version: 66.04
glider: 126
mission: 10
dive: 15
start: 2 16 109 21 47 1
data:
$ID,126
$MISSION,10
$DIVE,15
$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,1.0274
$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,375
$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,-633874.75
$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,14.5
$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,40
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,539
$VBD_MAX,3901
$C_VBD,2909
$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,450
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,1
$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
$GPS1,213744,1120.431,12153.464,12,2.0,13,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.3
$GPS2,214614,1120.504,12153.414,14,1.5,14,-0.6
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,TIBIAO_1
$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,105.2,11604,-19.2,-9.167
$D_GRID,485
$AD_RECORDABOVE,200.0
$AD_PROFILE,2.0
$AD_OFFLOAD,1.0
$AD_MAXUPLOADSIZE,15000.0
$AD_UPLOADALLCONFIG,0.0
$AD_ERRORS,0.0
$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,-1.53,-122.8,0.0,0.0,0,59,0.00,0.00,-41.45,0.000,2,0.000,0.000,79,2526,2648
$GC,63,-1.57,-146.0,3.3,-6.9,7,96,9.80,2.22,-15.77,0.000,4,0.241,0.071,2628,3939,3509
$GC,196,-1.06,-146.0,38.1,-26.8,29,204,0.40,2.08,0.00,0.000,6,0.166,0.038,2747,2528,3510
$GC,543,-1.01,-146.0,95.7,-15.7,90,550,0.00,2.15,0.00,0.000,4,0.000,0.058,2741,3937,3511
$GC,568,-1.01,-146.0,99.1,-13.4,94,575,0.00,2.05,0.00,0.000,6,0.000,0.037,2741,2518,3511
$GC,912,-1.14,-146.0,138.0,-9.8,155,918,0.00,2.17,0.00,0.000,4,0.000,0.060,2738,3946,3513
$GC,1061,-1.32,-146.0,151.2,-8.8,181,1069,0.15,2.03,0.00,0.000,6,0.072,0.036,2669,2533,3514
$GC,1409,-1.32,-146.0,193.8,-12.6,242,1416,0.10,2.05,0.00,0.000,4,0.159,0.046,2697,1139,3513
$GC,1440,-1.37,-146.0,197.5,-11.5,247,1446,0.00,2.10,0.00,0.000,6,0.000,0.048,2694,2542,3513
$GC,1786,-1.46,-146.0,234.2,-11.0,308,1793,0.12,2.10,0.00,0.000,4,0.077,0.057,2625,3944,3513
$GC,1830,-1.32,-146.0,239.6,-13.6,315,1837,0.22,2.05,0.00,0.000,6,0.150,0.037,2694,2520,3513
$GC,2163,-1.41,-146.0,270.4,-6.9,354,2166,0.00,2.15,0.00,0.000,4,0.000,0.060,2689,3943,3513
$GC,2220,-1.49,-146.0,275.7,-9.4,359,2225,0.12,2.05,0.00,0.000,6,0.079,0.038,2635,2510,3514
$GC,2551,-1.43,-146.0,318.0,-12.4,390,2555,0.12,2.17,0.00,0.000,4,0.161,0.058,2662,3947,3511
$GC,2640,-1.43,-146.0,328.5,-10.9,397,2646,0.00,2.08,0.00,0.000,6,0.000,0.038,2664,2508,3511
$GC,2967,-1.48,-146.0,361.1,-10.8,428,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2508,3509
$GC,3285,-1.54,-146.0,395.7,-10.7,458,3289,0.00,2.15,0.00,0.000,4,0.000,0.060,2655,3941,3507
$GC,3313,-1.54,-146.0,399.1,-11.4,460,3319,0.00,2.05,0.00,0.000,6,0.000,0.038,2654,2518,3506
$GC,3640,-1.54,-146.0,429.4,-8.4,491,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2520,3505
$GC,3956,-1.54,-146.0,454.7,-8.0,521,3960,0.00,2.05,0.00,0.000,4,0.000,0.051,2654,1128,3502
$GC,4063,-1.54,-146.0,464.2,-9.1,530,4069,0.00,2.12,0.00,0.000,6,0.000,0.049,2644,2547,3501
$STATE,4289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4290,begin apogee
$GC,4296,-0.34,0.0,485.5,8.2,552,4413,0.77,0.00,111.12,1.011,6,0.135,0.000,2907,2547,2909
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4420,1.57,146.0,488.8,0.0,564,4543,1.15,2.30,111.75,0.994,4,0.074,0.061,3314,3931,2312
$GC,4582,1.14,146.0,477.3,14.9,578,4589,0.38,2.12,0.00,0.000,6,0.188,0.040,3223,2533,2310
$GC,4908,1.08,146.0,441.1,11.8,609,4912,0.00,2.10,0.00,0.000,4,0.000,0.052,3232,1140,2306
$GC,5003,1.08,146.0,429.1,12.6,617,5010,0.00,2.17,0.00,0.000,6,0.000,0.051,3232,2556,2306
$GC,5331,1.02,146.0,389.2,10.4,648,5337,0.12,0.00,0.00,0.000,6,0.173,0.000,3197,2556,2303
$GC,5659,1.13,176.7,365.2,7.3,679,5693,0.10,2.25,27.65,0.881,4,0.092,0.053,3250,1139,2185
$GC,5733,1.20,219.6,359.8,6.5,685,5774,0.00,2.17,35.55,0.890,6,0.000,0.051,3245,2544,2013
$GC,6091,1.30,281.0,343.9,5.4,719,6148,0.00,2.30,50.92,0.881,4,0.000,0.063,3245,3940,1762
$GC,6401,1.22,281.0,311.0,14.9,746,6407,0.00,2.08,0.00,0.000,6,0.000,0.044,3254,2569,1754
$GC,6730,1.22,281.0,279.5,17.6,777,6733,0.00,2.15,0.00,0.000,4,0.000,0.065,3254,3946,1753
$GC,6870,1.13,281.0,253.4,17.2,789,6879,0.15,2.08,0.00,0.000,6,0.170,0.042,3224,2549,1753
$GC,7215,1.24,281.0,213.2,9.4,848,7221,0.10,2.15,0.00,0.000,4,0.088,0.052,3278,1123,1753
$GC,7308,1.24,281.0,199.7,15.7,864,7315,0.10,2.17,0.00,0.000,6,0.173,0.051,3248,2561,1752
$GC,7653,1.35,281.0,160.8,10.5,925,7661,0.10,2.10,0.00,0.000,4,0.093,0.063,3291,3934,1752
$GC,7875,1.35,281.0,130.6,12.7,964,7882,0.12,2.03,0.00,0.000,6,0.169,0.041,3269,2574,1751
$GC,8223,1.65,319.1,100.8,6.8,1025,8263,0.20,2.12,33.25,0.716,4,0.066,0.061,3358,3934,1604
$GC,8332,1.56,319.1,89.1,11.9,1043,8339,0.20,2.03,0.00,0.000,6,0.164,0.041,3313,2571,1595
$GC,8679,1.74,332.1,58.7,8.4,1104,8694,0.15,2.17,8.55,0.604,4,0.074,0.061,3377,3937,1554
$GC,8799,1.61,332.1,43.8,14.7,1124,8806,0.15,1.98,0.00,0.000,6,0.155,0.041,3325,2617,1555
$GC,9146,1.83,350.5,11.9,8.0,1185,9160,0.17,0.00,9.43,0.656,6,0.069,0.000,3401,2617,1479
$STATE,9231,end climb,SURFACE_DEPTH_REACHED
$STATE,9231,begin surface coast
$FINISH,0.4,1.008602
$STATE,9250,end surface coast,CONTROL_FINISHED_OK
$STATE,9250,begin surface
$SM_CCo,9276,11.32,0.634,0,0,1380,375.06
$SM_GC,2.81,0.00,0.00,11.32,0.000,0.000,0.634,82,2530,1380,-13.33,-0.31,375.06
$IRIDIUM_FIX,1119.46,12154.03,130598,181845
$TT8_MAMPS,0.027612
$HUMID,1774
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.5,3.8
$AD_FAT00,b0015,0x00007000,0x00008600,0x00001600
$24V_AH,24.2,4.709
$10V_AH,10.1,3.533
$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,23.750,76.375,388.225,11.325,0.000,24.054,43.071,270.605,0.500,0.000,0.000,14.565,2012.029,4583.747,477.136,2101.070,647.468,0.000,1464.071,0.000,2071.600,0.000,7.935,0.000
$DEVICE_MAMPS,240.838,82.069,1010.906,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,819.151,640.011,620.341,0.000,0.000,0.000,6961.866,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,69649,1203
$CAP_FILE_SIZE,111644,0
$CFSIZE,260165632,253276160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,172.4,1
$GPS,170209,002307,1118.995,12154.880,38,1.3,39,-0.6