version: 66.04
glider: 126
mission: 10
dive: 7
start: 2 15 109 18 6 34
data:
$ID,126
$MISSION,10
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-11
$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,52104
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,375
$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,-633757.19
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,94
$PITCH_MAX,4004
$C_PITCH,2986
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,291
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2541
$C_ROLL_CLIMB,2541
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,539
$VBD_MAX,3901
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,480
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-31.815109
$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,450
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,1
$SMARTDEVICE1,38
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043561817
$SEABIRD_T_H,0.00064469897
$SEABIRD_T_I,2.5245408e-05
$SEABIRD_T_J,2.6212149e-06
$SEABIRD_C_G,-10.205203
$SEABIRD_C_H,1.1700729
$SEABIRD_C_I,-0.0038474144
$SEABIRD_C_J,0.00031547638
$GPS1,175836,1135.233,12148.185,10,1.3,27,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.5
$GPS2,180549,1135.189,12148.157,9,1.3,14,-0.6
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,BATBATAN_NW
$TGT_LATLONG,1130.000,12147.830
$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,208.2,9628,-19.2,-9.167
$D_GRID,437
$AD_RECORDABOVE,200.0
$AD_PROFILE,1.0
$AD_OFFLOAD,1.0
$AD_MAXUPLOADSIZE,15000.0
$AD_UPLOADALLCONFIG,0.0
$AD_ERRORS,0.0
$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,-1.21,-122.8,0.0,0.0,0,69,0.00,0.00,-45.22,0.000,2,0.000,0.000,81,2549,2745
$GC,72,-1.25,-146.0,3.3,-6.2,7,102,10.12,2.22,-13.65,0.000,4,0.243,0.075,2710,3947,3507
$GC,305,-1.00,-146.0,54.3,-20.9,47,311,0.20,2.08,0.00,0.000,6,0.158,0.038,2768,2528,3509
$GC,650,-1.12,-146.0,109.0,-10.5,108,657,0.10,2.08,0.00,0.000,4,0.087,0.047,2722,1129,3511
$GC,721,-1.19,-146.0,117.2,-11.3,120,728,0.00,2.12,0.00,0.000,6,0.000,0.048,2713,2543,3511
$GC,1066,-1.29,-146.0,153.2,-10.4,181,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2543,3512
$GC,1410,-1.42,-146.0,187.6,-10.2,242,1417,0.12,2.12,0.00,0.000,4,0.077,0.058,2645,3955,3512
$GC,1441,-1.42,-146.0,191.4,-12.5,247,1448,0.12,2.05,0.00,0.000,6,0.160,0.037,2684,2530,3513
$GC,1786,-1.49,-146.0,229.7,-9.7,308,1793,0.10,0.00,0.00,0.000,6,0.089,0.000,2637,2530,3512
$GC,2127,-1.44,-146.0,271.9,-13.0,354,2131,0.15,2.05,0.00,0.000,4,0.156,0.048,2681,1141,3511
$GC,2184,-1.53,-146.0,278.3,-10.7,359,2188,0.00,2.12,0.00,0.000,6,0.000,0.051,2676,2559,3512
$GC,2517,-1.60,-146.0,312.8,-10.4,390,2521,0.12,2.10,0.00,0.000,4,0.078,0.062,2609,3947,3510
$GC,2597,-1.46,-146.0,323.8,-14.4,397,2601,0.20,2.03,0.00,0.000,6,0.153,0.039,2669,2536,3510
$GC,2927,-1.53,-146.0,360.1,-10.3,428,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2536,3508
$GC,3248,-1.60,-146.0,393.4,-10.4,458,3250,0.12,0.00,0.00,0.000,6,0.081,0.000,2612,2535,3506
$GC,3566,-1.51,-146.0,431.5,-12.7,488,3568,0.17,0.00,0.00,0.000,6,0.155,0.000,2663,2536,3504
$STATE,3615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3615,begin apogee
$GC,3621,-0.26,0.0,437.2,10.4,493,3738,0.75,0.00,108.95,0.993,6,0.130,0.000,2924,2535,2909
$STATE,3739,end apogee,CONTROL_FINISHED_OK
$STATE,3739,begin climb
$GC,3742,1.25,146.0,441.7,0.0,505,3859,0.93,2.22,110.65,0.983,4,0.070,0.053,3275,1152,2314
$GC,3938,1.11,146.0,430.1,11.1,523,3945,0.15,2.20,0.00,0.000,6,0.180,0.052,3227,2547,2314
$GC,4263,1.11,146.0,398.5,9.9,554,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2547,2311
$GC,4581,1.11,146.0,366.8,9.6,584,4585,0.00,2.15,0.00,0.000,4,0.000,0.064,3227,3941,2310
$GC,4683,0.99,146.0,355.5,11.3,593,4688,0.15,2.05,0.00,0.000,6,0.176,0.042,3197,2547,2308
$GC,5013,1.10,159.1,326.4,8.4,624,5026,0.10,0.00,10.43,0.817,6,0.093,0.000,3241,2547,2262
$GC,5341,1.10,159.1,293.9,10.0,655,5344,0.00,2.15,0.00,0.000,4,0.000,0.066,3241,3937,2262
$GC,5432,0.98,159.1,284.0,11.5,663,5437,0.20,2.08,0.00,0.000,6,0.168,0.044,3195,2530,2262
$GC,5757,1.14,189.4,259.5,7.3,693,5792,0.15,2.22,28.25,0.832,4,0.079,0.065,3261,3937,2134
$GC,5886,1.01,189.4,245.6,11.3,707,5893,0.25,2.10,0.00,0.000,6,0.166,0.043,3200,2530,2134
$GC,6231,1.17,192.9,216.8,9.0,768,6245,0.15,2.15,5.38,0.617,4,0.077,0.054,3276,1138,2119
$GC,6269,1.17,192.9,212.7,11.1,774,6276,0.15,2.17,0.00,0.000,6,0.170,0.054,3236,2554,2117
$GC,6615,1.28,202.7,180.1,8.6,835,6635,0.10,0.00,12.40,0.719,6,0.091,0.000,3281,2554,2076
$GC,6974,1.28,202.7,143.4,10.2,898,6980,0.00,2.15,0.00,0.000,4,0.000,0.067,3280,3946,2068
$GC,7229,1.31,219.3,120.1,8.1,943,7255,0.00,2.08,18.17,0.703,6,0.000,0.041,3291,2533,2010
$GC,7595,1.57,298.9,96.9,4.3,1007,7664,0.12,2.25,61.72,0.720,4,0.078,0.054,3356,1129,1689
$GC,7918,1.57,298.9,67.8,10.4,1063,7925,0.12,2.17,0.00,0.000,6,0.166,0.051,3324,2543,1684
$GC,8263,1.70,299.7,36.9,9.1,1124,8270,0.12,2.12,0.00,0.000,4,0.081,0.051,3387,1133,1684
$GC,8322,1.70,299.7,30.3,12.1,1134,8329,0.10,2.17,0.00,0.000,6,0.163,0.051,3355,2543,1684
$STATE,8597,end climb,SURFACE_DEPTH_REACHED
$STATE,8597,begin surface coast
$FINISH,0.4,1.008674
$STATE,8621,end surface coast,CONTROL_FINISHED_OK
$STATE,8621,begin surface
$SM_CCo,8640,34.60,0.679,0,0,1380,375.06
$SM_GC,1.53,0.00,0.00,34.60,0.000,0.000,0.679,87,2543,1380,-13.34,0.06,375.06
$IRIDIUM_FIX,1130.46,12149.13,120598,151503
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,23.00
$XPDR_PINGS,0
$AD_FAT00,a0007,0x00007000,0x00008100,0x00001100
$24V_AH,24.2,3.694
$10V_AH,10.7,2.086
$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,Compass2
$DEVICE_SECS,23.625,55.425,355.950,34.600,0.000,24.104,31.550,217.622,0.000,0.000,0.000,14.735,1950.117,4168.826,456.550,2027.453,527.102,0.000,1378.351,0.000,2000.307,0.000,1.214,0.000
$DEVICE_MAMPS,243.139,75.166,993.265,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,806.664,708.514,607.734,0.000,0.000,0.000,2043.216,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,69614,1187
$CAP_FILE_SIZE,101609,0
$CFSIZE,260165632,253915136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 90.1,1
$GPS,150209,203231,1134.036,12147.948,41,1.7,42,-0.6