version: 66.04
glider: 126
mission: 10
dive: 17
start: 2 17 109 2 53 6
data:
$ID,126
$MISSION,10
$DIVE,17
$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,-633923.69
$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,30
$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
$GPS1,024446,1118.673,12155.825,10,2.9,30,-0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.9
$GPS2,025222,1118.780,12155.786,15,3.1,34,-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,131.6,6475,-19.2,-9.167
$D_GRID,321
$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,17,-1.57,-122.8,0.0,0.0,0,57,0.00,0.00,-37.70,0.000,2,0.000,0.000,80,2525,2533
$GC,61,-1.61,-146.0,3.1,-5.4,6,96,9.68,2.25,-19.55,0.000,4,0.239,0.070,2621,3951,3506
$GC,223,-1.08,-146.0,43.9,-26.8,33,230,0.40,2.08,0.00,0.000,6,0.163,0.037,2744,2530,3509
$GC,566,-1.08,-146.0,101.6,-14.5,94,573,0.00,2.15,0.00,0.000,4,0.000,0.058,2737,3952,3510
$GC,613,-1.08,-146.0,108.0,-14.1,102,619,0.00,2.05,0.00,0.000,6,0.000,0.036,2737,2527,3510
$GC,955,-1.25,-146.0,143.9,-8.4,163,962,0.10,2.15,0.00,0.000,4,0.083,0.058,2685,3943,3513
$GC,1016,-1.25,-146.0,150.4,-10.9,173,1023,0.10,1.98,0.00,0.000,6,0.156,0.035,2712,2557,3512
$GC,1361,-1.39,-146.0,183.3,-10.4,234,1368,0.12,0.00,0.00,0.000,6,0.078,0.000,2654,2557,3512
$GC,1706,-1.34,-146.0,225.3,-13.5,295,1712,0.12,0.00,0.00,0.000,6,0.155,0.000,2689,2557,3512
$GC,2046,-1.41,-146.0,260.6,-10.7,347,2050,0.00,2.08,0.00,0.000,4,0.000,0.047,2691,1140,3512
$GC,2092,-1.48,-146.0,265.7,-11.0,351,2096,0.10,2.12,0.00,0.000,6,0.088,0.047,2636,2565,3512
$GC,2422,-1.42,-146.0,304.5,-12.1,382,2427,0.12,2.08,0.00,0.000,4,0.157,0.057,2664,3953,3510
$GC,2536,-1.42,-146.0,317.2,-11.5,392,2540,0.00,2.00,0.00,0.000,6,0.000,0.037,2665,2577,3509
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2583,-0.36,0.0,322.0,11.2,396,2692,0.68,0.00,105.82,0.884,6,0.127,0.000,2899,2576,2909
$STATE,2696,end apogee,CONTROL_FINISHED_OK
$STATE,2696,begin climb
$GC,2699,1.61,146.0,326.0,0.0,407,2813,1.20,0.00,109.35,0.871,6,0.074,0.000,3335,2575,2312
$GC,3130,1.29,146.0,281.5,11.2,448,3135,0.25,2.17,0.00,0.000,4,0.183,0.048,3272,1129,2307
$GC,3181,1.20,146.0,275.6,11.0,452,3185,0.10,2.15,0.00,0.000,6,0.183,0.048,3238,2542,2306
$GC,3508,1.22,153.7,246.5,8.7,486,3520,0.00,2.15,5.88,0.632,4,0.000,0.060,3238,3947,2282
$GC,3561,1.10,153.7,240.8,10.8,495,3568,0.12,2.10,0.00,0.000,6,0.175,0.038,3215,2514,2282
$GC,3908,1.19,171.4,212.0,8.1,556,3928,0.10,0.00,14.90,0.782,6,0.091,0.000,3259,2514,2209
$GC,4267,1.21,184.5,180.2,8.4,619,4286,0.00,2.25,11.55,0.746,4,0.000,0.060,3259,3944,2154
$GC,4340,1.10,184.5,173.3,10.5,631,4347,0.20,2.10,0.00,0.000,6,0.161,0.038,3213,2518,2154
$GC,4686,1.36,235.4,149.2,6.0,692,4732,0.20,2.10,38.53,0.779,4,0.066,0.051,3314,1107,1949
$GC,4790,1.36,235.4,138.4,12.6,709,4797,0.15,2.17,0.00,0.000,6,0.166,0.049,3271,2520,1948
$GC,5136,1.62,289.0,109.6,5.9,770,5182,0.20,2.20,40.45,0.744,4,0.067,0.050,3365,1134,1731
$GC,5318,1.62,289.0,92.5,9.4,801,5325,0.12,2.05,0.00,0.000,6,0.163,0.047,3332,2472,1729
$GC,5663,1.73,303.9,63.0,8.2,862,5683,0.08,2.25,12.05,0.657,4,0.100,0.058,3372,3944,1670
$GC,5898,1.60,303.9,35.4,12.7,903,5905,0.20,2.17,0.00,0.000,6,0.163,0.038,3326,2461,1666
$GC,6243,1.81,322.4,5.7,8.0,964,6258,0.15,2.33,8.45,0.601,4,0.072,0.058,3393,3942,1594
$STATE,6279,end climb,SURFACE_DEPTH_REACHED
$STATE,6279,begin surface coast
$FINISH,0.4,0.996113
$STATE,6298,end surface coast,CONTROL_FINISHED_OK
$STATE,6298,begin surface
$SM_CCo,6323,24.00,0.657,0,0,1379,375.06
$SM_GC,1.84,0.00,0.00,24.00,0.000,0.000,0.657,86,2532,1379,-13.31,-0.25,375.06
$IRIDIUM_FIX,1115.06,12155.90,140598,000034
$TT8_MAMPS,0.027612
$HUMID,1752
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,23.00
$XPDR_PINGS,0
$AD_FAT00,b0017,0x00007000,0x00008a00,0x00001a00
$24V_AH,24.4,4.919
$10V_AH,10.2,3.925
$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,23.200,51.200,346.975,24.000,0.000,25.284,30.295,215.627,0.000,0.000,0.000,35.359,1608.999,2591.000,432.364,1687.204,508.305,0.000,1184.340,0.000,1645.155,0.000,1.213,0.000
$DEVICE_MAMPS,239.304,69.797,883.584,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,658.445,715.697,500.051,0.000,0.000,0.000,5513.105,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,56963,973
$CAP_FILE_SIZE,84832,0
$CFSIZE,260165632,253186048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,357.8,1
$GPS,170209,044006,1118.317,12156.426,33,1.0,33,-0.5