version: 66.04
glider: 133
mission: 2
dive: 15
start: 8 26 109 6 20 47
data:
$ID,133
$MISSION,2
$DIVE,15
$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,-78480.344
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,061313,4806.417,-12222.467,7,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.0
$GPS2,061956,4806.404,-12222.492,11,1.5,11,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.208
$KALMAN_X,-1451.6,-107.9,67.4,1823.6,-44.6
$KALMAN_Y,3352.0,344.5,104.1,-5970.0,275.4
$MHEAD_RNG_PITCHd_Wd,131.4,965,-14.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-146.0,0.0,0.0,0,70,0.00,0.00,-49.42,0.000,2,0.000,0.000,398,1887,3232
$GC,74,-1.23,-146.0,3.0,-5.3,8,107,11.60,2.50,-15.00,0.000,4,0.151,0.068,2482,501,3963
$GC,300,-1.23,-146.0,31.3,-12.1,58,307,0.00,2.40,0.00,0.000,6,0.000,0.029,2482,1896,3963
$GC,373,-1.23,-146.0,39.8,-11.4,74,380,0.00,2.53,0.00,0.000,4,0.000,0.055,2483,494,3963
$GC,395,-1.23,-146.0,42.5,-11.5,78,402,0.00,2.42,0.00,0.000,6,0.000,0.030,2482,1901,3963
$GC,535,-1.23,-146.0,58.4,-11.1,109,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1903,3963
$GC,676,-1.23,-146.0,74.0,-11.2,140,682,0.00,2.53,0.00,0.000,4,0.000,0.057,2482,502,3963
$GC,712,-1.23,-146.0,78.1,-11.5,147,718,0.00,2.38,0.00,0.000,6,0.000,0.031,2482,1900,3963
$GC,858,-1.23,-146.0,94.4,-10.9,178,871,0.00,2.53,0.00,0.000,4,0.000,0.057,2483,497,3963
$GC,891,-1.23,-146.0,98.1,-11.3,183,898,0.00,2.40,0.00,0.000,6,0.000,0.031,2482,1908,3963
$GC,1038,-1.23,-146.0,113.9,-10.7,214,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1913,3963
$STATE,1083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1084,begin apogee
$GC,1090,-0.33,0.0,119.2,10.8,224,1220,0.93,0.00,122.50,0.836,6,0.074,0.000,2679,1913,3370
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1224,1.23,146.0,122.3,0.0,246,1354,1.50,2.58,122.53,0.811,4,0.033,0.058,3031,553,2774
$GC,1435,1.23,146.0,111.9,9.2,285,1442,0.00,2.40,0.00,0.000,6,0.000,0.031,3031,1953,2773
$GC,1577,1.23,146.0,99.7,8.6,316,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1957,2773
$GC,1717,1.23,146.0,87.9,8.0,347,1723,0.00,2.55,0.00,0.000,4,0.000,0.058,3031,554,2773
$GC,1748,1.23,146.0,85.2,8.4,353,1754,0.00,2.40,0.00,0.000,6,0.000,0.031,3031,1960,2773
$GC,1889,1.23,146.0,73.4,8.4,384,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1961,2772
$GC,2033,1.23,146.0,61.3,8.2,415,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1961,2772
$GC,2173,1.23,146.0,49.6,8.0,446,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1961,2772
$GC,2313,1.23,146.0,39.0,8.1,477,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1961,2772
$GC,2383,1.23,146.0,33.5,8.0,493,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1961,2772
$GC,2456,1.25,157.2,28.0,7.5,509,2476,0.00,2.65,10.55,0.692,4,0.000,0.058,3031,552,2729
$GC,2524,1.25,157.2,22.1,8.9,523,2531,0.00,2.42,0.00,0.000,6,0.000,0.031,3031,1950,2729
$GC,2598,1.25,158.0,16.3,7.9,539,2605,0.00,2.47,0.00,0.000,4,0.000,0.045,3031,3358,2728
$GC,2617,1.25,158.0,14.6,8.1,542,2624,0.00,2.50,0.00,0.000,6,0.000,0.038,3031,1952,2728
$GC,2690,1.29,182.7,9.2,7.0,558,2716,0.00,0.00,22.42,0.735,6,0.000,0.000,3031,1951,2625
$GC,2783,1.44,270.2,3.2,4.7,577,2792,0.17,0.00,6.00,0.601,2,0.048,0.000,3083,1951,2598
$STATE,2793,end climb,SURFACE_DEPTH_REACHED
$STATE,2793,begin surface coast
$FINISH,0.1,1.020332
$STATE,2865,end surface coast,CONTROL_FINISHED_OK
$STATE,2865,begin surface
$SM_CCo,2888,76.47,0.754,0,0,1943,350.04
$SM_GC,0.66,0.00,0.00,76.47,0.000,0.000,0.754,395,1890,1943,-10.87,-0.28,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,050550
$TT8_MAMPS,0.026845
$HUMID,2117
$INTERNAL_PRESSURE,9.10915
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,13.8
$24V_AH,23.3,3.513
$10V_AH,10.7,1.273
$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,25.975,39.725,284.000,76.475,0.000,23.703,27.298,222.465,3.750,0.000,0.000,13.045,888.280,358.733,404.397,1256.755,469.215,33.333,960.353,0.000,1245.443,0.000,33.611,0.000
$DEVICE_MAMPS,151.099,88.205,836.030,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.440,860.544,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28546,595
$CAP_FILE_SIZE,58500,0
$CFSIZE,260165632,257630208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,071122,4806.088,-12222.142,9,4.3,28,18.3