version: 66.04
glider: 30
mission: 6
dive: 6
start: 8 28 108 1 3 16
data:
$ID,30
$MISSION,6
$DIVE,6
$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,-71360.688
$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
$GPS1,005926,4806.792,-12222.763,36,1.8,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.9
$GPS2,010221,4806.803,-12222.757,14,2.0,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.216
$KALMAN_X,-589.4,-330.2,-170.1,1629.4,-113.8
$KALMAN_Y,552.2,240.7,110.8,-1895.8,144.1
$MHEAD_RNG_PITCHd_Wd,128.1,1757,-17.9,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.43,-146.6,0.0,0.0,0,104,0.00,0.00,-87.97,0.000,2,0.000,0.000,657,2302,1853
$GC,106,-1.43,-146.6,3.2,-6.0,16,159,10.00,3.12,-36.40,0.000,4,0.194,0.179,2440,3713,2600
$GC,412,-1.43,-146.6,37.9,-11.7,57,416,0.00,2.80,0.00,0.000,6,0.000,0.139,2440,2301,2600
$GC,606,-1.43,-146.6,56.2,-9.0,72,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2301,2600
$GC,916,-1.43,-146.6,83.7,-8.8,87,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2300,2600
$GC,1229,-1.43,-146.6,109.9,-8.2,107,1234,0.00,3.05,0.00,0.000,4,0.000,0.176,2440,880,2600
$STATE,1259,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1260,begin apogee
$GC,1266,-0.32,0.0,112.6,8.0,109,1383,1.10,0.00,108.40,0.824,6,0.117,0.000,2676,2299,2200
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1385,1.43,146.6,114.1,0.0,121,1503,1.73,3.17,107.70,0.804,4,0.087,0.179,3066,886,1801
$GC,1552,1.43,146.6,93.6,16.5,135,1559,0.00,3.17,0.00,0.000,6,0.000,0.184,3066,2301,1801
$GC,1868,1.43,146.6,44.7,15.0,152,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2302,1801
$GC,2060,1.43,146.6,18.8,12.4,171,2066,0.00,3.10,0.00,0.000,4,0.000,0.176,3067,881,1801
$GC,2071,1.43,146.6,17.3,10.8,173,2078,0.00,3.20,0.00,0.000,6,0.000,0.186,3067,2305,1801
$GC,2145,1.43,146.6,8.9,10.7,186,2151,0.00,3.10,0.00,0.000,4,0.000,0.179,3066,886,1801
$GC,2179,1.49,181.3,5.9,8.4,192,2204,0.00,3.17,18.85,0.728,2,0.000,0.186,3067,2305,1736
$STATE,2204,end climb,SURFACE_DEPTH_REACHED
$STATE,2204,begin surface coast
$FINISH,2.3,1.019681
$STATE,2243,end surface coast,CONTROL_FINISHED_OK
$STATE,2243,begin surface
$SM_CCo,2260,280.98,0.742,0,0,705,550.09
$SM_GC,0.96,0.00,0.00,280.98,0.000,0.000,0.742,655,2307,705,-9.66,0.17,550.09
$IRIDIUM_FIX,4748.51,-12226.29,221197,000033
$TT8_MAMPS,0.021476
$HUMID,2229
$INTERNAL_PRESSURE,9.36756
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.9
$ALTIM_BOTTOM_PING,70.9,51.3
$24V_AH,23.7,10.240
$10V_AH,10.3,2.583
$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,23.825,31.025,234.950,280.975,0.000,30.819,26.591,57.088,0.750,0.000,0.000,14.822,332.075,1277.340,614.095,371.842,144.453,33.325,863.823,0.000,362.286,0.000,7.196,0.000
$DEVICE_MAMPS,193.674,186.225,824.356,742.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,134.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,203
$CAP_FILE_SIZE,29280,0
$CFSIZE,260165632,258887680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,280808,014645,4806.557,-12222.585,36,1.9,36,18.3