version: 66.04
glider: 126
mission: 10
dive: 88
start: 2 22 109 14 46 9
data:
$ID,126
$MISSION,10
$DIVE,88
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,993
$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,-635421.12
$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,49
$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,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,30
$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
$GPS1,143808,1113.202,12154.472,9,2.0,9,-0.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.7
$GPS2,144526,1113.355,12154.478,18,1.4,18,-0.5
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,ONTGOL
$TGT_LATLONG,1110.000,12153.360
$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,184.2,6536,-19.2,-9.167
$D_GRID,990
$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,-60.08,0.000,2,0.000,0.000,76,2511,2796
$GC,81,-1.61,-146.1,3.5,-6.1,9,110,9.52,2.10,-14.43,0.000,4,0.231,0.057,2635,1140,3610
$GC,325,-1.35,-146.1,56.8,-19.5,51,333,0.20,2.10,0.00,0.000,6,0.161,0.041,2687,2547,3613
$GC,672,-1.27,-146.1,109.9,-13.6,112,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2546,3614
$GC,1017,-1.34,-146.1,148.1,-10.7,173,1023,0.00,2.08,0.00,0.000,4,0.000,0.043,2690,1131,3615
$GC,1077,-1.44,-146.1,154.2,-10.1,183,1086,0.00,2.10,0.00,0.000,6,0.000,0.042,2685,2545,3615
$GC,1427,-1.52,-146.1,187.3,-8.5,244,1434,0.12,2.08,0.00,0.000,4,0.074,0.054,2614,3936,3616
$GC,1573,-1.41,-146.1,204.6,-13.2,269,1580,0.20,1.98,0.00,0.000,6,0.140,0.035,2675,2551,3616
$GC,1919,-1.52,-146.1,242.1,-10.5,330,1925,0.10,2.10,0.00,0.000,4,0.082,0.054,2614,3946,3615
$GC,2022,-1.42,-146.1,255.2,-12.7,345,2027,0.15,1.98,0.00,0.000,6,0.127,0.035,2679,2579,3615
$GC,2353,-1.53,-146.1,289.0,-9.3,376,2357,0.12,2.10,0.00,0.000,4,0.071,0.043,2615,1144,3614
$GC,2387,-1.45,-146.1,292.8,-11.5,379,2392,0.17,2.15,0.00,0.000,6,0.153,0.046,2666,2585,3613
$GC,2712,-1.51,-146.1,326.1,-10.1,409,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2585,3612
$GC,3033,-1.59,-146.1,357.1,-8.9,439,3040,0.12,0.00,0.00,0.000,6,0.073,0.000,2605,2585,3609
$GC,3361,-1.50,-146.1,393.5,-9.3,470,3365,0.17,2.03,0.00,0.000,4,0.148,0.054,2649,3942,3607
$GC,3509,-1.50,-146.1,409.4,-11.1,483,3513,0.00,1.98,0.00,0.000,6,0.000,0.036,2648,2591,3606
$GC,3840,-1.55,-146.1,442.7,-9.8,514,3844,0.00,2.08,0.00,0.000,4,0.000,0.058,2639,3970,3604
$GC,3887,-1.55,-146.1,447.1,-10.0,518,3890,0.00,2.00,0.00,0.000,6,0.000,0.037,2639,2580,3603
$GC,4217,-1.55,-146.1,481.2,-10.3,549,4221,0.00,2.08,0.00,0.000,4,0.000,0.058,2629,3949,3600
$GC,4279,-1.55,-146.1,488.2,-10.9,554,4285,0.00,1.95,0.00,0.000,6,0.000,0.038,2629,2597,3600
$GC,4598,-1.55,-146.1,526.3,-13.1,575,4601,0.00,2.05,0.00,0.000,4,0.000,0.058,2620,3950,3598
$STATE,4663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4663,begin apogee
$GC,4672,-0.36,0.0,534.1,10.2,578,4788,0.85,0.00,112.53,1.032,6,0.128,0.000,2907,2531,3012
$STATE,4789,end apogee,CONTROL_FINISHED_OK
$STATE,4789,begin climb
$GC,4792,1.61,146.1,534.8,0.0,584,4912,1.10,2.33,111.30,1.040,4,0.038,0.057,3348,3934,2416
$GC,4980,1.23,188.3,525.2,6.6,592,5020,0.40,2.10,33.22,0.977,6,0.186,0.038,3249,2536,2244
$GC,5338,1.26,208.2,493.9,7.9,613,5362,0.00,2.15,16.95,0.891,4,0.000,0.058,3249,3950,2163
$GC,5489,1.12,208.2,477.0,12.2,626,5493,0.15,2.08,0.00,0.000,6,0.167,0.038,3219,2548,2161
$GC,5819,1.18,208.2,438.5,10.9,657,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2547,2159
$GC,6140,1.25,208.2,405.3,10.2,687,6144,0.12,2.12,0.00,0.000,4,0.077,0.058,3278,3937,2158
$GC,6187,1.04,208.2,398.8,14.7,691,6191,0.28,2.03,0.00,0.000,6,0.156,0.039,3206,2554,2157
$GC,6512,1.14,208.2,366.2,9.5,721,6513,0.08,0.00,0.00,0.000,6,0.096,0.000,3249,2552,2156
$GC,6832,1.14,208.2,332.8,10.3,751,6836,0.00,2.10,0.00,0.000,4,0.000,0.049,3259,1135,2156
$GC,6882,1.14,208.2,327.2,10.3,755,6890,0.12,2.12,0.00,0.000,6,0.160,0.047,3223,2549,2155
$GC,7208,1.24,227.6,297.4,8.0,786,7235,0.10,2.15,21.85,0.743,4,0.084,0.049,3284,1141,2083
$GC,7288,1.19,227.6,288.8,11.8,793,7293,0.17,2.10,0.00,0.000,6,0.154,0.047,3234,2525,2082
$GC,7614,1.27,238.0,258.6,8.5,823,7632,0.08,2.17,13.07,0.700,4,0.096,0.049,3286,1127,2040
$GC,7729,1.27,238.0,245.8,11.9,835,7736,0.12,2.10,0.00,0.000,6,0.159,0.046,3253,2515,2038
$GC,8075,1.27,238.0,207.9,10.4,896,8081,0.00,2.17,0.00,0.000,4,0.000,0.059,3253,3950,2038
$GC,8139,1.22,238.0,200.9,11.1,907,8146,0.00,2.17,0.00,0.000,6,0.000,0.038,3262,2466,2037
$GC,8487,1.22,239.9,167.4,9.1,968,8493,0.00,2.25,0.00,0.000,4,0.000,0.058,3262,3940,2037
$GC,8562,1.18,239.9,159.1,10.8,981,8569,0.15,2.10,0.00,0.000,6,0.158,0.038,3230,2504,2037
$GC,8908,1.41,270.7,133.6,7.3,1042,8953,0.17,2.08,38.33,0.658,4,0.064,0.048,3321,1128,1906
$GC,9203,1.47,270.7,107.4,9.2,1093,9209,0.00,2.00,0.00,0.000,6,0.000,0.044,3321,2452,1902
$GC,9547,1.61,310.3,82.0,6.7,1154,9585,0.00,2.08,31.65,0.651,4,0.000,0.048,3330,1125,1746
$GC,9840,1.79,345.1,58.5,7.0,1205,9878,0.12,2.12,28.10,0.623,6,0.074,0.043,3387,2540,1604
$GC,10220,1.79,345.1,18.1,9.7,1271,10227,0.00,2.10,0.00,0.000,4,0.000,0.045,3397,1132,1603
$GC,10261,1.79,345.1,13.6,9.9,1278,10268,0.12,2.15,0.00,0.000,6,0.166,0.044,3363,2564,1603
$STATE,10391,end climb,SURFACE_DEPTH_REACHED
$STATE,10391,begin surface coast
$FINISH,0.3,1.011867
$STATE,10416,end surface coast,CONTROL_FINISHED_OK
$STATE,10416,begin surface
$SM_CCo,10435,73.68,0.607,0,0,973,500.17
$SM_GC,1.36,0.00,0.00,73.68,0.000,0.000,0.607,83,2565,973,-13.32,0.68,500.17
$IRIDIUM_FIX,1106.26,12154.73,190598,131341
$TT8_MAMPS,0.025311
$HUMID,1788
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,24.30
$XPDR_PINGS,141
$ALTIM_BOTTOM_PING,500.5,63.6
$24V_AH,24.4,12.746
$10V_AH,10.7,10.400
$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,23.575,83.750,407.000,73.675,0.000,26.263,30.383,261.416,38.750,0.000,0.000,18.794,2216.972,5325.365,567.888,2259.958,604.817,0.000,1632.011,0.000,2233.092,0.000,25.602,0.000
$DEVICE_MAMPS,230.867,59.059,1040.052,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,887.551,636.150,647.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,75962,1305
$CAP_FILE_SIZE,120585,0
$CFSIZE,260165632,249397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 40.9,1
$GPS,220209,174237,1112.392,12154.575,39,1.2,40,-0.5