version: 66.04
glider: 128
mission: 2
dive: 12
start: 10 15 108 5 15 27
data:
$ID,128
$MISSION,2
$DIVE,12
$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,-107882.53
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,050720,4806.480,-12222.283,13,1.5,31,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.2
$GPS2,051509,4806.452,-12222.229,12,1.4,12,18.3
$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,304.3,3607,-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,18,-1.24,-97.3,0.0,0.0,0,91,0.00,0.00,-69.70,0.000,2,0.000,0.000,51,2064,3023
$GC,96,-1.24,-97.3,3.7,-5.6,12,111,9.68,0.00,-2.72,0.000,6,0.216,0.000,2458,2059,3148
$GC,179,-1.24,-97.3,16.9,-11.8,29,185,0.00,2.38,0.00,0.000,4,0.000,0.044,2458,647,3149
$GC,285,-1.24,-97.3,28.6,-10.8,52,291,0.00,2.33,0.00,0.000,6,0.000,0.034,2450,2063,3149
$GC,358,-1.24,-97.3,36.4,-10.7,68,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2064,3149
$GC,433,-1.24,-97.3,44.2,-10.3,84,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2064,3150
$GC,579,-1.24,-97.3,59.3,-10.4,115,585,0.00,2.30,0.00,0.000,4,0.000,0.045,2439,3462,3150
$GC,615,-1.24,-97.3,63.4,-11.7,122,622,0.00,2.30,0.00,0.000,6,0.000,0.032,2439,2042,3150
$GC,762,-1.24,-97.3,78.8,-10.6,153,768,0.00,2.38,0.00,0.000,4,0.000,0.047,2429,3467,3150
$GC,793,-1.24,-97.3,82.5,-10.9,158,801,0.10,2.33,0.00,0.000,6,0.138,0.033,2459,2044,3150
$GC,945,-1.24,-97.3,97.1,-9.6,189,951,0.00,2.28,0.00,0.000,4,0.000,0.044,2459,647,3150
$GC,1010,-1.24,-97.3,104.5,-10.3,202,1016,0.00,2.28,0.00,0.000,6,0.000,0.034,2451,2053,3150
$STATE,1105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1105,begin apogee
$GC,1117,-0.25,0.0,114.9,10.2,223,1197,1.05,0.00,72.22,0.824,6,0.127,0.000,2777,2054,2749
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1203,1.24,97.3,117.6,0.0,237,1284,1.42,2.47,72.72,0.760,4,0.064,0.044,3273,641,2352
$GC,1345,1.24,97.3,107.1,10.9,263,1352,0.00,2.38,0.00,0.000,6,0.000,0.033,3273,2052,2352
$GC,1495,1.24,97.3,90.7,12.2,294,1501,0.00,2.38,0.00,0.000,4,0.000,0.048,3273,3464,2351
$GC,1510,1.24,97.3,88.2,12.1,296,1517,0.00,2.33,0.00,0.000,6,0.000,0.033,3284,2055,2351
$GC,1663,1.24,97.3,70.7,11.6,327,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2055,2351
$GC,1807,1.24,97.3,54.0,10.9,358,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2054,2351
$GC,1951,1.24,97.3,38.5,11.0,389,1958,0.00,2.38,0.00,0.000,4,0.000,0.046,3284,3459,2351
$GC,2003,1.24,97.3,32.5,11.9,399,2009,0.00,2.28,0.00,0.000,6,0.000,0.033,3294,2046,2351
$GC,2078,1.24,97.3,24.4,10.5,415,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2045,2351
$GC,2152,1.25,107.4,17.2,9.3,431,2166,0.00,2.38,8.70,0.788,4,0.000,0.045,3305,637,2312
$GC,2203,1.25,107.4,12.6,10.1,440,2210,0.15,2.33,0.00,0.000,6,0.140,0.034,3267,2064,2312
$GC,2280,1.30,149.0,6.5,7.1,456,2299,0.00,0.00,16.98,0.834,2,0.000,0.000,3267,2064,2221
$STATE,2300,end climb,SURFACE_DEPTH_REACHED
$STATE,2300,begin surface coast
$FINISH,1.6,1.020074
$STATE,2371,end surface coast,CONTROL_FINISHED_OK
$STATE,2371,begin surface
$SM_CCo,2398,105.68,0.712,0,0,1322,350.04
$SM_GC,1.23,0.00,0.00,105.68,0.000,0.000,0.712,55,2069,1322,-8.78,0.54,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,040455
$TT8_MAMPS,0.026078
$HUMID,1653
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.4,44.0
$24V_AH,24.5,1.242
$10V_AH,10.8,0.666
$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,21.675,37.450,170.625,105.675,0.000,24.013,29.212,220.674,1.000,0.000,0.000,13.543,732.601,437.665,353.988,817.184,638.819,0.000,789.365,0.000,874.849,0.000,5.544,0.000
$DEVICE_MAMPS,216.294,47.554,834.496,711.776,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.046,539.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22256,476
$CAP_FILE_SIZE,49830,0
$CFSIZE,260165632,226439168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,055833,4806.632,-12222.360,31,1.9,32,18.3