version: 66.04
glider: 124
mission: 6
dive: 28
start: 2 13 109 4 50 10
data:
$ID,124
$MISSION,6
$DIVE,28
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51611
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00229
$HD_B,0.0132
$HD_C,2.53e-05
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,618.89191
$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,-298700.75
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,1995
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2033
$C_ROLL_CLIMB,2033
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3759
$C_VBD,2767
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,420
$PITCH_VBD_SHIFT,0.00134
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.425274
$PRESSURE_SLOPE,0.0001163584
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$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,0.0043265149
$SEABIRD_T_H,0.00064168178
$SEABIRD_T_I,2.4457093e-05
$SEABIRD_T_J,2.5322809e-06
$SEABIRD_C_G,-10.215697
$SEABIRD_C_H,1.1758331
$SEABIRD_C_I,-0.0032783125
$SEABIRD_C_J,0.00027735153
$GPS1,203346,1119.109,12140.224,438,2.8,457,-0.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-2.4
$GPS2,203346,1119.109,12140.224,438,2.8,457,-0.6
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,1129.908,12140.224
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,0.6,20000,-18.8,-10.000
$D_GRID,27
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.49,-146.0,0.0,0.0,0,158,0.00,0.00,-135.02,0.000,6,0.000,0.000,34,2024,3363
$GC,161,-1.49,-146.0,0.3,-1.6,24,174,4.25,2.20,0.00,0.000,4,0.058,0.059,1692,3460,3363
$GC,429,-2.22,-146.0,0.3,-0.4,71,436,0.50,2.10,0.00,0.000,6,0.053,0.041,1488,2012,3363
$GC,774,-2.96,-146.0,0.2,-0.2,132,781,0.35,2.17,0.00,0.000,4,0.059,0.059,1340,3451,3363
$GC,1036,-3.70,-146.0,0.1,0.4,178,1043,0.35,2.10,0.00,0.000,6,0.051,0.041,1172,2030,3363
$GC,1382,-3.70,-146.0,0.2,-0.1,239,1388,0.00,2.12,0.00,0.000,4,0.000,0.058,1171,3444,3362
$GC,1642,-3.70,-146.0,0.2,2.0,285,1648,0.00,2.08,0.00,0.000,6,0.000,0.041,1171,2010,3362
$GC,1987,-3.70,-146.0,0.3,-0.3,346,1994,0.00,2.15,0.00,0.000,4,0.000,0.058,1171,3440,3362
$GC,2248,-3.70,-146.0,0.2,0.2,392,2254,0.00,2.05,0.00,0.000,6,0.000,0.041,1171,2025,3362
$GC,2593,-3.70,-146.0,0.2,-0.0,453,2599,0.00,2.15,0.00,0.000,4,0.000,0.058,1171,3451,3361
$GC,2853,-3.70,-146.0,0.2,-0.0,499,2859,0.00,2.08,0.00,0.000,6,0.000,0.041,1171,2020,3361
$GC,3197,-3.70,-146.0,0.1,-0.0,560,3204,0.00,2.15,0.00,0.000,4,0.000,0.058,1171,3454,3361
$GC,3458,-3.70,-146.0,0.1,0.2,606,3464,0.00,2.08,0.00,0.000,6,0.000,0.041,1171,2022,3361
$GC,3805,-3.70,-146.0,0.2,-0.0,667,3811,0.00,2.15,0.00,0.000,4,0.000,0.058,1171,3454,3361
$GC,4065,-3.70,-146.0,0.1,1.1,713,4071,0.00,2.08,0.00,0.000,6,0.000,0.041,1171,2027,3362
$GC,4410,-3.70,-146.0,0.0,0.0,774,4416,0.00,2.15,0.00,0.000,4,0.000,0.059,1171,3437,3361
$GC,4672,-3.70,-146.0,0.0,0.3,820,4679,0.00,2.08,0.00,0.000,6,0.000,0.044,1171,2007,3362
$GC,5017,-3.97,-146.0,0.1,-0.2,881,5023,0.12,0.00,0.00,0.000,6,0.090,0.000,1122,2036,3360
$GC,5361,-3.97,-146.0,-0.0,-0.4,942,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,1121,2034,3360
$GC,5706,-3.97,-146.0,0.1,-1.6,1003,5712,0.00,2.12,0.00,0.000,4,0.000,0.069,1119,645,3360
$GC,5862,-2.09,-146.0,0.0,-0.6,1030,5869,1.80,2.12,0.00,0.000,6,0.282,0.046,1535,2045,3358
$GC,6208,-2.66,-146.0,0.0,-0.1,1091,6215,0.32,2.08,0.00,0.000,4,0.059,0.051,1396,3455,3360
$GC,6470,-3.21,-146.0,0.1,-0.5,1137,6476,0.30,2.05,0.00,0.000,6,0.054,0.041,1271,2046,3360
$GC,6815,-3.74,-146.0,0.1,-0.1,1198,6823,0.22,2.12,0.00,0.000,4,0.064,0.051,1166,616,3360
$GC,7076,-3.74,-146.0,0.0,-0.0,1244,7083,0.00,2.08,0.00,0.000,6,0.000,0.043,1166,2036,3359
$GC,7421,-3.74,-146.0,-0.0,-0.5,1305,7427,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3451,3359
$GC,7682,-3.74,-146.0,0.3,-0.6,1351,7688,0.00,2.08,0.00,0.000,6,0.000,0.041,1166,2025,3358
$GC,8026,-3.74,-146.0,0.4,0.2,1412,8033,0.00,2.12,0.00,0.000,4,0.000,0.058,1165,3441,3357
$GC,8286,-3.74,-146.0,0.3,0.2,1458,8293,0.00,2.05,0.00,0.000,6,0.000,0.041,1166,2031,3357
$GC,8632,-3.74,-146.0,0.1,0.2,1519,8638,0.00,2.12,0.00,0.000,4,0.000,0.056,1166,3451,3357
$GC,8893,-3.74,-146.0,-0.1,0.2,1565,8899,0.00,2.08,0.00,0.000,6,0.000,0.041,1166,2023,3357
$GC,9237,-3.74,-146.0,-0.2,-0.0,1626,9244,0.00,2.12,0.00,0.000,4,0.000,0.055,1166,3450,3357
$GC,9498,-3.74,-146.0,-0.2,0.1,1672,9504,0.00,2.05,0.00,0.000,6,0.000,0.041,1166,2031,3357
$GC,9843,-3.74,-146.0,-0.1,-0.1,1733,9849,0.00,2.12,0.00,0.000,4,0.000,0.056,1166,3451,3357
$GC,10104,-3.74,-146.0,-0.0,0.1,1779,10110,0.00,2.08,0.00,0.000,6,0.000,0.041,1165,2020,3357
$GC,10449,-3.74,-146.0,0.0,-0.5,1840,10456,0.00,2.12,0.00,0.000,4,0.000,0.057,1166,3441,3356
$GC,10709,-3.74,-146.0,0.0,0.6,1886,10716,0.00,2.05,0.00,0.000,6,0.000,0.041,1165,2031,3356
$GC,11056,-3.74,-146.0,0.1,0.7,1947,11063,0.00,2.12,-0.40,0.000,4,0.000,0.070,1166,3442,3361
$GC,11317,-3.74,-146.0,0.1,0.1,1993,11324,0.00,2.08,0.00,0.000,6,0.000,0.041,1166,2011,3362
$GC,11662,-3.74,-146.0,0.2,-0.1,2054,11669,0.00,2.15,0.00,0.000,4,0.000,0.057,1166,3445,3361
$STATE,11887,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11887,begin apogee
$GC,11896,-0.34,0.0,0.2,0.0,2094,11904,2.03,0.00,3.97,0.268,2,0.078,0.000,1924,2018,3317
$STATE,11905,end apogee,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.4,0.996145
$STATE,12012,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12012,begin surface
$SM_CCo,12027,300.38,0.409,0,0,244,618.89
$SM_GC,0.41,0.00,0.00,300.38,0.000,0.000,0.409,25,2018,244,-9.06,-0.42,618.89
$IRIDIUM_FIX,1117.26,12141.21,080598,232345
$TT8_MAMPS,0.027612
$HUMID,1596
$INTERNAL_PRESSURE,10.5375
$TCM_TEMP,27.20
$XPDR_PINGS,3
$24V_AH,26.2,6.580
$10V_AH,11.0,4.697
$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,15.050,80.050,3.975,300.375,0.000,165.122,230.803,0.000,0.750,0.000,0.000,901.231,3165.356,5125.030,540.520,4436.384,721.066,0.000,1975.331,0.000,3550.446,0.000,0.555,0.000
$DEVICE_MAMPS,282.256,69.797,267.683,408.811,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1497.545,1820.562,1084.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120108,2114
$CAP_FILE_SIZE,143959,0
$CFSIZE,260165632,253714432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120209,203346,1119.109,12140.224,438,2.8,457,-0.6