version: 66.04
glider: 126
mission: 10
dive: 53
start: 2 20 109 1 7 36
data:
$ID,126
$MISSION,10
$DIVE,53
$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,500
$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,-634618.19
$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,35
$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,1
$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
$GPS1,005938,1115.338,12151.742,10,1.4,10,-0.5
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.7
$GPS2,010652,1115.389,12151.682,11,4.0,30,-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,91.9,10772,-19.2,-9.167
$D_GRID,371
$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,-122.9,0.0,0.0,0,78,0.00,0.00,-60.75,0.000,2,0.000,0.000,78,2532,2814
$GC,82,-1.61,-146.1,3.7,-7.0,9,110,9.35,2.17,-13.73,0.000,4,0.224,0.059,2629,1118,3612
$GC,207,-1.25,-146.1,35.4,-23.7,30,216,0.28,2.15,0.00,0.000,6,0.156,0.044,2710,2542,3614
$GC,555,-1.17,-146.1,94.7,-16.4,91,561,0.00,2.12,0.00,0.000,4,0.000,0.057,2710,3950,3615
$GC,681,-1.17,-146.1,112.1,-14.5,113,687,0.00,2.08,0.00,0.000,6,0.000,0.035,2710,2511,3616
$GC,1023,-1.28,-146.1,150.0,-9.5,174,1032,0.00,2.20,0.00,0.000,4,0.000,0.057,2710,3943,3617
$GC,1112,-1.42,-146.1,159.1,-10.1,189,1119,0.12,2.00,0.00,0.000,6,0.068,0.035,2644,2551,3617
$GC,1455,-1.42,-146.1,202.0,-10.8,250,1462,0.10,2.08,0.00,0.000,4,0.157,0.044,2678,1130,3617
$GC,1565,-1.49,-146.1,213.8,-10.6,269,1572,0.00,2.08,0.00,0.000,6,0.000,0.043,2671,2534,3617
$GC,1911,-1.54,-146.1,250.1,-11.0,330,1915,0.10,2.10,0.00,0.000,4,0.081,0.058,2614,3939,3617
$GC,2086,-1.42,-146.1,275.1,-15.8,345,2092,0.20,2.03,0.00,0.000,6,0.140,0.036,2676,2529,3617
$GC,2411,-1.53,-146.1,308.7,-9.9,376,2415,0.10,2.03,0.00,0.000,4,0.081,0.046,2620,1137,3614
$GC,2468,-1.45,-146.1,315.7,-13.7,381,2472,0.17,2.08,0.00,0.000,6,0.146,0.045,2667,2536,3614
$GC,2798,-1.51,-146.1,351.8,-9.9,412,2802,0.00,2.08,0.00,0.000,4,0.000,0.047,2667,1134,3613
$GC,2855,-1.59,-146.1,357.8,-10.5,417,2859,0.10,2.10,0.00,0.000,6,0.079,0.045,2602,2550,3612
$STATE,2969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2969,begin apogee
$GC,2976,-0.36,0.0,371.4,11.6,428,3093,0.88,0.00,108.68,0.942,6,0.126,0.000,2903,2550,3011
$STATE,3094,end apogee,CONTROL_FINISHED_OK
$STATE,3094,begin climb
$GC,3097,1.61,146.1,375.5,0.0,440,3217,1.17,2.30,108.68,0.932,4,0.066,0.048,3347,1141,2416
$GC,3472,1.28,146.1,341.1,12.9,473,3479,0.30,2.15,0.00,0.000,6,0.176,0.046,3253,2554,2411
$GC,3798,1.18,146.4,310.6,9.1,504,3802,0.00,2.12,0.00,0.000,4,0.000,0.049,3262,1146,2408
$GC,4057,1.09,146.4,285.8,9.2,527,4061,0.15,2.10,0.00,0.000,6,0.163,0.046,3213,2544,2407
$GC,4387,1.14,174.8,263.3,7.4,558,4415,0.00,2.15,23.00,0.823,4,0.000,0.048,3221,1128,2298
$GC,4439,1.20,174.8,258.8,9.8,562,4443,0.00,2.17,0.00,0.000,6,0.000,0.048,3221,2556,2298
$GC,4777,1.28,194.0,231.1,8.0,613,4803,0.12,2.15,16.38,0.785,4,0.079,0.058,3269,3931,2220
$GC,4822,1.15,194.0,226.5,10.8,620,4829,0.17,2.08,0.00,0.000,6,0.171,0.039,3230,2530,2219
$GC,5169,1.26,211.9,195.5,8.1,681,5188,0.10,0.00,15.57,0.767,6,0.087,0.000,3276,2530,2148
$GC,5527,1.26,211.9,158.7,9.7,744,5534,0.10,2.10,0.00,0.000,4,0.169,0.048,3260,1123,2145
$GC,5709,1.40,236.0,144.0,7.7,776,5736,0.08,2.08,21.02,0.736,6,0.100,0.045,3300,2508,2048
$GC,6075,1.41,242.6,112.2,8.8,840,6088,0.00,2.20,6.57,0.610,4,0.000,0.058,3300,3947,2021
$GC,6342,1.44,263.5,90.9,7.9,887,6367,0.00,2.12,17.95,0.693,6,0.000,0.038,3311,2496,1936
$GC,6709,1.60,303.4,65.7,6.7,951,6746,0.00,2.25,31.40,0.695,4,0.000,0.057,3310,3935,1773
$GC,7000,1.60,303.4,39.4,9.7,1002,7006,0.00,2.10,0.00,0.000,6,0.000,0.038,3321,2526,1770
$GC,7346,1.81,331.9,12.0,7.4,1063,7366,0.17,2.17,13.40,0.650,4,0.065,0.056,3397,3942,1657
$STATE,7438,end climb,SURFACE_DEPTH_REACHED
$STATE,7438,begin surface coast
$FINISH,0.5,1.008830
$STATE,7457,end surface coast,CONTROL_FINISHED_OK
$STATE,7458,begin surface
$SM_CCo,7479,79.55,0.615,0,0,972,500.17
$SM_GC,1.38,0.00,0.00,79.55,0.000,0.000,0.615,79,2524,972,-13.34,-0.48,500.17
$IRIDIUM_FIX,1110.66,12149.84,160598,232341
$TT8_MAMPS,0.025311
$HUMID,1772
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,23.40
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,325.5,120.2
$24V_AH,24.4,8.811
$10V_AH,10.8,7.858
$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,22.350,63.625,362.650,79.550,0.000,25.313,34.792,236.126,9.000,0.000,0.000,31.319,1792.358,3270.133,515.254,1911.316,531.347,0.000,1396.916,0.000,1884.348,0.000,14.087,0.000
$DEVICE_MAMPS,223.964,59.059,941.876,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,733.027,644.596,555.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,63292,1082
$CAP_FILE_SIZE,95620,0
$CFSIZE,260165632,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,272.0,1
$GPS,200209,031455,1115.342,12152.310,40,1.2,41,-0.5