.00,0.000,6,0.000,0.037,2219,2382,3065
$GC,8472,-2.37,-70.7,873.8,-8.4,754,8474,0.12,0.00,0.00,0.000,6,0.076,0.000,2188,2383,3064
$GC,8781,-2.38,-76.0,899.0,-7.5,769,8785,0.00,1.90,0.00,0.000,4,0.000,0.051,2188,1306,3062
$GC,8853,-2.39,-83.4,904.5,-7.3,772,8857,0.00,1.90,0.00,0.000,6,0.000,0.040,2188,2390,3062
$STATE,9033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9033,begin apogee
$GC,9038,-0.51,0.0,917.1,6.9,781,9096,1.98,0.00,51.53,1.378,6,0.105,0.000,2597,1997,2825
$STATE,9097,end apogee,CONTROL_FINISHED_OK
$STATE,9097,begin climb
$GC,9099,2.36,83.4,917.4,0.0,784,9182,2.83,2.03,73.03,1.348,4,0.067,0.065,3226,913,2484
$GC,9249,2.30,83.4,907.6,9.7,791,9253,0.00,1.88,0.00,0.000,6,0.000,0.035,3226,1991,2482
$GC,9582,2.25,83.4,878.7,8.4,807,9583,0.15,0.00,0.00,0.000,6,0.116,0.000,3199,1991,2480
$GC,9890,2.22,83.4,852.0,9.1,822,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1992,2479
$GC,10200,2.19,83.4,825.2,8.0,837,10203,0.00,1.98,0.00,0.000,4,0.000,0.059,3199,905,2478
$GC,10294,2.17,89.9,818.0,7.4,841,10305,0.00,1.83,6.30,1.057,6,0.000,0.035,3199,1970,2458
$GC,10616,2.17,106.6,798.2,6.4,856,10637,0.00,1.98,15.90,1.275,4,0.000,0.060,3199,915,2390
$GC,10768,2.14,106.6,786.4,9.1,862,10774,0.12,1.75,0.00,0.000,6,0.119,0.035,3176,1932,2389
$GC,11082,2.14,106.6,757.3,8.4,878,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1932,2388
$GC,11393,2.18,130.8,739.7,5.7,893,11418,0.00,0.00,22.23,1.258,6,0.000,0.000,3176,1932,2291
$GC,11721,2.18,130.8,707.1,11.0,909,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1933,2290
$GC,12030,2.18,130.8,675.8,9.2,924,12033,0.00,1.88,0.00,0.000,4,0.000,0.061,3176,907,2289
$GC,12097,2.18,135.1,670.2,7.6,927,12107,0.00,1.75,4.95,0.912,6,0.000,0.034,3176,1929,2273
$GC,12429,2.18,135.1,645.0,8.9,943,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1930,2273
$GC,12737,2.18,135.1,613.6,9.3,958,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1930,2273
$GC,13048,2.18,135.1,586.0,9.0,973,13052,0.00,1.85,0.00,0.000,4,0.000,0.061,3176,913,2273
$GC,13120,2.18,135.1,579.0,9.9,976,13124,0.00,1.77,0.00,0.000,6,0.000,0.033,3175,1940,2273
$GC,13447,2.18,135.1,549.4,9.2,992,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1940,2273
$GC,13756,2.18,135.1,521.3,9.7,1007,13759,0.00,1.88,0.00,0.000,4,0.000,0.060,3176,905,2273
$GC,13845,2.18,135.1,512.5,9.5,1011,13849,0.00,1.73,0.00,0.000,6,0.000,0.034,3176,1923,2273
$GC,14172,2.18,135.1,483.9,8.7,1035,14173,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1924,2273
$GC,14490,2.18,135.1,455.6,9.7,1065,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1924,2273
$GC,14811,2.18,135.1,425.7,8.7,1095,14814,0.00,1.83,0.00,0.000,4,0.000,0.059,3176,908,2273
$GC,14927,2.19,138.9,416.0,7.6,1105,14937,0.00,1.75,5.15,0.811,6,0.000,0.033,3176,1930,2257
$GC,15262,2.22,157.4,390.8,6.2,1137,15284,0.00,2.00,16.67,1.023,4,0.000,0.057,3176,3006,2183
$GC,15385,2.23,162.8,381.7,7.5,1148,15397,0.00,1.90,6.12,0.850,6,0.000,0.046,3176,1942,2161
$GC,15714,2.26,162.8,353.6,9.2,1179,15718,0.12,1.88,0.00,0.000,4,0.074,0.062,3208,899,2160
$GC,15797,2.26,162.8,345.3,10.0,1186,15804,0.00,1.77,0.00,0.000,6,0.000,0.031,3208,1931,2160
$GC,16125,2.26,162.8,315.5,8.8,1217,16128,0.00,1.88,0.00,0.000,4,0.000,0.053,3208,3005,2160
$GC,16237,2.26,164.2,305.4,7.9,1227,16241,0.00,1.88,0.00,0.000,6,0.000,0.042,3208,1924,2159
$GC,16567,2.26,167.6,279.2,7.7,1258,16577,0.00,0.00,5.88,0.777,6,0.000,0.000,3208,1924,2141
$GC,16896,2.26,167.6,253.5,8.0,1289,16897,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1923,2141
$GC,17229,2.26,167.6,224.6,9.2,1345,17236,0.00,1.90,0.00,0.000,4,0.000,0.051,3208,3006,2140
$GC,17360,2.26,167.6,212.1,9.3,1368,17366,0.00,1.88,0.00,0.000,6,0.000,0.038,3208,1927,2141
$GC,17705,2.27,172.7,185.1,7.5,1429,17717,0.00,1.80,6.12,0.724,4,0.000,0.056,3208,914,2121
$GC,17826,2.28,177.2,175.4,7.6,1450,17838,0.00,1.75,5.65,0.696,6,0.000,0.030,3208,1947,2101
$GC,18178,2.38,213.9,153.5,4.5,1512,18217,0.00,1.90,31.05,0.826,4,0.000,0.048,3209,3001,1952
$GC,18470,2.47,243.5,135.8,5.2,1564,18504,0.12,1.73,25.30,0.789,6,0.051,0.033,3260,1991,1832
$GC,18841,2.49,243.5,106.5,8.9,1630,18847,0.00,1.77,0.00,0.000,4,0.000,0.044,3260,2999,1830
$GC,19100,2.52,251.9,85.3,7.2,1676,19113,0.00,1.70,8.02,0.657,6,0.000,0.029,3260,1988,1798
$GC,19453,2.60,275.6,64.4,5.7,1738,19476,0.00,0.00,20.83,0.700,6,0.000,0.000,3260,1987,1701
$GC,19815,2.69,295.4,41.3,6.1,1802,19839,0.15,1.75,17.50,0.664,4,0.056,0.039,3312,3000,1619
$GC,19947,2.69,295.4,30.9,8.3,1825,19953,0.00,1.67,0.00,0.000,6,0.000,0.027,3312,1979,1618
$GC,20290,2.72,298.7,3.3,7.7,1886,20301,0.00,1.85,4.18,0.439,4,0.000,0.044,3312,924,1607
$STATE,20306,end climb,SURFACE_DEPTH_REACHED
$STATE,20306,begin surface coast
$FINISH,-0.2,1.021568
$STATE,20334,end surface coast,CONTROL_FINISHED_OK
$STATE,20335,begin surface
$SM_CCo,20358,106.80,0.629,0,0,888,475.15
$SM_GC,-5.34,0.00,0.00,106.80,0.000,0.000,0.629,413,2331,888,-10.56,0.17,475.15
$IRIDIUM_FIX,1236.62,12044.18,030697,070708
$TT8_MAMPS,0.026078
$HUMID,1712
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.70
$XPDR_PINGS,432
$ALTIM_BOTTOM_PING,891.3,134.4
$24V_AH,23.2,15.029
$10V_AH,10.2,12.123
$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,28.550,114.500,326.400,106.800,0.000,72.116,42.353,822.527,118.250,0.000,0.000,13.001,3099.188,13330.064,554.358,3423.191,1265.541,0.000,2152.357,0.000,3400.771,0.000,76.350
$DEVICE_MAMPS,171.808,207.090,1377.532,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1285.397,794.853,749.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,103938,1894
$CAP_FILE_SIZE,203945,0
$CFSIZE,260165632,248807424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090308,133838,1242.640,12044.005,39,1.1,39,-0.8