version: 66.04
glider: 30
mission: 6
dive: 13
start: 8 28 108 7 25 38
data:
$ID,30
$MISSION,6
$DIVE,13
$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,-71494.258
$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,6
$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
$GPS1,072135,4806.785,-12222.778,12,2.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.6
$GPS2,072445,4806.771,-12222.773,14,1.4,14,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,0.178
$KALMAN_X,-407.7,-19.4,346.1,602.3,147.0
$KALMAN_Y,374.8,11.3,-315.6,-1124.5,-237.1
$MHEAD_RNG_PITCHd_Wd,308.5,2736,-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,-146.6,0.0,0.0,0,95,0.00,0.00,-78.38,0.000,2,0.000,0.000,656,2306,1743
$GC,97,-1.00,-146.6,3.4,-3.4,14,156,10.68,3.12,-41.53,0.000,4,0.199,0.166,2530,884,2600
$GC,218,-0.94,-146.6,13.5,-8.6,35,224,0.00,3.12,0.00,0.000,6,0.000,0.176,2530,2306,2600
$GC,291,-0.89,-146.6,19.5,-7.9,48,298,0.15,3.08,0.00,0.000,4,0.124,0.169,2560,883,2600
$GC,315,-0.89,-146.6,21.0,-6.6,51,320,0.00,3.12,0.00,0.000,6,0.000,0.179,2560,2302,2600
$GC,512,-0.95,-146.6,32.7,-5.9,69,517,0.00,3.05,0.00,0.000,4,0.000,0.169,2560,885,2600
$GC,550,-1.03,-146.6,35.0,-6.2,72,556,0.15,3.12,0.00,0.000,6,0.079,0.176,2515,2305,2600
$GC,746,-1.03,-146.6,48.7,-7.0,90,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2305,2600
$GC,932,-1.03,-146.6,61.2,-6.4,100,937,0.00,3.05,0.00,0.000,4,0.000,0.171,2515,884,2600
$GC,948,-1.03,-146.6,62.3,-6.6,101,953,0.00,3.12,0.00,0.000,6,0.000,0.179,2515,2300,2600
$GC,1274,-1.03,-146.6,82.2,-6.0,117,1279,0.00,3.05,0.00,0.000,4,0.000,0.171,2515,882,2600
$GC,1305,-1.03,-146.6,84.4,-6.3,118,1312,0.00,3.12,0.00,0.000,6,0.000,0.181,2515,2300,2600
$GC,1622,-1.03,-146.6,103.4,-5.9,136,1627,0.00,3.05,0.00,0.000,4,0.000,0.171,2515,884,2600
$GC,1672,-1.03,-146.6,106.4,-5.9,140,1677,0.00,3.12,0.00,0.000,6,0.000,0.181,2515,2300,2600
$STATE,1771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1771,begin apogee
$GC,1775,-0.32,0.0,112.6,6.0,149,1887,0.77,0.00,109.00,0.842,6,0.104,0.000,2682,2300,2200
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1889,1.00,146.6,114.0,0.0,160,2008,1.27,3.33,108.28,0.814,4,0.089,0.206,2971,3713,1801
$GC,2074,0.59,146.6,97.6,12.4,176,2079,0.45,2.95,0.00,0.000,6,0.134,0.151,2883,2294,1801
$GC,2391,0.48,146.6,75.2,6.7,191,2396,0.12,3.12,0.00,0.000,4,0.129,0.186,2859,885,1801
$GC,2456,0.48,146.6,70.7,6.3,194,2461,0.00,3.22,0.00,0.000,6,0.000,0.189,2859,2294,1801
$GC,2785,0.56,186.8,54.2,5.0,210,2821,0.00,3.30,30.98,0.785,4,0.000,0.204,2858,3711,1691
$GC,2859,0.56,186.8,49.6,6.9,212,2866,0.00,2.95,0.00,0.000,6,0.000,0.149,2858,2300,1692
$GC,3185,0.61,215.1,30.7,5.4,243,3217,0.12,3.17,22.25,0.762,4,0.084,0.184,2898,880,1615
$GC,3262,0.53,215.1,25.3,7.1,250,3268,0.15,3.22,0.00,0.000,6,0.127,0.189,2869,2299,1615
$GC,3464,0.61,240.3,13.8,5.5,278,3494,0.00,3.30,20.05,0.752,4,0.000,0.204,2869,3702,1546
$GC,3533,0.67,240.3,9.5,6.4,290,3540,0.15,2.88,0.00,0.000,6,0.082,0.146,2914,2298,1546
$GC,3607,0.78,300.9,5.8,4.4,303,3660,0.00,3.15,46.30,0.767,4,0.000,0.179,2914,887,1382
$STATE,3664,end climb,SURFACE_DEPTH_REACHED
$STATE,3664,begin surface coast
$FINISH,2.0,1.018339
$STATE,3777,end surface coast,CONTROL_FINISHED_OK
$STATE,3777,begin surface
$SM_CCo,3797,186.40,0.757,0,0,705,550.09
$SM_GC,0.89,0.00,0.00,186.40,0.000,0.000,0.757,655,2304,705,-9.65,0.11,550.09
$IRIDIUM_FIX,4748.51,-12221.84,221197,060637
$TT8_MAMPS,0.021476
$HUMID,2257
$INTERNAL_PRESSURE,9.3288
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.8
$ALTIM_BOTTOM_PING,70.9,51.3
$24V_AH,23.5,11.096
$10V_AH,10.3,2.737
$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,24.150,74.925,336.850,186.400,0.000,22.751,31.827,70.458,0.750,0.000,0.000,14.058,552.109,2229.361,624.579,618.792,167.429,33.314,1023.014,0.000,604.293,0.000,7.196,0.000
$DEVICE_MAMPS,198.640,206.089,841.737,757.315,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9590,333
$CAP_FILE_SIZE,49319,0
$CFSIZE,260165632,258703360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,280808,083302,4807.094,-12223.000,11,1.6,28,18.3