version: 66.04
glider: 126
mission: 10
dive: 13
start: 2 16 109 15 16 23
data:
$ID,126
$MISSION,10
$DIVE,13
$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,-633844.75
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,94
$PITCH_MAX,4004
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$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,39
$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
$GPS1,150631,1124.694,12151.204,42,1.0,42,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.6
$GPS2,151538,1124.769,12151.190,11,1.1,11,-0.6
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,TIBIAO_1
$TGT_LATLONG,1115.770,12157.600
$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,172.0,20330,-19.2,-9.167
$D_GRID,586
$AD_RECORDABOVE,200.0
$AD_PROFILE,2.0
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.53,-122.8,0.0,0.0,0,58,0.00,0.00,-37.85,0.000,2,0.000,0.000,81,2526,2531
$GC,61,-1.57,-146.0,3.1,-5.4,6,96,9.82,2.20,-18.98,0.000,4,0.240,0.063,2639,1127,3508
$GC,350,-1.15,-146.0,73.3,-24.5,56,358,0.32,2.15,0.00,0.000,6,0.171,0.046,2727,2557,3511
$GC,696,-1.15,-146.0,123.1,-12.7,117,703,0.00,2.15,0.00,0.000,4,0.000,0.048,2733,1121,3512
$GC,733,-1.23,-146.0,127.5,-12.2,123,739,0.00,2.12,0.00,0.000,6,0.000,0.048,2728,2535,3512
$GC,1074,-1.37,-146.0,161.6,-9.6,184,1082,0.15,2.10,0.00,0.000,4,0.074,0.047,2664,1126,3514
$GC,1111,-1.37,-146.0,166.0,-12.4,190,1118,0.10,2.10,0.00,0.000,6,0.174,0.047,2682,2529,3513
$GC,1456,-1.37,-146.0,204.4,-11.7,251,1463,0.00,2.08,0.00,0.000,4,0.000,0.048,2682,1128,3513
$GC,1504,-1.37,-146.0,210.3,-12.3,259,1510,0.00,2.12,0.00,0.000,6,0.000,0.048,2681,2542,3514
$GC,1847,-1.37,-146.0,244.5,-10.5,320,1854,0.00,2.12,0.00,0.000,4,0.000,0.059,2670,3953,3513
$GC,1967,-1.37,-146.0,257.2,-10.5,335,1973,0.00,2.08,0.00,0.000,6,0.000,0.038,2670,2514,3513
$GC,2294,-1.37,-146.0,289.1,-9.0,366,2298,0.00,2.17,0.00,0.000,4,0.000,0.061,2661,3952,3512
$GC,2351,-1.37,-146.0,295.1,-10.4,371,2355,0.00,2.00,0.00,0.000,6,0.000,0.039,2665,2566,3512
$GC,2685,-1.37,-146.0,330.3,-10.7,402,2689,0.00,2.10,0.00,0.000,4,0.000,0.049,2665,1144,3510
$GC,2776,-1.37,-146.0,341.6,-13.1,410,2780,0.10,2.12,0.00,0.000,6,0.168,0.049,2684,2563,3509
$GC,3107,-1.47,-146.0,375.7,-8.7,441,3111,0.10,2.12,0.00,0.000,4,0.089,0.048,2638,1134,3507
$GC,3191,-1.43,-146.0,383.2,-8.0,448,3199,0.15,2.12,0.00,0.000,6,0.159,0.049,2671,2549,3508
$GC,3517,-1.50,-146.0,403.1,-7.0,479,3521,0.00,2.10,0.00,0.000,4,0.000,0.063,2662,3936,3506
$GC,3646,-1.50,-146.0,414.7,-9.2,490,3652,0.00,2.05,0.00,0.000,6,0.000,0.039,2665,2521,3504
$GC,3973,-1.56,-146.0,446.9,-11.1,521,3978,0.10,2.05,0.00,0.000,4,0.089,0.051,2620,1138,3502
$GC,4036,-1.47,-146.0,455.9,-15.1,526,4042,0.17,2.12,0.00,0.000,6,0.165,0.052,2664,2545,3501
$GC,4362,-1.53,-146.0,489.5,-8.1,557,4365,0.00,2.12,0.00,0.000,4,0.000,0.062,2654,3951,3500
$GC,4527,-1.53,-146.0,504.1,-8.5,570,4530,0.00,2.05,0.00,0.000,6,0.000,0.041,2655,2538,3499
$GC,4853,-1.53,-146.0,537.2,-10.8,586,4857,0.00,2.15,0.00,0.000,4,0.000,0.064,2645,3946,3496
$GC,4899,-1.53,-146.0,542.4,-11.8,588,4903,0.00,2.03,0.00,0.000,6,0.000,0.041,2648,2554,3496
$GC,5232,-1.53,-146.0,577.7,-9.8,604,5235,0.00,2.10,0.00,0.000,4,0.000,0.051,2648,1136,3494
$STATE,5307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5307,begin apogee
$GC,5316,-0.34,0.0,586.2,9.9,607,5442,0.77,0.00,117.50,1.053,6,0.140,0.000,2900,2561,2909
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5446,begin climb
$GC,5449,1.57,146.0,590.4,0.0,613,5572,1.17,2.33,113.68,1.069,4,0.078,0.063,3312,3938,2312
$GC,5617,1.14,146.0,578.6,15.0,620,5624,0.35,2.15,0.00,0.000,6,0.186,0.041,3228,2547,2310
$GC,5933,1.05,146.0,541.9,12.1,636,5937,0.00,2.17,0.00,0.000,4,0.000,0.054,3237,1127,2307
$GC,5980,0.99,146.0,536.3,12.4,638,5984,0.15,2.17,0.00,0.000,6,0.169,0.052,3197,2535,2307
$GC,6308,0.99,146.0,500.8,10.9,654,6311,0.00,2.17,0.00,0.000,4,0.000,0.065,3197,3937,2305
$GC,6347,0.92,146.0,496.1,11.2,656,6354,0.12,2.10,0.00,0.000,6,0.176,0.043,3175,2528,2305
$GC,6673,1.03,154.6,466.2,8.6,687,6689,0.10,2.22,10.85,0.835,4,0.093,0.064,3216,3950,2275
$GC,6762,0.90,154.6,456.0,12.4,694,6769,0.20,2.12,0.00,0.000,6,0.164,0.042,3171,2527,2268
$GC,7088,1.05,176.1,428.6,7.8,725,7122,0.12,2.25,27.15,0.850,4,0.085,0.065,3222,3945,2187
$GC,7162,0.94,176.1,420.7,11.6,731,7169,0.17,2.15,0.00,0.000,6,0.167,0.043,3186,2525,2179
$GC,7488,1.05,180.7,394.4,8.9,762,7490,0.10,0.00,0.00,0.000,6,0.091,0.000,3227,2525,2177
$GC,7807,1.05,180.7,358.5,11.8,792,7811,0.00,2.20,0.00,0.000,4,0.000,0.067,3227,3934,2176
$GC,7898,0.96,180.7,347.2,12.1,800,7902,0.17,2.08,0.00,0.000,6,0.166,0.044,3189,2532,2176
$GC,8228,1.12,198.9,318.4,8.0,831,8261,0.12,0.00,25.10,0.800,6,0.085,0.000,3241,2532,2097
$GC,8576,1.12,198.9,281.3,9.6,864,8579,0.00,2.20,0.00,0.000,4,0.000,0.064,3241,3942,2083
$GC,8655,1.04,198.9,272.1,13.1,871,8660,0.17,2.10,0.00,0.000,6,0.164,0.043,3203,2530,2083
$GC,8986,1.21,210.8,242.1,8.4,909,9006,0.15,2.12,13.05,0.775,4,0.078,0.054,3276,1134,2044
$GC,9060,1.21,210.8,234.0,12.2,921,9067,0.12,2.15,0.00,0.000,6,0.171,0.053,3238,2535,2034
$GC,9406,1.27,210.8,196.9,10.6,982,9412,0.00,2.17,0.00,0.000,4,0.000,0.066,3241,3940,2033
$GC,9464,1.27,210.8,190.0,11.9,992,9471,0.00,2.10,0.00,0.000,6,0.000,0.043,3248,2526,2033
$GC,9809,1.37,217.7,156.6,8.7,1053,9818,0.10,0.00,4.53,0.553,6,0.090,0.000,3293,2526,2021
$GC,10156,1.38,226.3,120.6,8.6,1114,10175,0.00,2.12,11.98,0.699,4,0.000,0.053,3303,1122,1981
$GC,10430,1.58,275.6,100.2,6.1,1162,10475,0.00,2.15,38.60,0.731,6,0.000,0.049,3303,2541,1784
$GC,10816,1.78,305.2,73.0,7.3,1229,10849,0.20,2.25,22.05,0.685,4,0.066,0.051,3403,1121,1664
$GC,10960,1.69,305.2,57.1,11.1,1253,10968,0.20,2.17,0.00,0.000,6,0.166,0.048,3347,2541,1664
$GC,11306,1.76,305.2,21.6,9.9,1314,11313,0.00,2.12,0.00,0.000,4,0.000,0.061,3349,3941,1664
$GC,11490,1.77,314.1,4.6,8.6,1346,11503,0.00,2.10,4.35,0.469,6,0.000,0.038,3357,2504,1628
$STATE,11524,end climb,SURFACE_DEPTH_REACHED
$STATE,11524,begin surface coast
$FINISH,0.4,1.009076
$STATE,11554,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11577,28.70,0.680,0,0,1380,375.06
$SM_GC,0.97,0.00,0.00,28.70,0.000,0.000,0.680,79,2503,1380,-13.34,-1.07,375.06
$IRIDIUM_FIX,1119.46,12146.10,130598,101029
$TT8_MAMPS,0.027612
$HUMID,1741
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.2,3.8
$AD_FAT00,b0013,0x00007000,0x00008900,0x00001900
$24V_AH,24.1,4.461
$10V_AH,10.5,3.061
$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,24.125,106.725,388.825,28.700,0.000,22.465,49.645,281.174,0.500,0.000,0.000,11.492,2313.815,6206.135,526.958,2405.721,715.750,0.000,1660.925,0.000,2379.965,0.000,5.863,0.000
$DEVICE_MAMPS,240.071,66.729,1069.198,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,927.899,682.820,652.999,0.000,0.000,0.000,8287.436,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,75823,1357
$CAP_FILE_SIZE,133774,0
$CFSIZE,260165632,253415424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.160,143.7,1
$GPS,160209,183106,1122.390,12152.121,37,1.2,37,-0.6