version: 66.04
glider: 126
mission: 10
dive: 47
start: 2 19 109 12 33 55
data:
$ID,126
$MISSION,10
$DIVE,47
$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,1.027
$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,550
$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,-634493.62
$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,39
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,539
$VBD_MAX,3901
$C_VBD,3012
$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,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,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
$GPS1,122637,1114.447,12149.578,25,1.2,26,-0.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.3
$GPS2,123308,1114.478,12149.535,15,1.2,15,-0.5
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,TIBIAO_2
$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,107.7,14842,-19.2,-9.167
$D_GRID,340
$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,-122.9,0.0,0.0,0,83,0.00,0.00,-66.12,0.000,2,0.000,0.000,82,2542,2762
$GC,87,-1.61,-146.1,3.4,-6.4,10,122,9.45,2.15,-15.45,0.000,4,0.229,0.061,2622,1131,3611
$GC,257,-1.24,-146.1,44.8,-23.1,38,265,0.32,2.12,0.00,0.000,6,0.160,0.042,2712,2556,3613
$GC,604,-1.18,-146.1,104.8,-14.9,99,610,0.00,2.08,0.00,0.000,4,0.000,0.057,2710,3931,3614
$GC,674,-1.18,-146.1,114.3,-13.1,111,680,0.00,2.03,0.00,0.000,6,0.000,0.035,2711,2529,3614
$GC,1016,-1.27,-146.1,151.5,-10.8,172,1022,0.00,2.12,0.00,0.000,4,0.000,0.057,2710,3931,3615
$GC,1089,-1.39,-146.1,159.0,-9.8,185,1096,0.12,1.98,0.00,0.000,6,0.072,0.035,2648,2551,3615
$GC,1435,-1.39,-146.1,202.8,-12.1,246,1442,0.12,0.00,0.00,0.000,6,0.153,0.000,2683,2551,3615
$GC,1783,-1.46,-146.1,239.4,-11.5,307,1789,0.00,2.08,0.00,0.000,4,0.000,0.045,2683,1127,3615
$GC,1892,-1.55,-146.1,251.7,-11.2,325,1899,0.15,2.17,0.00,0.000,6,0.067,0.044,2610,2591,3615
$GC,2217,-1.43,-146.1,295.0,-13.8,356,2221,0.20,2.03,0.00,0.000,4,0.145,0.055,2667,3946,3614
$GC,2342,-1.50,-146.1,309.3,-10.5,367,2345,0.00,1.90,0.00,0.000,6,0.000,0.036,2667,2620,3614
$STATE,2638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2638,begin apogee
$GC,2645,-0.36,0.0,340.3,10.4,395,2756,0.68,0.00,107.93,0.920,6,0.120,0.000,2902,2530,3012
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2760,1.61,146.1,343.6,0.0,406,2877,1.17,2.30,108.57,0.908,4,0.065,0.056,3328,3930,2415
$GC,3046,1.19,146.1,317.5,16.3,431,3053,0.38,2.08,0.00,0.000,6,0.180,0.037,3233,2533,2410
$GC,3371,1.17,167.7,288.9,7.8,462,3394,0.00,0.00,16.98,0.821,6,0.000,0.000,3233,2533,2327
$GC,3715,1.17,167.7,258.6,9.3,494,3719,0.00,2.15,0.00,0.000,4,0.000,0.057,3233,3938,2323
$GC,3857,1.07,167.7,244.2,9.2,511,3864,0.12,2.05,0.00,0.000,6,0.165,0.038,3209,2533,2322
$GC,4204,1.16,181.6,218.4,8.3,572,4224,0.10,2.08,11.95,0.750,4,0.087,0.049,3266,1138,2270
$GC,4407,1.16,181.6,199.4,9.5,607,4414,0.12,2.08,0.00,0.000,6,0.160,0.046,3231,2518,2269
$GC,4753,1.30,212.7,172.6,7.3,668,4785,0.10,2.20,25.08,0.787,4,0.087,0.057,3278,3950,2143
$GC,4884,1.15,212.7,158.7,12.3,690,4892,0.17,2.12,0.00,0.000,6,0.157,0.038,3232,2530,2140
$GC,5232,1.37,258.7,130.8,6.3,751,5276,0.15,2.20,36.10,0.755,4,0.072,0.057,3299,3935,1956
$GC,5531,1.37,258.8,100.8,9.2,803,5538,0.12,2.03,0.00,0.000,6,0.162,0.038,3276,2554,1952
$GC,5876,1.64,310.3,80.0,6.0,864,5922,0.20,2.22,39.50,0.716,4,0.065,0.058,3366,3938,1745
$GC,6074,1.49,310.3,58.0,12.2,898,6082,0.22,2.05,0.00,0.000,6,0.156,0.038,3305,2568,1741
$GC,6422,1.68,329.9,28.4,8.0,959,6435,0.15,0.00,9.65,0.695,6,0.071,0.000,3373,2567,1667
$STATE,6685,end climb,SURFACE_DEPTH_REACHED
$STATE,6686,begin surface coast
$FINISH,0.4,0.999455
$STATE,6705,end surface coast,CONTROL_FINISHED_OK
$STATE,6705,begin surface
$SM_CCo,6724,104.38,0.619,0,0,768,550.21
$SM_GC,1.37,0.00,0.00,104.38,0.000,0.000,0.619,77,2565,768,-13.35,0.68,550.21
$IRIDIUM_FIX,1110.66,12149.84,160598,101021
$TT8_MAMPS,0.025311
$HUMID,1759
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,22.80
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,250.3,6.6
$24V_AH,24.4,8.095
$10V_AH,10.8,7.385
$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,22.650,46.275,355.750,104.375,0.000,24.360,32.074,209.195,11.750,0.000,0.000,15.267,1661.105,2831.913,529.454,1740.661,487.109,0.000,1330.024,0.000,1735.337,0.000,13.297,0.000
$DEVICE_MAMPS,229.333,80.535,920.400,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,682.776,715.246,519.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,60163,1009
$CAP_FILE_SIZE,84424,0
$CFSIZE,260165632,251527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,285.9,1
$GPS,190209,142837,1114.410,12149.953,9,2.0,14,-0.5