version: 66.04
glider: 128
mission: 2
dive: 20
start: 10 15 108 12 5 54
data:
$ID,128
$MISSION,2
$DIVE,20
$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,-108098.71
$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,33
$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
$GPS1,115709,4807.703,-12223.514,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.4
$GPS2,120537,4807.675,-12223.473,29,1.5,29,18.3
$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,294.4,887,-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,-70.00,0.000,2,0.000,0.000,49,2058,3010
$GC,97,-1.24,-97.3,3.4,-4.8,12,117,9.68,2.38,-3.05,0.000,4,0.215,0.053,2461,644,3149
$GC,230,-1.24,-97.3,20.2,-10.2,39,236,0.00,2.33,0.00,0.000,6,0.000,0.032,2453,2058,3151
$GC,305,-1.24,-97.3,28.1,-10.5,55,311,0.00,2.33,0.00,0.000,4,0.000,0.045,2442,3459,3150
$GC,337,-1.24,-97.3,31.5,-10.0,61,343,0.00,2.30,0.00,0.000,6,0.000,0.032,2442,2048,3150
$GC,413,-1.24,-97.3,39.7,-10.6,77,419,0.00,2.30,0.00,0.000,4,0.000,0.041,2442,646,3151
$GC,465,-1.24,-97.3,45.2,-10.8,87,472,0.12,2.30,0.00,0.000,6,0.151,0.033,2462,2057,3151
$GC,613,-1.24,-97.3,59.9,-10.3,118,620,0.00,2.33,0.00,0.000,4,0.000,0.045,2453,3455,3151
$GC,669,-1.24,-97.3,66.0,-10.7,129,675,0.00,2.28,0.00,0.000,6,0.000,0.032,2453,2044,3151
$GC,821,-1.24,-97.3,81.6,-9.8,160,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2044,3151
$GC,966,-1.24,-97.3,96.8,-10.8,191,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2044,3151
$GC,1110,-1.24,-97.3,111.5,-9.8,222,1116,0.00,2.25,0.00,0.000,4,0.000,0.041,2453,641,3151
$STATE,1121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1121,begin apogee
$GC,1134,-0.25,0.0,113.0,9.3,224,1214,1.08,0.00,72.43,0.801,6,0.127,0.000,2777,2067,2749
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1220,1.24,97.3,116.3,0.0,238,1300,1.42,2.38,72.38,0.733,4,0.063,0.043,3262,3448,2353
$GC,1359,1.24,97.3,107.0,11.4,263,1365,0.00,2.35,0.00,0.000,6,0.000,0.032,3273,2045,2353
$GC,1507,1.24,97.3,89.9,11.8,294,1514,0.00,2.38,0.00,0.000,4,0.000,0.042,3283,636,2353
$GC,1528,1.24,97.3,86.9,11.3,297,1534,0.00,2.30,0.00,0.000,6,0.000,0.033,3283,2039,2353
$GC,1678,1.24,97.3,69.7,12.0,328,1684,0.00,2.33,0.00,0.000,4,0.000,0.041,3293,632,2352
$GC,1707,1.24,97.3,66.0,11.2,333,1713,0.00,2.33,0.00,0.000,6,0.000,0.033,3293,2053,2352
$GC,1855,1.24,97.3,49.1,11.3,364,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2054,2352
$GC,1997,1.24,97.3,32.4,11.0,395,2004,0.00,2.33,0.00,0.000,4,0.000,0.045,3294,3453,2352
$GC,2031,1.24,97.3,28.7,11.1,401,2038,0.12,2.30,0.00,0.000,6,0.137,0.032,3267,2047,2352
$GC,2109,1.25,105.1,21.0,9.5,417,2123,0.00,2.28,7.47,0.761,4,0.000,0.041,3275,647,2320
$GC,2146,1.25,105.1,17.2,10.6,423,2152,0.00,2.30,0.00,0.000,6,0.000,0.034,3275,2058,2320
$GC,2222,1.25,105.1,9.6,10.2,439,2228,0.00,2.28,0.00,0.000,4,0.000,0.045,3275,3455,2320
$GC,2246,1.25,106.8,7.1,9.9,443,2253,0.00,2.30,0.00,0.000,6,0.000,0.033,3286,2052,2320
$STATE,2262,end climb,SURFACE_DEPTH_REACHED
$STATE,2262,begin surface coast
$FINISH,1.8,1.020561
$STATE,2314,end surface coast,CONTROL_FINISHED_OK
$STATE,2314,begin surface
$SM_CCo,2341,119.93,0.678,0,0,1322,350.04
$SM_GC,1.38,0.00,0.00,119.93,0.000,0.000,0.678,56,2044,1322,-8.78,-0.17,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,111108
$TT8_MAMPS,0.026845
$HUMID,1655
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,42.6
$24V_AH,24.6,1.850
$10V_AH,10.8,1.047
$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,21.750,50.925,152.275,119.925,0.000,24.986,44.940,223.868,1.000,0.000,0.000,30.923,711.737,414.862,366.272,805.750,675.644,0.000,794.524,0.000,846.175,0.000,5.541,0.000
$DEVICE_MAMPS,214.760,52.923,800.748,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.606,517.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22260,458
$CAP_FILE_SIZE,51006,0
$CFSIZE,260165632,226205696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,124751,4807.855,-12223.729,7,1.7,7,18.3