version: 66.04
glider: 30
mission: 6
dive: 20
start: 8 28 108 15 42 44
data:
$ID,30
$MISSION,6
$DIVE,20
$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,-71718.914
$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,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
$GPS1,153817,4808.075,-12222.913,13,6.5,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-63.0
$GPS2,154152,4808.086,-12222.943,34,2.8,53,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.124,-0.087
$KALMAN_X,-779.9,719.1,10.9,357.9,-663.5
$KALMAN_Y,324.4,-615.6,36.3,1637.7,261.0
$MHEAD_RNG_PITCHd_Wd,106.8,174,-18.6,-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,-1.32,-63.3,0.0,0.0,0,84,0.00,0.00,-67.32,0.000,2,0.000,0.000,656,2303,1628
$GC,85,-1.34,-75.7,3.3,-5.4,12,138,10.12,3.08,-32.83,0.000,4,0.194,0.161,2459,886,2408
$GC,183,-1.26,-75.7,17.4,-12.9,29,189,0.00,3.12,0.00,0.000,6,0.000,0.179,2459,2299,2408
$GC,258,-1.26,-75.7,25.1,-9.0,38,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2298,2408
$GC,450,-1.26,-75.7,39.0,-7.9,56,454,0.00,3.12,0.00,0.000,4,0.000,0.189,2459,3714,2408
$GC,522,-1.21,-75.7,44.7,-7.7,62,527,0.15,2.83,0.00,0.000,6,0.142,0.134,2487,2292,2408
$GC,715,-1.31,-81.8,56.4,-5.8,75,717,0.00,0.00,-0.20,0.000,6,0.000,0.000,2487,2292,2431
$GC,1025,-1.46,-92.9,73.4,-5.5,90,1027,0.22,0.00,-0.28,0.000,6,0.077,0.000,2427,2292,2465
$GC,1333,-1.46,-92.9,96.1,-7.4,105,1338,0.00,2.97,0.00,0.000,4,0.000,0.169,2427,884,2465
$GC,1421,-1.46,-92.9,102.9,-6.9,110,1428,0.00,3.12,0.00,0.000,6,0.000,0.179,2427,2305,2465
$STATE,1437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1437,begin apogee
$GC,1440,-0.32,0.0,103.9,6.8,112,1520,1.23,0.00,72.40,0.824,6,0.119,0.000,2684,2305,2199
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1522,1.37,92.9,104.8,0.0,120,1601,1.62,3.22,69.03,0.809,4,0.084,0.176,3053,888,1947
$GC,1701,1.06,92.9,85.1,13.3,132,1707,0.35,3.25,0.00,0.000,6,0.144,0.194,2987,2300,1947
$GC,2022,0.97,92.9,55.5,8.8,148,2024,0.12,0.00,0.00,0.000,6,0.144,0.000,2964,2300,1947
$GC,2338,0.97,94.8,33.4,6.1,174,2343,0.00,3.20,0.00,0.000,4,0.000,0.201,2964,3712,1947
$GC,2358,0.93,94.8,31.7,7.7,175,2365,0.00,2.88,0.00,0.000,6,0.000,0.144,2964,2301,1947
$GC,2556,0.93,98.5,19.2,6.0,195,2568,0.00,0.00,5.75,0.611,6,0.000,0.000,2964,2301,1932
$GC,2635,0.97,119.4,15.4,4.8,209,2659,0.00,3.17,17.00,0.737,4,0.000,0.186,2964,884,1874
$GC,2681,1.03,150.3,13.5,4.1,217,2711,0.00,3.25,23.83,0.742,6,0.000,0.191,2964,2299,1791
$GC,2779,1.23,195.5,9.9,3.2,234,2820,0.22,3.38,34.67,0.752,4,0.079,0.204,3027,3717,1668
$GC,2899,1.58,346.2,8.6,-4.0,255,3019,0.32,2.90,112.40,0.765,6,0.077,0.144,3107,2293,1259
$GC,3087,1.80,391.1,5.1,3.2,288,3117,0.17,0.00,27.50,0.723,2,0.079,0.000,3155,2293,1169
$STATE,3117,end climb,SURFACE_DEPTH_REACHED
$STATE,3118,begin surface coast
$FINISH,-0.4,1.008205
$STATE,3241,end surface coast,CONTROL_FINISHED_OK
$STATE,3241,begin surface
$SM_CCo,3258,128.12,0.740,0,0,704,550.09
$SM_GC,0.89,0.00,0.00,128.12,0.000,0.000,0.740,657,2293,704,-9.65,-0.20,550.09
$IRIDIUM_FIX,4751.72,-12219.12,221197,141443
$TT8_MAMPS,0.021476
$HUMID,2216
$INTERNAL_PRESSURE,9.35787
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,21.2
$ALTIM_BOTTOM_PING,71.1,42.5
$24V_AH,23.5,11.982
$10V_AH,10.3,2.915
$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,25.650,43.500,362.575,128.125,0.000,25.040,24.599,62.563,0.750,0.000,0.000,54.797,484.010,1845.843,550.950,589.007,149.904,33.309,907.995,0.000,535.947,0.000,7.166,0.000
$DEVICE_MAMPS,193.674,203.606,824.356,739.934,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9587,315
$CAP_FILE_SIZE,43507,0
$CFSIZE,260165632,258535424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,280808,164007,4807.956,-12222.720,8,1.6,24,18.3