version: 66.04
glider: 133
mission: 2
dive: 20
start: 8 26 109 11 4 46
data:
$ID,133
$MISSION,2
$DIVE,20
$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,-78610.242
$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,31
$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,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
$GPS1,105650,4806.144,-12222.194,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-72.5
$GPS2,110355,4806.122,-12222.168,13,1.6,30,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.208
$KALMAN_X,-1221.1,287.7,-106.3,1771.2,129.3
$KALMAN_Y,3427.9,-274.3,46.3,-5890.7,-256.2
$MHEAD_RNG_PITCHd_Wd,311.4,4150,-14.8,-7.937
$D_GRID,107
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.23,-146.0,0.0,0.0,0,69,0.00,0.00,-49.53,0.000,2,0.000,0.000,399,1889,3250
$GC,73,-1.23,-146.0,3.3,-5.8,8,101,11.52,0.00,-13.45,0.000,6,0.147,0.000,2482,1890,3963
$GC,167,-1.23,-146.0,15.9,-11.1,27,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1890,3963
$GC,238,-1.23,-146.0,23.9,-11.0,43,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1890,3963
$GC,309,-1.23,-146.0,32.0,-11.6,59,316,0.00,2.55,0.00,0.000,4,0.000,0.056,2482,496,3963
$GC,344,-1.23,-146.0,36.1,-11.8,66,351,0.00,2.42,0.00,0.000,6,0.000,0.029,2482,1893,3963
$GC,417,-1.23,-146.0,44.4,-11.3,82,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1895,3963
$GC,557,-1.23,-146.0,60.4,-11.5,113,563,0.00,2.55,0.00,0.000,4,0.000,0.056,2482,498,3963
$GC,588,-1.23,-146.0,64.2,-12.0,119,594,0.00,2.40,0.00,0.000,6,0.000,0.030,2482,1904,3963
$GC,729,-1.23,-146.0,80.6,-11.3,150,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1904,3963
$GC,869,-1.23,-146.0,96.2,-11.2,181,875,0.00,2.53,0.00,0.000,4,0.000,0.058,2483,503,3963
$GC,920,-1.23,-146.0,102.4,-11.9,192,927,0.00,2.40,0.00,0.000,6,0.000,0.031,2483,1899,3963
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,970,-0.33,0.0,107.3,10.8,201,1099,0.93,0.00,122.15,0.826,6,0.074,0.000,2680,1973,3370
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1103,1.23,146.0,112.3,0.0,223,1232,1.58,0.00,122.65,0.803,6,0.050,0.000,3027,1973,2774
$GC,1371,1.23,146.0,97.2,8.3,275,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1974,2773
$GC,1508,1.24,147.4,86.1,7.9,306,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1974,2773
$GC,1648,1.24,147.4,74.9,8.1,337,1654,0.00,2.58,0.00,0.000,4,0.000,0.058,3027,553,2773
$GC,1679,1.24,147.4,72.1,8.6,343,1685,0.00,2.35,0.00,0.000,6,0.000,0.031,3027,1934,2773
$GC,1824,1.24,147.4,60.2,8.4,374,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1937,2772
$GC,1968,1.24,147.4,48.5,8.1,405,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1937,2773
$GC,2104,1.24,147.4,37.7,8.0,436,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1937,2772
$GC,2176,1.24,152.7,32.0,7.7,452,2190,0.00,2.53,7.00,0.642,4,0.000,0.057,3027,543,2747
$GC,2210,1.24,152.7,29.2,8.0,458,2217,0.00,2.42,0.00,0.000,6,0.000,0.031,3027,1949,2746
$GC,2284,1.24,152.7,23.5,8.0,474,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1952,2746
$GC,2355,1.25,156.1,18.0,7.8,490,2363,0.00,0.00,4.65,0.547,6,0.000,0.000,3027,1952,2733
$GC,2430,1.27,167.3,12.4,7.5,506,2450,0.00,2.60,11.10,0.695,4,0.000,0.058,3028,554,2686
$GC,2693,1.64,391.9,4.6,-0.3,566,2715,0.30,2.40,15.80,0.716,2,0.031,0.029,3123,1966,2612
$STATE,2715,end climb,NO_VERTICAL_VELOCITY
$STATE,2715,begin surface
$SM_CCo,2719,246.70,0.732,1,0,469,711.36
$SM_GC,0.78,11.90,0.00,0.00,0.027,0.000,0.000,394,1890,465,-10.81,-0.28,712.34
$IRIDIUM_FIX,4751.72,-12340.51,201198,101006
$TT8_MAMPS,0.026845
$HUMID,2106
$INTERNAL_PRESSURE,8.93336
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.3,3.990
$10V_AH,10.7,1.580
$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,26.225,29.900,283.350,246.700,0.000,24.791,30.992,222.019,0.000,0.000,0.000,31.600,845.457,423.211,570.772,1218.336,459.483,33.344,1101.843,0.000,1202.444,0.000,0.846,0.000
$DEVICE_MAMPS,147.264,91.273,826.059,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.335,851.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25383,569
$CAP_FILE_SIZE,55618,0
$CFSIZE,260165632,257458176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260809,115721,4806.335,-12222.272,12,5.3,31,18.3