version: 66.04
glider: 30
mission: 6
dive: 3
start: 8 27 108 22 42 4
data:
$ID,30
$MISSION,6
$DIVE,3
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$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,-71316.562
$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
$PITCH_ADJ_DBAND,0
$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,10
$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
$GPS1,223656,4807.210,-12223.244,14,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-62.7
$GPS2,224050,4807.223,-12223.295,14,1.5,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.186,-0.181
$KALMAN_X,-214.5,-157.1,-146.3,399.4,-134.1
$KALMAN_Y,151.6,100.5,91.2,-565.8,89.2
$MHEAD_RNG_PITCHd_Wd,115.9,551,-17.9,-10.000
$D_GRID,105
$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,13,-1.43,-146.6,0.0,0.0,0,120,0.00,0.00,-104.35,0.000,2,0.000,0.000,658,2303,1936
$GC,123,-1.43,-146.6,3.3,-5.5,19,169,9.93,3.03,-28.12,0.000,4,0.191,0.161,2437,887,2600
$GC,225,-1.43,-146.6,14.9,-11.3,37,232,0.00,3.00,0.00,0.000,6,0.000,0.166,2437,2302,2600
$GC,297,-1.43,-146.6,23.0,-10.5,48,302,0.00,3.05,0.00,0.000,4,0.000,0.181,2437,3714,2600
$GC,362,-1.43,-146.6,30.6,-11.8,53,370,0.00,2.80,0.00,0.000,6,0.000,0.134,2437,2307,2600
$GC,561,-1.43,-146.6,49.8,-9.4,72,566,0.00,2.97,0.00,0.000,4,0.000,0.169,2437,886,2600
$GC,722,-1.43,-146.6,65.5,-9.9,79,727,0.00,3.00,0.00,0.000,6,0.000,0.166,2437,2299,2600
$GC,1043,-1.43,-146.6,94.5,-8.9,95,1048,0.00,3.03,0.00,0.000,4,0.000,0.181,2437,3711,2600
$GC,1104,-1.43,-146.6,100.4,-9.4,98,1108,0.00,2.78,0.00,0.000,6,0.000,0.137,2437,2297,2600
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1164,-0.32,0.0,105.4,8.2,103,1275,1.15,0.00,107.53,0.819,6,0.117,0.000,2681,2297,2200
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1276,begin climb
$GC,1277,1.43,146.6,107.0,0.0,114,1391,1.70,0.00,107.25,0.800,6,0.087,0.000,3068,2297,1801
$GC,1713,1.43,146.6,52.5,14.9,140,1717,0.00,3.05,0.00,0.000,4,0.000,0.179,3068,887,1800
$GC,1733,1.43,146.6,49.3,14.6,141,1738,0.00,3.15,0.00,0.000,6,0.000,0.184,3068,2302,1801
$GC,2065,1.43,146.6,5.2,11.6,182,2071,0.00,3.05,0.00,0.000,4,0.000,0.171,3068,886,1801
$STATE,2086,end climb,SURFACE_DEPTH_REACHED
$STATE,2087,begin surface coast
$FINISH,3.4,1.020026
$STATE,2093,end surface coast,CONTROL_FINISHED_OK
$STATE,2093,begin surface
$SM_CCo,2113,296.30,0.740,0,0,705,550.09
$SM_GC,0.98,0.00,0.00,296.30,0.000,0.000,0.740,657,2300,705,-9.65,0.00,550.09
$IRIDIUM_FIX,4751.72,-12228.02,211197,222233
$TT8_MAMPS,0.021476
$HUMID,2183
$INTERNAL_PRESSURE,9.41601
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,21.1
$ALTIM_BOTTOM_PING,81.7,39.9
$24V_AH,23.7,9.858
$10V_AH,10.3,2.526
$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,23.750,36.050,214.775,296.300,0.000,0.000,0.000,0.000,1.000,0.000,0.000,31.035,328.307,1143.766,616.682,399.084,31.619,31.412,870.805,0.000,371.329,0.000,8.710,0.000
$DEVICE_MAMPS,191.191,183.742,819.390,739.934,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6420,187
$CAP_FILE_SIZE,40038,0
$CFSIZE,260165632,258936832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,270808,232314,4807.075,-12223.123,11,1.3,28,18.3