version: 66.04
glider: 30
mission: 6
dive: 19
start: 8 28 108 14 35 30
data:
$ID,30
$MISSION,6
$DIVE,19
$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,-71663.492
$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
$GPS1,143050,4808.182,-12223.335,63,1.8,81,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-54.4
$GPS2,143438,4808.202,-12223.355,34,1.4,51,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.192,-0.092
$KALMAN_X,-665.0,962.2,66.6,-559.4,-505.0
$KALMAN_Y,87.9,-700.5,121.5,2086.1,85.0
$MHEAD_RNG_PITCHd_Wd,97.2,577,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-116.75,0.000,2,0.000,0.000,658,2302,1663
$GC,136,-1.00,-146.6,3.4,-5.4,21,190,10.52,3.22,-36.92,0.000,4,0.191,0.191,2533,3713,2601
$GC,323,-0.92,-146.6,23.3,-8.1,51,331,0.10,2.83,0.00,0.000,6,0.134,0.137,2553,2301,2601
$GC,520,-0.92,-146.6,35.9,-5.8,70,525,0.00,3.03,0.00,0.000,4,0.000,0.174,2553,887,2601
$GC,574,-0.92,-146.6,39.4,-6.1,74,581,0.00,3.15,0.00,0.000,6,0.000,0.181,2553,2301,2601
$GC,783,-0.97,-146.6,51.5,-5.6,93,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,2601
$GC,1091,-1.06,-146.6,68.2,-5.3,108,1093,0.15,0.00,0.00,0.000,6,0.079,0.000,2506,2301,2601
$GC,1401,-1.06,-146.6,88.6,-6.6,123,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2301,2601
$STATE,1659,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1659,begin apogee
$GC,1662,-0.32,0.0,104.9,5.7,139,1774,0.82,0.00,108.75,0.817,6,0.107,0.000,2683,2301,2200
$STATE,1775,end apogee,CONTROL_FINISHED_OK
$STATE,1775,begin climb
$GC,1777,1.00,146.6,106.5,0.0,150,1889,1.27,0.00,108.40,0.800,6,0.087,0.000,2972,2302,1801
$GC,2187,0.66,146.6,65.6,10.9,175,2193,0.35,3.10,0.00,0.000,4,0.129,0.176,2900,887,1801
$GC,2226,0.54,146.6,62.4,8.2,177,2232,0.15,3.22,0.00,0.000,6,0.134,0.194,2871,2300,1801
$GC,2544,0.59,176.1,43.8,5.3,197,2577,0.00,3.28,22.92,0.750,4,0.000,0.204,2871,3705,1721
$GC,2611,0.55,176.1,39.7,6.4,203,2615,0.00,2.88,0.00,0.000,6,0.000,0.144,2871,2301,1721
$GC,2807,0.60,207.9,29.0,5.3,221,2840,0.00,3.15,24.85,0.747,4,0.000,0.184,2871,887,1633
$GC,2862,0.60,207.9,26.0,6.8,226,2867,0.00,3.25,0.00,0.000,6,0.000,0.191,2871,2299,1633
$GC,3063,0.74,250.0,15.4,5.0,251,3104,0.20,3.17,32.05,0.750,4,0.077,0.179,2933,882,1520
$GC,3110,0.69,256.3,12.5,6.1,259,3124,0.15,3.28,6.50,0.603,6,0.124,0.194,2904,2298,1503
$GC,3191,0.88,309.5,8.4,4.6,273,3239,0.20,3.17,40.90,0.742,4,0.079,0.171,2964,887,1358
$GC,3385,1.50,524.2,7.6,-0.4,307,3499,0.52,3.17,106.75,0.750,2,0.074,0.184,3094,2303,969
$STATE,3500,end climb,SURFACE_DEPTH_REACHED
$STATE,3500,begin surface coast
$FINISH,-0.4,1.017285
$STATE,3611,end surface coast,CONTROL_FINISHED_OK
$STATE,3612,begin surface
$SM_CCo,3628,73.30,0.732,0,0,705,550.09
$SM_GC,0.91,0.00,0.00,73.30,0.000,0.000,0.732,656,2303,705,-9.65,0.08,550.09
$IRIDIUM_FIX,4748.51,-12221.84,221197,131332
$TT8_MAMPS,0.021476
$HUMID,2220
$INTERNAL_PRESSURE,9.35787
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.5
$ALTIM_BOTTOM_PING,70.9,43.4
$24V_AH,23.5,11.869
$10V_AH,10.3,2.892
$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,25.300,43.900,451.125,73.300,0.000,30.107,34.862,63.371,0.750,0.000,0.000,51.962,505.902,2050.729,611.523,614.214,165.935,33.311,988.807,0.000,561.888,0.000,7.174,0.000
$DEVICE_MAMPS,191.191,203.606,816.907,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9606,347
$CAP_FILE_SIZE,43050,0
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,280808,153817,4808.075,-12222.913,13,6.5,32,18.3