version: 66.04
glider: 128
mission: 2
dive: 9
start: 10 15 108 2 43 15
data:
$ID,128
$MISSION,2
$DIVE,9
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1100
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51675
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,20
$TGT_DEFAULT_LON,-158
$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,-107819.16
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$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,1
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.435914
$PRESSURE_SLOPE,0.0001162386
$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,3
$XPDR_VALID,0
$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,0.0043206438
$SEABIRD_T_H,0.00063139666
$SEABIRD_T_I,2.5065803e-05
$SEABIRD_T_J,2.8780487e-06
$SEABIRD_C_G,-9.8634701
$SEABIRD_C_H,1.1197931
$SEABIRD_C_I,-0.0018544764
$SEABIRD_C_J,0.0002103937
$GPS1,023438,4806.044,-12222.126,12,1.6,30,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.3
$GPS2,024257,4806.003,-12222.107,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,309.4,4377,-22.4,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.24,-97.3,0.0,0.0,0,96,0.00,0.00,-75.25,0.000,6,0.000,0.000,56,2035,3148
$GC,102,-1.24,-97.3,4.1,-6.7,13,115,9.62,0.00,0.00,0.000,6,0.216,0.000,2456,2033,3150
$GC,183,-1.24,-97.3,21.3,-11.5,30,189,0.00,2.38,0.00,0.000,4,0.000,0.047,2448,3458,3150
$GC,273,-1.24,-97.3,31.6,-11.3,50,279,0.00,2.30,0.00,0.000,6,0.000,0.032,2447,2048,3149
$GC,347,-1.24,-97.3,39.5,-10.8,66,354,0.00,2.35,0.00,0.000,4,0.000,0.047,2437,3458,3149
$GC,368,-1.24,-97.3,41.5,-10.0,69,374,0.00,2.30,0.00,0.000,6,0.000,0.033,2437,2045,3149
$GC,512,-1.24,-97.3,57.3,-10.9,100,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2045,3150
$GC,658,-1.24,-97.3,73.2,-11.2,131,664,0.00,2.30,0.00,0.000,4,0.000,0.045,2437,639,3150
$GC,696,-1.24,-97.3,77.7,-11.9,138,703,0.15,2.30,0.00,0.000,6,0.150,0.035,2464,2055,3150
$GC,846,-1.24,-97.3,93.5,-10.4,169,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2055,3149
$GC,990,-1.24,-97.3,108.0,-10.2,200,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2055,3149
$STATE,1050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1050,begin apogee
$GC,1061,-0.25,0.0,114.3,9.7,213,1140,1.00,0.00,71.88,0.832,6,0.127,0.000,2778,2055,2750
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1146,1.24,97.3,117.1,0.0,227,1226,1.42,0.00,72.55,0.747,6,0.064,0.000,3262,2056,2352
$GC,1367,1.24,97.3,98.2,11.1,271,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2056,2351
$GC,1511,1.24,97.3,81.9,11.1,302,1518,0.00,2.38,0.00,0.000,4,0.000,0.044,3273,642,2352
$GC,1526,1.24,97.3,80.2,10.9,304,1533,0.00,2.33,0.00,0.000,6,0.000,0.035,3273,2054,2352
$GC,1677,1.24,97.3,63.8,10.9,335,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2054,2351
$GC,1822,1.24,97.3,46.8,11.2,366,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2054,2352
$GC,1963,1.24,97.3,31.9,10.9,397,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2054,2351
$GC,2037,1.24,97.8,24.5,10.0,413,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2054,2351
$GC,2111,1.26,108.7,17.7,9.3,429,2124,0.00,0.00,9.75,0.804,6,0.000,0.000,3273,2054,2306
$GC,2192,1.29,138.9,10.5,7.9,446,2223,0.00,2.38,23.35,0.777,4,0.000,0.048,3273,3464,2183
$GC,2233,1.35,183.0,7.6,7.0,452,2276,0.00,2.33,33.15,0.701,6,0.000,0.033,3284,2046,2002
$STATE,2280,end climb,SURFACE_DEPTH_REACHED
$STATE,2280,begin surface coast
$FINISH,0.4,1.003457
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2392,75.82,0.696,0,0,1323,350.04
$SM_GC,1.27,0.00,0.00,75.82,0.000,0.000,0.696,50,2036,1323,-8.80,-0.40,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,010106
$TT8_MAMPS,0.026078
$HUMID,1677
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.5,43.5
$24V_AH,24.6,1.015
$10V_AH,10.8,0.524
$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,21.375,23.325,210.675,75.825,0.000,28.829,31.821,238.107,1.000,0.000,0.000,16.085,715.947,432.130,348.116,821.116,655.753,0.000,791.962,0.000,877.403,0.000,5.544,0.000
$DEVICE_MAMPS,216.294,47.554,832.195,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.823,543.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22245,479
$CAP_FILE_SIZE,47651,0
$CFSIZE,260165632,226529280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,032537,4806.152,-12222.184,9,1.3,25,18.3