version: 66.04
glider: 126
mission: 10
dive: 32
start: 2 18 109 5 32 40
data:
$ID,126
$MISSION,10
$DIVE,32
$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,-634217.38
$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,45
$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,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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,0
$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
$GPS1,052542,1115.834,12153.438,8,1.5,12,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.4
$GPS2,053155,1115.902,12153.402,13,2.0,30,-0.5
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,SECO
$TGT_LATLONG,1115.070,12146.540
$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,308.5,12560,-19.2,-9.167
$D_GRID,388
$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,-1.57,-122.8,0.0,0.0,0,62,0.00,0.00,-44.08,0.000,2,0.000,0.000,80,2544,2732
$GC,65,-1.61,-146.0,3.4,-7.1,7,94,9.48,2.20,-14.05,0.000,4,0.232,0.072,2627,3940,3509
$GC,153,-1.09,-146.0,26.0,-26.4,21,161,0.38,2.08,0.00,0.000,6,0.152,0.038,2743,2528,3510
$GC,500,-1.01,-146.0,86.2,-16.9,82,507,0.00,2.05,0.00,0.000,4,0.000,0.047,2747,1139,3512
$GC,632,-1.01,-146.0,105.1,-13.0,105,639,0.00,2.10,0.00,0.000,6,0.000,0.044,2741,2543,3512
$GC,978,-1.18,-146.0,143.7,-8.8,166,984,0.00,2.10,0.00,0.000,4,0.000,0.046,2741,1123,3513
$GC,1020,-1.35,-146.0,147.8,-9.8,173,1028,0.17,2.10,0.00,0.000,6,0.064,0.046,2658,2535,3513
$GC,1366,-1.35,-146.0,187.3,-10.4,234,1373,0.12,0.00,0.00,0.000,6,0.153,0.000,2694,2535,3514
$GC,1712,-1.45,-146.0,218.3,-8.0,295,1718,0.10,2.08,0.00,0.000,4,0.082,0.046,2643,1129,3514
$GC,1794,-1.39,-146.0,227.1,-11.7,309,1801,0.15,2.10,0.00,0.000,6,0.156,0.045,2684,2541,3514
$GC,2140,-1.46,-146.0,258.7,-9.3,362,2145,0.10,2.10,0.00,0.000,4,0.086,0.057,2626,3947,3514
$GC,2198,-1.35,-146.0,265.4,-11.8,367,2202,0.20,2.03,0.00,0.000,6,0.142,0.038,2689,2532,3513
$GC,2528,-1.45,-146.0,299.8,-10.2,398,2539,0.10,2.12,0.00,0.000,4,0.086,0.058,2628,3937,3512
$GC,2643,-1.35,-146.0,314.4,-12.6,407,2649,0.20,2.00,0.00,0.000,6,0.142,0.038,2690,2547,3510
$GC,2968,-1.47,-146.0,347.8,-10.6,438,2970,0.12,0.00,0.00,0.000,6,0.078,0.000,2630,2547,3509
$STATE,3272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3274,begin apogee
$GC,3281,-0.36,0.0,389.4,14.3,467,3398,0.80,0.00,108.93,0.950,6,0.132,0.000,2904,2547,2909
$STATE,3399,end apogee,CONTROL_FINISHED_OK
$STATE,3399,begin climb
$GC,3402,1.61,146.0,396.0,0.0,479,3519,1.17,2.25,109.47,0.943,4,0.071,0.057,3324,3934,2312
$GC,3637,1.22,146.0,375.6,12.2,499,3644,0.32,2.08,0.00,0.000,6,0.192,0.039,3246,2546,2308
$GC,3963,1.12,158.9,346.7,8.4,530,3979,0.10,2.17,10.48,0.797,4,0.179,0.052,3229,1147,2261
$GC,4104,1.12,158.9,335.6,9.3,542,4111,0.00,2.10,0.00,0.000,6,0.000,0.048,3229,2529,2260
$GC,4431,1.12,158.9,303.1,9.8,573,4435,0.00,2.15,0.00,0.000,4,0.000,0.061,3229,3944,2259
$GC,4504,1.03,158.9,295.1,11.3,579,4511,0.15,2.10,0.00,0.000,6,0.168,0.040,3199,2518,2258
$GC,4830,1.14,180.3,269.2,7.8,610,4855,0.10,2.28,18.92,0.818,4,0.088,0.061,3245,3944,2172
$GC,4971,1.04,180.3,255.9,10.5,622,4975,0.17,2.08,0.00,0.000,6,0.166,0.040,3206,2535,2170
$GC,5310,1.16,182.4,229.2,9.0,676,5317,0.10,2.15,0.00,0.000,4,0.087,0.061,3254,3932,2168
$GC,5398,1.06,182.4,218.0,13.3,691,5404,0.20,2.03,0.00,0.000,6,0.159,0.041,3206,2549,2168
$GC,5743,1.23,196.8,187.8,8.3,752,5763,0.15,0.00,14.75,0.767,6,0.072,0.000,3275,2549,2106
$GC,6103,1.28,225.0,151.3,7.4,815,6133,0.00,0.00,24.58,0.756,6,0.000,0.000,3275,2549,1991
$GC,6473,1.39,245.7,122.6,7.9,880,6499,0.00,2.17,17.88,0.734,4,0.000,0.051,3285,1147,1906
$GC,6597,1.56,273.8,112.6,7.4,901,6628,0.12,2.17,23.33,0.720,6,0.081,0.047,3340,2579,1790
$GC,6969,1.57,279.9,79.1,8.8,966,6977,0.00,0.00,5.60,0.534,6,0.000,0.000,3340,2579,1767
$GC,7317,1.57,279.9,46.7,9.6,1027,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2579,1767
$GC,7661,1.66,291.3,17.8,8.5,1088,7674,0.00,2.17,5.68,0.585,4,0.000,0.049,3350,1131,1721
$GC,7715,1.76,295.7,13.2,8.9,1097,7723,0.00,2.17,2.17,0.209,6,0.000,0.046,3350,2581,1702
$STATE,7840,end climb,SURFACE_DEPTH_REACHED
$STATE,7840,begin surface coast
$FINISH,0.5,1.021385
$STATE,7866,end surface coast,CONTROL_FINISHED_OK
$STATE,7866,begin surface
$SM_CCo,7885,36.53,0.656,0,0,1380,375.06
$SM_GC,1.65,0.00,0.00,36.53,0.000,0.000,0.656,82,2582,1380,-13.33,1.16,375.06
$IRIDIUM_FIX,1112.86,12152.87,150598,030315
$TT8_MAMPS,0.025311
$HUMID,1786
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,23.00
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,300.4,133.3
$24V_AH,24.4,6.438
$10V_AH,10.8,6.202
$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,23.000,55.125,341.775,36.525,0.000,25.679,33.059,176.558,9.750,0.000,0.000,30.710,1856.263,3572.672,451.588,1959.847,483.453,0.000,1342.616,0.000,1938.207,0.000,12.472,0.000
$DEVICE_MAMPS,231.634,72.098,949.546,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,761.290,729.156,577.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,66364,1123
$CAP_FILE_SIZE,97603,0
$CFSIZE,260165632,252321792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,156.0,1
$GPS,180209,074601,1115.818,12152.713,39,1.3,40,-0.5