version: 66.04
glider: 133
mission: 2
dive: 17
start: 8 26 109 8 15 42
data:
$ID,133
$MISSION,2
$DIVE,17
$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,-78549.781
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,080700,4805.901,-12221.869,37,1.2,37,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.7
$GPS2,081449,4805.871,-12221.863,15,1.6,32,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.095
$KALMAN_X,-1532.3,82.2,-36.5,2593.5,-10.5
$KALMAN_Y,3725.3,91.8,196.8,-7169.4,87.7
$MHEAD_RNG_PITCHd_Wd,295.2,293,-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,15,-1.91,-44.7,0.0,0.0,0,73,0.00,0.00,-55.47,0.000,2,0.000,0.000,399,1881,3394
$GC,76,-1.96,-71.4,3.1,-4.8,9,98,10.77,2.55,-5.28,0.000,4,0.153,0.054,2327,3293,3664
$GC,217,-1.96,-71.4,27.1,-15.5,39,224,0.00,2.42,0.00,0.000,6,0.000,0.034,2327,1913,3664
$GC,290,-1.96,-71.4,38.2,-15.1,55,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1913,3665
$GC,364,-1.96,-71.4,50.2,-15.9,71,370,0.00,2.55,0.00,0.000,4,0.000,0.054,2327,487,3665
$GC,447,-1.96,-71.4,64.5,-17.6,89,453,0.00,2.38,0.00,0.000,6,0.000,0.029,2327,1892,3665
$GC,593,-1.96,-71.4,88.3,-16.1,120,600,0.00,2.55,0.00,0.000,4,0.000,0.054,2326,495,3665
$GC,632,-1.96,-71.4,94.8,-17.4,127,639,0.00,2.40,0.00,0.000,6,0.000,0.030,2327,1910,3665
$STATE,775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,775,begin apogee
$GC,781,-0.33,0.0,117.6,15.6,158,852,1.73,0.00,61.60,0.828,6,0.099,0.000,2675,1913,3370
$STATE,852,end apogee,CONTROL_FINISHED_OK
$STATE,852,begin climb
$GC,855,1.96,71.4,121.8,0.0,170,925,2.28,0.00,61.58,0.814,6,0.045,0.000,3186,1913,3077
$GC,1059,1.96,72.0,111.5,7.9,212,1066,0.00,2.53,0.00,0.000,4,0.000,0.044,3186,3348,3077
$GC,1149,1.96,73.8,104.3,7.7,231,1155,0.00,2.45,0.00,0.000,6,0.000,0.037,3186,1949,3077
$GC,1293,1.98,84.3,94.1,6.7,262,1312,0.00,2.50,12.07,0.725,4,0.000,0.043,3186,3349,3026
$GC,1342,1.98,87.1,90.4,7.6,271,1355,0.00,2.47,4.10,0.510,6,0.000,0.037,3186,1943,3015
$GC,1489,1.98,87.1,78.0,8.7,303,1495,0.00,2.50,0.00,0.000,4,0.000,0.044,3186,3350,3015
$GC,1529,1.98,87.1,74.7,8.2,311,1535,0.00,2.47,0.00,0.000,6,0.000,0.038,3186,1940,3015
$GC,1670,1.99,90.4,63.4,7.5,342,1677,0.00,0.00,4.47,0.545,6,0.000,0.000,3186,1940,3001
$GC,1813,1.99,90.4,52.0,8.2,373,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1940,3001
$GC,1953,1.99,92.6,40.7,7.7,404,1960,0.00,0.00,3.67,0.479,6,0.000,0.000,3186,1940,2992
$GC,2090,2.00,98.3,30.5,7.3,435,2104,0.00,2.53,6.28,0.632,4,0.000,0.057,3186,541,2969
$GC,2190,2.00,98.3,22.1,8.2,457,2197,0.00,2.42,0.00,0.000,6,0.000,0.031,3186,1951,2969
$GC,2264,2.01,105.8,16.6,7.1,473,2277,0.00,0.00,7.97,0.669,6,0.000,0.000,3186,1951,2938
$GC,2344,2.02,110.0,10.9,7.4,490,2351,0.00,0.00,5.12,0.575,6,0.000,0.000,3186,1951,2921
$GC,2416,2.04,121.1,5.8,6.6,506,2437,0.05,2.50,10.12,0.689,4,0.091,0.042,3208,3337,2876
$GC,2458,2.10,159.5,4.4,3.4,513,2491,0.00,2.47,28.25,0.748,6,0.000,0.037,3208,1917,2719
$STATE,2525,end climb,SURFACE_DEPTH_REACHED
$STATE,2525,begin surface coast
$FINISH,2.6,1.020552
$STATE,2671,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2671,begin surface
$SM_CCo,2695,85.53,0.761,0,0,1942,350.04
$SM_GC,0.69,0.00,0.00,85.53,0.000,0.000,0.761,397,1913,1942,-10.87,0.37,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,070716
$TT8_MAMPS,0.027612
$HUMID,2119
$INTERNAL_PRESSURE,9.11891
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.7,36.5
$24V_AH,23.3,3.673
$10V_AH,10.7,1.397
$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,27.625,39.700,205.250,85.525,0.000,29.473,28.644,251.452,1.250,0.000,0.000,33.859,864.196,329.063,345.611,1205.675,515.951,33.336,847.465,0.000,1187.147,0.000,11.804,0.000
$DEVICE_MAMPS,152.633,56.758,828.360,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.199,838.238,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25412,560
$CAP_FILE_SIZE,56501,0
$CFSIZE,260165632,257560576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,090255,4805.929,-12222.022,12,1.9,12,18.3