version: 66.04
glider: 30
mission: 6
dive: 17
start: 8 28 108 12 16 44
data:
$ID,30
$MISSION,6
$DIVE,17
$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,-71577.648
$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,8
$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
$GPS1,121238,4807.953,-12223.911,41,1.1,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-61.2
$GPS2,121551,4808.003,-12223.938,14,1.5,14,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.135,0.061
$KALMAN_X,958.1,530.1,-284.7,-2122.8,510.7
$KALMAN_Y,-445.5,-474.5,255.9,1894.2,-297.8
$MHEAD_RNG_PITCHd_Wd,47.4,1159,-19.1,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.35,-60.2,0.0,0.0,0,100,0.00,0.00,-83.45,0.000,2,0.000,0.000,658,2294,1806
$GC,102,-1.40,-90.3,3.4,-4.1,15,150,10.05,3.22,-31.48,0.000,4,0.194,0.184,2442,3717,2447
$GC,273,-1.31,-90.3,20.8,-10.9,44,280,0.12,2.83,0.00,0.000,6,0.144,0.134,2465,2300,2448
$GC,470,-1.31,-90.3,35.9,-7.3,63,475,0.00,3.17,0.00,0.000,4,0.000,0.189,2465,3717,2448
$GC,479,-1.31,-90.3,36.7,-7.3,63,486,0.00,2.88,0.00,0.000,6,0.000,0.137,2465,2285,2447
$GC,688,-1.37,-90.3,51.7,-7.0,82,693,0.00,3.20,0.00,0.000,4,0.000,0.189,2465,3714,2448
$GC,697,-1.43,-90.3,52.3,-7.0,82,704,0.10,2.85,0.00,0.000,6,0.092,0.139,2435,2293,2447
$GC,1012,-1.43,-90.3,75.7,-7.1,98,1017,0.00,3.17,0.00,0.000,4,0.000,0.189,2435,3716,2448
$GC,1055,-1.38,-90.3,78.9,-7.5,100,1060,0.00,2.83,0.00,0.000,6,0.000,0.137,2435,2300,2448
$GC,1381,-1.38,-90.3,101.4,-7.1,116,1386,0.00,3.03,0.00,0.000,4,0.000,0.176,2435,886,2447
$GC,1390,-1.38,-90.3,102.0,-7.2,116,1398,0.00,3.12,0.00,0.000,6,0.000,0.179,2435,2307,2447
$STATE,1534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1534,begin apogee
$GC,1537,-0.32,0.0,111.4,6.4,130,1609,1.17,0.00,68.03,0.837,6,0.119,0.000,2681,2307,2200
$STATE,1609,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1611,1.40,90.3,112.2,0.0,137,1691,1.67,3.20,67.50,0.819,4,0.089,0.181,3066,889,1954
$GC,1758,1.07,90.3,95.9,15.3,150,1764,0.43,3.28,0.00,0.000,6,0.151,0.194,2987,2304,1953
$GC,2084,0.98,90.3,63.7,9.3,166,2089,0.00,3.22,0.00,0.000,4,0.000,0.204,2987,3714,1954
$GC,2156,0.82,90.3,56.5,10.1,169,2161,0.28,2.90,0.00,0.000,6,0.137,0.149,2934,2301,1954
$GC,2480,0.90,90.3,34.7,6.3,195,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2301,1954
$GC,2669,1.01,101.7,23.6,5.4,213,2685,0.17,3.15,9.85,0.705,4,0.079,0.186,2982,881,1923
$GC,2730,0.96,101.7,19.1,7.7,219,2737,0.00,3.25,0.00,0.000,6,0.000,0.194,2982,2297,1923
$GC,2804,0.96,101.7,14.0,7.0,232,2810,0.00,3.22,0.00,0.000,4,0.000,0.204,2982,3714,1923
$GC,2849,0.91,101.7,10.4,7.5,240,2856,0.15,2.90,0.00,0.000,6,0.139,0.149,2954,2299,1923
$GC,2924,1.05,131.4,7.1,4.1,253,2954,0.12,3.35,23.42,0.760,4,0.089,0.201,2990,3714,1842
$GC,3106,1.31,225.3,5.8,-0.5,285,3186,0.22,2.88,70.03,0.775,6,0.079,0.144,3049,2301,1586
$STATE,3212,end climb,SURFACE_DEPTH_REACHED
$STATE,3212,begin surface coast
$FINISH,3.5,1.019384
$STATE,3399,end surface coast,CONTROL_FINISHED_OK
$STATE,3399,begin surface
$SM_CCo,3416,242.32,0.752,0,0,705,550.09
$SM_GC,0.94,0.00,0.00,242.32,0.000,0.000,0.752,657,2298,705,-9.65,-0.06,550.09
$IRIDIUM_FIX,4751.72,-12219.12,221197,111150
$TT8_MAMPS,0.021476
$HUMID,2214
$INTERNAL_PRESSURE,9.34818
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,21.5
$ALTIM_BOTTOM_PING,71.4,49.8
$24V_AH,23.5,11.597
$10V_AH,10.3,2.840
$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,25.375,61.650,238.825,242.325,0.000,24.706,36.753,67.859,0.750,0.000,0.000,14.131,548.270,1970.092,598.791,583.783,169.596,33.313,957.881,0.000,570.212,0.000,7.189,0.000
$DEVICE_MAMPS,193.674,203.606,836.771,752.349,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9588,337
$CAP_FILE_SIZE,46102,0
$CFSIZE,260165632,258605056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,280808,131847,4808.088,-12223.649,12,2.1,31,18.3