version: 66.04
glider: 126
mission: 10
dive: 61
start: 2 20 109 17 19 47
data:
$ID,126
$MISSION,10
$DIVE,61
$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,1.027
$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,-634779.5
$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,35
$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,0
$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
$GPS1,171319,1116.325,12156.509,8,1.7,13,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.7
$GPS2,171902,1116.402,12156.450,13,1.3,13,-0.5
$SPEED_LIMITS,0.159,0.169
$TGT_NAME,TIBIAO_2
$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,126.4,2393,-19.2,-9.167
$D_GRID,254
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.57,-122.9,0.0,0.0,0,73,0.00,0.00,-53.62,0.000,2,0.000,0.000,80,2545,2571
$GC,76,-1.61,-146.1,3.1,-4.3,8,111,9.40,2.17,-20.30,0.000,4,0.227,0.058,2628,1125,3610
$GC,259,-1.23,-146.1,44.4,-22.8,39,266,0.30,2.12,0.00,0.000,6,0.159,0.042,2717,2547,3612
$GC,604,-1.17,-146.1,99.1,-14.9,100,611,0.00,2.08,0.00,0.000,4,0.000,0.054,2710,3936,3614
$GC,691,-1.17,-146.1,111.7,-13.2,115,697,0.00,1.98,0.00,0.000,6,0.000,0.034,2710,2554,3614
$GC,1038,-1.26,-146.1,152.2,-9.8,176,1044,0.00,2.10,0.00,0.000,4,0.000,0.055,2708,3945,3615
$GC,1153,-1.38,-146.1,162.7,-8.8,196,1160,0.08,1.98,0.00,0.000,6,0.064,0.034,2655,2577,3614
$GC,1499,-1.38,-146.1,201.4,-10.7,257,1505,0.10,2.10,0.00,0.000,4,0.156,0.043,2682,1138,3615
$GC,1603,-1.46,-146.1,211.7,-9.9,275,1609,0.00,2.15,0.00,0.000,6,0.000,0.043,2681,2588,3615
$GC,1947,-1.54,-146.1,249.1,-10.0,336,1954,0.12,2.03,0.00,0.000,4,0.072,0.054,2611,3946,3615
$STATE,1985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1985,begin apogee
$GC,1994,-0.36,0.0,254.5,13.8,340,2105,0.85,0.00,106.72,0.845,6,0.131,0.000,2900,2529,3012
$STATE,2105,end apogee,CONTROL_FINISHED_OK
$STATE,2105,begin climb
$GC,2109,1.61,146.1,258.5,0.0,351,2223,1.17,2.15,106.78,0.830,4,0.066,0.044,3346,1146,2415
$GC,2320,1.29,146.1,245.2,11.1,373,2327,0.28,2.15,0.00,0.000,6,0.173,0.043,3261,2560,2412
$GC,2665,1.19,146.1,213.4,9.2,434,2672,0.10,2.08,0.00,0.000,4,0.179,0.054,3224,3930,2409
$GC,2776,1.12,150.7,202.8,8.9,453,2789,0.00,2.00,4.03,0.479,6,0.000,0.036,3234,2553,2397
$GC,3127,1.19,194.6,175.8,6.5,515,3166,0.00,2.20,33.55,0.779,4,0.000,0.047,3244,1130,2218
$GC,3329,1.31,218.4,161.3,7.7,550,3355,0.00,2.12,18.88,0.749,6,0.000,0.044,3244,2541,2121
$GC,3694,1.49,257.3,131.9,6.8,614,3733,0.17,2.17,29.73,0.751,4,0.067,0.056,3321,3928,1963
$GC,3987,1.43,257.3,103.3,9.6,665,3994,0.15,2.00,0.00,0.000,6,0.169,0.035,3291,2552,1959
$GC,4333,1.66,316.5,81.7,5.5,726,4384,0.17,2.22,44.75,0.716,4,0.068,0.055,3365,3942,1720
$GC,4639,1.55,316.5,48.8,11.5,779,4646,0.22,2.05,0.00,0.000,6,0.164,0.035,3311,2532,1717
$GC,4985,1.76,341.0,21.1,7.7,840,5005,0.17,2.15,11.95,0.668,4,0.065,0.054,3389,3940,1620
$GC,5126,1.64,341.0,3.8,12.7,864,5133,0.22,2.08,0.00,0.000,6,0.154,0.035,3334,2510,1618
$STATE,5137,end climb,SURFACE_DEPTH_REACHED
$STATE,5137,begin surface coast
$FINISH,0.8,1.021685
$STATE,5156,end surface coast,CONTROL_FINISHED_OK
$STATE,5156,begin surface
$SM_CCo,5175,74.38,0.607,0,0,973,500.17
$SM_GC,1.54,0.00,0.00,74.38,0.000,0.000,0.607,79,2509,973,-13.34,-0.90,500.17
$IRIDIUM_FIX,1112.86,12152.87,170598,151506
$TT8_MAMPS,0.025311
$HUMID,1756
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,23.10
$XPDR_PINGS,106
$24V_AH,24.6,9.721
$10V_AH,10.8,8.459
$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,22.000,46.125,356.375,74.375,0.000,23.267,43.318,164.604,27.250,0.000,0.000,13.188,1410.587,1836.376,487.811,1472.943,415.552,0.000,1174.120,0.000,1472.200,0.000,6.005,0.000
$DEVICE_MAMPS,227.032,57.525,845.234,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,586.375,648.329,446.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,50563,869
$CAP_FILE_SIZE,72860,0
$CFSIZE,260165632,250773504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,  1.9,1
$GPS,200209,184836,1116.453,12156.885,40,1.2,40,-0.5