version: 66.04
glider: 126
mission: 10
dive: 16
start: 2 17 109 0 31 17
data:
$ID,126
$MISSION,10
$DIVE,16
$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,-633887.69
$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
$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,48
$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
$GPS1,002307,1118.995,12154.880,38,1.3,39,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.7
$GPS2,003032,1119.059,12154.834,12,1.7,12,-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,96.1,7895,-19.2,-9.167
$D_GRID,406
$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,17,-1.57,-122.8,0.0,0.0,0,59,0.00,0.00,-39.47,0.000,2,0.000,0.000,83,2530,2584
$GC,62,-1.61,-146.0,3.2,-5.3,6,97,9.65,2.17,-17.55,0.000,4,0.238,0.071,2624,3940,3507
$GC,231,-1.11,-146.0,46.8,-26.5,34,238,0.38,2.05,0.00,0.000,6,0.161,0.037,2737,2532,3509
$GC,577,-1.11,-146.0,107.0,-13.8,95,583,0.00,2.15,0.00,0.000,4,0.000,0.060,2737,3940,3511
$GC,651,-1.11,-146.0,117.0,-12.5,108,659,0.00,2.05,0.00,0.000,6,0.000,0.037,2739,2521,3510
$GC,995,-1.28,-146.0,149.7,-8.1,169,1002,0.12,2.15,0.00,0.000,4,0.076,0.058,2670,3934,3511
$GC,1032,-1.28,-146.0,153.9,-11.9,175,1038,0.12,2.03,0.00,0.000,6,0.156,0.037,2705,2529,3512
$GC,1377,-1.35,-146.0,188.2,-11.5,236,1384,0.00,2.12,0.00,0.000,4,0.000,0.058,2697,3937,3513
$GC,1492,-1.43,-146.0,203.1,-12.0,256,1500,0.10,2.05,0.00,0.000,6,0.084,0.037,2648,2510,3512
$GC,1840,-1.37,-146.0,247.9,-8.6,317,1847,0.12,2.03,0.00,0.000,4,0.156,0.047,2683,1130,3512
$GC,1888,-1.42,-146.0,251.6,-7.6,323,1892,0.00,2.12,0.00,0.000,6,0.000,0.048,2683,2549,3512
$GC,2222,-1.50,-146.0,283.7,-13.9,354,2227,0.10,2.10,0.00,0.000,4,0.087,0.058,2626,3946,3511
$GC,2340,-1.38,-146.0,298.7,-12.6,364,2348,0.20,2.05,0.00,0.000,6,0.151,0.038,2687,2525,3511
$GC,2666,-1.47,-146.0,330.3,-6.9,395,2668,0.10,0.00,0.00,0.000,6,0.089,0.000,2641,2525,3509
$GC,2986,-1.47,-146.0,367.0,-12.6,425,2990,0.00,2.15,0.00,0.000,4,0.000,0.061,2629,3941,3508
$GC,3003,-1.39,-146.0,369.1,-10.2,426,3010,0.17,2.00,0.00,0.000,6,0.166,0.038,2680,2553,3508
$STATE,3329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3329,begin apogee
$GC,3336,-0.36,0.0,406.9,9.7,457,3446,0.62,0.00,107.03,0.960,6,0.121,0.000,2901,2554,2910
$STATE,3450,end apogee,CONTROL_FINISHED_OK
$STATE,3450,begin climb
$GC,3453,1.61,146.0,414.2,0.0,468,3571,1.17,2.25,110.45,0.937,4,0.071,0.049,3343,1144,2312
$GC,3696,1.36,146.0,396.0,13.8,489,3701,0.22,2.17,0.00,0.000,6,0.189,0.048,3275,2544,2311
$GC,4021,1.18,146.0,361.4,9.9,519,4023,0.15,0.00,0.00,0.000,6,0.176,0.000,3233,2544,2308
$GC,4342,1.18,146.0,328.4,9.8,549,4346,0.00,2.12,0.00,0.000,4,0.000,0.051,3242,1131,2306
$GC,4388,1.11,146.0,322.9,12.0,553,4392,0.00,2.15,0.00,0.000,6,0.000,0.050,3240,2548,2306
$GC,4721,1.11,146.0,290.0,10.0,584,4724,0.00,2.12,0.00,0.000,4,0.000,0.051,3249,1137,2305
$GC,4800,1.09,170.1,282.6,7.7,591,4825,0.12,2.10,18.92,0.848,6,0.172,0.049,3216,2530,2215
$GC,5142,1.16,173.3,251.7,9.0,623,5154,0.00,2.17,4.45,0.563,4,0.000,0.063,3216,3941,2200
$GC,5234,1.16,173.3,242.4,10.6,637,5241,0.00,2.08,0.00,0.000,6,0.000,0.041,3225,2532,2200
$GC,5580,1.22,181.5,210.9,8.7,698,5594,0.00,2.17,9.75,0.709,4,0.000,0.051,3235,1126,2167
$GC,5635,1.31,190.8,206.0,8.6,707,5650,0.10,2.12,7.80,0.698,6,0.091,0.049,3280,2525,2131
$GC,5989,1.25,190.8,169.9,10.1,769,5996,0.12,2.17,0.00,0.000,4,0.165,0.061,3246,3950,2131
$GC,6043,1.20,190.8,164.6,10.3,778,6049,0.00,2.10,0.00,0.000,6,0.000,0.040,3255,2524,2131
$GC,6390,1.38,244.2,136.3,5.9,839,6440,0.08,2.25,43.33,0.763,4,0.099,0.062,3295,3945,1912
$GC,6694,1.42,268.4,108.1,7.7,892,6721,0.00,2.08,20.08,0.721,6,0.000,0.039,3304,2558,1812
$GC,7061,1.62,309.9,83.0,6.6,956,7101,0.10,2.17,31.80,0.703,4,0.085,0.060,3349,3948,1643
$GC,7355,1.56,309.9,49.7,11.4,1007,7362,0.15,2.00,0.00,0.000,6,0.166,0.038,3319,2583,1639
$GC,7701,1.75,329.6,18.9,8.0,1068,7716,0.15,2.15,9.30,0.678,4,0.073,0.059,3384,3942,1565
$GC,7752,1.63,329.6,13.0,13.1,1076,7759,0.17,1.95,0.00,0.000,6,0.160,0.038,3337,2628,1565
$STATE,7870,end climb,SURFACE_DEPTH_REACHED
$STATE,7870,begin surface coast
$FINISH,0.4,1.008687
$STATE,7894,end surface coast,CONTROL_FINISHED_OK
$STATE,7894,begin surface
$SM_CCo,7917,21.00,0.660,0,0,1380,375.06
$SM_GC,2.22,0.00,0.00,21.00,0.000,0.000,0.660,79,2525,1380,-13.34,-0.45,375.06
$IRIDIUM_FIX,1117.26,12155.90,130598,212116
$TT8_MAMPS,0.026845
$HUMID,1732
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,22.70
$XPDR_PINGS,0
$AD_FAT00,b0016,0x00007000,0x00008900,0x00001900
$24V_AH,24.3,4.818
$10V_AH,10.2,3.739
$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,22.775,67.675,362.900,21.000,0.000,29.742,36.211,216.846,0.000,0.000,0.000,12.330,1830.134,3687.343,443.992,1886.059,558.769,0.000,1318.143,0.000,1869.930,0.000,1.213,0.000
$DEVICE_MAMPS,237.770,75.166,959.517,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,746.508,686.501,567.168,0.000,0.000,0.000,6206.169,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,63207,1101
$CAP_FILE_SIZE,99173,0
$CFSIZE,260165632,253227008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,206.2,1
$GPS,170209,024446,1118.673,12155.825,10,2.9,30,-0.6