version: 66.04
glider: 128
mission: 2
dive: 16
start: 10 15 108 8 43 5
data:
$ID,128
$MISSION,2
$DIVE,16
$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,-107984.4
$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,26
$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
$GPS1,083408,4806.966,-12222.658,37,1.2,37,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.2
$GPS2,084248,4806.919,-12222.592,14,2.1,33,18.3
$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,300.7,2653,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-1.24,-97.3,0.0,0.0,0,94,0.00,0.00,-69.10,0.000,2,0.000,0.000,53,2035,2998
$GC,100,-1.24,-97.3,3.7,-5.4,12,120,9.65,2.33,-2.90,0.000,4,0.216,0.054,2460,639,3147
$GC,369,-1.24,-97.3,38.7,-11.0,72,375,0.00,2.33,0.00,0.000,6,0.000,0.033,2452,2064,3148
$GC,448,-1.24,-97.3,46.8,-9.8,88,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2064,3149
$GC,593,-1.24,-97.3,61.9,-10.5,119,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2064,3148
$GC,738,-1.24,-97.3,77.2,-10.2,150,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2064,3149
$GC,891,-1.24,-97.3,92.7,-10.0,181,897,0.00,2.35,0.00,0.000,4,0.000,0.041,2452,632,3148
$GC,970,-1.24,-97.3,101.9,-11.0,197,978,0.00,2.30,0.00,0.000,6,0.000,0.033,2442,2058,3149
$STATE,1076,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1076,begin apogee
$GC,1087,-0.25,0.0,113.8,10.8,220,1162,1.08,0.00,71.72,0.805,6,0.128,0.000,2776,2059,2750
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1168,1.24,97.3,116.8,0.0,233,1250,1.42,2.42,72.72,0.742,4,0.063,0.043,3262,3460,2352
$GC,1259,1.29,134.7,111.9,7.4,248,1295,0.00,2.40,29.30,0.715,6,0.000,0.033,3273,2051,2200
$GC,1437,1.29,134.7,88.7,13.9,284,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2050,2199
$GC,1583,1.29,134.7,68.6,14.1,315,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2051,2198
$GC,1727,1.29,134.7,48.7,13.6,346,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2050,2199
$GC,1869,1.29,134.7,30.1,12.5,377,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2050,2198
$GC,1944,1.29,134.7,20.5,12.4,393,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2050,2198
$GC,2021,1.29,134.7,11.2,11.5,409,2027,0.00,2.30,0.00,0.000,4,0.000,0.042,3283,637,2198
$GC,2051,1.30,144.7,8.4,9.3,414,2064,0.00,2.30,8.23,0.775,6,0.000,0.035,3283,2053,2160
$STATE,2077,end climb,SURFACE_DEPTH_REACHED
$STATE,2077,begin surface coast
$FINISH,1.2,1.020201
$STATE,2133,end surface coast,CONTROL_FINISHED_OK
$STATE,2133,begin surface
$SM_CCo,2160,101.22,0.684,0,0,1323,350.04
$SM_GC,1.08,0.00,0.00,101.22,0.000,0.000,0.684,54,2058,1323,-8.79,0.23,350.04
$IRIDIUM_FIX,4751.72,-12056.72,090198,070743
$TT8_MAMPS,0.026078
$HUMID,1648
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,43.5
$24V_AH,24.5,1.558
$10V_AH,10.8,0.855
$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,21.375,18.725,181.975,101.225,0.000,24.526,33.894,232.685,1.000,0.000,0.000,35.760,656.174,399.966,337.816,765.773,626.423,0.000,729.182,0.000,791.955,0.000,5.545,0.000
$DEVICE_MAMPS,216.294,53.690,804.583,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.538,489.125,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19175,432
$CAP_FILE_SIZE,43049,0
$CFSIZE,260165632,226332672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,092145,4807.109,-12222.851,9,1.8,9,18.3