version: 66.04
glider: 126
mission: 10
dive: 89
start: 2 22 109 17 52 52
data:
$ID,126
$MISSION,10
$DIVE,89
$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,-635436
$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,44
$R_STBD_OVSHOOT,32
$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
$GPS1,174237,1112.392,12154.575,39,1.2,40,-0.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.5
$GPS2,175208,1112.586,12154.560,14,1.2,14,-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,211.6,5261,-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,16,-1.57,-122.9,0.0,0.0,0,75,0.00,0.00,-57.40,0.000,2,0.000,0.000,84,2565,2706
$GC,79,-1.61,-146.1,3.1,-6.1,9,112,9.43,2.10,-17.17,0.000,4,0.226,0.065,2621,3949,3610
$GC,367,-1.22,-146.1,68.1,-20.6,59,375,0.30,2.05,0.00,0.000,6,0.150,0.034,2715,2529,3613
$GC,714,-1.22,-146.1,117.6,-12.1,120,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2529,3614
$GC,1059,-1.28,-146.1,153.7,-10.2,181,1065,0.00,2.03,0.00,0.000,4,0.000,0.043,2719,1138,3616
$GC,1101,-1.36,-146.1,157.7,-9.5,188,1109,0.10,2.10,0.00,0.000,6,0.083,0.042,2660,2560,3616
$GC,1448,-1.31,-146.1,201.0,-11.9,249,1455,0.15,2.05,0.00,0.000,4,0.148,0.053,2696,3930,3616
$GC,1541,-1.31,-146.1,210.5,-9.5,265,1547,0.00,1.95,0.00,0.000,6,0.000,0.034,2696,2561,3616
$GC,1885,-1.38,-146.1,245.2,-10.5,326,1892,0.00,2.08,0.00,0.000,4,0.000,0.056,2690,3938,3616
$GC,1928,-1.43,-146.1,249.7,-10.9,333,1935,0.10,1.92,0.00,0.000,6,0.081,0.035,2641,2594,3616
$GC,2253,-1.37,-146.1,288.1,-12.5,364,2258,0.15,2.12,0.00,0.000,4,0.146,0.043,2690,1147,3615
$GC,2304,-1.45,-146.1,293.4,-9.9,368,2310,0.00,2.15,0.00,0.000,6,0.000,0.044,2682,2590,3614
$GC,2631,-1.51,-146.1,325.7,-10.1,399,2636,0.12,2.03,0.00,0.000,4,0.073,0.055,2611,3944,3612
$GC,2671,-1.32,-146.1,331.0,-14.1,402,2677,0.28,1.95,0.00,0.000,6,0.140,0.035,2697,2577,3612
$GC,2996,-1.44,-146.1,360.1,-9.5,433,2998,0.12,0.00,0.00,0.000,6,0.075,0.000,2636,2578,3610
$STATE,3205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3205,begin apogee
$GC,3212,-0.36,0.0,386.1,11.4,453,3323,0.77,0.00,107.38,0.887,6,0.130,0.000,2901,2578,3012
$STATE,3324,end apogee,CONTROL_FINISHED_OK
$STATE,3324,begin climb
$GC,3327,1.61,146.1,389.9,0.0,464,3447,1.20,2.30,108.45,0.884,4,0.074,0.047,3347,1151,2415
$GC,3560,1.31,146.1,373.3,10.2,485,3565,0.28,2.15,0.00,0.000,6,0.173,0.044,3262,2549,2411
$GC,3886,1.29,188.1,349.7,6.6,515,3920,0.00,0.00,32.00,0.841,6,0.000,0.000,3263,2549,2244
$GC,4238,1.25,192.1,319.1,8.9,548,4250,0.00,2.15,4.30,0.528,4,0.000,0.048,3271,1133,2228
$GC,4392,1.27,204.1,305.3,8.4,561,4410,0.00,2.15,11.15,0.755,6,0.000,0.046,3271,2555,2179
$GC,4729,1.21,204.1,268.8,10.6,593,4730,0.12,0.00,0.00,0.000,6,0.166,0.000,3237,2557,2175
$GC,5052,1.26,204.1,240.3,10.1,631,5058,0.00,2.12,0.00,0.000,4,0.000,0.049,3246,1146,2174
$GC,5116,1.33,204.1,233.3,10.9,642,5123,0.08,2.10,0.00,0.000,6,0.097,0.046,3290,2544,2175
$GC,5462,1.25,204.1,198.8,10.5,703,5469,0.15,2.12,0.00,0.000,4,0.155,0.057,3244,3950,2173
$GC,5560,1.25,204.1,188.6,10.9,720,5567,0.00,2.05,0.00,0.000,6,0.000,0.038,3254,2535,2172
$GC,5908,1.35,223.2,159.2,8.0,781,5927,0.00,0.00,17.05,0.698,6,0.000,0.000,3254,2535,2101
$GC,6266,1.57,286.2,131.9,5.3,844,6324,0.20,2.20,50.80,0.718,4,0.060,0.048,3358,1133,1845
$GC,6577,1.57,286.2,100.4,11.1,898,6585,0.10,2.17,0.00,0.000,6,0.156,0.045,3325,2544,1841
$GC,6924,1.68,305.9,72.7,8.0,959,6944,0.00,2.17,15.60,0.647,4,0.000,0.047,3334,1147,1765
$GC,7193,1.84,334.1,52.0,7.4,1006,7226,0.15,2.08,22.65,0.632,6,0.067,0.043,3402,2536,1649
$GC,7568,1.80,334.1,11.3,12.2,1071,7576,0.12,2.12,0.00,0.000,4,0.166,0.054,3369,3944,1647
$GC,7650,1.80,335.5,2.8,9.1,1085,7657,0.00,2.03,0.00,0.000,6,0.000,0.036,3379,2552,1647
$STATE,7661,end climb,SURFACE_DEPTH_REACHED
$STATE,7661,begin surface coast
$FINISH,0.4,1.004034
$STATE,7685,end surface coast,CONTROL_FINISHED_OK
$STATE,7685,begin surface
$SM_CCo,7704,78.40,0.604,0,0,973,500.17
$SM_GC,1.32,0.00,0.00,78.40,0.000,0.000,0.604,80,2550,973,-13.34,0.25,500.17
$IRIDIUM_FIX,1106.26,12121.19,190598,171726
$TT8_MAMPS,0.025311
$HUMID,1750
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,24.50
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,275.4,140.4
$24V_AH,24.5,12.866
$10V_AH,10.7,10.482
$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,22.450,54.450,369.375,78.400,0.000,48.344,79.880,244.420,17.250,0.000,0.000,14.241,1796.949,3601.869,522.952,1832.206,621.430,0.000,1382.901,0.000,1828.230,0.000,10.815,0.000
$DEVICE_MAMPS,226.265,65.195,886.652,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,739.233,624.045,561.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,63329,1091
$CAP_FILE_SIZE,96800,0
$CFSIZE,260165632,249372672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 35.3,1
$GPS,220209,200400,1112.277,12154.191,40,1.4,46,-0.5