version: 66.04
glider: 128
mission: 2
dive: 21
start: 10 15 108 13 2 54
data:
$ID,128
$MISSION,2
$DIVE,21
$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,-108119.38
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,124751,4807.855,-12223.729,7,1.7,7,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.9
$GPS2,130232,4807.797,-12223.723,9,1.5,14,18.3
$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,299.3,509,-27.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.47,-63.1,0.0,0.0,0,90,0.00,0.00,-69.82,0.000,2,0.000,0.000,56,2044,2996
$GC,96,-1.51,-97.3,3.2,-4.2,12,116,9.35,2.38,-3.40,0.000,4,0.217,0.057,2363,3456,3147
$GC,201,-1.51,-97.3,18.3,-10.8,34,207,0.00,2.33,0.00,0.000,6,0.000,0.031,2363,2040,3148
$GC,275,-1.51,-97.3,26.5,-10.3,50,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2039,3148
$GC,349,-1.51,-97.3,35.2,-11.8,66,355,0.00,2.30,0.00,0.000,4,0.000,0.041,2363,636,3148
$GC,396,-1.51,-97.3,41.3,-13.3,75,402,0.00,2.30,0.00,0.000,6,0.000,0.032,2353,2045,3148
$GC,542,-1.51,-97.3,61.2,-13.6,106,549,0.00,2.35,0.00,0.000,4,0.000,0.044,2343,3457,3148
$GC,567,-1.51,-97.3,64.7,-13.4,110,574,0.15,2.28,0.00,0.000,6,0.154,0.031,2378,2044,3148
$GC,716,-1.51,-97.3,83.4,-12.3,141,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2044,3148
$GC,868,-1.51,-97.3,102.0,-12.9,172,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2044,3148
$STATE,928,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,928,begin apogee
$GC,939,-0.25,0.0,110.5,12.4,185,1018,1.30,0.00,72.12,0.801,6,0.138,0.000,2775,2038,2749
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1024,1.51,97.3,113.7,0.0,199,1106,1.70,2.47,72.55,0.734,4,0.064,0.043,3350,3461,2352
$GC,1115,1.52,104.1,107.8,9.3,214,1128,0.00,2.40,6.80,0.620,6,0.000,0.031,3361,2047,2325
$GC,1270,1.52,104.1,85.5,14.9,246,1277,0.00,2.40,0.00,0.000,4,0.000,0.043,3361,3471,2325
$GC,1290,1.52,104.1,82.5,15.1,249,1296,0.00,2.35,0.00,0.000,6,0.000,0.031,3372,2045,2325
$GC,1438,1.52,104.1,60.8,14.2,280,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2045,2325
$GC,1583,1.52,104.1,39.4,14.3,311,1589,0.00,2.35,0.00,0.000,4,0.000,0.044,3372,3461,2325
$GC,1627,1.52,104.1,33.3,14.8,319,1633,0.00,2.30,0.00,0.000,6,0.000,0.032,3382,2044,2325
$GC,1701,1.52,104.1,22.7,14.6,335,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2044,2325
$GC,1776,1.52,104.1,12.9,13.3,351,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2044,2325
$STATE,1835,end climb,SURFACE_DEPTH_REACHED
$STATE,1835,begin surface coast
$FINISH,1.9,1.020629
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$SM_CCo,1909,124.97,0.689,0,0,1322,350.04
$SM_GC,1.40,0.00,0.00,124.97,0.000,0.000,0.689,46,2033,1322,-8.81,-0.48,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,131314
$TT8_MAMPS,0.026845
$HUMID,1624
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.2,34.9
$24V_AH,24.6,1.936
$10V_AH,10.8,1.090
$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,22.200,28.200,151.475,124.975,0.000,79.058,168.452,308.823,1.500,0.000,0.000,20.049,582.329,442.426,352.453,656.006,892.400,0.000,709.601,0.000,695.951,0.000,9.930,0.000
$DEVICE_MAMPS,217.061,56.758,800.748,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.144,431.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15948,375
$CAP_FILE_SIZE,45055,0
$CFSIZE,260165632,226193408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151008,133804,4807.947,-12223.912,6,2.7,25,18.3