version: 66.04
glider: 30
mission: 6
dive: 10
start: 8 28 108 4 14 22
data:
$ID,30
$MISSION,6
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4050
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,-71449.172
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3990
$C_PITCH,2754
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.4
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,172
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,6
$R_STBD_OVSHOOT,7
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,100
$VBD_MAX,3750
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.36794999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,10
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,122
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-32.294579
$PRESSURE_SLOPE,0.0003358523
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0096899997
$INT_PRESSURE_YINT,-3.4619999
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$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,0.0043891016
$SEABIRD_T_H,0.00064944528
$SEABIRD_T_I,2.6160304e-05
$SEABIRD_T_J,2.7867641e-06
$SEABIRD_C_G,-10.215803
$SEABIRD_C_H,1.1650903
$SEABIRD_C_I,-0.0016038414
$SEABIRD_C_J,0.00021996208
$GPS1,041037,4806.210,-12222.088,34,1.8,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.0
$GPS2,041327,4806.190,-12222.085,14,1.6,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,0.190
$KALMAN_X,-625.5,-450.0,65.6,2373.3,149.9
$KALMAN_Y,779.2,376.6,5.6,-3277.9,-29.2
$MHEAD_RNG_PITCHd_Wd,298.7,4103,-17.9,-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,14,-1.43,-146.6,0.0,0.0,0,82,0.00,0.00,-66.20,0.000,2,0.000,0.000,657,2301,1637
$GC,84,-1.43,-146.6,3.0,-3.8,12,158,10.10,3.10,-54.80,0.000,4,0.196,0.181,2440,3714,2600
$GC,264,-1.43,-146.6,19.7,-11.8,44,271,0.00,2.85,0.00,0.000,6,0.000,0.139,2440,2297,2600
$GC,333,-1.43,-146.6,27.3,-11.0,51,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2297,2600
$GC,526,-1.43,-146.6,46.8,-10.2,69,530,0.00,3.03,0.00,0.000,4,0.000,0.174,2440,881,2600
$GC,568,-1.43,-146.6,51.3,-10.0,72,573,0.00,3.10,0.00,0.000,6,0.000,0.171,2441,2296,2600
$GC,895,-1.43,-146.6,82.9,-9.4,88,900,0.00,3.03,0.00,0.000,4,0.000,0.169,2440,879,2600
$GC,922,-1.43,-146.6,85.6,-9.4,89,927,0.00,3.10,0.00,0.000,6,0.000,0.174,2440,2304,2600
$GC,1241,-1.43,-146.6,113.2,-7.9,111,1245,0.00,3.05,0.00,0.000,6,0.000,0.169,2440,880,2600
$STATE,1246,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1246,begin apogee
$GC,1253,-0.32,0.0,113.6,7.7,111,1369,1.12,0.00,108.70,0.827,6,0.119,0.000,2680,2299,2200
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1372,1.43,146.6,115.7,0.0,123,1490,1.70,3.28,107.82,0.809,4,0.087,0.201,3064,3710,1801
$GC,1635,1.43,146.6,79.1,16.9,142,1640,0.00,2.92,0.00,0.000,6,0.000,0.151,3064,2299,1801
$GC,1955,1.43,146.6,34.1,12.7,163,1960,0.00,3.12,0.00,0.000,4,0.000,0.186,3064,885,1801
$GC,2066,1.43,146.6,19.3,11.6,173,2072,0.00,3.20,0.00,0.000,6,0.000,0.189,3064,2304,1801
$GC,2139,1.43,146.6,10.6,10.9,186,2146,0.00,3.17,0.00,0.000,4,0.000,0.199,3064,3711,1801
$STATE,2211,end climb,SURFACE_DEPTH_REACHED
$STATE,2211,begin surface coast
$FINISH,3.5,1.019168
$STATE,2235,end surface coast,CONTROL_FINISHED_OK
$STATE,2235,begin surface
$SM_CCo,2255,299.05,0.750,0,0,705,550.09
$SM_GC,1.19,0.00,0.00,299.05,0.000,0.000,0.750,657,2295,705,-9.65,-0.14,550.09
$IRIDIUM_FIX,4748.51,-12224.57,221197,030306
$TT8_MAMPS,0.022243
$HUMID,2207
$INTERNAL_PRESSURE,9.34818
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,21.0
$ALTIM_BOTTOM_PING,80.9,42.3
$24V_AH,23.6,10.719
$10V_AH,10.3,2.661
$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,23.850,43.000,216.525,299.050,0.000,31.034,24.446,54.621,1.000,0.000,0.000,14.321,347.959,1236.014,621.343,401.564,141.246,33.341,884.436,0.000,389.162,0.000,8.706,0.000
$DEVICE_MAMPS,196.157,201.123,826.839,749.866,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,134.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6443,203
$CAP_FILE_SIZE,31282,0
$CFSIZE,260165632,258805760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,280808,045739,4806.300,-12222.247,10,1.8,10,18.3