version: 66.04
glider: 133
mission: 2
dive: 22
start: 8 26 109 13 2 31
data:
$ID,133
$MISSION,2
$DIVE,22
$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,-78661.758
$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,22
$R_STBD_OVSHOOT,45
$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
$GPS1,125438,4806.448,-12222.457,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-72.0
$GPS2,130137,4806.400,-12222.418,10,1.6,15,18.3
$SPEED_LIMITS,0.137,0.241
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.198
$KALMAN_X,-1008.6,364.3,-14.0,1080.4,136.1
$KALMAN_Y,3305.5,-482.1,-194.2,-4804.5,-180.4
$MHEAD_RNG_PITCHd_Wd,307.0,3550,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.23,-146.0,0.0,0.0,0,67,0.00,0.00,-49.42,0.000,2,0.000,0.000,398,1922,3243
$GC,71,-1.23,-146.0,3.1,-5.4,8,104,11.55,2.60,-13.32,0.000,4,0.148,0.064,2484,495,3963
$GC,152,-1.23,-146.0,15.8,-11.9,24,159,0.00,2.40,0.00,0.000,6,0.000,0.028,2484,1894,3963
$GC,225,-1.23,-146.0,23.6,-10.6,40,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1897,3963
$GC,297,-1.23,-146.0,31.4,-11.2,56,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1897,3963
$GC,369,-1.23,-146.0,39.7,-11.8,72,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1897,3963
$GC,443,-1.23,-146.0,48.1,-11.1,88,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1897,3963
$GC,584,-1.23,-146.0,64.4,-11.4,119,590,0.00,2.58,0.00,0.000,4,0.000,0.054,2484,484,3963
$GC,644,-1.23,-146.0,71.7,-11.9,132,651,0.00,2.45,0.00,0.000,6,0.000,0.030,2484,1899,3963
$GC,785,-1.23,-146.0,86.9,-10.8,163,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1901,3963
$GC,922,-1.23,-146.0,102.4,-11.4,194,929,0.00,2.55,0.00,0.000,4,0.000,0.056,2484,486,3963
$STATE,959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,959,begin apogee
$GC,969,-0.33,0.0,107.1,11.8,202,1098,0.93,0.00,122.00,0.825,6,0.074,0.000,2680,1959,3369
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1102,1.23,146.0,112.4,0.0,224,1232,1.55,2.58,122.07,0.799,4,0.047,0.045,3028,3357,2774
$GC,1279,1.23,146.0,105.2,8.2,256,1286,0.00,2.47,0.00,0.000,6,0.000,0.037,3028,1942,2773
$GC,1423,1.23,146.0,93.3,8.3,287,1429,0.00,2.53,0.00,0.000,4,0.000,0.058,3028,543,2773
$GC,1494,1.23,146.0,86.5,9.4,302,1501,0.00,2.45,0.00,0.000,6,0.000,0.031,3028,1961,2773
$GC,1639,1.23,146.0,75.0,8.4,333,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1961,2772
$GC,1776,1.23,146.0,63.7,8.4,364,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1961,2773
$GC,1918,1.24,149.3,52.4,7.8,395,1924,0.00,0.00,4.20,0.515,6,0.000,0.000,3028,1961,2761
$GC,2063,1.24,149.3,41.0,8.3,426,2070,0.00,2.55,0.00,0.000,4,0.000,0.057,3028,542,2761
$GC,2102,1.24,149.3,37.4,8.9,434,2109,0.00,2.42,0.00,0.000,6,0.000,0.031,3028,1950,2761
$GC,2176,1.25,154.2,31.7,7.8,450,2184,0.00,0.00,5.72,0.599,6,0.000,0.000,3028,1950,2741
$GC,2249,1.26,164.3,26.1,7.6,466,2262,0.00,0.00,10.02,0.683,6,0.000,0.000,3028,1951,2700
$GC,2329,1.26,164.3,19.9,8.0,483,2336,0.00,2.53,0.00,0.000,4,0.000,0.058,3028,545,2700
$GC,2368,1.28,175.4,17.0,7.5,491,2388,0.00,2.42,11.35,0.694,6,0.000,0.031,3028,1953,2653
$GC,2455,1.28,175.4,10.2,8.4,509,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1953,2653
$GC,2528,1.38,231.0,5.7,5.9,525,2574,0.12,2.55,40.50,0.742,4,0.054,0.044,3064,3343,2427
$STATE,2583,end climb,SURFACE_DEPTH_REACHED
$STATE,2583,begin surface coast
$FINISH,-0.0,1.020113
$STATE,2654,end surface coast,CONTROL_FINISHED_OK
$STATE,2654,begin surface
$SM_CCo,2680,55.45,0.732,0,0,1942,350.04
$SM_GC,1.42,0.00,0.00,55.45,0.000,0.000,0.732,397,1886,1942,-10.87,-0.40,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,121218
$TT8_MAMPS,0.026845
$HUMID,2116
$INTERNAL_PRESSURE,9.10915
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.3,4.183
$10V_AH,10.7,1.704
$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,25.950,40.225,315.875,55.450,0.000,24.448,32.364,222.505,0.000,0.000,0.000,16.601,815.310,322.524,397.592,1152.713,479.103,33.325,928.794,0.000,1158.793,0.000,0.846,0.000
$DEVICE_MAMPS,148.031,63.661,825.292,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.402,809.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25393,550
$CAP_FILE_SIZE,55005,0
$CFSIZE,260165632,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,134916,4806.653,-12222.685,9,4.5,28,18.3