version: 66.04
glider: 126
mission: 10
dive: 92
start: 2 23 109 0 5 32
data:
$ID,126
$MISSION,10
$DIVE,92
$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,-635498.38
$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,45
$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
$GPS1,235906,1113.050,12153.318,9,1.2,26,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.6
$GPS2,000449,1113.184,12153.291,12,1.5,30,-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,189.0,5898,-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,-122.9,0.0,0.0,0,76,0.00,0.00,-58.83,0.000,2,0.000,0.000,85,2529,2737
$GC,80,-1.61,-146.1,3.4,-5.5,9,113,9.40,2.15,-16.38,0.000,4,0.226,0.068,2626,3934,3611
$GC,346,-1.21,-146.1,63.1,-20.2,55,354,0.30,2.03,0.00,0.000,6,0.147,0.033,2719,2528,3614
$GC,693,-1.21,-146.1,111.9,-12.2,116,699,0.00,2.12,0.00,0.000,4,0.000,0.053,2711,3938,3616
$GC,712,-1.21,-146.1,114.4,-12.9,119,719,0.00,2.00,0.00,0.000,6,0.000,0.033,2711,2540,3616
$GC,1058,-1.27,-146.1,152.0,-11.3,180,1065,0.00,2.08,0.00,0.000,4,0.000,0.043,2711,1136,3617
$GC,1083,-1.32,-146.1,154.7,-10.9,184,1090,0.00,2.08,0.00,0.000,6,0.000,0.044,2709,2539,3617
$GC,1429,-1.38,-146.1,190.6,-9.8,245,1436,0.10,2.10,0.00,0.000,4,0.081,0.053,2646,3947,3617
$GC,1679,-1.30,-146.1,221.7,-12.3,289,1686,0.17,2.00,0.00,0.000,6,0.140,0.034,2705,2544,3617
$GC,2027,-1.41,-146.1,254.7,-10.1,347,2031,0.12,2.10,0.00,0.000,4,0.071,0.055,2634,3933,3617
$GC,2055,-1.34,-146.1,258.2,-13.2,349,2062,0.20,1.98,0.00,0.000,6,0.140,0.035,2696,2551,3617
$GC,2381,-1.43,-146.1,289.1,-10.3,380,2385,0.10,2.08,0.00,0.000,4,0.081,0.055,2633,3931,3615
$GC,2449,-1.33,-146.1,297.3,-12.9,386,2453,0.17,2.00,0.00,0.000,6,0.141,0.035,2690,2552,3615
$GC,2779,-1.43,-146.1,328.4,-9.1,417,2783,0.08,2.08,0.00,0.000,4,0.094,0.044,2647,1137,3613
$GC,2818,-1.43,-146.1,332.7,-11.2,420,2825,0.12,2.10,0.00,0.000,6,0.156,0.044,2675,2542,3613
$GC,3144,-1.49,-146.1,364.7,-8.8,451,3148,0.00,2.10,0.00,0.000,4,0.000,0.056,2666,3949,3611
$GC,3246,-1.49,-146.1,374.6,-9.0,460,3250,0.00,2.00,0.00,0.000,6,0.000,0.035,2666,2552,3610
$GC,3579,-1.49,-146.1,408.0,-9.9,491,3583,0.00,2.10,0.00,0.000,4,0.000,0.056,2656,3942,3608
$GC,3658,-1.49,-146.1,416.7,-11.1,498,3661,0.00,2.00,0.00,0.000,6,0.000,0.035,2656,2551,3607
$STATE,3911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3911,begin apogee
$GC,3918,-0.36,0.0,444.4,10.4,522,4035,0.70,0.00,109.97,0.960,6,0.127,0.000,2897,2549,3011
$STATE,4036,end apogee,CONTROL_FINISHED_OK
$STATE,4036,begin climb
$GC,4039,1.61,146.1,446.9,0.0,534,4155,1.15,2.25,109.57,0.956,4,0.048,0.056,3336,3938,2416
$GC,4286,1.20,146.1,426.6,11.6,556,4291,0.40,2.10,0.00,0.000,6,0.182,0.037,3234,2531,2411
$GC,4611,1.20,148.9,397.7,9.0,586,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2530,2409
$GC,4930,1.22,158.2,370.0,8.6,616,4942,0.00,0.00,10.27,0.774,6,0.000,0.000,3235,2530,2367
$GC,5260,1.24,171.3,341.6,8.4,647,5277,0.00,2.17,12.77,0.785,4,0.000,0.057,3226,3947,2312
$GC,5317,1.17,173.1,336.2,9.1,651,5324,0.00,2.08,0.00,0.000,6,0.000,0.037,3235,2535,2311
$GC,5644,1.19,182.3,308.9,8.6,682,5657,0.00,0.00,10.85,0.749,6,0.000,0.000,3235,2535,2268
$GC,5977,1.20,188.7,279.2,8.8,713,5989,0.00,2.15,7.05,0.679,4,0.000,0.048,3246,1138,2241
$GC,6132,1.26,196.5,265.7,8.7,726,6151,0.00,2.15,9.30,0.679,6,0.000,0.047,3246,2560,2210
$GC,6477,1.27,200.3,235.3,8.9,772,6490,0.00,2.17,5.15,0.568,4,0.000,0.047,3256,1145,2194
$GC,6536,1.27,203.0,230.0,9.0,782,6550,0.00,2.08,4.35,0.513,6,0.000,0.045,3257,2520,2182
$GC,6889,1.27,203.0,198.0,9.5,844,6896,0.00,2.15,0.00,0.000,4,0.000,0.058,3256,3940,2181
$GC,7057,1.20,203.0,182.4,9.2,873,7064,0.10,2.05,0.00,0.000,6,0.169,0.037,3240,2532,2180
$GC,7402,1.35,242.2,157.5,6.8,934,7448,0.12,2.15,36.38,0.709,4,0.077,0.048,3307,1136,2023
$GC,7500,1.35,242.2,148.3,9.7,950,7507,0.15,2.15,0.00,0.000,6,0.160,0.046,3267,2545,2022
$GC,7846,1.55,289.0,120.2,6.3,1011,7891,0.17,2.22,39.45,0.700,4,0.067,0.047,3352,1137,1833
$GC,8146,1.56,294.9,91.0,8.8,1063,8160,0.12,2.08,5.90,0.545,6,0.161,0.044,3319,2510,1809
$GC,8503,1.73,328.1,63.5,7.1,1125,8536,0.12,2.15,27.02,0.657,4,0.073,0.046,3386,1136,1673
$GC,8779,1.73,328.1,35.4,10.9,1173,8786,0.12,2.05,0.00,0.000,6,0.163,0.044,3353,2495,1671
$GC,9124,1.89,359.0,6.5,7.3,1234,9145,0.12,2.10,14.45,0.611,4,0.073,0.045,3424,1135,1548
$STATE,9173,end climb,SURFACE_DEPTH_REACHED
$STATE,9173,begin surface coast
$FINISH,0.4,1.021728
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9216,67.00,0.602,0,0,972,500.17
$SM_GC,1.22,0.00,0.00,67.00,0.000,0.000,0.602,82,2553,972,-13.33,0.34,500.17
$IRIDIUM_FIX,1108.46,12152.87,190598,222242
$TT8_MAMPS,0.025311
$HUMID,1775
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,24.50
$XPDR_PINGS,118
$ALTIM_BOTTOM_PING,350.3,123.4
$24V_AH,24.4,13.214
$10V_AH,10.7,10.723
$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,22.775,75.475,402.500,67.000,0.000,22.765,40.006,147.550,31.750,0.000,0.000,30.914,2045.695,4457.615,548.741,2130.076,472.137,0.000,1543.478,0.000,2098.505,0.000,18.761,0.000
$DEVICE_MAMPS,226.265,68.263,960.284,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,AQUADOPP,nil
$SENSOR_SECS,845.607,649.879,638.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,71.000,0.000
$DATA_FILE_SIZE,69659,1246
$CAP_FILE_SIZE,109072,0
$CFSIZE,260165632,249180160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,  2.7,1
$GPS,230209,024137,1112.895,12152.784,41,1.3,42,-0.5