version: 66.04
glider: 124
mission: 6
dive: 27
start: 2 13 109 0 42 32
data:
$ID,124
$MISSION,6
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51611
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00229
$HD_B,0.0132
$HD_C,2.53e-05
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,618.89191
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-296895.25
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,1995
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2033
$C_ROLL_CLIMB,2033
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3759
$C_VBD,2767
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,420
$PITCH_VBD_SHIFT,0.00134
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.425274
$PRESSURE_SLOPE,0.0001163584
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$DEVICE3,53
$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,0.0043265149
$SEABIRD_T_H,0.00064168178
$SEABIRD_T_I,2.4457093e-05
$SEABIRD_T_J,2.5322809e-06
$SEABIRD_C_G,-10.215697
$SEABIRD_C_H,1.1758331
$SEABIRD_C_I,-0.0032783125
$SEABIRD_C_J,0.00027735153
$GPS1,203346,1119.109,12140.224,438,2.8,457,-0.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-2.2
$GPS2,203346,1119.109,12140.224,438,2.8,457,-0.6
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,1129.908,12140.224
$TGT_RADIUS,1852.000
$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,0.6,20000,-18.8,-10.000
$D_GRID,27
$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,17,-1.49,-146.0,0.0,0.0,0,157,0.00,0.00,-136.95,0.000,6,0.000,0.000,32,2015,3363
$GC,161,-1.49,-146.0,1.1,0.2,26,173,4.28,2.20,0.00,0.000,4,0.059,0.059,1681,3441,3363
$GC,427,-2.23,-146.0,1.0,-0.2,73,434,0.47,2.08,0.00,0.000,6,0.057,0.042,1490,2028,3363
$GC,773,-2.97,-146.0,1.0,0.0,134,780,0.38,2.15,0.00,0.000,4,0.057,0.058,1330,3446,3363
$GC,1033,-3.71,-146.0,0.9,0.2,180,1040,0.40,2.08,0.00,0.000,6,0.057,0.042,1166,2030,3363
$GC,1380,-3.71,-146.0,1.0,-0.2,241,1387,0.08,2.15,0.00,0.000,4,0.102,0.058,1201,3447,3363
$GC,1641,-3.71,-146.0,0.9,0.2,287,1646,0.00,2.08,0.00,0.000,6,0.000,0.042,1201,2029,3363
$GC,1985,-3.71,-146.0,0.9,0.3,348,1991,0.00,2.15,0.00,0.000,4,0.000,0.059,1201,3451,3363
$GC,2244,-3.71,-146.0,0.9,0.2,394,2250,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2029,3364
$GC,2589,-3.71,-146.0,0.8,2.1,455,2594,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3451,3363
$GC,2849,-3.71,-146.0,0.9,0.0,501,2855,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2029,3364
$GC,3193,-3.71,-146.0,0.8,-0.1,562,3199,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3451,3365
$GC,3453,-3.71,-146.0,0.8,-0.0,608,3459,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2026,3365
$GC,3799,-3.71,-146.0,0.8,-0.0,669,3806,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3451,3365
$GC,4060,-3.71,-146.0,0.8,-0.8,715,4066,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2029,3365
$GC,4404,-3.71,-146.0,0.7,0.4,776,4410,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3454,3366
$GC,4664,-3.71,-146.0,0.7,0.2,822,4670,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2029,3366
$GC,5008,-3.71,-146.0,0.7,-0.4,883,5014,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3454,3366
$GC,5268,-3.71,-146.0,0.7,-1.3,929,5274,0.00,2.10,0.00,0.000,6,0.000,0.041,1202,2009,3366
$GC,5612,-3.71,-146.0,0.7,-0.1,990,5619,0.00,2.20,0.00,0.000,4,0.000,0.059,1201,3445,3367
$GC,5874,-3.71,-146.0,0.6,0.5,1036,5880,0.00,2.05,0.00,0.000,6,0.000,0.042,1201,2031,3367
$GC,6219,-3.71,-146.0,0.6,-0.1,1097,6225,0.00,2.15,0.00,0.000,4,0.000,0.059,1201,3455,3368
$GC,6481,-3.71,-146.0,0.6,-0.3,1143,6487,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2030,3368
$GC,6825,-3.71,-146.0,0.6,-0.1,1204,6831,0.00,2.12,0.00,0.000,4,0.000,0.058,1201,3446,3369
$GC,7085,-3.71,-146.0,0.6,-0.5,1250,7091,0.00,2.05,0.00,0.000,6,0.000,0.041,1201,2031,3369
$GC,7432,-3.71,-146.0,0.5,0.2,1311,7438,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3456,3369
$GC,7692,-3.71,-146.0,0.6,0.0,1357,7698,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2030,3369
$GC,8037,-3.71,-146.0,0.6,-0.0,1418,8043,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3455,3369
$GC,8297,-3.71,-146.0,0.6,-0.5,1464,8303,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2029,3370
$GC,8642,-3.71,-146.0,0.5,0.6,1525,8648,0.00,2.12,0.00,0.000,4,0.000,0.058,1201,3442,3370
$GC,8903,-3.71,-146.0,0.5,0.3,1571,8909,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2013,3370
$GC,9247,-3.71,-146.0,0.5,-0.1,1632,9254,0.00,2.17,0.00,0.000,4,0.000,0.059,1201,3452,3370
$GC,9508,-3.71,-146.0,0.5,-0.1,1678,9514,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2025,3371
$GC,9855,-3.71,-146.0,0.5,-0.4,1739,9861,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3447,3371
$GC,10115,-3.71,-146.0,0.5,-0.2,1785,10121,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2026,3372
$GC,10459,-3.71,-146.0,0.5,0.0,1846,10466,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3451,3372
$GC,10720,-3.71,-146.0,0.5,-0.3,1892,10726,0.00,2.08,0.00,0.000,6,0.000,0.041,1201,2020,3372
$GC,11065,-3.71,-146.0,0.4,0.0,1953,11071,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3444,3373
$GC,11326,-3.71,-146.0,0.4,-0.3,1999,11332,0.00,2.08,0.00,0.000,6,0.000,0.041,1202,2019,3373
$GC,11672,-3.71,-146.0,0.3,0.3,2060,11678,0.00,2.15,0.00,0.000,4,0.000,0.058,1201,3448,3374
$STATE,11884,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11884,begin apogee
$GC,11892,-0.34,0.0,0.3,0.0,2098,11901,1.88,0.00,4.53,0.272,2,0.061,0.000,1931,2024,3325
$STATE,11902,end apogee,SURFACE_DEPTH_REACHED
$STATE,11902,begin surface coast
$FINISH,0.4,0.994356
$STATE,11918,end surface coast,NO_VERTICAL_VELOCITY
$STATE,11918,begin surface
$SM_CCo,11933,300.10,0.398,0,0,243,618.89
$SM_GC,0.33,0.00,0.00,300.10,0.000,0.000,0.398,34,2024,243,-9.02,-0.25,618.89
$IRIDIUM_FIX,1117.26,12141.21,080598,232345
$TT8_MAMPS,0.026078
$HUMID,1564
$INTERNAL_PRESSURE,10.5766
$TCM_TEMP,28.00
$XPDR_PINGS,1
$24V_AH,26.1,6.529
$10V_AH,11.0,4.492
$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,12.300,84.575,4.525,300.100,0.000,154.610,195.409,0.000,0.250,0.000,0.000,902.209,3007.489,5225.362,528.765,4416.084,669.076,0.000,1959.503,0.000,3528.189,0.000,0.555,0.000
$DEVICE_MAMPS,102.011,59.059,271.518,398.073,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1489.473,1808.688,1076.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119866,2102
$CAP_FILE_SIZE,142746,0
$CFSIZE,260165632,253820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120209,203346,1119.109,12140.224,438,2.8,457,-0.6