version: 66.04
glider: 30
mission: 6
dive: 12
start: 8 28 108 6 14 56
data:
$ID,30
$MISSION,6
$DIVE,12
$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,-71479.57
$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,5
$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
$GPS1,061055,4806.509,-12222.479,33,1.0,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.7
$GPS2,061403,4806.500,-12222.482,12,1.3,12,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.172
$KALMAN_X,-316.3,-268.1,265.0,1199.6,411.7
$KALMAN_Y,262.8,271.4,-148.5,-1939.1,-538.4
$MHEAD_RNG_PITCHd_Wd,305.4,3351,-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,-67.30,0.000,2,0.000,0.000,658,2297,1631
$GC,86,-1.00,-146.6,3.3,-4.4,12,151,10.55,3.25,-47.90,0.000,4,0.194,0.184,2532,3717,2600
$GC,156,-0.69,-146.6,8.0,-4.8,24,163,0.35,2.88,0.00,0.000,6,0.127,0.139,2601,2298,2600
$GC,231,-0.80,-146.6,12.9,-5.7,37,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2298,2600
$GC,304,-0.93,-146.6,16.9,-5.6,50,311,0.20,3.05,0.00,0.000,4,0.074,0.176,2538,884,2600
$GC,318,-1.04,-146.6,17.7,-5.7,52,324,0.00,3.10,0.00,0.000,6,0.000,0.174,2538,2302,2600
$GC,394,-1.04,-146.6,23.3,-6.9,62,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2302,2600
$GC,585,-1.04,-146.6,35.8,-6.5,80,590,0.00,3.05,0.00,0.000,4,0.000,0.169,2538,880,2600
$GC,601,-1.04,-146.6,36.8,-6.6,81,606,0.00,3.12,0.00,0.000,6,0.000,0.176,2538,2299,2600
$GC,798,-1.04,-146.6,48.3,-5.8,99,802,0.00,3.05,0.00,0.000,4,0.000,0.169,2538,880,2600
$GC,815,-1.08,-146.6,49.3,-5.9,100,820,0.00,3.12,0.00,0.000,6,0.000,0.176,2538,2299,2600
$GC,1017,-1.13,-146.6,61.2,-5.7,110,1022,0.15,3.05,0.00,0.000,4,0.079,0.171,2491,884,2600
$GC,1037,-1.13,-146.6,62.8,-7.4,111,1042,0.00,3.10,0.00,0.000,6,0.000,0.176,2491,2300,2600
$GC,1364,-1.07,-146.6,86.7,-7.1,127,1370,0.15,3.05,0.00,0.000,4,0.122,0.169,2522,883,2600
$GC,1381,-1.07,-146.6,87.8,-7.4,128,1386,0.00,3.12,0.00,0.000,6,0.000,0.179,2522,2303,2600
$GC,1698,-1.07,-146.6,106.7,-5.9,148,1703,0.00,3.05,0.00,0.000,4,0.000,0.171,2522,885,2600
$GC,1764,-1.12,-146.6,110.4,-5.6,153,1771,0.00,3.12,0.00,0.000,6,0.000,0.181,2522,2301,2600
$STATE,1790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1790,begin apogee
$GC,1793,-0.32,0.0,112.0,5.9,156,1905,0.75,0.00,108.85,0.839,6,0.104,0.000,2684,2301,2200
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1907,1.00,146.6,113.3,0.0,167,2026,1.27,3.30,108.28,0.814,4,0.089,0.206,2972,3710,1801
$GC,2087,0.59,146.6,97.1,12.9,183,2092,0.45,2.95,0.00,0.000,6,0.132,0.151,2883,2297,1801
$GC,2408,0.49,146.6,74.1,6.8,199,2414,0.10,3.12,0.00,0.000,4,0.139,0.186,2864,885,1801
$GC,2470,0.46,157.0,70.1,5.9,202,2485,0.00,3.17,9.15,0.703,6,0.000,0.186,2864,2297,1773
$GC,2794,0.53,195.2,52.2,5.1,217,2830,0.00,3.30,29.50,0.782,4,0.000,0.204,2864,3715,1669
$GC,2867,0.53,195.2,48.2,6.9,220,2875,0.00,2.95,0.00,0.000,6,0.000,0.149,2864,2307,1669
$GC,3065,0.58,224.1,37.8,5.4,239,3098,0.00,3.22,23.00,0.765,4,0.000,0.189,2864,892,1590
$GC,3131,0.58,224.1,33.6,6.6,245,3136,0.00,3.20,0.00,0.000,6,0.000,0.186,2864,2302,1589
$GC,3328,0.67,238.6,22.5,5.8,263,3350,0.17,3.25,12.15,0.720,4,0.079,0.201,2915,3710,1550
$GC,3396,0.56,238.6,17.1,9.0,271,3403,0.20,2.90,0.00,0.000,6,0.124,0.149,2876,2299,1550
$GC,3471,0.63,256.3,12.3,5.7,284,3494,0.00,3.17,14.50,0.730,4,0.000,0.186,2875,891,1503
$GC,3584,0.94,316.6,6.1,4.4,304,3637,0.38,3.15,46.33,0.765,6,0.074,0.181,2970,2305,1339
$STATE,3641,end climb,SURFACE_DEPTH_REACHED
$STATE,3641,begin surface coast
$FINISH,2.0,1.017758
$STATE,3744,end surface coast,CONTROL_FINISHED_OK
$STATE,3744,begin surface
$SM_CCo,3760,174.70,0.757,0,0,705,550.09
$SM_GC,0.92,0.00,0.00,174.70,0.000,0.000,0.757,656,2306,705,-9.65,0.17,550.09
$IRIDIUM_FIX,4748.51,-12217.40,221197,050526
$TT8_MAMPS,0.021476
$HUMID,2249
$INTERNAL_PRESSURE,9.3288
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.4
$ALTIM_BOTTOM_PING,80.7,41.0
$24V_AH,23.6,10.970
$10V_AH,10.3,2.712
$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,25.100,80.825,351.750,174.700,0.000,23.964,31.460,69.929,1.250,0.000,0.000,12.694,564.063,2160.389,627.685,621.009,168.066,33.309,1036.986,0.000,603.050,0.000,11.587,0.000
$DEVICE_MAMPS,193.674,206.089,839.254,757.315,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9561,332
$CAP_FILE_SIZE,54209,0
$CFSIZE,260165632,258727936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,280808,072135,4806.785,-12222.778,12,2.4,31,18.3