version: 66.04
glider: 128
mission: 2
dive: 23
start: 10 15 108 14 43 54
data:
$ID,128
$MISSION,2
$DIVE,23
$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,-108183.41
$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
$GPS1,142750,4807.973,-12223.559,7,2.0,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.9
$GPS2,144337,4807.908,-12223.561,30,1.3,45,18.3
$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,57.9,714,-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,-69.65,0.000,2,0.000,0.000,51,2029,3003
$GC,96,-1.24,-97.3,3.5,-4.9,12,116,9.60,0.00,-3.10,0.000,6,0.213,0.000,2460,2027,3149
$GC,183,-1.24,-97.3,15.7,-9.1,30,189,0.00,2.40,0.00,0.000,4,0.000,0.044,2451,3461,3149
$GC,320,-1.24,-97.3,28.8,-10.6,60,326,0.00,2.28,0.00,0.000,6,0.000,0.031,2451,2049,3150
$GC,394,-1.24,-97.3,36.9,-10.3,76,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2050,3150
$GC,470,-1.24,-97.3,44.9,-10.9,92,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2050,3150
$GC,616,-1.24,-97.3,60.1,-11.0,123,622,0.00,2.33,0.00,0.000,4,0.000,0.045,2440,3459,3150
$GC,688,-1.24,-97.3,68.2,-11.6,138,695,0.00,2.28,0.00,0.000,6,0.000,0.031,2440,2048,3150
$GC,841,-1.24,-97.3,84.2,-10.7,169,847,0.00,2.28,0.00,0.000,4,0.000,0.041,2440,646,3150
$GC,892,-1.24,-97.3,90.5,-11.6,179,898,0.12,2.28,0.00,0.000,6,0.150,0.032,2461,2056,3150
$GC,1041,-1.24,-97.3,105.6,-9.9,210,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2057,3150
$STATE,1118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1118,begin apogee
$GC,1130,-0.25,0.0,113.9,9.6,227,1210,1.00,0.00,72.18,0.821,6,0.125,0.000,2775,2058,2749
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1216,1.24,97.3,116.4,0.0,241,1295,1.42,0.00,72.72,0.746,6,0.064,0.000,3259,2059,2352
$GC,1438,1.24,97.3,96.4,11.0,285,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2058,2352
$GC,1583,1.24,97.3,80.2,11.1,316,1589,0.00,2.38,0.00,0.000,4,0.000,0.041,3270,637,2352
$GC,1611,1.24,97.3,77.1,11.3,321,1617,0.00,2.38,0.00,0.000,6,0.000,0.033,3270,2082,2352
$GC,1756,1.24,97.3,60.9,10.3,352,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2082,2352
$GC,1903,1.24,97.3,44.5,11.0,383,1909,0.00,2.28,0.00,0.000,4,0.000,0.044,3270,3468,2352
$GC,1968,1.24,97.3,37.1,11.7,396,1975,0.00,2.33,0.00,0.000,6,0.000,0.032,3280,2048,2352
$GC,2043,1.24,97.5,29.3,10.0,412,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2048,2352
$GC,2118,1.24,99.2,22.1,9.9,428,2125,0.00,2.38,0.00,0.000,4,0.000,0.044,3280,3461,2352
$GC,2282,1.24,99.2,5.1,10.2,464,2289,0.00,2.28,0.00,0.000,6,0.000,0.032,3291,2049,2352
$STATE,2293,end climb,SURFACE_DEPTH_REACHED
$STATE,2293,begin surface coast
$FINISH,3.4,1.020728
$STATE,2354,end surface coast,CONTROL_FINISHED_OK
$STATE,2354,begin surface
$SM_CCo,2381,123.22,0.695,0,0,1322,350.04
$SM_GC,1.33,0.00,0.00,123.22,0.000,0.000,0.695,52,2041,1322,-8.80,-0.23,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,141438
$TT8_MAMPS,0.026078
$HUMID,1656
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.3,43.6
$24V_AH,24.5,2.095
$10V_AH,10.8,1.189
$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,21.500,27.825,144.900,123.225,0.000,76.083,185.234,323.446,1.000,0.000,0.000,47.415,729.590,570.303,349.918,857.253,950.425,0.000,776.997,0.000,884.517,0.000,5.547,0.000
$DEVICE_MAMPS,213.226,45.253,821.457,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.677,549.859,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22172,480
$CAP_FILE_SIZE,51115,0
$CFSIZE,260165632,226119680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151008,152639,4807.963,-12223.188,11,1.9,11,18.3