version: 66.04
glider: 124
mission: 6
dive: 26
start: 2 12 109 20 34 3
data:
$ID,124
$MISSION,6
$DIVE,26
$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,-295088.75
$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,41
$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
$GPS1,233425,1120.106,12142.244,253,2.5,272,-0.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-2.1
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.49,-146.0,0.0,0.0,0,161,0.00,0.00,-138.60,0.000,6,0.000,0.000,36,2014,3362
$GC,164,-1.49,-146.0,1.1,-0.0,27,176,4.28,2.20,0.00,0.000,4,0.058,0.060,1690,3439,3362
$GC,430,-2.23,-146.0,1.1,-0.1,74,437,0.43,2.10,0.00,0.000,6,0.052,0.043,1491,2031,3362
$GC,775,-2.98,-146.0,1.0,0.4,135,782,0.38,2.15,0.00,0.000,4,0.056,0.057,1330,3448,3362
$GC,1036,-3.73,-146.0,1.0,0.2,181,1042,0.40,2.08,0.00,0.000,6,0.058,0.042,1167,2032,3362
$GC,1382,-3.73,-146.0,1.0,0.2,242,1388,0.00,2.12,0.00,0.000,4,0.000,0.058,1166,3443,3362
$GC,1642,-3.73,-146.0,1.1,0.4,288,1648,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2020,3362
$GC,1987,-3.73,-146.0,1.0,-0.1,349,1993,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3443,3362
$GC,2247,-3.73,-146.0,1.0,0.2,395,2253,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2030,3362
$GC,2591,-3.73,-146.0,1.1,0.2,456,2597,0.00,2.17,0.00,0.000,4,0.000,0.058,1166,3449,3362
$GC,2853,-3.73,-146.0,1.0,-0.1,502,2859,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2030,3362
$GC,3197,-3.73,-146.0,1.1,-0.2,563,3203,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3452,3362
$GC,3457,-3.73,-146.0,1.1,-0.0,609,3463,0.00,2.10,0.00,0.000,6,0.000,0.041,1166,2015,3362
$GC,3801,-3.73,-146.0,1.0,-0.1,670,3807,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3443,3362
$GC,4061,-3.73,-146.0,1.1,-0.0,716,4067,0.00,2.10,0.00,0.000,6,0.000,0.043,1166,2031,3362
$GC,4406,-3.73,-146.0,1.0,0.6,777,4411,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3454,3362
$GC,4667,-3.73,-146.0,1.0,0.3,823,4672,0.00,2.08,0.00,0.000,6,0.000,0.041,1166,2032,3362
$GC,5012,-3.73,-146.0,1.1,0.2,884,5018,0.00,2.12,0.00,0.000,4,0.000,0.058,1166,3444,3362
$GC,5272,-3.73,-146.0,1.0,1.3,930,5278,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2024,3362
$GC,5616,-3.73,-146.0,1.1,-0.0,991,5622,0.00,2.15,0.00,0.000,4,0.000,0.057,1166,3449,3362
$GC,5876,-3.73,-146.0,1.0,0.4,1037,5882,0.00,2.08,0.00,0.000,6,0.000,0.041,1166,2031,3361
$GC,6220,-3.73,-146.0,1.1,0.1,1098,6226,0.00,2.12,0.00,0.000,4,0.000,0.058,1166,3443,3362
$GC,6480,-3.73,-146.0,1.1,0.3,1144,6486,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2020,3362
$GC,6825,-3.73,-146.0,1.1,0.0,1205,6831,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3442,3362
$GC,7086,-3.73,-146.0,1.1,0.2,1251,7091,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2029,3362
$GC,7429,-3.73,-146.0,1.1,-0.0,1312,7435,0.00,2.15,0.00,0.000,4,0.000,0.059,1166,3450,3362
$GC,7689,-3.73,-146.0,1.0,-0.0,1358,7695,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2030,3362
$GC,8034,-3.73,-146.0,1.2,-0.1,1419,8039,0.00,2.15,0.00,0.000,4,0.000,0.059,1166,3448,3362
$GC,8294,-3.73,-146.0,1.1,0.3,1465,8300,0.00,2.10,0.00,0.000,6,0.000,0.042,1166,2012,3362
$GC,8637,-3.73,-146.0,1.1,-0.6,1526,8643,0.00,2.17,0.00,0.000,4,0.000,0.059,1166,3451,3362
$GC,8897,-3.73,-146.0,1.2,-0.0,1572,8903,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2029,3362
$GC,9241,-3.73,-146.0,1.2,-0.3,1633,9247,0.00,2.15,0.00,0.000,4,0.000,0.058,1166,3449,3362
$GC,9501,-3.73,-146.0,1.0,0.6,1679,9507,0.00,2.10,0.00,0.000,6,0.000,0.042,1166,2011,3361
$GC,9845,-3.73,-146.0,1.2,-0.0,1740,9851,0.00,2.17,0.00,0.000,4,0.000,0.059,1166,3449,3362
$GC,10104,-3.73,-146.0,1.1,-0.1,1786,10110,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2029,3362
$GC,10450,-3.73,-146.0,1.2,-0.1,1847,10455,0.00,2.15,0.00,0.000,4,0.000,0.059,1166,3449,3361
$GC,10710,-3.73,-146.0,1.1,-0.4,1893,10716,0.00,2.10,0.00,0.000,6,0.000,0.041,1166,2011,3362
$GC,11054,-3.73,-146.0,1.1,-0.0,1954,11060,0.00,2.17,0.00,0.000,4,0.000,0.059,1166,3446,3362
$GC,11314,-3.73,-146.0,1.1,-0.2,2000,11320,0.00,2.08,0.00,0.000,6,0.000,0.042,1166,2030,3362
$GC,11658,-3.73,-146.0,1.1,0.1,2061,11664,0.00,2.15,0.00,0.000,4,0.000,0.059,1166,3450,3362
$STATE,11887,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11887,begin apogee
$GC,11895,-0.34,0.0,1.2,0.9,2102,11903,1.98,0.00,3.53,0.265,2,0.060,0.000,1930,2015,3322
$STATE,11904,end apogee,SURFACE_DEPTH_REACHED
$STATE,11904,begin surface coast
$FINISH,1.0,0.996470
$STATE,12011,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12011,begin surface
$SM_CCo,12026,305.80,0.431,0,0,243,618.89
$SM_GC,1.11,0.00,0.00,305.80,0.000,0.000,0.431,32,2014,243,-9.03,-0.54,618.89
$IRIDIUM_FIX,1117.26,12141.21,080598,232345
$TT8_MAMPS,0.026078
$HUMID,1653
$INTERNAL_PRESSURE,10.3324
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,25.9,6.481
$10V_AH,10.9,4.289
$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,12.300,84.775,3.525,305.800,0.000,165.125,143.371,0.000,0.000,0.000,0.000,461.143,2848.841,5440.741,530.651,4014.727,625.615,0.000,1972.770,0.000,3569.777,0.000,0.553,0.000
$DEVICE_MAMPS,59.826,59.826,264.615,431.054,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1501.772,1832.360,1088.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120218,2122
$CAP_FILE_SIZE,142490,0
$CFSIZE,260165632,253919232
$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