version: 66.04
glider: 133
mission: 2
dive: 1
start: 8 25 109 18 1 25
data:
$ID,133
$MISSION,2
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,200
$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,15
$T_MISSION,25
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51845
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,706
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-77920.07
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2755
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2320
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3370
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.515852
$PRESSURE_SLOPE,0.0001156489
$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,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4.9000001
$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,0.0043775016
$SEABIRD_T_H,0.00063627085
$SEABIRD_T_I,2.5270951e-05
$SEABIRD_T_J,2.7297233e-06
$SEABIRD_C_G,-9.8534336
$SEABIRD_C_H,1.093644
$SEABIRD_C_I,-4.1897227e-05
$SEABIRD_C_J,0.00011108216
$GPS1,174640,4807.309,-12222.621,11,2.7,30,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-58.7
$GPS2,180031,4807.576,-12222.760,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,-0.208
$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,177.3,1107,-22.4,-10.000
$D_GRID,105
$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,-1.66,-97.3,0.0,0.0,0,136,0.00,0.00,-117.55,0.000,2,0.000,0.000,393,2377,3540
$GC,139,-1.66,-97.3,3.3,-6.5,19,161,10.90,2.35,-4.53,0.000,4,0.142,0.050,2387,1003,3766
$GC,209,-1.66,-97.3,12.3,-10.3,33,216,0.00,2.35,0.00,0.000,6,0.000,0.027,2387,2394,3766
$GC,282,-1.66,-97.3,20.8,-12.2,49,289,0.00,2.40,0.00,0.000,4,0.000,0.039,2387,1013,3766
$GC,370,-1.66,-97.3,32.3,-13.7,69,377,0.00,2.33,0.00,0.000,6,0.000,0.028,2387,2389,3766
$GC,443,-1.66,-97.3,41.6,-12.6,85,449,0.00,2.38,0.00,0.000,4,0.000,0.041,2387,1004,3766
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,475,-0.33,0.0,45.1,12.9,90,563,1.40,0.00,78.95,0.777,6,0.089,0.000,2674,2327,3370
$STATE,564,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,567,1.66,97.3,49.1,0.0,105,656,1.92,2.47,79.60,0.752,4,0.041,0.043,3123,3723,2973
$GC,742,1.66,97.3,37.8,10.4,139,749,0.00,2.38,0.00,0.000,6,0.000,0.031,3123,2354,2972
$GC,816,1.66,100.9,30.5,9.8,155,829,0.00,2.58,4.60,0.502,4,0.000,0.046,3123,912,2958
$GC,878,1.67,104.8,24.3,9.7,168,892,0.00,2.40,4.97,0.518,6,0.000,0.030,3123,2316,2941
$GC,957,1.69,114.5,16.7,9.3,185,971,0.00,2.55,9.18,0.636,4,0.000,0.046,3123,907,2903
$GC,1021,1.69,116.7,10.8,9.9,198,1029,0.00,2.42,3.53,0.416,6,0.000,0.031,3122,2320,2895
$STATE,1092,end climb,SURFACE_DEPTH_REACHED
$STATE,1092,begin surface coast
$FINISH,1.3,1.019588
$STATE,1120,end surface coast,CONTROL_FINISHED_OK
$STATE,1120,begin surface
$SM_CCo,1144,278.85,0.718,0,0,491,706.21
$SM_GC,0.77,0.00,0.00,278.85,0.000,0.000,0.718,397,2399,491,-10.84,0.25,706.21
$IRIDIUM_FIX,4751.72,-12340.51,191198,181808
$TT8_MAMPS,0.026845
$HUMID,1965
$INTERNAL_PRESSURE,8.95289
$TCM_TEMP,16.80
$XPDR_PINGS,32
$24V_AH,23.5,2.102
$10V_AH,10.8,0.497
$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,26.300,28.925,180.825,278.850,0.000,0.000,0.000,0.000,8.000,0.000,0.000,15.995,334.872,47.199,531.552,521.837,67.750,29.238,808.506,0.000,520.444,0.000,1.012,0.000
$DEVICE_MAMPS,141.895,61.360,776.971,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,150.539,422.675,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9650,220
$CAP_FILE_SIZE,54633,0
$CFSIZE,260165632,258068480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250809,182602,4807.623,-12222.829,13,1.4,13,18.3