version: 66.04
glider: 128
mission: 2
dive: 6
start: 10 15 108 0 8 25
data:
$ID,128
$MISSION,2
$DIVE,6
$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,-107754.34
$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,30
$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
$GPS1,235952,4806.547,-12222.331,13,24.6,32,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.1
$GPS2,000808,4806.466,-12222.293,29,1.1,29,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,138.9,936,-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,-69.80,0.000,2,0.000,0.000,53,2029,3003
$GC,96,-1.24,-97.3,3.4,-4.7,12,117,9.48,2.35,-3.00,0.000,4,0.210,0.060,2460,640,3148
$GC,365,-1.24,-97.3,38.9,-10.0,72,371,0.00,2.30,0.00,0.000,6,0.000,0.034,2451,2050,3150
$GC,443,-1.24,-97.3,46.4,-9.2,88,449,0.00,2.35,0.00,0.000,4,0.000,0.045,2451,635,3150
$GC,563,-1.24,-97.3,59.0,-11.2,113,569,0.00,2.30,0.00,0.000,6,0.000,0.034,2441,2063,3150
$GC,707,-1.24,-97.3,75.1,-11.0,144,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2063,3150
$GC,854,-1.24,-97.3,91.0,-10.6,175,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2062,3150
$GC,997,-1.24,-97.3,106.4,-11.1,206,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2063,3150
$STATE,1089,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1089,begin apogee
$GC,1100,-0.25,0.0,116.9,10.6,226,1180,1.08,0.00,71.80,0.834,6,0.130,0.000,2776,2064,2749
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1186,1.24,97.3,120.0,0.0,240,1265,1.42,0.00,72.45,0.755,6,0.064,0.000,3262,2064,2352
$GC,1405,1.24,97.3,101.9,11.0,284,1412,0.00,2.35,0.00,0.000,4,0.000,0.045,3262,3466,2351
$GC,1463,1.24,97.3,95.5,11.9,295,1469,0.00,2.35,0.00,0.000,6,0.000,0.033,3273,2038,2351
$GC,1611,1.24,97.3,78.5,12.2,326,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2037,2351
$GC,1757,1.24,97.3,61.2,11.1,357,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2037,2352
$GC,1900,1.24,97.3,45.0,11.3,388,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2037,2352
$GC,2039,1.24,97.3,29.8,10.9,419,2046,0.00,2.40,0.00,0.000,4,0.000,0.046,3274,3464,2352
$GC,2110,1.24,97.3,21.7,11.3,434,2116,0.00,2.28,0.00,0.000,6,0.000,0.033,3284,2043,2352
$GC,2184,1.24,97.3,13.7,10.9,450,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2043,2352
$GC,2258,1.28,130.8,7.8,7.7,466,2289,0.00,2.40,25.08,0.839,4,0.000,0.045,3284,3467,2215
$STATE,2298,end climb,SURFACE_DEPTH_REACHED
$STATE,2298,begin surface coast
$FINISH,4.4,1.021403
$STATE,2309,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2338,111.95,0.686,0,0,1322,350.04
$SM_GC,1.20,0.00,0.00,111.95,0.000,0.000,0.686,53,2034,1322,-8.79,-0.45,350.04
$IRIDIUM_FIX,4751.72,-12340.51,080198,232352
$TT8_MAMPS,0.026078
$HUMID,1667
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,14.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.3,46.6
$24V_AH,24.5,0.781
$10V_AH,10.8,0.377
$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,21.425,23.450,169.325,111.950,0.000,28.736,30.298,224.694,1.000,0.000,0.000,30.648,705.260,445.668,348.091,830.776,613.793,0.000,765.655,0.000,867.619,0.000,5.552,0.000
$DEVICE_MAMPS,210.158,59.826,839.098,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.088,527.922,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22199,475
$CAP_FILE_SIZE,44942,0
$CFSIZE,260165632,226619392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151008,005008,4806.272,-12222.043,11,2.0,11,18.3