version: 66.04
glider: 128
mission: 2
dive: 22
start: 10 15 108 13 46 3
data:
$ID,128
$MISSION,2
$DIVE,22
$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,-108135.38
$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,39
$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
$GPS1,133804,4807.947,-12223.912,6,2.7,25,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.8
$GPS2,134544,4807.916,-12223.922,13,1.8,13,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$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,63.9,1150,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.24,-97.3,0.0,0.0,0,90,0.00,0.00,-69.65,0.000,2,0.000,0.000,47,2034,3011
$GC,96,-1.24,-97.3,3.4,-4.8,12,116,9.68,2.33,-3.00,0.000,4,0.214,0.054,2457,649,3149
$GC,243,-1.24,-97.3,21.5,-9.2,43,250,0.00,2.33,0.00,0.000,6,0.000,0.032,2449,2069,3150
$GC,320,-1.24,-97.3,29.4,-10.2,59,326,0.00,2.28,0.00,0.000,4,0.000,0.045,2438,3453,3149
$GC,397,-1.24,-97.3,37.0,-10.2,75,403,0.00,2.28,0.00,0.000,6,0.000,0.031,2438,2049,3150
$GC,474,-1.24,-97.3,44.9,-10.0,91,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2049,3150
$GC,619,-1.24,-97.3,60.3,-10.2,122,625,0.00,2.35,0.00,0.000,4,0.000,0.044,2427,3459,3150
$GC,652,-1.24,-97.3,63.9,-11.0,128,659,0.15,2.28,0.00,0.000,6,0.140,0.031,2466,2046,3150
$GC,806,-1.24,-97.3,78.5,-9.9,159,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2045,3150
$GC,963,-1.24,-97.3,94.4,-9.8,190,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2046,3151
$GC,1109,-1.24,-97.3,109.2,-10.1,221,1115,0.00,2.28,0.00,0.000,4,0.000,0.041,2465,639,3150
$STATE,1147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1147,begin apogee
$GC,1161,-0.25,0.0,113.8,10.8,229,1241,1.02,0.00,72.22,0.808,6,0.125,0.000,2776,2064,2749
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1247,1.24,97.3,116.9,0.0,243,1327,1.42,0.00,72.55,0.742,6,0.063,0.000,3262,2064,2352
$GC,1467,1.24,97.3,98.0,10.7,287,1473,0.00,2.40,0.00,0.000,4,0.000,0.041,3273,643,2352
$GC,1492,1.24,97.3,95.3,11.2,291,1498,0.00,2.33,0.00,0.000,6,0.000,0.033,3272,2046,2351
$GC,1640,1.24,97.3,78.7,11.3,322,1646,0.00,2.35,0.00,0.000,4,0.000,0.041,3282,640,2352
$GC,1673,1.24,97.3,74.3,11.4,328,1680,0.00,2.35,0.00,0.000,6,0.000,0.033,3282,2070,2352
$GC,1824,1.24,97.3,56.6,12.0,359,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2070,2352
$GC,1968,1.24,97.3,38.4,12.4,390,1974,0.00,2.30,0.00,0.000,4,0.000,0.045,3282,3466,2352
$GC,2077,1.24,97.3,25.8,11.0,414,2083,0.00,2.22,0.00,0.000,6,0.000,0.031,3293,2057,2352
$GC,2154,1.24,97.3,17.5,11.3,430,2160,0.00,2.33,0.00,0.000,4,0.000,0.044,3293,3471,2351
$STATE,2264,end climb,SURFACE_DEPTH_REACHED
$STATE,2264,begin surface coast
$FINISH,3.0,1.020942
$STATE,2289,end surface coast,CONTROL_FINISHED_OK
$STATE,2289,begin surface
$SM_CCo,2318,127.00,0.697,0,0,1322,350.04
$SM_GC,1.38,0.00,0.00,127.00,0.000,0.000,0.697,50,2026,1322,-8.80,-0.65,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,131327
$TT8_MAMPS,0.026078
$HUMID,1668
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.3,38.1
$24V_AH,24.6,2.008
$10V_AH,10.8,1.136
$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,21.625,37.050,144.775,127.000,0.000,28.349,34.603,200.055,1.500,0.000,0.000,15.368,705.900,436.027,357.336,794.207,620.651,0.000,770.372,0.000,845.139,0.000,9.933,0.000
$DEVICE_MAMPS,213.993,53.690,807.651,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.870,517.795,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22207,460
$CAP_FILE_SIZE,46321,0
$CFSIZE,260165632,226152448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151008,142750,4807.973,-12223.559,7,2.0,12,18.3