version: 66.04
glider: 126
mission: 10
dive: 14
start: 2 16 109 18 41 30
data:
$ID,126
$MISSION,10
$DIVE,14
$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,-10
$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,-633859.56
$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,42
$R_STBD_OVSHOOT,31
$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
$GPS1,183106,1122.390,12152.121,37,1.2,37,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.9
$GPS2,184004,1122.417,12152.089,12,1.7,14,-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,138.7,15866,-19.2,-9.167
$D_GRID,551
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.53,-122.8,0.0,0.0,0,62,0.00,0.00,-44.10,0.000,2,0.000,0.000,79,2503,2751
$GC,65,-1.57,-146.0,3.5,-6.3,7,94,9.75,2.12,-13.43,0.000,4,0.239,0.063,2636,1134,3508
$GC,309,-1.17,-146.0,63.8,-23.9,49,317,0.32,2.12,0.00,0.000,6,0.169,0.045,2724,2544,3510
$GC,656,-1.17,-146.0,119.2,-12.1,110,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2544,3512
$GC,998,-1.30,-146.0,153.4,-9.1,171,1004,0.10,0.00,0.00,0.000,6,0.088,0.000,2676,2544,3513
$GC,1342,-1.30,-146.0,192.3,-11.7,232,1349,0.10,2.10,0.00,0.000,4,0.158,0.047,2707,1127,3513
$GC,1407,-1.40,-146.0,198.7,-9.0,243,1414,0.08,2.15,0.00,0.000,6,0.099,0.046,2655,2566,3512
$GC,1752,-1.40,-146.0,239.0,-11.0,304,1758,0.00,2.08,0.00,0.000,4,0.000,0.058,2644,3952,3513
$GC,1776,-1.33,-146.0,242.0,-11.9,308,1784,0.17,2.05,0.00,0.000,6,0.150,0.037,2696,2527,3513
$GC,2109,-1.44,-146.0,272.6,-9.2,346,2113,0.10,2.05,0.00,0.000,4,0.086,0.048,2649,1133,3512
$GC,2176,-1.44,-146.0,280.0,-11.1,352,2181,0.12,2.10,0.00,0.000,6,0.161,0.048,2673,2552,3513
$GC,2506,-1.44,-146.0,314.1,-11.9,383,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2552,3510
$GC,2827,-1.49,-146.0,349.6,-10.3,413,2831,0.00,2.10,0.00,0.000,4,0.000,0.061,2664,3949,3508
$GC,2850,-1.49,-146.0,352.3,-10.1,415,2854,0.00,2.08,0.00,0.000,6,0.000,0.039,2665,2511,3508
$GC,3185,-1.54,-146.0,387.5,-11.2,446,3188,0.00,2.17,0.00,0.000,4,0.000,0.061,2655,3947,3507
$GC,3212,-1.54,-146.0,391.2,-11.2,448,3218,0.00,2.03,0.00,0.000,6,0.000,0.039,2655,2538,3506
$GC,3539,-1.54,-146.0,427.1,-10.1,479,3543,0.00,2.08,0.00,0.000,4,0.000,0.050,2655,1128,3504
$GC,3589,-1.54,-146.0,432.6,-10.2,483,3596,0.00,2.12,0.00,0.000,6,0.000,0.049,2647,2553,3504
$GC,3915,-1.54,-146.0,465.7,-11.1,514,3918,0.00,2.10,0.00,0.000,4,0.000,0.050,2646,1145,3502
$GC,3965,-1.54,-146.0,471.8,-11.4,518,3971,0.00,2.08,0.00,0.000,6,0.000,0.051,2637,2530,3501
$GC,4287,-1.54,-146.0,509.5,-11.2,545,4291,0.00,2.08,0.00,0.000,4,0.000,0.051,2638,1142,3499
$GC,4355,-1.54,-146.0,517.5,-11.3,548,4359,0.00,2.08,0.00,0.000,6,0.000,0.051,2628,2529,3498
$STATE,4664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4664,begin apogee
$GC,4671,-0.34,0.0,553.0,9.9,563,4788,0.85,0.00,112.25,1.056,6,0.140,0.000,2908,2529,2911
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4795,1.57,146.0,554.8,0.0,569,4916,1.17,2.38,112.60,1.040,4,0.070,0.063,3320,3935,2313
$GC,4989,1.14,146.0,535.9,16.4,578,4994,0.38,2.12,0.00,0.000,6,0.193,0.042,3230,2549,2313
$GC,5312,1.06,146.0,499.7,11.2,594,5316,0.00,2.17,0.00,0.000,4,0.000,0.054,3239,1124,2312
$GC,5341,0.99,146.0,496.1,12.2,596,5348,0.15,2.17,0.00,0.000,6,0.176,0.051,3191,2541,2312
$GC,5666,1.04,146.0,465.5,9.4,627,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2541,2310
$GC,5987,1.09,147.1,435.5,9.1,657,5993,0.10,0.00,0.00,0.000,6,0.097,0.000,3232,2541,2308
$GC,6316,1.03,147.1,402.3,10.3,688,6322,0.12,0.00,0.00,0.000,6,0.171,0.000,3199,2541,2307
$GC,6643,1.12,169.5,373.6,7.8,719,6679,0.10,2.25,24.80,0.809,4,0.092,0.064,3241,3950,2216
$GC,6726,0.98,169.5,364.5,12.8,726,6730,0.22,2.10,0.00,0.000,6,0.166,0.042,3187,2533,2217
$GC,7056,1.14,194.9,334.8,7.6,757,7096,0.15,0.00,27.70,0.791,6,0.078,0.000,3249,2532,2114
$GC,7414,1.14,194.9,295.8,10.6,791,7418,0.00,2.20,0.00,0.000,4,0.000,0.064,3249,3946,2114
$GC,7610,1.02,194.9,269.6,14.8,808,7617,0.20,2.08,0.00,0.000,6,0.163,0.042,3202,2547,2113
$GC,7942,1.16,194.9,236.6,10.1,850,7949,0.10,2.12,0.00,0.000,4,0.091,0.053,3256,1136,2112
$GC,7974,1.21,194.9,233.1,11.4,855,7980,0.00,2.17,0.00,0.000,6,0.000,0.054,3256,2560,2112
$GC,8318,1.21,194.9,195.5,9.8,916,8325,0.00,2.15,0.00,0.000,4,0.000,0.066,3256,3942,2112
$GC,8461,1.13,194.9,180.1,9.7,941,8469,0.15,2.05,0.00,0.000,6,0.166,0.042,3223,2548,2111
$GC,8810,1.35,233.3,153.9,6.8,1002,8849,0.17,2.22,33.25,0.758,4,0.074,0.054,3310,1133,1959
$GC,8962,1.35,233.3,138.0,11.5,1028,8969,0.15,2.17,0.00,0.000,6,0.161,0.051,3268,2548,1958
$GC,9309,1.61,285.2,110.5,6.0,1089,9361,0.20,2.25,45.60,0.714,4,0.068,0.063,3356,3934,1745
$GC,9615,1.52,285.2,77.5,10.5,1142,9623,0.17,2.05,0.00,0.000,6,0.159,0.041,3311,2576,1740
$GC,9962,1.70,310.0,51.5,7.6,1203,9989,0.12,2.20,21.25,0.657,4,0.079,0.061,3366,3947,1642
$GC,10243,1.63,310.0,19.3,11.5,1252,10251,0.12,2.00,0.00,0.000,6,0.157,0.038,3335,2605,1634
$STATE,10445,end climb,SURFACE_DEPTH_REACHED
$STATE,10446,begin surface coast
$FINISH,0.4,1.011582
$STATE,10469,end surface coast,CONTROL_FINISHED_OK
$STATE,10470,begin surface
$SM_CCo,10492,29.00,0.663,0,0,1380,375.06
$SM_GC,0.98,0.00,0.00,29.00,0.000,0.000,0.663,79,2526,1380,-13.34,-0.42,375.06
$IRIDIUM_FIX,1119.46,12152.87,130598,151503
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,23.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.9,3.8
$AD_FAT00,b0014,0x00007000,0x00008900,0x00001900
$24V_AH,24.2,4.586
$10V_AH,10.0,3.307
$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,23.875,76.625,377.450,29.000,0.000,29.022,32.810,297.513,0.500,0.000,0.000,14.192,2173.572,5517.528,499.968,2215.736,713.130,0.000,1529.680,0.000,2189.249,0.000,5.865,0.000
$DEVICE_MAMPS,239.304,82.836,1056.159,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,881.602,677.705,637.649,0.000,0.000,0.000,7680.080,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,72514,1292
$CAP_FILE_SIZE,118108,0
$CFSIZE,260165632,253349888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.199,167.6,1
$GPS,160209,213744,1120.431,12153.464,12,2.0,13,-0.6