version: 66.04
glider: 133
mission: 2
dive: 23
start: 8 26 109 13 57 6
data:
$ID,133
$MISSION,2
$DIVE,23
$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,-78697.109
$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,26
$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,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
$GPS1,134916,4806.653,-12222.685,9,4.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.5
$GPS2,135616,4806.626,-12222.643,13,2.7,32,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.195
$KALMAN_X,-1023.2,397.5,61.9,709.4,76.1
$KALMAN_Y,3360.9,-568.4,-283.4,-4268.5,-64.2
$MHEAD_RNG_PITCHd_Wd,305.8,3048,-14.8,-7.937
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-146.0,0.0,0.0,0,71,0.00,0.00,-50.15,0.000,2,0.000,0.000,397,1886,3279
$GC,74,-1.23,-146.0,3.4,-6.0,8,102,11.55,0.00,-12.07,0.000,6,0.147,0.000,2486,1888,3964
$GC,169,-1.23,-146.0,17.5,-11.1,27,175,0.00,2.47,0.00,0.000,4,0.000,0.055,2486,498,3964
$GC,228,-1.23,-146.0,24.7,-12.2,40,235,0.00,2.40,0.00,0.000,6,0.000,0.029,2485,1897,3964
$GC,300,-1.23,-146.0,32.7,-11.1,56,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1899,3964
$GC,370,-1.23,-146.0,40.7,-10.9,72,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1899,3964
$GC,514,-1.23,-146.0,55.9,-10.3,103,520,0.00,2.53,0.00,0.000,4,0.000,0.055,2486,495,3964
$GC,548,-1.23,-146.0,59.8,-11.2,110,555,0.00,2.42,0.00,0.000,6,0.000,0.031,2485,1902,3964
$GC,691,-1.23,-146.0,75.7,-11.3,141,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1904,3964
$GC,832,-1.23,-146.0,91.8,-11.5,172,838,0.00,2.53,0.00,0.000,4,0.000,0.057,2485,497,3964
$GC,888,-1.23,-146.0,98.7,-12.0,184,895,0.00,2.42,0.00,0.000,6,0.000,0.031,2485,1904,3964
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,949,-0.33,0.0,105.1,11.1,196,1079,0.90,0.00,121.90,0.815,6,0.073,0.000,2677,1978,3370
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1083,1.23,146.0,110.1,0.0,218,1213,1.55,2.50,122.07,0.788,4,0.047,0.045,3026,3333,2774
$GC,1235,1.29,179.0,104.9,6.7,244,1272,0.00,2.47,29.05,0.742,6,0.000,0.038,3026,1924,2640
$GC,1406,1.29,179.0,89.9,9.2,280,1413,0.00,2.50,0.00,0.000,4,0.000,0.058,3026,540,2639
$GC,1486,1.29,179.0,82.2,9.9,297,1492,0.00,2.40,0.00,0.000,6,0.000,0.031,3026,1947,2639
$GC,1629,1.29,179.0,69.5,8.7,328,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1950,2639
$GC,1770,1.29,179.0,56.7,8.8,359,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1950,2639
$GC,1910,1.29,179.0,44.5,8.9,390,1917,0.00,2.55,0.00,0.000,4,0.000,0.058,3026,538,2639
$GC,1950,1.29,179.0,40.8,9.7,398,1956,0.00,2.45,0.00,0.000,6,0.000,0.031,3025,1955,2638
$GC,2090,1.29,179.0,28.8,8.5,429,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1958,2638
$GC,2161,1.29,179.0,22.4,8.8,445,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1957,2638
$GC,2233,1.29,179.0,16.7,8.3,461,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1958,2638
$GC,2304,1.30,184.8,11.0,7.7,477,2318,0.05,2.58,6.38,0.606,4,0.091,0.058,3046,538,2616
$GC,2375,1.33,201.1,5.5,7.3,492,2396,0.00,2.42,13.95,0.692,6,0.000,0.030,3047,1951,2550
$STATE,2451,end climb,SURFACE_DEPTH_REACHED
$STATE,2451,begin surface coast
$FINISH,1.8,1.020207
$STATE,2580,end surface coast,CONTROL_FINISHED_OK
$STATE,2580,begin surface
$SM_CCo,2603,68.75,0.734,0,0,1943,350.04
$SM_GC,1.76,0.00,0.00,68.75,0.000,0.000,0.734,403,1882,1943,-10.84,-0.51,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,131334
$TT8_MAMPS,0.026078
$HUMID,2123
$INTERNAL_PRESSURE,9.13844
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.4,4.277
$10V_AH,10.7,1.764
$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,25.850,34.800,293.350,68.750,0.000,25.924,26.597,217.148,0.000,0.000,0.000,34.727,796.351,298.704,390.413,1163.648,451.916,33.326,905.093,0.000,1147.321,0.000,0.847,0.000
$DEVICE_MAMPS,147.264,90.506,815.321,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.014,815.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25346,538
$CAP_FILE_SIZE,52755,0
$CFSIZE,260165632,257355776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,144300,4806.897,-12222.912,35,1.4,41,18.3