version: 66.04
glider: 126
mission: 10
dive: 8
start: 2 15 109 20 40 28
data:
$ID,126
$MISSION,10
$DIVE,8
$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,-633774.5
$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,42
$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
$GPS1,203231,1134.036,12147.948,41,1.7,42,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.2
$GPS2,203943,1134.001,12147.924,11,1.5,16,-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,210.9,7412,-19.2,-9.167
$D_GRID,451
$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,-122.8,0.0,0.0,0,68,0.00,0.00,-44.08,0.000,2,0.000,0.000,87,2543,2708
$GC,71,-1.25,-146.0,3.1,-5.9,7,105,10.15,2.20,-15.00,0.000,4,0.245,0.076,2710,3931,3509
$GC,269,-0.99,-146.0,45.9,-22.3,41,278,0.22,2.05,0.00,0.000,6,0.158,0.038,2775,2533,3511
$GC,616,-1.05,-146.0,97.8,-11.8,102,623,0.00,2.08,0.00,0.000,4,0.000,0.048,2775,1131,3511
$GC,742,-1.22,-146.0,111.4,-9.6,124,749,0.17,2.12,0.00,0.000,6,0.068,0.049,2699,2544,3512
$GC,1089,-1.27,-146.0,153.6,-10.5,185,1096,0.00,2.10,0.00,0.000,4,0.000,0.060,2689,3939,3513
$GC,1160,-1.27,-146.0,161.9,-11.2,197,1167,0.00,2.03,0.00,0.000,6,0.000,0.038,2691,2533,3514
$GC,1506,-1.35,-146.0,199.0,-11.0,258,1512,0.00,2.05,0.00,0.000,4,0.000,0.048,2692,1141,3513
$GC,1549,-1.44,-146.0,203.3,-10.1,265,1556,0.00,2.12,0.00,0.000,6,0.000,0.050,2685,2559,3513
$GC,1894,-1.51,-146.0,238.7,-10.5,326,1901,0.10,2.08,0.00,0.000,4,0.087,0.060,2625,3934,3513
$GC,1971,-1.39,-146.0,248.8,-14.3,339,1978,0.20,2.03,0.00,0.000,6,0.156,0.039,2685,2530,3513
$GC,2303,-1.48,-146.0,282.7,-10.3,371,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2530,3512
$GC,2624,-1.58,-146.0,315.2,-9.6,401,2628,0.15,2.15,0.00,0.000,4,0.075,0.061,2610,3946,3510
$GC,2697,-1.44,-146.0,324.6,-13.6,407,2702,0.20,2.05,0.00,0.000,6,0.153,0.040,2670,2528,3510
$GC,3028,-1.51,-146.0,357.1,-10.0,438,3032,0.00,2.05,0.00,0.000,4,0.000,0.051,2673,1142,3508
$GC,3086,-1.57,-146.0,363.2,-10.5,443,3090,0.08,2.10,0.00,0.000,6,0.100,0.051,2627,2541,3507
$GC,3417,-1.52,-146.0,401.3,-12.4,474,3419,0.12,0.00,0.00,0.000,6,0.164,0.000,2661,2541,3505
$GC,3739,-1.58,-146.0,433.7,-9.1,504,3743,0.00,2.12,0.00,0.000,4,0.000,0.063,2652,3949,3504
$GC,3766,-1.58,-146.0,436.8,-9.9,506,3773,0.00,2.05,0.00,0.000,6,0.000,0.039,2652,2529,3504
$STATE,3919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3919,begin apogee
$GC,3925,-0.26,0.0,451.6,10.6,521,4042,0.80,0.00,109.25,1.001,6,0.135,0.000,2924,2528,2909
$STATE,4043,end apogee,CONTROL_FINISHED_OK
$STATE,4043,begin climb
$GC,4046,1.25,146.0,455.5,0.0,533,4167,0.93,2.33,112.00,0.983,4,0.065,0.062,3260,3940,2312
$GC,4270,1.01,146.0,437.8,12.9,553,4275,0.22,2.12,0.00,0.000,6,0.184,0.041,3209,2535,2308
$GC,4595,1.01,146.0,405.2,9.7,583,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2535,2306
$GC,4914,1.02,146.6,374.3,9.1,613,4918,0.00,2.17,0.00,0.000,4,0.000,0.064,3206,3942,2304
$GC,4976,0.96,146.6,367.8,10.7,618,4982,0.10,2.08,0.00,0.000,6,0.186,0.042,3192,2533,2303
$GC,5301,1.05,146.6,336.5,9.4,649,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2533,2302
$GC,5621,1.17,168.9,310.2,7.8,679,5647,0.17,2.17,20.02,0.848,4,0.078,0.054,3273,1133,2218
$GC,5704,1.10,168.9,300.9,11.5,686,5711,0.17,2.17,0.00,0.000,6,0.170,0.054,3220,2544,2215
$GC,6029,1.12,181.3,271.3,8.4,717,6045,0.00,2.17,11.40,0.774,4,0.000,0.065,3220,3937,2169
$GC,6102,1.12,181.3,264.3,10.1,723,6108,0.00,2.08,0.00,0.000,6,0.000,0.042,3229,2536,2169
$GC,6437,1.17,181.3,231.7,9.9,770,6444,0.00,2.17,0.00,0.000,4,0.000,0.066,3229,3941,2167
$GC,6553,1.17,181.3,218.6,11.7,790,6560,0.00,2.08,0.00,0.000,6,0.000,0.042,3239,2532,2166
$GC,6899,1.20,197.0,186.1,8.2,851,6918,0.00,0.00,16.27,0.747,6,0.000,0.000,3240,2532,2105
$GC,7259,1.31,210.0,154.7,8.4,914,7278,0.12,0.00,14.95,0.716,6,0.080,0.000,3293,2531,2051
$GC,7617,1.37,242.4,120.9,7.2,977,7656,0.00,2.28,30.75,0.727,4,0.000,0.064,3294,3946,1916
$GC,7747,1.37,242.4,108.8,9.7,999,7753,0.00,2.10,0.00,0.000,6,0.000,0.041,3305,2535,1909
$GC,8094,1.56,277.8,85.6,7.0,1060,8132,0.00,2.20,29.20,0.699,4,0.000,0.054,3315,1131,1771
$GC,8387,1.78,310.6,65.3,7.1,1111,8419,0.17,2.17,25.67,0.673,6,0.073,0.050,3388,2557,1641
$GC,8760,1.72,310.6,23.7,10.9,1176,8766,0.12,0.00,0.00,0.000,6,0.173,0.000,3356,2557,1634
$STATE,8989,end climb,SURFACE_DEPTH_REACHED
$STATE,8989,begin surface coast
$FINISH,0.5,1.014331
$STATE,9013,end surface coast,CONTROL_FINISHED_OK
$STATE,9013,begin surface
$SM_CCo,9033,28.77,0.669,0,0,1379,375.06
$SM_GC,1.08,0.00,0.00,28.77,0.000,0.000,0.669,82,2558,1379,-13.35,0.51,375.06
$IRIDIUM_FIX,1128.26,12147.26,120598,181850
$TT8_MAMPS,0.025311
$HUMID,1773
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,22.90
$XPDR_PINGS,0
$AD_FAT00,a0008,0x00007000,0x00008100,0x00001100
$24V_AH,24.3,3.808
$10V_AH,10.8,2.216
$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,22.850,63.675,369.525,28.775,0.000,23.976,40.073,208.103,0.500,0.000,0.000,16.708,2003.711,4416.226,466.542,2079.259,553.074,0.000,1426.281,0.000,2056.475,0.000,6.173,0.000
$DEVICE_MAMPS,245.440,75.933,1000.935,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,830.048,710.220,628.252,0.000,0.000,0.000,2059.466,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,69363,1221
$CAP_FILE_SIZE,104810,0
$CFSIZE,260165632,253845504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,136.9,1
$GPS,150209,231236,1132.556,12147.471,9,1.1,26,-0.6