version: 66.04
glider: 30
mission: 6
dive: 11
start: 8 28 108 5 1 37
data:
$ID,30
$MISSION,6
$DIVE,11
$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,80
$T_MISSION,90
$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,-71466.25
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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
$GPS1,045739,4806.300,-12222.247,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.6
$GPS2,050044,4806.286,-12222.241,11,1.4,16,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.164
$KALMAN_X,-329.6,-456.7,115.5,1844.7,497.4
$KALMAN_Y,301.9,450.3,19.1,-2713.8,-556.7
$MHEAD_RNG_PITCHd_Wd,301.9,3847,-11.3,-6.250
$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,-1.00,-146.6,0.0,0.0,0,84,0.00,0.00,-67.15,0.000,2,0.000,0.000,657,2295,1640
$GC,86,-1.00,-146.6,3.1,-2.8,12,150,10.68,3.25,-47.05,0.000,4,0.199,0.184,2531,3717,2600
$GC,156,-0.72,-146.6,7.8,-4.6,24,163,0.32,2.88,0.00,0.000,6,0.122,0.142,2596,2298,2600
$GC,231,-0.82,-146.6,12.4,-5.3,37,237,0.00,3.17,0.00,0.000,4,0.000,0.189,2596,3711,2600
$GC,389,-0.95,-146.6,21.7,-5.2,62,395,0.22,2.85,0.00,0.000,6,0.074,0.142,2533,2298,2600
$GC,587,-0.95,-146.6,34.0,-6.1,80,591,0.00,3.05,0.00,0.000,4,0.000,0.176,2533,878,2600
$GC,596,-0.95,-146.6,34.8,-5.9,80,603,0.00,3.10,0.00,0.000,6,0.000,0.174,2533,2300,2600
$GC,794,-0.95,-146.6,46.6,-5.8,99,799,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,885,2600
$GC,810,-0.95,-146.6,47.6,-6.5,100,814,0.00,3.10,0.00,0.000,6,0.000,0.176,2533,2304,2600
$GC,1002,-0.95,-146.6,58.5,-5.8,111,1007,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,883,2600
$GC,1050,-0.95,-146.6,61.5,-5.4,113,1055,0.00,3.10,0.00,0.000,6,0.000,0.176,2533,2301,2600
$GC,1372,-1.00,-146.6,80.0,-5.8,129,1377,0.00,3.03,0.00,0.000,4,0.000,0.171,2533,886,2600
$GC,1382,-1.06,-146.6,80.7,-5.7,129,1387,0.00,3.10,0.00,0.000,6,0.000,0.179,2533,2298,2600
$GC,1697,-1.12,-146.6,97.9,-5.4,144,1702,0.12,3.05,0.00,0.000,4,0.084,0.171,2491,885,2600
$GC,1707,-1.16,-146.6,98.4,-5.3,144,1714,0.00,3.10,0.00,0.000,6,0.000,0.176,2491,2305,2600
$STATE,1944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1944,begin apogee
$GC,1948,-0.32,0.0,112.6,5.6,166,2060,0.90,0.00,108.78,0.839,6,0.107,0.000,2685,2305,2200
$STATE,2061,end apogee,CONTROL_FINISHED_OK
$STATE,2061,begin climb
$GC,2062,1.00,146.6,114.0,0.0,177,2181,1.27,3.28,107.97,0.812,4,0.087,0.204,2973,3709,1801
$GC,2304,0.60,146.6,90.4,12.7,196,2310,0.45,2.92,0.00,0.000,6,0.129,0.151,2884,2298,1801
$GC,2630,0.51,146.6,67.5,6.9,212,2635,0.00,3.10,0.00,0.000,4,0.000,0.184,2884,883,1801
$GC,2702,0.39,146.6,62.6,6.9,215,2708,0.22,3.20,0.00,0.000,6,0.127,0.186,2839,2304,1801
$GC,3019,0.53,196.6,46.7,4.7,233,3064,0.15,3.33,37.95,0.785,4,0.082,0.201,2884,3711,1665
$GC,3109,0.43,196.6,41.0,6.4,241,3114,0.17,2.92,0.00,0.000,6,0.122,0.149,2850,2297,1665
$GC,3305,0.60,250.9,30.7,4.6,259,3353,0.15,3.17,41.08,0.775,4,0.082,0.186,2895,884,1518
$GC,3413,0.60,250.9,22.7,7.3,268,3421,0.00,3.20,0.00,0.000,6,0.000,0.186,2895,2297,1518
$GC,3620,0.60,251.0,8.9,6.2,301,3626,0.00,3.22,0.00,0.000,4,0.000,0.199,2895,3715,1518
$GC,3705,0.82,306.5,4.8,4.5,316,3736,0.17,2.88,24.70,0.752,2,0.084,0.144,2944,2299,1433
$STATE,3736,end climb,SURFACE_DEPTH_REACHED
$STATE,3737,begin surface coast
$FINISH,2.7,1.017876
$STATE,3870,end surface coast,CONTROL_FINISHED_OK
$STATE,3870,begin surface
$SM_CCo,3887,200.15,0.760,0,0,705,550.09
$SM_GC,0.91,0.00,0.00,200.15,0.000,0.000,0.760,658,2297,705,-9.64,-0.08,550.09
$IRIDIUM_FIX,4748.51,-12224.57,221197,040419
$TT8_MAMPS,0.020709
$HUMID,2254
$INTERNAL_PRESSURE,9.34818
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,20.0
$ALTIM_BOTTOM_PING,90.2,32.3
$24V_AH,23.4,10.844
$10V_AH,10.3,2.686
$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,25.075,74.100,320.475,200.150,0.000,30.370,33.072,59.945,1.250,0.000,0.000,16.447,581.995,2278.546,614.815,652.837,165.753,33.324,1020.284,0.000,630.420,0.000,10.048,0.000
$DEVICE_MAMPS,198.640,203.606,839.254,759.798,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9573,345
$CAP_FILE_SIZE,51795,0
$CFSIZE,260165632,258760704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,280808,061055,4806.509,-12222.479,33,1.0,38,18.3