version: 66.04
glider: 126
mission: 10
dive: 90
start: 2 22 109 20 10 53
data:
$ID,126
$MISSION,10
$DIVE,90
$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,-635450.56
$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,48
$R_STBD_OVSHOOT,36
$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
$GPS1,200400,1112.277,12154.191,40,1.4,46,-0.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.7
$GPS2,201007,1112.413,12154.168,13,1.7,13,-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,209.4,4703,-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,-122.9,0.0,0.0,0,75,0.00,0.00,-57.40,0.000,2,0.000,0.000,80,2548,2681
$GC,79,-1.61,-146.1,3.2,-6.6,9,112,9.40,2.12,-17.85,0.000,4,0.225,0.065,2622,3937,3610
$GC,366,-1.23,-146.1,67.9,-21.9,59,373,0.30,2.05,0.00,0.000,6,0.149,0.034,2715,2521,3613
$GC,710,-1.23,-146.1,116.3,-11.6,120,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2521,3615
$GC,1053,-1.29,-146.1,153.0,-10.0,181,1059,0.00,2.03,0.00,0.000,4,0.000,0.044,2718,1134,3616
$GC,1083,-1.38,-146.1,156.2,-10.8,186,1093,0.08,2.10,0.00,0.000,6,0.065,0.043,2660,2526,3616
$GC,1433,-1.32,-146.1,198.4,-11.7,247,1440,0.12,2.12,0.00,0.000,4,0.152,0.054,2686,3947,3617
$GC,1572,-1.32,-146.1,213.3,-11.4,271,1579,0.00,2.03,0.00,0.000,6,0.000,0.035,2686,2532,3616
$GC,1920,-1.37,-146.1,250.1,-8.9,332,1923,0.00,2.15,0.00,0.000,4,0.000,0.056,2679,3952,3616
$GC,2048,-1.37,-146.1,262.6,-9.8,343,2055,0.00,2.00,0.00,0.000,6,0.000,0.035,2679,2554,3616
$GC,2375,-1.37,-146.1,295.3,-10.1,374,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2553,3615
$GC,2694,-1.43,-146.1,327.7,-10.6,404,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2553,3613
$STATE,2784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2784,begin apogee
$GC,2791,-0.36,0.0,338.0,10.5,413,2902,0.62,0.00,107.45,0.869,6,0.123,0.000,2898,2553,3012
$STATE,2902,end apogee,CONTROL_FINISHED_OK
$STATE,2902,begin climb
$GC,2905,1.61,146.1,342.3,0.0,424,3027,1.20,2.20,108.07,0.869,4,0.074,0.046,3343,1149,2415
$GC,3282,1.34,146.1,312.8,9.6,457,3289,0.22,2.12,0.00,0.000,6,0.174,0.044,3273,2548,2410
$GC,3608,1.27,148.2,283.1,9.0,488,3612,0.00,2.12,0.00,0.000,4,0.000,0.048,3281,1140,2408
$GC,3643,1.20,170.8,280.4,7.8,491,3670,0.15,2.12,19.23,0.785,6,0.163,0.047,3236,2545,2314
$GC,3996,1.23,188.7,253.5,8.1,524,4015,0.00,0.00,15.10,0.755,6,0.000,0.000,3236,2545,2241
$GC,4351,1.33,216.2,224.4,7.5,583,4376,0.12,0.00,22.85,0.760,6,0.077,0.000,3293,2545,2129
$GC,4716,1.26,216.2,185.5,9.3,647,4723,0.15,2.12,0.00,0.000,4,0.158,0.056,3251,3941,2125
$GC,4825,1.26,216.2,174.9,9.9,666,4832,0.00,2.08,0.00,0.000,6,0.000,0.038,3261,2526,2124
$GC,5172,1.35,233.3,146.0,8.1,727,5192,0.00,2.15,14.38,0.696,4,0.000,0.048,3270,1125,2061
$GC,5314,1.46,243.2,135.2,8.6,751,5333,0.10,2.15,9.73,0.650,6,0.085,0.044,3318,2556,2019
$GC,5673,1.51,270.3,103.8,7.5,814,5700,0.00,2.22,22.38,0.693,4,0.000,0.047,3328,1127,1910
$GC,5827,1.62,296.3,92.1,7.6,840,5854,0.00,2.12,21.25,0.679,6,0.000,0.044,3328,2515,1804
$GC,6193,1.76,327.5,64.4,7.2,904,6225,0.12,2.10,24.50,0.663,4,0.076,0.046,3394,1127,1674
$GC,6479,1.72,327.5,35.7,10.4,954,6487,0.12,2.10,0.00,0.000,6,0.156,0.042,3354,2508,1672
$GC,6826,1.88,353.8,6.3,7.5,1015,6847,0.12,2.08,12.02,0.591,4,0.074,0.044,3422,1121,1568
$STATE,6867,end climb,SURFACE_DEPTH_REACHED
$STATE,6867,begin surface coast
$FINISH,0.4,1.008603
$STATE,6886,end surface coast,CONTROL_FINISHED_OK
$STATE,6886,begin surface
$SM_CCo,6908,69.00,0.594,0,0,973,500.17
$SM_GC,1.42,0.00,0.00,69.00,0.000,0.000,0.594,81,2543,973,-13.34,0.06,500.17
$IRIDIUM_FIX,1106.26,12108.38,190598,171758
$TT8_MAMPS,0.024544
$HUMID,1747
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,24.40
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,225.1,141.8
$24V_AH,24.5,12.978
$10V_AH,10.8,10.560
$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,21.525,46.475,376.950,69.000,0.000,26.105,39.988,177.564,14.500,0.000,0.000,13.965,1682.030,2966.323,506.658,1745.537,472.139,0.000,1320.479,0.000,1745.330,0.000,7.475,0.000
$DEVICE_MAMPS,224.731,65.195,869.011,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,693.606,636.080,527.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,60073,1025
$CAP_FILE_SIZE,86029,0
$CFSIZE,260165632,249323520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190, 12.3,1
$GPS,220209,220802,1112.579,12153.668,12,1.9,12,-0.5