version: 66.04
glider: 128
mission: 2
dive: 18
start: 10 15 108 10 22 26
data:
$ID,128
$MISSION,2
$DIVE,18
$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,-108034.91
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,101409,4807.315,-12223.038,7,1.8,7,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.3
$GPS2,102208,4807.306,-12223.019,10,1.5,14,18.3
$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,298.4,1768,-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,-70.05,0.000,2,0.000,0.000,52,2043,2983
$GC,97,-1.24,-97.3,3.0,-3.5,12,117,9.73,2.40,-3.53,0.000,4,0.218,0.056,2447,3461,3146
$GC,131,-1.24,-97.3,11.1,-20.9,17,138,0.00,2.38,0.00,0.000,6,0.000,0.032,2447,2043,3147
$GC,209,-1.24,-97.3,19.4,-9.7,33,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2043,3147
$GC,282,-1.24,-97.3,27.0,-10.5,49,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2043,3147
$GC,357,-1.24,-97.3,34.9,-10.9,65,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2043,3148
$GC,433,-1.24,-97.3,43.0,-11.0,81,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2043,3148
$GC,578,-1.24,-97.3,58.5,-10.4,112,584,0.00,2.30,0.00,0.000,4,0.000,0.042,2448,634,3148
$GC,628,-1.24,-97.3,64.3,-11.5,122,635,0.00,2.28,0.00,0.000,6,0.000,0.033,2437,2049,3147
$GC,782,-1.24,-97.3,80.0,-10.3,153,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2049,3148
$GC,926,-1.24,-97.3,95.8,-10.6,184,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2049,3148
$GC,1071,-1.24,-97.3,111.0,-10.3,215,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2049,3148
$STATE,1099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1099,begin apogee
$GC,1110,-0.25,0.0,114.1,9.9,221,1190,1.10,0.00,71.85,0.805,6,0.129,0.000,2778,2049,2749
$STATE,1191,end apogee,CONTROL_FINISHED_OK
$STATE,1191,begin climb
$GC,1196,1.24,97.3,116.9,0.0,235,1276,1.42,0.00,72.60,0.738,6,0.061,0.000,3266,2050,2352
$GC,1421,1.24,97.3,96.6,11.2,279,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2050,2351
$GC,1565,1.24,97.3,79.8,11.6,310,1571,0.00,2.35,0.00,0.000,4,0.000,0.044,3266,3465,2351
$GC,1585,1.24,97.3,77.5,11.5,313,1591,0.00,2.33,0.00,0.000,6,0.000,0.032,3277,2044,2351
$GC,1733,1.24,97.3,60.2,11.9,344,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2044,2351
$GC,1879,1.24,97.3,43.1,11.5,375,1885,0.00,2.38,0.00,0.000,4,0.000,0.045,3277,3466,2351
$GC,1894,1.24,97.3,41.4,11.4,377,1900,0.00,2.30,0.00,0.000,6,0.000,0.033,3287,2045,2351
$GC,2034,1.24,97.3,26.8,10.4,408,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2045,2351
$GC,2108,1.24,97.3,18.6,10.5,424,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2045,2351
$GC,2184,1.24,97.3,10.9,10.1,440,2191,0.00,2.38,0.00,0.000,4,0.000,0.045,3287,3456,2351
$GC,2205,1.25,107.6,8.9,9.3,443,2218,0.00,2.28,8.73,0.792,6,0.000,0.034,3298,2047,2311
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,4.3,1.021128
$STATE,2335,end surface coast,CONTROL_FINISHED_OK
$STATE,2335,begin surface
$SM_CCo,2362,126.45,0.683,0,0,1323,350.04
$SM_GC,1.06,0.00,0.00,126.45,0.000,0.000,0.683,55,2041,1323,-8.78,-0.25,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,090934
$TT8_MAMPS,0.026078
$HUMID,1657
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.0,44.1
$24V_AH,24.6,1.703
$10V_AH,10.8,0.951
$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,21.650,23.350,153.175,126.450,0.000,23.694,32.524,224.054,1.000,0.000,0.000,15.901,718.931,432.632,364.171,813.542,644.210,0.000,793.852,0.000,869.561,0.000,9.962,0.000
$DEVICE_MAMPS,217.828,55.991,804.583,683.397,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.562,538.089,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22260,471
$CAP_FILE_SIZE,47584,0
$CFSIZE,260165632,226267136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,110511,4807.525,-12223.293,7,2.1,26,18.3