version: 66.04
glider: 30
mission: 7
dive: 2
start: 9 15 108 19 19 56
data:
$ID,30
$MISSION,7
$DIVE,2
$D_SURF,2
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,450
$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,-72291.703
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3990
$C_PITCH,2550
$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,9
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,100
$VBD_MAX,3750
$C_VBD,1801
$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,-31.903648
$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,125
$ALTIM_PING_DELTA,25
$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
$GPS1,191404,4658.000,-12457.955,33,1.9,34,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-47.4
$GPS2,191905,4657.941,-12457.956,13,2.3,32,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.195,0.172
$KALMAN_X,67.6,67.6,67.6,-166.0,142.8
$KALMAN_Y,-239.9,-239.9,-239.9,-237.1,-507.4
$MHEAD_RNG_PITCHd_Wd,293.0,229964,-17.9,-10.000
$D_GRID,160
$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,-1.43,-146.6,0.0,0.0,0,129,0.00,0.00,-112.35,0.000,2,0.000,0.000,657,2296,1633
$GC,131,-1.43,-146.6,3.5,-5.1,11,168,8.62,3.17,-21.58,0.000,4,0.184,0.184,2236,3715,2201
$GC,263,-1.43,-146.6,24.9,-13.0,23,267,0.00,2.72,0.00,0.000,6,0.000,0.122,2237,2296,2200
$GC,597,-1.43,-146.6,64.6,-12.0,71,604,0.00,3.15,0.00,0.000,4,0.000,0.189,2237,3714,2200
$GC,727,-1.43,-146.6,80.3,-10.3,94,733,0.00,2.72,0.00,0.000,6,0.000,0.124,2237,2296,2200
$GC,1051,-1.43,-146.6,107.5,-8.7,125,1056,0.00,2.88,0.00,0.000,4,0.000,0.156,2237,886,2199
$GC,1134,-1.43,-146.6,115.6,-9.3,132,1139,0.00,3.08,0.00,0.000,6,0.000,0.179,2237,2297,2199
$GC,1458,-1.43,-146.6,142.1,-7.5,162,1463,0.00,3.12,0.00,0.000,4,0.000,0.194,2237,3714,2198
$GC,1525,-1.43,-146.6,147.7,-8.7,167,1531,0.00,2.72,0.00,0.000,6,0.000,0.124,2237,2300,2198
$STATE,1560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1560,begin apogee
$GC,1564,-0.32,0.0,150.7,8.0,171,1675,1.12,0.00,107.97,0.862,6,0.104,0.000,2481,2299,1801
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1677,1.43,146.6,154.9,0.0,176,1796,1.65,3.33,109.22,0.847,4,0.077,0.201,2871,3712,1402
$GC,2048,1.43,146.6,123.8,14.2,201,2053,0.00,2.80,0.00,0.000,6,0.000,0.132,2871,2297,1402
$GC,2372,1.45,160.9,89.3,9.3,231,2394,0.00,3.05,12.23,0.747,4,0.000,0.171,2871,886,1363
$GC,2506,1.49,182.9,76.2,9.0,246,2530,0.00,3.20,17.92,0.775,6,0.000,0.191,2871,2300,1303
$GC,2868,1.67,279.1,44.6,5.5,310,2947,0.20,3.33,72.28,0.802,4,0.087,0.201,2926,3713,1042
$GC,3199,1.70,300.1,7.9,9.0,345,3221,0.00,2.80,16.75,0.735,6,0.000,0.132,2926,2294,985
$STATE,3272,end climb,SURFACE_DEPTH_REACHED
$STATE,3272,begin surface coast
$FINISH,-0.1,1.023678
$STATE,3295,end surface coast,CONTROL_FINISHED_OK
$STATE,3295,begin surface
$SM_CCo,3311,112.82,0.762,0,0,578,450.00
$SM_GC,0.88,0.00,0.00,112.82,0.000,0.000,0.762,657,2293,578,-8.71,-0.20,450.00
$IRIDIUM_FIX,4644.93,-12501.07,101297,191907
$TT8_MAMPS,0.021476
$HUMID,2108
$INTERNAL_PRESSURE,9.3288
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,21.0
$ALTIM_BOTTOM_PING,125.6,77.6
$24V_AH,23.6,12.483
$10V_AH,10.3,3.088
$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,21.700,42.075,336.375,112.825,0.000,0.000,0.000,0.000,1.250,0.000,0.000,33.156,584.268,1636.066,547.071,721.705,25.496,30.181,945.311,0.000,684.881,0.000,7.274,0.000
$DEVICE_MAMPS,183.742,201.123,861.601,762.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9586,354
$CAP_FILE_SIZE,73533,0
$CFSIZE,260165632,258945024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,150908,201828,4658.204,-12458.270,35,2.9,54,18.4