version: 66.04
glider: 128
mission: 2
dive: 17
start: 10 15 108 9 29 54
data:
$ID,128
$MISSION,2
$DIVE,17
$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,-108018.38
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,092145,4807.109,-12222.851,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,092937,4807.078,-12222.763,31,1.3,31,18.3
$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,299.9,2293,-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,-69.88,0.000,2,0.000,0.000,54,2058,3012
$GC,96,-1.24,-97.3,3.5,-5.2,12,117,9.73,2.38,-2.85,0.000,4,0.219,0.053,2461,636,3149
$GC,312,-1.24,-97.3,31.6,-11.3,59,319,0.00,2.35,0.00,0.000,6,0.000,0.033,2453,2056,3150
$GC,385,-1.24,-97.3,39.7,-11.6,75,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2057,3150
$GC,464,-1.24,-97.3,48.3,-10.6,91,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2057,3150
$GC,608,-1.24,-97.3,63.2,-10.3,122,614,0.00,2.30,0.00,0.000,4,0.000,0.045,2442,3456,3150
$GC,647,-1.24,-97.3,67.2,-10.4,129,653,0.00,2.28,0.00,0.000,6,0.000,0.032,2442,2044,3150
$GC,798,-1.24,-97.3,82.5,-10.5,160,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2044,3150
$GC,952,-1.24,-97.3,98.7,-10.8,191,958,0.00,2.25,0.00,0.000,4,0.000,0.042,2441,646,3150
$GC,994,-1.24,-97.3,103.7,-11.3,199,1000,0.12,2.28,0.00,0.000,6,0.152,0.033,2462,2054,3150
$STATE,1127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1127,begin apogee
$GC,1138,-0.25,0.0,116.9,9.6,227,1218,1.00,0.00,72.20,0.806,6,0.126,0.000,2776,2055,2749
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1224,1.24,97.3,120.2,0.0,241,1304,1.42,0.00,72.57,0.739,6,0.063,0.000,3262,2055,2352
$GC,1448,1.24,97.3,100.7,11.2,285,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2055,2352
$GC,1592,1.24,97.3,84.8,11.1,316,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2055,2351
$GC,1737,1.24,97.3,68.5,11.6,347,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2055,2352
$GC,1881,1.24,97.3,52.4,11.3,378,1887,0.00,2.30,0.00,0.000,4,0.000,0.044,3261,3455,2352
$GC,1896,1.24,97.3,50.8,10.8,380,1902,0.00,2.28,0.00,0.000,6,0.000,0.033,3272,2052,2351
$GC,2042,1.24,99.5,36.3,9.9,411,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2052,2352
$GC,2117,1.24,99.5,28.2,10.2,427,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2052,2351
$GC,2192,1.25,103.3,20.9,9.7,443,2199,0.00,0.00,6.05,0.713,6,0.000,0.000,3273,2052,2328
$GC,2269,1.25,103.3,12.9,11.1,459,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2051,2328
$GC,2343,1.29,140.8,6.4,7.4,475,2368,0.00,0.00,22.67,0.797,2,0.000,0.000,3272,2052,2205
$STATE,2368,end climb,SURFACE_DEPTH_REACHED
$STATE,2369,begin surface coast
$FINISH,0.3,1.020595
$STATE,2474,end surface coast,CONTROL_FINISHED_OK
$STATE,2474,begin surface
$SM_CCo,2501,97.45,0.677,0,0,1323,350.04
$SM_GC,1.28,0.00,0.00,97.45,0.000,0.000,0.677,51,2042,1323,-8.80,-0.23,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,080813
$TT8_MAMPS,0.026078
$HUMID,1655
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,36.2
$24V_AH,24.6,1.629
$10V_AH,10.8,0.904
$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,21.625,18.400,173.500,97.450,0.000,23.753,29.755,204.087,2.000,0.000,0.000,33.362,760.963,462.166,338.177,883.430,632.091,0.000,782.705,0.000,926.810,0.000,14.303,0.000
$DEVICE_MAMPS,219.362,52.923,806.117,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.731,573.539,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22297,503
$CAP_FILE_SIZE,47897,0
$CFSIZE,260165632,226295808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,101409,4807.315,-12223.038,7,1.8,7,18.3