version: 66.04
glider: 133
mission: 2
dive: 18
start: 8 26 109 9 14 2
data:
$ID,133
$MISSION,2
$DIVE,18
$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,-4
$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,-78562.273
$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,25
$R_STBD_OVSHOOT,41
$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,0
$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
$GPS1,090255,4805.929,-12222.022,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.0
$GPS2,091308,4805.885,-12221.999,10,1.9,10,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.033,0.133
$KALMAN_X,-1290.8,139.7,-122.6,2210.8,81.7
$KALMAN_Y,3434.3,5.2,236.7,-6801.5,-112.9
$MHEAD_RNG_PITCHd_Wd,327.7,212,-27.6,-7.937
$D_GRID,108
$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,-44.7,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,2,0.000,0.000,397,1913,3430
$GC,77,-1.95,-64.5,3.5,-5.6,9,98,10.90,2.42,-3.95,0.000,4,0.150,0.052,2327,3293,3634
$GC,106,-1.95,-64.5,9.4,-13.9,13,113,0.00,2.45,0.00,0.000,6,0.000,0.033,2327,1902,3634
$GC,179,-1.95,-64.5,20.0,-14.8,29,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1902,3634
$GC,251,-1.95,-64.5,30.5,-14.6,45,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1901,3634
$GC,323,-1.95,-64.5,41.4,-15.4,61,329,0.00,2.53,0.00,0.000,4,0.000,0.054,2327,491,3634
$GC,401,-1.95,-64.5,54.9,-17.6,78,407,0.00,2.40,0.00,0.000,6,0.000,0.028,2327,1894,3634
$GC,541,-1.95,-64.5,77.4,-15.6,109,547,0.00,2.53,0.00,0.000,4,0.000,0.054,2328,491,3634
$GC,582,-1.95,-64.5,84.3,-17.0,117,588,0.00,2.40,0.00,0.000,6,0.000,0.029,2327,1910,3634
$GC,720,-1.95,-64.5,106.1,-15.7,148,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1912,3634
$STATE,730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,730,begin apogee
$GC,737,-0.33,0.0,108.1,15.4,150,797,1.73,0.00,55.15,0.825,6,0.097,0.000,2677,1913,3370
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,800,1.95,64.5,111.4,0.0,160,866,2.25,2.58,55.12,0.800,4,0.045,0.043,3183,3357,3107
$GC,945,1.96,75.0,104.8,6.7,188,965,0.00,2.47,10.65,0.696,6,0.000,0.036,3183,1936,3064
$GC,1103,1.97,78.9,93.3,7.5,221,1115,0.00,2.55,4.93,0.559,4,0.000,0.043,3183,3345,3048
$GC,1148,1.97,80.0,89.8,7.8,230,1155,0.00,2.47,0.00,0.000,6,0.000,0.037,3183,1930,3049
$GC,1292,1.98,87.3,79.0,7.1,261,1306,0.00,2.60,8.70,0.680,4,0.000,0.042,3183,3349,3014
$GC,1353,1.99,89.8,74.4,7.6,273,1366,0.00,2.47,4.07,0.502,6,0.000,0.038,3183,1944,3003
$GC,1500,1.99,89.8,62.2,8.3,305,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1944,3003
$GC,1638,1.99,89.8,51.1,8.2,336,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1944,3002
$GC,1783,1.99,93.3,40.0,7.5,367,1790,0.00,0.00,4.45,0.538,6,0.000,0.000,3183,1944,2989
$GC,1856,2.00,96.6,34.5,7.5,383,1863,0.00,0.00,4.43,0.537,6,0.000,0.000,3183,1944,2976
$GC,1930,2.00,99.7,28.7,7.6,399,1937,0.00,0.00,4.38,0.528,6,0.000,0.000,3183,1945,2962
$GC,2004,2.00,99.7,22.9,8.1,415,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1945,2963
$GC,2077,2.01,102.4,17.2,7.6,431,2084,0.00,0.00,3.88,0.489,6,0.000,0.000,3183,1944,2952
$GC,2150,2.01,105.6,11.7,7.6,447,2157,0.00,0.00,4.40,0.529,6,0.000,0.000,3183,1944,2939
$GC,2223,2.03,112.5,6.4,7.1,463,2238,0.05,2.50,6.88,0.631,4,0.090,0.041,3203,3353,2911
$GC,2250,2.06,135.4,5.4,5.2,467,2276,0.00,2.50,19.92,0.725,6,0.000,0.037,3203,1951,2817
$GC,2343,2.17,199.9,4.4,0.3,486,2389,0.12,2.58,38.90,0.729,4,0.056,0.057,3238,543,2554
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,0.5,1.020162
$STATE,2480,end surface coast,CONTROL_FINISHED_OK
$STATE,2480,begin surface
$SM_CCo,2506,66.82,0.736,0,0,1942,350.04
$SM_GC,0.92,0.00,0.00,66.82,0.000,0.000,0.736,396,1914,1942,-10.87,0.40,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,090947
$TT8_MAMPS,0.026845
$HUMID,2107
$INTERNAL_PRESSURE,9.12868
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.4,3.756
$10V_AH,10.7,1.455
$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,27.975,39.825,225.850,66.825,0.000,50.467,57.940,303.120,0.000,0.000,0.000,11.862,796.514,356.000,343.401,1085.018,617.728,33.323,830.621,0.000,1095.571,0.000,1.151,0.000
$DEVICE_MAMPS,149.565,56.758,824.525,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.684,782.295,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25330,514
$CAP_FILE_SIZE,58211,0
$CFSIZE,260165632,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,095806,4806.011,-12222.013,30,1.2,30,18.3