version: 66.04
glider: 128
mission: 2
dive: 15
start: 10 15 108 7 48 19
data:
$ID,128
$MISSION,2
$DIVE,15
$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,-107948.01
$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,29
$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
$GPS1,073950,4806.856,-12222.520,9,1.9,26,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.6
$GPS2,074802,4806.789,-12222.445,14,1.6,31,18.3
$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,301.1,2953,-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,-97.3,0.0,0.0,0,91,0.00,0.00,-69.90,0.000,2,0.000,0.000,51,2032,2998
$GC,97,-1.24,-97.3,3.2,-4.5,12,117,9.60,2.33,-3.15,0.000,4,0.213,0.053,2462,644,3148
$GC,155,-1.24,-97.3,14.4,-11.7,23,161,0.00,2.35,0.00,0.000,6,0.000,0.035,2454,2065,3148
$GC,229,-1.24,-97.3,21.3,-9.4,39,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2065,3148
$GC,305,-1.24,-97.3,28.6,-9.9,55,311,0.00,2.38,0.00,0.000,4,0.000,0.044,2454,646,3149
$GC,421,-1.24,-97.3,41.6,-10.9,81,428,0.00,2.28,0.00,0.000,6,0.000,0.035,2444,2047,3148
$GC,567,-1.24,-97.3,57.3,-10.5,112,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2047,3149
$GC,712,-1.24,-97.3,72.6,-10.7,143,718,0.00,2.33,0.00,0.000,4,0.000,0.047,2433,3461,3149
$GC,731,-1.24,-97.3,74.8,-10.8,146,739,0.12,2.30,0.00,0.000,6,0.142,0.033,2464,2038,3149
$GC,884,-1.24,-97.3,90.5,-10.2,177,890,0.00,2.28,0.00,0.000,4,0.000,0.045,2464,645,3149
$GC,948,-1.24,-97.3,97.5,-10.8,190,955,0.00,2.30,0.00,0.000,6,0.000,0.035,2456,2064,3149
$GC,1098,-1.24,-97.3,112.6,-10.2,221,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2064,3149
$STATE,1108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1108,begin apogee
$GC,1119,-0.25,0.0,114.6,10.3,223,1199,1.02,0.00,71.82,0.811,6,0.127,0.000,2775,2064,2749
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1205,1.24,97.3,117.5,0.0,237,1285,1.42,0.00,72.62,0.746,6,0.063,0.000,3262,2065,2352
$GC,1429,1.24,97.3,98.6,10.6,281,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2065,2352
$GC,1574,1.24,97.3,82.8,10.9,312,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2065,2352
$GC,1718,1.24,97.3,66.9,11.6,343,1724,0.00,2.38,0.00,0.000,4,0.000,0.044,3272,642,2351
$GC,1779,1.24,97.3,60.0,11.7,355,1785,0.00,2.33,0.00,0.000,6,0.000,0.035,3272,2065,2351
$GC,1928,1.24,97.3,43.9,11.1,386,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2066,2351
$GC,2067,1.25,103.8,30.0,9.6,417,2080,0.00,2.30,6.45,0.732,4,0.000,0.048,3272,3459,2325
$GC,2103,1.25,103.8,26.2,10.6,423,2109,0.00,2.30,0.00,0.000,6,0.000,0.033,3283,2044,2325
$GC,2178,1.25,103.8,18.1,10.2,439,2184,0.00,2.30,0.00,0.000,4,0.000,0.045,3293,642,2325
$GC,2226,1.25,103.8,12.9,10.6,449,2232,0.00,2.28,0.00,0.000,6,0.000,0.035,3293,2047,2325
$GC,2300,1.30,144.2,6.5,7.2,465,2337,0.00,2.40,29.88,0.773,4,0.000,0.048,3293,3473,2162
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2358,begin surface coast
$FINISH,4.0,1.021081
$STATE,2523,end surface coast,CONTROL_FINISHED_OK
$STATE,2523,begin surface
$SM_CCo,2552,109.85,0.681,0,0,1322,350.04
$SM_GC,0.96,0.00,0.00,109.85,0.000,0.000,0.681,52,2039,1322,-8.79,-0.31,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,070739
$TT8_MAMPS,0.026078
$HUMID,1668
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,42.6
$24V_AH,24.6,1.482
$10V_AH,10.8,0.810
$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,21.600,37.175,180.775,109.850,0.000,22.583,35.577,217.408,0.750,0.000,0.000,33.456,778.680,462.139,369.076,899.415,651.086,0.000,828.327,0.000,946.897,0.000,5.543,0.000
$DEVICE_MAMPS,213.226,52.923,811.486,681.096,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.519,600.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22200,513
$CAP_FILE_SIZE,50902,0
$CFSIZE,260165632,226353152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,083408,4806.966,-12222.658,37,1.2,37,18.3