version: 66.04
glider: 133
mission: 2
dive: 25
start: 8 26 109 15 51 58
data:
$ID,133
$MISSION,2
$DIVE,25
$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,-78743.797
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,153656,4807.149,-12223.174,8,1.0,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.9
$GPS2,155107,4807.144,-12223.128,12,1.8,29,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.152,0.187
$KALMAN_X,-930.5,364.6,135.7,-26.4,-14.5
$KALMAN_Y,3332.3,-616.6,-282.5,-3231.7,119.2
$MHEAD_RNG_PITCHd_Wd,302.5,1917,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.23,-146.0,0.0,0.0,0,73,0.00,0.00,-55.75,0.000,2,0.000,0.000,403,1930,3466
$GC,77,-1.23,-146.0,3.8,-5.8,9,104,11.55,2.58,-8.48,0.000,4,0.146,0.064,2482,489,3962
$GC,240,-1.23,-146.0,27.0,-12.0,44,247,0.00,2.40,0.00,0.000,6,0.000,0.028,2483,1893,3962
$GC,313,-1.23,-146.0,35.4,-11.5,60,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1896,3962
$GC,385,-1.23,-146.0,43.4,-11.0,76,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1896,3962
$GC,528,-1.23,-146.0,59.6,-11.4,107,534,0.00,2.53,0.00,0.000,4,0.000,0.054,2483,491,3962
$GC,570,-1.23,-146.0,64.9,-12.6,116,577,0.00,2.40,0.00,0.000,6,0.000,0.029,2482,1891,3962
$GC,712,-1.23,-146.0,81.6,-11.8,147,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1892,3962
$GC,849,-1.23,-146.0,97.0,-10.8,178,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1893,3962
$STATE,920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,920,begin apogee
$GC,927,-0.33,0.0,105.0,10.9,194,1053,0.93,0.00,121.12,0.805,6,0.074,0.000,2679,1961,3370
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1057,1.23,146.0,109.6,0.0,215,1187,1.55,2.55,121.90,0.782,4,0.046,0.045,3026,3342,2774
$GC,1257,1.23,146.0,100.2,8.6,252,1264,0.00,2.47,0.00,0.000,6,0.000,0.037,3026,1928,2773
$GC,1399,1.23,146.0,88.3,8.5,283,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1928,2773
$GC,1540,1.24,149.8,76.8,7.8,314,1553,0.00,2.55,4.65,0.530,4,0.000,0.058,3026,546,2759
$GC,1586,1.24,149.8,72.9,8.6,323,1592,0.00,2.38,0.00,0.000,6,0.000,0.031,3026,1943,2759
$GC,1727,1.24,149.8,62.0,8.0,354,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1945,2759
$GC,1867,1.24,149.8,50.8,8.2,385,1873,0.00,2.55,0.00,0.000,4,0.000,0.056,3026,546,2759
$GC,1902,1.24,149.8,47.7,8.6,392,1909,0.00,2.42,0.00,0.000,6,0.000,0.031,3026,1947,2758
$GC,2042,1.24,149.8,36.6,8.3,423,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1947,2758
$GC,2116,1.24,149.8,30.5,8.1,439,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1947,2758
$GC,2187,1.26,162.8,25.0,7.5,455,2207,0.00,0.00,12.32,0.694,6,0.000,0.000,3026,1947,2705
$GC,2273,1.27,166.4,18.3,7.8,473,2281,0.00,0.00,4.90,0.551,6,0.000,0.000,3026,1947,2691
$GC,2347,1.28,171.8,12.6,7.7,489,2359,0.00,0.00,6.15,0.601,6,0.000,0.000,3026,1947,2669
$GC,2426,1.28,171.8,6.4,8.1,506,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1947,2669
$GC,2498,1.54,328.5,3.9,2.2,522,2544,0.25,0.00,43.45,0.727,2,0.041,0.000,3097,1947,2373
$STATE,2545,end climb,SURFACE_DEPTH_REACHED
$STATE,2545,begin surface coast
$FINISH,0.1,1.019847
$STATE,2732,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2756,46.92,0.728,0,0,1942,350.04
$SM_GC,1.70,0.00,0.00,46.92,0.000,0.000,0.728,397,1889,1942,-10.87,-0.31,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,151510
$TT8_MAMPS,0.026845
$HUMID,2140
$INTERNAL_PRESSURE,9.14821
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.4,4.478
$10V_AH,10.7,1.890
$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,26.225,24.950,314.500,46.925,0.000,72.707,276.142,228.660,0.000,0.000,0.000,30.551,844.369,441.458,379.824,1232.268,766.351,33.335,920.322,0.000,1220.797,0.000,0.847,0.000
$DEVICE_MAMPS,146.497,87.438,805.350,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.984,873.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25382,573
$CAP_FILE_SIZE,55402,0
$CFSIZE,260165632,257282048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,163949,4807.385,-12223.431,10,1.7,27,18.3