version: 66.04
glider: 30
mission: 6
dive: 18
start: 8 28 108 13 23 6
data:
$ID,30
$MISSION,6
$DIVE,18
$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,-71610.898
$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,4
$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
$GPS1,131847,4808.088,-12223.649,12,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.8
$GPS2,132214,4808.131,-12223.689,15,2.0,32,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.175,-0.013
$KALMAN_X,50.3,848.3,-72.9,-1429.2,4.4
$KALMAN_Y,-336.0,-600.6,227.8,2174.4,-178.4
$MHEAD_RNG_PITCHd_Wd,75.9,886,-15.3,-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,-1.16,-89.3,0.0,0.0,0,95,0.00,0.00,-78.32,0.000,2,0.000,0.000,657,2299,1770
$GC,97,-1.18,-103.3,3.5,-5.6,14,143,10.30,0.00,-32.45,0.000,6,0.191,0.000,2494,2299,2482
$GC,210,-1.10,-103.3,13.5,-8.3,34,217,0.10,3.20,0.00,0.000,4,0.139,0.189,2513,3719,2482
$GC,268,-1.10,-103.3,18.4,-8.5,44,274,0.00,2.85,0.00,0.000,6,0.000,0.139,2513,2299,2482
$GC,343,-1.10,-103.3,23.8,-6.8,53,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2299,2482
$GC,535,-1.15,-103.3,36.5,-7.0,71,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2299,2482
$GC,726,-1.23,-110.2,48.6,-5.9,89,729,0.12,0.00,-0.28,0.000,6,0.084,0.000,2474,2299,2508
$GC,922,-1.23,-110.2,62.5,-7.1,100,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2298,2508
$GC,1232,-1.23,-110.2,84.4,-6.7,115,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2299,2508
$GC,1544,-1.23,-114.1,105.5,-6.1,134,1548,0.00,3.05,0.00,0.000,4,0.000,0.176,2474,880,2508
$STATE,1563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1563,begin apogee
$GC,1570,-0.32,0.0,107.0,6.8,135,1657,0.95,0.00,83.95,0.827,6,0.114,0.000,2679,2305,2200
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1659,1.20,114.1,108.2,0.0,144,1756,1.50,3.22,84.68,0.809,4,0.089,0.181,3016,895,1889
$GC,1800,0.85,114.1,95.2,13.0,155,1806,0.40,3.25,0.00,0.000,6,0.142,0.194,2940,2299,1889
$GC,2115,0.74,114.1,67.6,8.1,170,2117,0.12,0.00,0.00,0.000,6,0.139,0.000,2916,2299,1889
$GC,2426,0.74,114.1,45.3,6.4,188,2431,0.00,3.22,0.00,0.000,4,0.000,0.201,2916,3715,1889
$GC,2475,0.67,114.1,41.5,7.4,192,2480,0.00,2.88,0.00,0.000,6,0.000,0.144,2916,2299,1889
$GC,2671,0.67,114.1,28.7,6.6,210,2676,0.00,3.08,0.00,0.000,4,0.000,0.181,2916,887,1889
$GC,2725,0.68,117.0,25.0,6.1,214,2736,0.00,3.20,4.03,0.514,6,0.000,0.191,2916,2300,1880
$GC,2935,0.71,133.2,13.0,5.5,244,2952,0.00,0.00,13.30,0.725,6,0.000,0.000,2916,2300,1837
$GC,3019,0.83,175.1,9.2,4.2,259,3054,0.00,0.00,31.83,0.760,6,0.000,0.000,2916,2300,1724
$GC,3121,1.22,248.0,5.8,2.7,277,3185,0.43,3.15,55.00,0.757,4,0.077,0.176,3024,884,1524
$GC,3438,1.60,378.7,5.9,-0.2,333,3452,0.35,3.20,7.75,0.653,2,0.072,0.186,3115,2301,1503
$STATE,3453,end climb,NO_VERTICAL_VELOCITY
$STATE,3453,begin surface
$SM_CCo,3455,389.17,0.742,0,0,100,772.70
$SM_GC,0.69,10.95,0.00,0.00,0.072,0.000,0.000,658,2301,100,-9.63,0.03,772.70
$IRIDIUM_FIX,4754.94,-11950.30,221197,121227
$TT8_MAMPS,0.021476
$HUMID,2253
$INTERNAL_PRESSURE,9.29973
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.4
$ALTIM_BOTTOM_PING,70.0,46.8
$24V_AH,23.5,11.747
$10V_AH,10.3,2.865
$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,25.225,37.475,280.525,389.175,0.000,30.907,27.212,66.719,0.750,0.000,0.000,32.629,531.775,2153.696,749.319,579.554,162.009,33.312,1098.307,0.000,548.606,0.000,7.183,0.000
$DEVICE_MAMPS,191.191,201.123,826.839,742.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9589,335
$CAP_FILE_SIZE,43597,0
$CFSIZE,260165632,258584576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,280808,143050,4808.182,-12223.335,63,1.8,81,18.3