version: 66.04
glider: 30
mission: 6
dive: 14
start: 8 28 108 8 44 44
data:
$ID,30
$MISSION,6
$DIVE,14
$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,80
$T_MISSION,90
$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,-71511.469
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,6
$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
$GPS1,083302,4807.094,-12223.000,11,1.6,28,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.3
$GPS2,084351,4807.146,-12223.010,16,1.9,16,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.162
$KALMAN_X,-125.2,119.5,191.3,40.0,108.8
$KALMAN_Y,342.5,-158.0,-270.8,-271.0,-56.4
$MHEAD_RNG_PITCHd_Wd,301.1,2000,-11.3,-6.250
$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,-1.00,-146.6,0.0,0.0,0,100,0.00,0.00,-83.57,0.000,2,0.000,0.000,656,2305,1836
$GC,102,-1.00,-146.6,3.5,-3.5,15,155,10.62,3.08,-33.17,0.000,4,0.196,0.166,2533,882,2600
$GC,408,-0.95,-146.6,28.1,-7.5,60,413,0.00,3.10,0.00,0.000,6,0.000,0.176,2533,2302,2600
$GC,603,-0.95,-146.6,41.1,-6.9,78,608,0.00,3.03,0.00,0.000,4,0.000,0.169,2533,887,2600
$GC,624,-0.95,-146.6,42.4,-6.0,79,631,0.00,3.12,0.00,0.000,6,0.000,0.179,2533,2306,2600
$GC,830,-0.95,-146.6,55.1,-5.8,95,834,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,884,2600
$GC,867,-0.95,-146.6,57.5,-6.3,97,872,0.00,3.12,0.00,0.000,6,0.000,0.181,2533,2300,2600
$GC,1193,-0.99,-146.6,76.5,-5.6,113,1198,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,881,2600
$GC,1203,-1.04,-146.6,77.3,-5.5,113,1210,0.00,3.15,0.00,0.000,6,0.000,0.184,2533,2304,2600
$GC,1518,-1.09,-146.6,94.2,-5.2,129,1523,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,881,2600
$GC,1567,-1.17,-146.6,96.8,-4.9,131,1573,0.17,3.15,0.00,0.000,6,0.074,0.181,2482,2305,2600
$STATE,1783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1783,begin apogee
$GC,1786,-0.32,0.0,111.6,6.8,149,1898,0.95,0.00,108.65,0.837,6,0.107,0.000,2685,2304,2200
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1901,1.00,146.6,113.6,0.0,160,2019,1.27,3.33,108.30,0.814,4,0.087,0.206,2974,3714,1800
$GC,2097,0.58,146.6,94.7,13.6,177,2103,0.47,2.92,0.00,0.000,6,0.132,0.149,2881,2302,1800
$GC,2424,0.48,146.6,71.2,6.5,193,2429,0.12,3.12,0.00,0.000,4,0.134,0.184,2857,880,1800
$GC,2491,0.51,159.6,67.1,5.8,196,2508,0.00,3.22,11.02,0.720,6,0.000,0.191,2857,2297,1766
$GC,2816,0.52,168.8,47.6,6.0,213,2831,0.00,3.30,8.35,0.688,4,0.000,0.204,2857,3709,1741
$GC,2888,0.52,168.8,42.7,7.2,219,2894,0.00,2.90,0.00,0.000,6,0.000,0.149,2857,2298,1741
$GC,3085,0.55,186.1,31.9,5.7,238,3108,0.00,3.17,14.35,0.740,4,0.000,0.189,2857,884,1694
$GC,3156,0.55,186.1,27.6,6.7,244,3164,0.00,3.22,0.00,0.000,6,0.000,0.189,2857,2301,1694
$GC,3358,0.68,223.5,17.2,5.1,267,3394,0.20,3.30,29.17,0.767,4,0.077,0.201,2917,3713,1591
$GC,3450,0.57,223.5,10.3,8.0,283,3457,0.20,2.90,0.00,0.000,6,0.122,0.146,2877,2301,1592
$GC,3524,0.78,288.4,6.8,4.3,296,3582,0.20,3.20,48.92,0.765,4,0.079,0.186,2941,883,1416
$STATE,3597,end climb,SURFACE_DEPTH_REACHED
$STATE,3597,begin surface coast
$FINISH,2.8,1.018756
$STATE,3643,end surface coast,CONTROL_FINISHED_OK
$STATE,3643,begin surface
$SM_CCo,3663,195.70,0.747,0,0,705,550.09
$SM_GC,0.83,0.00,0.00,195.70,0.000,0.000,0.747,656,2303,705,-9.65,0.08,550.09
$IRIDIUM_FIX,4751.72,-12223.57,221197,080838
$TT8_MAMPS,0.021476
$HUMID,2202
$INTERNAL_PRESSURE,9.3288
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.8
$ALTIM_BOTTOM_PING,70.7,50.8
$24V_AH,23.5,11.233
$10V_AH,10.3,2.765
$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,24.500,68.725,328.775,195.700,0.000,110.642,111.315,174.891,0.750,0.000,0.000,16.576,522.314,2335.819,621.534,604.170,443.647,33.318,1004.681,0.000,586.155,0.000,7.716,0.000
$DEVICE_MAMPS,196.157,206.089,836.771,747.383,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9587,317
$CAP_FILE_SIZE,51858,0
$CFSIZE,260165632,258682880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,280808,095007,4807.408,-12223.307,15,1.5,31,18.3