version: 66.04
glider: 30
mission: 6
dive: 15
start: 8 28 108 9 54 19
data:
$ID,30
$MISSION,6
$DIVE,15
$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,-71527.695
$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,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
$GPS1,095007,4807.408,-12223.307,15,1.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.5
$GPS2,095326,4807.443,-12223.316,10,2.0,15,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.153,0.148
$KALMAN_X,265.0,253.7,-48.3,-624.1,249.8
$KALMAN_Y,10.1,-261.4,-58.1,504.5,-123.1
$MHEAD_RNG_PITCHd_Wd,295.9,1334,-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,-146.6,0.0,0.0,0,95,0.00,0.00,-78.40,0.000,2,0.000,0.000,656,2303,1763
$GC,97,-1.00,-146.6,3.4,-2.9,14,156,10.50,3.12,-42.35,0.000,4,0.191,0.166,2533,887,2600
$GC,408,-1.00,-146.6,28.3,-8.1,60,415,0.00,3.12,0.00,0.000,6,0.000,0.179,2533,2303,2600
$GC,605,-1.00,-146.6,41.2,-7.0,79,609,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,880,2600
$GC,726,-1.00,-146.6,49.8,-6.7,89,733,0.00,3.15,0.00,0.000,6,0.000,0.181,2533,2305,2600
$GC,920,-1.00,-146.6,61.7,-6.0,99,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2305,2600
$GC,1227,-1.00,-146.6,79.1,-5.5,114,1232,0.00,3.05,0.00,0.000,4,0.000,0.169,2533,883,2600
$GC,1254,-1.04,-146.6,80.6,-5.7,115,1259,0.00,3.15,0.00,0.000,6,0.000,0.181,2533,2300,2600
$GC,1569,-1.10,-146.6,97.7,-5.3,130,1574,0.00,3.05,0.00,0.000,4,0.000,0.171,2533,883,2600
$GC,1624,-1.18,-146.6,100.8,-5.8,132,1631,0.17,3.15,0.00,0.000,6,0.077,0.184,2480,2302,2600
$STATE,1766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1766,begin apogee
$GC,1770,-0.32,0.0,110.4,6.7,146,1882,0.95,0.00,108.80,0.834,6,0.109,0.000,2683,2302,2200
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1884,1.00,146.6,111.8,0.0,157,2003,1.27,3.33,108.40,0.812,4,0.087,0.209,2972,3710,1801
$GC,2081,0.59,146.6,93.7,12.4,173,2087,0.45,2.92,0.00,0.000,6,0.132,0.151,2884,2299,1801
$GC,2407,0.48,146.6,69.7,6.7,189,2412,0.12,3.10,0.00,0.000,4,0.137,0.181,2860,886,1801
$GC,2484,0.49,150.2,64.7,6.1,192,2495,0.00,3.25,4.50,0.556,6,0.000,0.191,2860,2302,1791
$GC,2813,0.53,175.2,46.4,5.5,211,2838,0.00,3.30,19.77,0.762,4,0.000,0.206,2860,3709,1722
$GC,2883,0.56,186.6,42.2,5.9,217,2901,0.00,2.90,10.25,0.705,6,0.000,0.146,2860,2300,1692
$GC,3091,0.58,200.6,30.4,5.8,237,3113,0.00,3.15,11.85,0.725,4,0.000,0.184,2860,883,1654
$GC,3162,0.62,200.6,26.2,6.5,243,3170,0.12,3.22,0.00,0.000,6,0.087,0.191,2896,2297,1653
$GC,3364,0.57,200.6,13.2,6.5,271,3371,0.00,3.25,0.00,0.000,4,0.000,0.201,2897,3717,1654
$GC,3432,0.53,200.6,8.6,7.0,283,3439,0.08,2.88,0.00,0.000,6,0.109,0.146,2868,2299,1653
$GC,3507,0.82,290.6,5.8,3.5,296,3554,0.28,0.00,43.90,0.775,2,0.077,0.000,2947,2300,1496
$STATE,3554,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,2.2,1.018513
$STATE,3655,end surface coast,CONTROL_FINISHED_OK
$STATE,3656,begin surface
$SM_CCo,3672,217.98,0.755,0,0,705,550.09
$SM_GC,0.86,0.00,0.00,217.98,0.000,0.000,0.755,655,2297,705,-9.66,-0.08,550.09
$IRIDIUM_FIX,4748.51,-12224.57,221197,080818
$TT8_MAMPS,0.021476
$HUMID,2229
$INTERNAL_PRESSURE,9.31911
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.8
$ALTIM_BOTTOM_PING,70.9,49.4
$24V_AH,23.4,11.358
$10V_AH,10.3,2.790
$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,24.250,56.150,307.475,217.975,0.000,30.611,28.481,73.395,0.750,0.000,0.000,15.599,532.033,2155.867,622.917,623.327,173.608,33.325,1007.179,0.000,606.064,0.000,7.189,0.000
$DEVICE_MAMPS,191.191,208.572,834.288,754.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9622,322
$CAP_FILE_SIZE,46073,0
$CFSIZE,260165632,258658304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,280808,110011,4807.645,-12223.614,10,2.8,29,18.3