version: 66.04
glider: 30
mission: 6
dive: 16
start: 8 28 108 11 4 21
data:
$ID,30
$MISSION,6
$DIVE,16
$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,-71562.883
$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,4
$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
$GPS1,110011,4807.645,-12223.614,10,2.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.0
$GPS2,110329,4807.699,-12223.633,14,2.7,33,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,0.142
$KALMAN_X,656.4,382.9,-223.0,-1360.6,414.1
$KALMAN_Y,-359.9,-342.5,149.6,1222.2,-250.0
$MHEAD_RNG_PITCHd_Wd,293.4,719,-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,-78.53,0.000,2,0.000,0.000,655,2297,1760
$GC,97,-1.00,-146.6,3.2,-3.6,14,167,10.40,3.20,-51.35,0.000,4,0.186,0.186,2531,3714,2600
$GC,172,-0.67,-146.6,6.6,-7.0,27,179,0.38,2.85,0.00,0.000,6,0.127,0.137,2606,2301,2600
$GC,247,-0.78,-146.6,11.2,-5.5,40,253,0.00,3.22,0.00,0.000,4,0.000,0.191,2607,3717,2600
$GC,428,-0.91,-146.6,21.8,-6.0,70,434,0.25,2.85,0.00,0.000,6,0.072,0.139,2537,2301,2600
$GC,624,-0.91,-146.6,34.2,-6.2,88,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2301,2600
$GC,815,-1.01,-146.6,46.0,-6.4,106,820,0.00,3.20,0.00,0.000,4,0.000,0.191,2537,3714,2600
$GC,842,-1.01,-146.6,47.9,-6.9,108,847,0.00,2.85,0.00,0.000,6,0.000,0.139,2537,2295,2600
$GC,1035,-1.05,-146.6,59.3,-5.8,119,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2295,2600
$GC,1344,-1.10,-146.6,75.9,-5.2,134,1350,0.12,3.03,0.00,0.000,4,0.084,0.174,2493,886,2600
$GC,1393,-1.03,-146.6,79.3,-6.7,136,1399,0.17,3.15,0.00,0.000,6,0.119,0.181,2529,2306,2600
$GC,1709,-1.08,-146.6,97.1,-5.6,151,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2306,2600
$STATE,1950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1950,begin apogee
$GC,1953,-0.32,0.0,110.5,5.6,171,2065,0.70,0.00,108.68,0.839,6,0.104,0.000,2681,2305,2200
$STATE,2066,end apogee,CONTROL_FINISHED_OK
$STATE,2066,begin climb
$GC,2068,1.00,146.6,112.1,0.0,182,2186,1.30,3.28,108.50,0.822,4,0.087,0.209,2974,3714,1801
$GC,2281,0.59,146.6,91.5,12.6,198,2288,0.47,2.92,0.00,0.000,6,0.132,0.149,2880,2299,1801
$GC,2596,0.50,146.6,69.5,6.6,214,2601,0.00,3.08,0.00,0.000,4,0.000,0.181,2880,888,1801
$GC,2644,0.40,146.6,66.2,6.4,216,2650,0.20,3.22,0.00,0.000,6,0.127,0.191,2841,2305,1801
$GC,2960,0.52,212.8,51.4,4.2,231,3017,0.12,3.33,49.83,0.797,4,0.087,0.206,2880,3724,1621
$GC,3049,0.45,212.8,45.5,7.6,237,3057,0.15,2.92,0.00,0.000,6,0.124,0.144,2851,2301,1621
$GC,3247,0.58,250.1,34.2,5.1,256,3283,0.12,3.20,28.67,0.775,4,0.084,0.186,2890,895,1520
$GC,3333,0.58,250.1,27.4,8.2,264,3339,0.00,3.20,0.00,0.000,6,0.000,0.194,2890,2298,1520
$GC,3535,0.58,250.1,13.2,6.4,291,3542,0.00,3.22,0.00,0.000,4,0.000,0.201,2890,3711,1520
$GC,3603,0.58,250.1,8.6,7.5,303,3609,0.00,2.88,0.00,0.000,6,0.000,0.144,2890,2297,1520
$GC,3677,0.79,316.4,5.1,4.2,316,3707,0.15,0.00,27.52,0.762,2,0.084,0.000,2938,2297,1425
$STATE,3708,end climb,SURFACE_DEPTH_REACHED
$STATE,3708,begin surface coast
$FINISH,2.7,1.018340
$STATE,3809,end surface coast,CONTROL_FINISHED_OK
$STATE,3809,begin surface
$SM_CCo,3825,198.52,0.765,0,0,705,550.09
$SM_GC,0.83,0.00,0.00,198.52,0.000,0.000,0.765,657,2294,705,-9.64,-0.17,550.09
$IRIDIUM_FIX,4751.72,-12223.57,221197,101053
$TT8_MAMPS,0.021476
$HUMID,2224
$INTERNAL_PRESSURE,9.31911
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,21.3
$ALTIM_BOTTOM_PING,70.4,49.8
$24V_AH,23.5,11.482
$10V_AH,10.3,2.815
$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,24.775,55.600,323.200,198.525,0.000,24.679,26.427,62.848,0.750,0.000,0.000,34.552,556.280,2274.621,615.932,639.046,154.231,33.312,1007.443,0.000,603.882,0.000,7.189,0.000
$DEVICE_MAMPS,186.225,208.572,839.254,764.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9582,339
$CAP_FILE_SIZE,48246,0
$CFSIZE,260165632,258629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,280808,121238,4807.953,-12223.911,41,1.1,41,18.3