version: 66.04
glider: 126
mission: 10
dive: 21
start: 2 17 109 9 46 59
data:
$ID,126
$MISSION,10
$DIVE,21
$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,-634005.25
$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,53
$R_STBD_OVSHOOT,39
$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
$GPS1,093225,1117.614,12156.592,39,1.3,39,-0.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.6
$GPS2,094614,1117.893,12156.567,13,1.5,13,-0.5
$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,172.9,4355,-19.2,-9.167
$D_GRID,250
$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,15,-1.57,-122.8,0.0,0.0,0,57,0.00,0.00,-39.62,0.000,2,0.000,0.000,84,2562,2613
$GC,61,-1.61,-146.0,3.3,-5.6,6,95,9.65,2.10,-17.35,0.000,4,0.239,0.071,2626,3941,3505
$GC,187,-1.11,-146.0,31.9,-25.9,27,195,0.38,2.05,0.00,0.000,6,0.156,0.036,2741,2532,3507
$GC,534,-1.06,-146.0,90.2,-14.5,88,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2531,3507
$GC,880,-1.16,-146.0,131.2,-9.8,149,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2531,3508
$GC,1222,-1.35,-146.0,164.1,-8.7,210,1229,0.17,2.08,0.00,0.000,4,0.065,0.044,2659,1127,3509
$GC,1276,-1.28,-146.0,170.2,-11.5,219,1284,0.17,2.10,0.00,0.000,6,0.156,0.044,2706,2544,3508
$GC,1623,-1.40,-146.0,200.4,-8.3,280,1630,0.12,0.00,0.00,0.000,6,0.077,0.000,2647,2545,3508
$GC,1968,-1.34,-146.0,238.1,-11.1,341,1975,0.15,2.10,0.00,0.000,4,0.150,0.056,2683,3953,3508
$GC,2027,-1.34,-146.0,244.4,-10.7,351,2034,0.00,2.00,0.00,0.000,6,0.000,0.036,2683,2550,3508
$STATE,2083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2083,begin apogee
$GC,2090,-0.36,0.0,250.3,9.9,361,2198,0.62,0.00,104.62,0.834,6,0.126,0.000,2900,2550,2908
$STATE,2202,end apogee,CONTROL_FINISHED_OK
$STATE,2203,begin climb
$GC,2205,1.61,146.0,254.1,0.0,372,2321,1.20,0.00,106.93,0.820,6,0.076,0.000,3338,2549,2313
$GC,2663,1.34,146.0,204.8,11.7,444,2670,0.22,2.12,0.00,0.000,4,0.175,0.055,3261,3944,2308
$GC,2733,1.17,146.0,196.0,11.8,456,2740,0.15,2.05,0.00,0.000,6,0.173,0.037,3229,2532,2307
$GC,3079,1.31,183.0,165.0,6.9,517,3111,0.12,0.00,27.12,0.769,6,0.081,0.000,3287,2533,2162
$GC,3451,1.35,210.8,134.3,7.5,582,3478,0.00,2.10,21.02,0.742,4,0.000,0.048,3297,1134,2049
$GC,3732,1.54,269.3,113.6,5.6,631,3783,0.00,2.10,43.38,0.740,6,0.000,0.046,3297,2537,1810
$GC,4126,1.70,282.1,83.3,8.4,699,4141,0.17,2.17,10.25,0.650,4,0.068,0.048,3384,1130,1758
$GC,4396,1.64,282.1,53.0,11.1,746,4403,0.17,2.10,0.00,0.000,6,0.163,0.045,3336,2539,1756
$GC,4742,1.77,299.7,24.7,8.1,807,4758,0.10,2.15,8.75,0.678,4,0.086,0.048,3394,1139,1686
$GC,4816,1.72,299.7,16.8,11.9,819,4824,0.15,2.10,0.00,0.000,6,0.166,0.045,3353,2543,1686
$STATE,4976,end climb,SURFACE_DEPTH_REACHED
$STATE,4976,begin surface coast
$FINISH,0.5,1.011341
$STATE,4998,end surface coast,CONTROL_FINISHED_OK
$STATE,4998,begin surface
$SM_CCo,5021,34.35,0.644,0,0,1379,375.06
$SM_GC,1.16,0.00,0.00,34.35,0.000,0.000,0.644,78,2543,1379,-13.35,0.06,375.06
$IRIDIUM_FIX,1115.06,12152.87,140598,090916
$TT8_MAMPS,0.027612
$HUMID,1715
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,23.50
$XPDR_PINGS,0
$AD_FAT00,b0021,0x00007000,0x00008a00,0x00001a00
$24V_AH,24.6,5.310
$10V_AH,10.4,4.623
$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,22.100,29.325,322.075,34.350,0.000,74.965,111.442,350.304,0.000,0.000,0.000,13.696,1404.661,1880.401,415.356,1460.867,753.672,0.000,1057.094,0.000,1436.064,0.000,0.998,0.000
$DEVICE_MAMPS,238.537,70.564,833.729,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,573.439,714.256,436.031,0.000,0.000,0.000,5438.102,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,50645,851
$CAP_FILE_SIZE,73721,0
$CFSIZE,260165632,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,  7.4,1
$GPS,170209,111208,1117.518,12156.564,14,1.7,14,-0.5