version: 66.04
glider: 30
mission: 6
dive: 4
start: 8 27 108 23 27 27
data:
$ID,30
$MISSION,6
$DIVE,4
$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,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,-71330.273
$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,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
$GPS1,232314,4807.075,-12223.123,11,1.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.1
$GPS2,232633,4807.092,-12223.145,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,-0.114
$KALMAN_X,-321.2,-217.7,-179.4,780.6,-163.8
$KALMAN_Y,235.8,136.5,108.9,-938.2,125.8
$MHEAD_RNG_PITCHd_Wd,112.6,248,-27.6,-10.000
$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,-1.91,-61.8,0.0,0.0,0,111,0.00,0.00,-94.28,0.000,2,0.000,0.000,657,2300,1920
$GC,113,-1.97,-97.2,3.3,-6.1,17,153,9.32,0.00,-25.38,0.000,6,0.194,0.000,2321,2302,2466
$GC,219,-1.97,-97.2,16.4,-14.0,36,226,0.00,3.00,0.00,0.000,4,0.000,0.174,2321,3711,2466
$GC,264,-1.97,-97.2,23.0,-14.0,43,269,0.00,2.78,0.00,0.000,6,0.000,0.132,2321,2300,2466
$GC,461,-1.97,-97.2,45.2,-11.2,61,465,0.00,2.97,0.00,0.000,4,0.000,0.166,2321,884,2466
$GC,611,-1.97,-97.2,61.9,-11.0,70,616,0.00,3.00,0.00,0.000,6,0.000,0.164,2321,2305,2466
$GC,938,-1.97,-100.6,94.6,-9.6,86,944,0.00,3.00,-0.10,0.000,4,0.000,0.174,2321,3713,2485
$GC,1022,-1.97,-100.6,104.0,-11.7,91,1026,0.00,2.78,0.00,0.000,6,0.000,0.134,2321,2299,2486
$STATE,1111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1111,begin apogee
$GC,1114,-0.32,0.0,113.1,9.4,99,1196,1.77,0.00,77.38,0.819,6,0.134,0.000,2680,2299,2200
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1198,1.97,100.6,114.1,0.0,107,1282,2.22,3.12,74.12,0.804,4,0.087,0.179,3193,893,1926
$GC,1326,1.97,100.6,95.5,19.7,119,1331,0.00,3.15,0.00,0.000,6,0.000,0.181,3193,2305,1926
$GC,1648,1.97,100.6,37.2,16.7,138,1653,0.00,3.05,0.00,0.000,4,0.000,0.171,3193,887,1926
$GC,1658,1.97,100.6,35.3,16.9,138,1665,0.00,3.15,0.00,0.000,6,0.000,0.184,3193,2302,1926
$GC,1860,1.97,100.6,5.6,10.3,166,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2302,1926
$STATE,1880,end climb,SURFACE_DEPTH_REACHED
$STATE,1881,begin surface coast
$FINISH,5.7,1.020803
$STATE,1944,end surface coast,CONTROL_FINISHED_OK
$STATE,1944,begin surface
$SM_CCo,1946,498.85,0.735,0,0,100,772.70
$SM_GC,0.74,11.25,0.00,0.00,0.072,0.000,0.000,656,2302,100,-9.64,0.08,772.70
$IRIDIUM_FIX,4748.51,-12226.29,211197,222237
$TT8_MAMPS,0.021476
$HUMID,2256
$INTERNAL_PRESSURE,9.35787
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.8,20.3
$ALTIM_BOTTOM_PING,80.4,42.3
$24V_AH,23.7,10.003
$10V_AH,10.3,2.545
$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,24.575,30.000,151.500,498.850,0.000,22.257,25.888,86.846,1.500,0.000,0.000,13.077,315.533,1165.561,760.225,355.938,169.197,32.323,994.009,0.000,347.949,0.000,8.710,0.000
$DEVICE_MAMPS,193.674,183.742,819.390,734.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.266,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3309,181
$CAP_FILE_SIZE,30819,0
$CFSIZE,260165632,258932736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,280808,001053,4806.995,-12222.997,9,2.3,28,18.3