version: 66.04
glider: 133
mission: 2
dive: 16
start: 8 26 109 7 19 38
data:
$ID,133
$MISSION,2
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,63
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,1.0275
$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,350
$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,-78515.289
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2760
$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,1900
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,39
$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,10
$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,0
$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
$GPS1,071122,4806.088,-12222.142,9,4.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.4
$GPS2,071846,4806.059,-12222.142,12,2.5,31,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,-0.110
$KALMAN_X,-1530.2,-12.7,25.1,2281.6,-43.6
$KALMAN_Y,3549.0,231.2,166.7,-6753.8,179.9
$MHEAD_RNG_PITCHd_Wd,124.8,207,-27.6,-7.937
$D_GRID,150
$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,16,-1.91,-44.7,0.0,0.0,0,85,0.00,0.00,-62.58,0.000,6,0.000,0.000,396,1890,3552
$GC,89,-1.96,-74.3,3.6,-4.4,10,110,10.73,2.55,-2.17,0.000,4,0.150,0.065,2327,506,3675
$GC,355,-1.96,-74.3,53.6,-17.6,70,362,0.00,2.40,0.00,0.000,6,0.000,0.029,2327,1899,3675
$GC,500,-1.96,-74.3,78.1,-17.1,101,506,0.00,2.53,0.00,0.000,4,0.000,0.054,2327,499,3675
$GC,666,-1.96,-74.3,108.0,-17.8,137,672,0.00,2.40,0.00,0.000,6,0.000,0.031,2327,1909,3675
$STATE,724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,724,begin apogee
$GC,731,-0.33,0.0,118.7,17.4,150,802,1.73,0.00,63.72,0.824,6,0.097,0.000,2677,1912,3370
$STATE,803,end apogee,CONTROL_FINISHED_OK
$STATE,803,begin climb
$GC,806,1.96,74.3,122.7,0.0,162,876,2.22,0.00,63.65,0.802,6,0.037,0.000,3190,1913,3067
$GC,1013,1.97,77.2,113.0,7.6,204,1020,0.00,0.00,4.20,0.515,6,0.000,0.000,3190,1913,3055
$GC,1157,1.97,79.4,102.4,7.7,235,1170,0.00,2.53,3.75,0.477,4,0.000,0.055,3190,546,3046
$GC,1200,1.97,80.7,98.9,7.8,243,1206,0.00,2.40,0.00,0.000,6,0.000,0.031,3190,1954,3046
$GC,1342,1.98,87.6,88.0,7.1,274,1355,0.00,0.00,8.62,0.685,6,0.000,0.000,3190,1955,3011
$GC,1493,1.99,89.0,76.6,7.8,306,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1955,3011
$GC,1632,2.00,93.9,65.7,7.3,337,1646,0.00,2.55,6.75,0.649,4,0.000,0.055,3190,548,2986
$GC,1667,2.00,97.8,63.1,7.5,343,1679,0.00,2.40,5.10,0.579,6,0.000,0.031,3190,1955,2971
$GC,1814,2.00,97.8,50.4,8.4,375,1820,0.00,2.45,0.00,0.000,4,0.000,0.044,3190,3346,2970
$GC,1983,2.00,97.8,34.8,8.4,413,1990,0.00,2.47,0.00,0.000,6,0.000,0.037,3190,1922,2969
$GC,2056,2.00,97.8,28.4,8.2,429,2063,0.00,2.47,0.00,0.000,4,0.000,0.058,3190,538,2970
$GC,2092,2.00,97.8,25.3,8.6,436,2099,0.00,2.42,0.00,0.000,6,0.000,0.031,3190,1952,2970
$GC,2165,2.01,104.0,20.0,7.2,452,2179,0.00,2.55,6.75,0.643,4,0.000,0.054,3190,542,2945
$GC,2187,2.02,106.5,18.1,7.6,455,2201,0.00,2.42,3.78,0.478,6,0.000,0.031,3190,1948,2935
$GC,2268,2.02,106.5,11.3,8.3,472,2274,0.00,2.53,0.00,0.000,4,0.000,0.055,3190,542,2935
$GC,2374,2.09,150.8,4.4,2.7,496,2420,0.05,2.40,36.85,0.756,6,0.055,0.030,3226,1949,2755
$GC,2489,2.18,201.9,3.4,1.9,518,2510,0.00,0.00,18.77,0.706,2,0.000,0.000,3225,1949,2587
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2511,begin surface coast
$FINISH,0.1,1.020289
$STATE,2668,end surface coast,CONTROL_FINISHED_OK
$STATE,2668,begin surface
$SM_CCo,2692,71.78,0.751,0,0,1943,350.04
$SM_GC,0.91,0.00,0.00,71.78,0.000,0.000,0.751,399,1881,1943,-10.86,-0.54,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,060659
$TT8_MAMPS,0.026845
$HUMID,2135
$INTERNAL_PRESSURE,9.13844
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,48.0
$24V_AH,23.3,3.592
$10V_AH,10.7,1.335
$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,27.450,39.550,221.950,71.775,0.000,22.622,30.115,234.377,0.500,0.000,0.000,34.324,848.610,343.544,339.077,1206.700,480.343,33.330,848.638,0.000,1188.057,0.000,8.075,0.000
$DEVICE_MAMPS,149.565,83.603,823.758,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.760,843.046,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,558
$CAP_FILE_SIZE,55160,0
$CFSIZE,260165632,257597440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,080700,4805.901,-12221.869,37,1.2,37,18.3