version: 66.04
glider: 132
mission: 2
dive: 23
start: 12 11 108 16 36 55
data:
$ID,132
$MISSION,2
$DIVE,23
$D_SURF,6
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,62
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,120
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51344
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-122.18
$TGT_AUTO_DEFAULT,0
$SM_CC,695.18018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-66976.93
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3680
$C_PITCH,2724
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,257
$ROLL_MAX,3939
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,466
$VBD_MAX,3904
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.5557156
$PRESSURE_SLOPE,0.0001162231
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$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,0.004342691
$SEABIRD_T_H,0.00062451581
$SEABIRD_T_I,2.3518629e-05
$SEABIRD_T_J,2.5374579e-06
$SEABIRD_C_G,-9.8916435
$SEABIRD_C_H,1.1237497
$SEABIRD_C_I,-0.0013142129
$SEABIRD_C_J,0.00018127549
$GPS1,162031,4807.699,-12223.877,34,1.9,34,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-65.3
$GPS2,163557,4807.608,-12223.985,14,1.6,14,18.3
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,0.240
$KALMAN_X,68.6,191.2,-54.9,-710.0,-64.1
$KALMAN_Y,-4568.4,-227.0,11.2,4283.6,-132.3
$MHEAD_RNG_PITCHd_Wd,346.6,726,-14.1,-8.065
$D_GRID,101
$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,-1.12,-146.6,0.0,0.0,0,149,0.00,0.00,-131.32,0.000,2,0.000,0.000,418,2488,3792
$GC,153,-1.12,-146.6,3.3,-3.2,23,173,11.75,2.47,-3.00,0.000,4,0.162,0.051,2472,1110,3899
$GC,306,-1.12,-146.6,15.1,-8.1,49,312,0.00,2.42,0.00,0.000,6,0.000,0.042,2472,2504,3900
$GC,381,-1.12,-146.6,21.3,-8.3,62,387,0.00,2.50,0.00,0.000,4,0.000,0.057,2472,3905,3900
$GC,445,-1.12,-146.6,26.8,-9.0,73,451,0.00,2.38,0.00,0.000,6,0.000,0.029,2472,2488,3900
$GC,521,-1.12,-146.6,33.0,-7.8,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2485,3900
$GC,596,-1.12,-146.6,38.7,-7.8,99,603,0.00,2.55,0.00,0.000,4,0.000,0.058,2472,3914,3899
$GC,671,-1.12,-146.6,45.5,-8.9,112,678,0.00,2.38,0.00,0.000,6,0.000,0.034,2472,2491,3900
$GC,814,-1.12,-146.6,56.7,-7.9,137,820,0.00,2.55,0.00,0.000,4,0.000,0.051,2472,3914,3900
$GC,855,-1.12,-146.6,60.1,-8.8,144,861,0.00,2.38,0.00,0.000,6,0.000,0.029,2472,2491,3900
$GC,997,-1.12,-146.6,71.3,-8.0,169,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2489,3900
$GC,1138,-1.12,-146.6,81.8,-7.3,194,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2488,3900
$STATE,1184,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1184,begin apogee
$GC,1191,-0.33,0.0,85.2,7.4,202,1318,0.82,0.00,119.18,0.657,6,0.074,0.000,2647,2488,3299
$STATE,1319,end apogee,CONTROL_FINISHED_OK
$STATE,1319,begin climb
$GC,1322,1.12,146.6,88.3,0.0,225,1445,1.42,0.00,118.65,0.628,6,0.049,0.000,2966,2488,2702
$GC,1581,1.12,146.6,68.1,9.7,271,1587,0.00,2.40,0.00,0.000,4,0.000,0.038,2966,1116,2702
$GC,1599,1.12,146.6,66.3,9.8,274,1605,0.00,2.40,0.00,0.000,6,0.000,0.032,2966,2505,2701
$GC,1741,1.12,146.6,52.7,9.4,299,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2506,2701
$GC,1882,1.12,146.6,39.6,9.2,324,1889,0.00,2.47,0.00,0.000,4,0.000,0.055,2966,3902,2701
$GC,1936,1.12,146.6,34.3,10.3,333,1943,0.00,2.35,0.00,0.000,6,0.000,0.026,2966,2498,2701
$GC,2012,1.12,146.6,27.2,9.0,346,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2492,2701
$GC,2087,1.12,146.6,20.5,9.2,359,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2492,2702
$GC,2163,1.12,146.6,13.6,8.8,372,2169,0.00,2.50,0.00,0.000,4,0.000,0.049,2966,3902,2701
$GC,2209,1.12,146.6,9.2,9.2,380,2216,0.00,2.35,0.00,0.000,6,0.000,0.029,2966,2498,2701
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,3.1,1.020106
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2356,460.00,0.569,0,0,466,695.18
$SM_GC,0.73,0.00,0.00,460.00,0.000,0.000,0.569,419,2493,466,-10.60,-0.20,695.18
$IRIDIUM_FIX,4751.72,-12340.51,070398,151547
$TT8_MAMPS,0.025311
$HUMID,1662
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.00
$XPDR_PINGS,140
$ALTIM_BOTTOM_PING,85.2,6.4
$24V_AH,23.7,3.283
$10V_AH,10.1,1.603
$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,25.525,34.100,237.825,460.000,0.000,122.392,461.931,0.000,35.750,0.000,0.000,15.817,592.692,927.726,800.420,730.907,712.615,33.334,1209.750,0.000,724.203,0.000,6.980,0.000
$DEVICE_MAMPS,161.837,57.525,656.552,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.614,489.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19085,402
$CAP_FILE_SIZE,43007,0
$CFSIZE,260165632,256729088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,172505,4807.857,-12223.931,12,2.4,31,18.3