version: 66.04
glider: 126
mission: 10
dive: 12
start: 2 16 109 10 26 18
data:
$ID,126
$MISSION,10
$DIVE,12
$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,-633832.62
$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,16
$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,44
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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,2
$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
$GPS1,101700,1127.430,12149.316,41,1.1,41,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.6
$GPS2,102531,1127.452,12149.296,13,1.1,13,-0.6
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,BATBATAN_SW
$TGT_LATLONG,1126.310,12150.000
$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,165.3,2470,-21.4,-9.167
$D_GRID,908
$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,-1.51,-104.1,0.0,0.0,0,68,0.00,0.00,-44.58,0.000,2,0.000,0.000,90,2576,2782
$GC,71,-1.56,-132.2,3.6,-7.2,7,99,9.85,2.12,-11.73,0.000,4,0.242,0.072,2641,3949,3450
$GC,269,-1.17,-132.2,56.6,-25.2,41,278,0.32,2.08,0.00,0.000,6,0.164,0.038,2736,2535,3453
$GC,617,-1.27,-132.2,111.7,-11.6,102,623,0.10,0.00,0.00,0.000,6,0.091,0.000,2693,2535,3454
$GC,962,-1.38,-132.2,153.9,-10.7,163,968,0.00,2.08,0.00,0.000,4,0.000,0.048,2693,1130,3455
$GC,1077,-1.50,-132.2,166.7,-11.2,183,1083,0.10,2.12,0.00,0.000,6,0.089,0.048,2637,2547,3455
$GC,1424,-1.50,-132.2,210.7,-12.4,244,1431,0.10,2.10,0.00,0.000,4,0.170,0.058,2653,3937,3455
$GC,1511,-1.50,-132.2,221.0,-11.5,259,1518,0.00,2.08,0.00,0.000,6,0.000,0.038,2653,2504,3455
$GC,1851,-1.56,-132.2,258.5,-11.3,313,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2504,3455
$GC,2172,-1.65,-132.2,294.1,-10.8,343,2176,0.10,2.03,0.00,0.000,4,0.087,0.048,2606,1129,3454
$GC,2240,-1.59,-132.2,302.6,-12.8,349,2244,0.15,2.10,0.00,0.000,6,0.170,0.049,2640,2535,3454
$GC,2570,-1.65,-132.2,342.1,-12.1,380,2574,0.00,2.12,0.00,0.000,4,0.000,0.061,2630,3946,3452
$GC,2609,-1.65,-132.2,347.3,-13.4,383,2615,0.00,2.10,0.00,0.000,6,0.000,0.039,2630,2498,3452
$GC,2938,-1.69,-132.2,386.6,-12.1,414,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2498,3450
$GC,3263,-1.69,-132.2,424.4,-11.8,445,3267,0.00,2.20,0.00,0.000,4,0.000,0.062,2619,3943,3448
$GC,3297,-1.69,-132.2,428.8,-13.1,448,3301,0.00,2.08,0.00,0.000,6,0.000,0.041,2620,2514,3447
$GC,3628,-1.69,-132.2,469.7,-11.7,479,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2514,3446
$GC,3946,-1.69,-132.2,505.0,-10.8,507,3950,0.00,2.05,0.00,0.000,4,0.000,0.052,2620,1127,3444
$GC,4047,-1.69,-132.2,516.0,-10.5,511,4051,0.00,2.12,0.00,0.000,6,0.000,0.051,2611,2541,3443
$GC,4369,-1.69,-132.2,549.5,-10.1,527,4372,0.00,2.10,0.00,0.000,4,0.000,0.051,2611,1131,3441
$GC,4430,-1.69,-132.2,556.1,-10.3,529,4437,0.00,2.10,0.00,0.000,6,0.000,0.052,2601,2523,3440
$GC,4745,-1.69,-132.2,591.9,-11.8,545,4749,0.00,2.15,0.00,0.000,4,0.000,0.064,2590,3940,3438
$GC,4807,-1.60,-132.2,599.8,-13.2,547,4814,0.17,2.08,0.00,0.000,6,0.165,0.041,2641,2518,3438
$GC,5123,-1.70,-132.2,633.1,-10.4,563,5127,0.10,2.17,0.00,0.000,4,0.093,0.065,2586,3940,3437
$GC,5194,-1.61,-132.2,642.1,-13.5,566,5198,0.17,2.05,0.00,0.000,6,0.163,0.043,2637,2532,3436
$GC,5528,-1.70,-132.2,683.0,-11.8,582,5532,0.00,2.08,0.00,0.000,4,0.000,0.053,2639,1137,3435
$GC,5584,-1.79,-132.2,689.4,-10.7,584,5589,0.12,2.12,0.00,0.000,6,0.084,0.054,2576,2541,3435
$GC,5907,-1.69,-132.2,733.1,-13.9,600,5909,0.15,0.00,0.00,0.000,6,0.171,0.000,2616,2541,3434
$GC,6215,-1.69,-132.2,771.9,-12.4,615,6218,0.00,2.10,0.00,0.000,4,0.000,0.053,2620,1137,3432
$GC,6265,-1.69,-132.2,778.0,-11.4,617,6269,0.00,2.12,0.00,0.000,6,0.000,0.053,2610,2541,3432
$GC,6592,-1.69,-132.2,818.2,-12.3,633,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2541,3430
$GC,6901,-1.69,-132.2,859.8,-13.8,648,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2541,3430
$GC,7210,-1.69,-132.2,901.0,-13.8,663,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2541,3429
$STATE,7269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7270,begin apogee
$GC,7276,-0.31,0.0,909.3,13.5,666,7396,0.95,0.00,111.72,1.234,6,0.148,0.000,2920,2541,2910
$STATE,7397,end apogee,CONTROL_FINISHED_OK
$STATE,7397,begin climb
$GC,7400,1.56,132.2,915.0,0.0,672,7515,1.12,2.33,108.18,1.293,4,0.067,0.064,3319,3940,2369
$GC,7555,1.20,132.2,907.4,14.0,679,7560,0.32,2.17,0.00,0.000,6,0.194,0.043,3245,2548,2369
$GC,7870,1.20,132.2,873.0,10.4,694,7874,0.00,2.20,0.00,0.000,4,0.000,0.066,3245,3938,2368
$GC,7916,1.05,132.2,867.3,13.4,696,7921,0.17,2.12,0.00,0.000,6,0.179,0.044,3208,2530,2367
$GC,8245,1.10,132.2,834.1,10.5,712,8248,0.00,2.22,0.00,0.000,4,0.000,0.067,3207,3947,2366
$GC,8306,1.11,135.0,827.8,9.0,714,8312,0.00,2.10,0.00,0.000,6,0.000,0.044,3216,2545,2365
$GC,8624,1.11,135.0,796.9,12.2,730,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2545,2364
$GC,8931,1.11,135.0,760.8,10.0,745,8935,0.00,2.17,0.00,0.000,4,0.000,0.068,3216,3941,2364
$GC,9010,1.03,135.0,753.0,10.4,748,9013,0.00,2.08,0.00,0.000,6,0.000,0.045,3226,2549,2364
$GC,9331,1.06,150.8,728.1,8.1,764,9363,0.00,0.00,24.88,0.949,6,0.000,0.000,3226,2549,2294
$GC,9660,1.06,150.8,689.5,11.9,780,9664,0.00,2.17,0.00,0.000,4,0.000,0.067,3226,3932,2284
$GC,9744,0.99,150.8,679.4,11.9,783,9751,0.15,2.08,0.00,0.000,6,0.177,0.045,3197,2536,2284
$GC,10060,1.09,150.8,650.1,9.8,799,10062,0.10,0.00,0.00,0.000,6,0.095,0.000,3239,2536,2283
$GC,10369,1.09,150.8,613.0,12.0,814,10373,0.00,2.12,0.00,0.000,4,0.000,0.057,3249,1130,2283
$GC,10415,1.09,150.8,607.8,11.6,816,10420,0.10,2.17,0.00,0.000,6,0.183,0.055,3218,2547,2283
$GC,10748,1.15,150.8,573.1,10.1,832,10751,0.00,2.17,0.00,0.000,4,0.000,0.069,3218,3951,2282
$GC,10793,1.15,150.8,568.0,11.4,834,10797,0.00,2.08,0.00,0.000,6,0.000,0.045,3227,2552,2282
$GC,11126,1.15,150.8,533.3,10.1,850,11130,0.00,2.15,0.00,0.000,4,0.000,0.067,3227,3935,2282
$GC,11160,1.09,150.8,529.3,11.2,851,11164,0.00,2.08,0.00,0.000,6,0.000,0.045,3238,2532,2282
$GC,11482,1.09,150.8,496.6,10.5,868,11485,0.00,2.20,0.00,0.000,4,0.000,0.067,3238,3951,2282
$GC,11577,1.01,150.8,485.2,11.8,876,11584,0.17,2.08,0.00,0.000,6,0.177,0.044,3200,2550,2281
$GC,11902,1.14,150.8,453.5,9.6,907,11907,0.12,2.15,0.00,0.000,4,0.088,0.055,3262,1124,2281
$GC,11953,1.14,150.8,447.6,11.2,911,11959,0.12,2.17,0.00,0.000,6,0.180,0.055,3227,2553,2281
$GC,12278,1.20,150.8,414.1,10.6,942,12282,0.00,2.15,0.00,0.000,4,0.000,0.068,3227,3948,2282
$GC,12324,1.20,150.8,408.7,12.0,946,12327,0.00,2.08,0.00,0.000,6,0.000,0.044,3236,2543,2281
$GC,12654,1.20,150.8,374.7,10.2,977,12658,0.00,2.17,0.00,0.000,4,0.000,0.068,3236,3946,2281
$GC,12790,1.20,150.8,359.4,11.9,989,12793,0.00,2.05,0.00,0.000,6,0.000,0.044,3247,2554,2281
$GC,13122,1.20,150.8,325.9,10.2,1020,13126,0.00,2.15,0.00,0.000,4,0.000,0.056,3257,1126,2281
$GC,13359,1.25,150.8,301.8,9.5,1041,13363,0.00,2.15,0.00,0.000,6,0.000,0.054,3257,2542,2281
$GC,13690,1.28,173.4,273.3,7.6,1072,13728,0.00,0.00,27.35,0.769,6,0.000,0.000,3257,2542,2198
$GC,14054,1.35,173.4,238.4,9.7,1116,14061,0.08,2.17,0.00,0.000,4,0.108,0.065,3293,3950,2188
$GC,14293,1.22,173.4,212.0,11.7,1158,14300,0.20,2.10,0.00,0.000,6,0.175,0.044,3249,2530,2188
$GC,14639,1.37,194.5,179.3,7.7,1219,14671,0.12,2.20,21.45,0.707,4,0.087,0.054,3311,1127,2115
$GC,14702,1.37,194.5,173.8,9.2,1229,14709,0.12,2.20,0.00,0.000,6,0.173,0.053,3279,2555,2110
$GC,15050,1.53,211.3,146.1,8.0,1290,15076,0.12,2.22,17.17,0.715,4,0.084,0.054,3341,1138,2046
$GC,15297,1.53,215.2,121.5,8.9,1333,15306,0.10,2.10,1.25,0.106,6,0.179,0.052,3316,2502,2032
$GC,15647,1.74,275.4,96.0,5.0,1394,15705,0.17,2.15,51.90,0.708,4,0.075,0.053,3397,1128,1785
$GC,15959,1.74,275.4,65.1,9.5,1448,15967,0.10,2.22,0.00,0.000,6,0.169,0.050,3365,2557,1785
$GC,16308,1.84,283.2,33.5,8.6,1509,16323,0.00,2.25,9.05,0.578,4,0.000,0.051,3375,1125,1752
$GC,16521,1.98,283.2,14.6,9.7,1546,16528,0.15,2.12,0.00,0.000,6,0.077,0.048,3437,2524,1747
$STATE,16645,end climb,SURFACE_DEPTH_REACHED
$STATE,16645,begin surface coast
$FINISH,0.4,0.997069
$STATE,16668,end surface coast,CONTROL_FINISHED_OK
$STATE,16668,begin surface
$SM_CCo,16688,42.05,0.673,0,0,1380,375.06
$SM_GC,1.68,0.00,0.00,42.05,0.000,0.000,0.673,80,2525,1380,-13.37,-0.45,375.06
$IRIDIUM_FIX,1123.86,12146.10,130598,060659
$TT8_MAMPS,0.024544
$HUMID,1743
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,23.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.5,3.8
$AD_FAT00,a0012,0x00007000,0x00007f00,0x00000f00
$24V_AH,23.9,4.331
$10V_AH,10.7,2.797
$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,24.925,127.975,372.950,42.050,0.000,23.595,32.343,282.347,0.750,0.000,0.000,13.953,2737.998,10435.898,550.182,2811.720,724.079,0.000,1877.518,0.000,2774.549,0.000,5.647,0.000
$DEVICE_MAMPS,242.372,72.098,1293.162,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,1083.855,672.216,621.379,0.000,0.000,0.000,1963.852,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,88550,1572
$CAP_FILE_SIZE,161473,0
$CFSIZE,260165632,253464576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.153,115.6,1
$GPS,160209,150631,1124.694,12151.204,42,1.0,42,-0.6