version: 66.04
glider: 132
mission: 2
dive: 15
start: 12 11 108 8 16 58
data:
$ID,132
$MISSION,2
$DIVE,15
$D_SURF,6
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,62
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,120
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51344
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-122.18
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$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,-66822.977
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3680
$C_PITCH,2724
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,257
$ROLL_MAX,3939
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,466
$VBD_MAX,3904
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.5557156
$PRESSURE_SLOPE,0.0001162231
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004342691
$SEABIRD_T_H,0.00062451581
$SEABIRD_T_I,2.3518629e-05
$SEABIRD_T_J,2.5374579e-06
$SEABIRD_C_G,-9.8916435
$SEABIRD_C_H,1.1237497
$SEABIRD_C_I,-0.0013142129
$SEABIRD_C_J,0.00018127549
$GPS1,080820,4806.042,-12222.047,11,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.3
$GPS2,081601,4805.992,-12221.990,42,1.1,42,18.3
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.212
$KALMAN_X,132.8,114.0,125.8,1587.7,76.0
$KALMAN_Y,-2844.0,-468.0,-228.6,39.6,-220.7
$MHEAD_RNG_PITCHd_Wd,313.2,4473,-14.1,-8.065
$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,15,-1.12,-146.6,0.0,0.0,0,81,0.00,0.00,-63.92,0.000,2,0.000,0.000,419,2391,2556
$GC,85,-1.12,-146.6,3.6,-4.7,11,144,11.60,0.00,-40.80,0.000,6,0.154,0.000,2473,2391,3899
$GC,213,-1.12,-146.6,7.9,-5.8,33,220,0.00,2.72,0.00,0.000,4,0.000,0.058,2472,3904,3899
$GC,475,-1.12,-146.6,29.2,-8.7,79,481,0.00,2.40,0.00,0.000,6,0.000,0.031,2473,2477,3899
$GC,551,-1.12,-146.6,35.4,-8.0,92,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2475,3899
$GC,625,-1.12,-146.6,41.3,-8.3,105,631,0.00,2.58,0.00,0.000,4,0.000,0.051,2472,3909,3899
$GC,682,-1.12,-146.6,46.4,-9.0,115,689,0.00,2.38,0.00,0.000,6,0.000,0.028,2472,2494,3899
$GC,825,-1.12,-146.6,57.6,-8.0,140,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2490,3899
$GC,967,-1.12,-146.6,68.2,-7.3,165,973,0.00,2.53,0.00,0.000,4,0.000,0.051,2473,3900,3899
$GC,1047,-1.12,-146.6,75.0,-8.5,179,1053,0.00,2.35,0.00,0.000,6,0.000,0.028,2473,2497,3899
$GC,1191,-1.12,-146.6,85.8,-7.7,204,1197,0.00,2.50,0.00,0.000,4,0.000,0.053,2472,3899,3899
$GC,1244,-1.12,-146.6,90.2,-8.3,213,1250,0.00,2.35,0.00,0.000,6,0.000,0.027,2473,2495,3899
$GC,1388,-1.12,-146.6,100.9,-7.5,238,1395,0.00,2.50,0.00,0.000,4,0.000,0.058,2473,3898,3899
$GC,1419,-1.12,-146.6,103.4,-7.7,243,1425,0.00,2.35,0.00,0.000,6,0.000,0.027,2473,2490,3899
$STATE,1444,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1444,begin apogee
$GC,1450,-0.33,0.0,105.3,7.8,247,1574,0.82,0.00,117.72,0.666,6,0.074,0.000,2647,2488,3300
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1578,1.12,146.6,108.3,0.0,269,1707,1.45,2.45,117.53,0.638,4,0.048,0.038,2970,1126,2701
$GC,1736,1.12,146.6,97.1,10.3,297,1742,0.00,2.40,0.00,0.000,6,0.000,0.033,2970,2498,2701
$GC,1877,1.12,146.6,82.3,10.6,322,1884,0.00,2.50,0.00,0.000,4,0.000,0.054,2970,3904,2700
$GC,1919,1.12,146.6,77.7,11.4,329,1925,0.00,2.38,0.00,0.000,6,0.000,0.027,2970,2500,2700
$GC,2061,1.12,146.6,63.1,10.1,354,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2494,2700
$GC,2202,1.12,146.6,49.3,9.9,379,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2494,2700
$GC,2344,1.12,146.6,35.9,9.4,404,2350,0.00,2.53,0.00,0.000,4,0.000,0.053,2970,3915,2700
$GC,2392,1.12,146.6,31.0,10.6,412,2398,0.00,2.38,0.00,0.000,6,0.000,0.028,2970,2496,2700
$GC,2467,1.12,146.6,23.6,9.5,425,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2490,2700
$GC,2543,1.12,146.6,16.7,9.2,438,2549,0.00,2.53,0.00,0.000,4,0.000,0.055,2970,3913,2700
$GC,2557,1.12,146.6,15.3,9.5,440,2564,0.00,2.38,0.00,0.000,6,0.000,0.027,2970,2496,2700
$GC,2633,1.13,148.7,8.5,8.0,453,2639,0.00,2.38,0.00,0.000,4,0.000,0.037,2970,1115,2700
$GC,2663,1.13,155.5,6.1,7.8,458,2672,0.00,2.40,3.67,0.377,2,0.000,0.032,2970,2509,2692
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,3.3,1.019410
$STATE,2768,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2790,411.45,0.572,0,0,649,650.04
$SM_GC,0.89,0.00,0.00,411.45,0.000,0.000,0.572,418,2511,649,-10.61,0.28,650.04
$IRIDIUM_FIX,4751.72,-12340.51,070398,070700
$TT8_MAMPS,0.025311
$HUMID,1671
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.20
$XPDR_PINGS,262
$ALTIM_BOTTOM_PING,105.3,6.2
$24V_AH,23.7,2.184
$10V_AH,10.1,1.214
$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,25.450,48.950,238.925,411.450,0.000,23.724,36.954,258.906,67.250,0.000,0.000,43.782,714.321,853.776,752.168,887.604,475.092,33.329,1210.612,0.000,846.222,0.000,13.481,0.000
$DEVICE_MAMPS,154.167,58.292,665.756,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.455,553.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22268,476
$CAP_FILE_SIZE,53335,0
$CFSIZE,260165632,257052672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,091115,4806.070,-12222.058,13,1.7,13,18.3