version: 66.04
glider: 126
mission: 10
dive: 57
start: 2 20 109 10 0 37
data:
$ID,126
$MISSION,10
$DIVE,57
$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,-634681.5
$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,52
$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,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
$GPS1,095354,1115.714,12154.627,26,2.0,44,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.7
$GPS2,095950,1115.805,12154.565,16,1.9,16,-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,79.7,5511,-19.2,-9.167
$D_GRID,335
$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,-122.9,0.0,0.0,0,74,0.00,0.00,-57.00,0.000,2,0.000,0.000,76,2524,2702
$GC,78,-1.61,-146.1,3.3,-6.3,9,111,9.52,2.08,-16.73,0.000,4,0.231,0.058,2636,1132,3612
$GC,233,-1.27,-146.1,39.1,-21.6,35,242,0.25,2.12,0.00,0.000,6,0.160,0.041,2702,2553,3615
$GC,581,-1.16,-146.1,98.0,-15.2,96,587,0.10,2.08,0.00,0.000,4,0.164,0.054,2725,3930,3615
$GC,774,-1.22,-146.1,123.2,-11.8,130,780,0.00,1.98,0.00,0.000,6,0.000,0.034,2724,2573,3616
$GC,1119,-1.35,-146.1,159.8,-10.4,191,1126,0.12,2.08,0.00,0.000,4,0.073,0.054,2655,3949,3617
$GC,1246,-1.35,-146.1,175.5,-12.1,213,1252,0.12,1.88,0.00,0.000,6,0.150,0.035,2690,2633,3617
$GC,1591,-1.46,-146.1,209.9,-9.4,274,1597,0.12,2.20,0.00,0.000,4,0.073,0.043,2628,1127,3617
$GC,1678,-1.38,-146.1,219.7,-11.3,289,1685,0.17,2.22,0.00,0.000,6,0.152,0.043,2679,2626,3617
$GC,2023,-1.49,-146.1,250.7,-6.1,349,2028,0.10,2.20,0.00,0.000,4,0.079,0.046,2627,1130,3617
$GC,2086,-1.42,-146.1,259.6,-15.3,354,2090,0.17,2.20,0.00,0.000,6,0.146,0.044,2671,2610,3617
$GC,2411,-1.49,-146.1,298.1,-11.6,384,2415,0.00,2.00,0.00,0.000,4,0.000,0.058,2668,3947,3615
$GC,2517,-1.49,-146.1,308.1,-9.6,393,2523,0.00,1.88,0.00,0.000,6,0.000,0.036,2667,2639,3614
$STATE,2831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2831,begin apogee
$GC,2838,-0.36,0.0,335.8,8.4,423,2954,0.68,0.00,108.30,0.917,6,0.120,0.000,2903,2529,3012
$STATE,2954,end apogee,CONTROL_FINISHED_OK
$STATE,2955,begin climb
$GC,2958,1.61,146.1,337.0,0.0,435,3075,1.17,0.00,108.72,0.902,6,0.069,0.000,3335,2529,2415
$GC,3394,1.29,146.1,284.4,15.6,476,3399,0.25,2.17,0.00,0.000,4,0.183,0.054,3253,3944,2410
$GC,3568,1.09,146.1,260.5,11.3,491,3573,0.17,2.05,0.00,0.000,6,0.173,0.036,3213,2536,2408
$GC,3905,1.10,153.7,236.8,8.7,539,3918,0.00,2.17,6.20,0.647,4,0.000,0.057,3213,3928,2384
$GC,3937,1.11,156.2,233.8,9.0,544,3945,0.00,2.05,3.72,0.467,6,0.000,0.038,3222,2526,2375
$GC,4284,1.17,191.9,205.4,7.0,605,4320,0.00,2.12,28.98,0.797,4,0.000,0.048,3233,1124,2229
$GC,4448,1.32,226.6,194.3,7.0,633,4480,0.12,2.10,27.65,0.788,6,0.078,0.044,3290,2514,2088
$GC,4823,1.26,226.6,151.6,9.9,698,4830,0.15,2.17,0.00,0.000,4,0.163,0.056,3246,3942,2082
$GC,5084,1.37,255.4,130.2,7.4,744,5116,0.00,2.08,23.08,0.743,6,0.000,0.037,3255,2535,1969
$GC,5456,1.66,303.9,105.8,6.2,809,5501,0.22,2.25,37.72,0.732,4,0.061,0.057,3357,3931,1772
$GC,5755,1.52,303.9,73.3,10.1,861,5762,0.20,1.95,0.00,0.000,6,0.163,0.036,3311,2597,1767
$GC,6101,1.69,330.3,45.3,7.5,922,6127,0.12,2.12,20.30,0.671,4,0.077,0.056,3368,3937,1665
$GC,6330,1.60,330.3,18.8,12.4,962,6337,0.12,1.98,0.00,0.000,6,0.149,0.036,3325,2599,1662
$STATE,6555,end climb,SURFACE_DEPTH_REACHED
$STATE,6555,begin surface coast
$FINISH,0.5,1.021830
$STATE,6585,end surface coast,CONTROL_FINISHED_OK
$STATE,6585,begin surface
$SM_CCo,6604,79.88,0.612,0,0,973,500.17
$SM_GC,1.27,0.00,0.00,79.88,0.000,0.000,0.612,80,2597,973,-13.34,1.55,500.17
$IRIDIUM_FIX,1108.46,12151.71,170598,080856
$TT8_MAMPS,0.025311
$HUMID,1754
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,22.60
$XPDR_PINGS,47
$24V_AH,24.5,9.279
$10V_AH,10.8,8.173
$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,22.325,50.225,364.675,79.875,0.000,24.825,34.796,172.410,13.250,0.000,0.000,16.880,1634.869,2769.940,508.061,1709.051,448.859,0.000,1298.741,0.000,1703.426,0.000,11.005,0.000
$DEVICE_MAMPS,230.867,66.729,917.332,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,681.097,643.097,517.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,56885,1007
$CAP_FILE_SIZE,84035,0
$CFSIZE,260165632,250957824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,272.9,1
$GPS,200209,115306,1116.001,12155.136,10,1.8,26,-0.5