version: 66.04
glider: 30
mission: 7
dive: 3
start: 9 15 108 20 57 24
data:
$ID,30
$MISSION,7
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$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,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,-72530.562
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3990
$C_PITCH,2450
$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,5
$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,0
$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
$GPS1,205344,4657.804,-12458.352,13,1.9,13,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-54.2
$GPS2,205632,4657.770,-12458.363,16,1.7,33,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.248,0.077
$KALMAN_X,107.4,93.1,86.9,-757.3,63.5
$KALMAN_Y,-625.2,-477.8,-429.0,240.9,-433.7
$MHEAD_RNG_PITCHd_Wd,268.8,229455,-17.9,-10.000
$D_GRID,300
$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,13,-1.43,-146.6,0.0,0.0,0,88,0.00,0.00,-72.20,0.000,2,0.000,0.000,657,2294,1566
$GC,90,-1.43,-146.6,3.5,-5.7,7,133,8.15,3.17,-25.38,0.000,4,0.189,0.181,2135,3710,2202
$GC,374,-1.43,-146.6,56.4,-16.9,41,381,0.00,2.72,0.00,0.000,6,0.000,0.124,2135,2299,2201
$GC,713,-1.43,-146.6,101.3,-11.7,87,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2299,2201
$GC,1031,-1.43,-146.6,142.0,-13.3,117,1036,0.00,3.15,0.00,0.000,4,0.000,0.189,2135,3716,2201
$GC,1130,-1.43,-146.6,155.3,-13.2,123,1137,0.00,2.78,0.00,0.000,6,0.000,0.127,2135,2302,2201
$GC,1445,-1.43,-146.6,189.9,-10.1,139,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2302,2200
$GC,1756,-1.43,-146.6,219.8,-9.5,154,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2302,2199
$GC,2064,-1.43,-146.6,249.3,-10.3,169,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2302,2198
$GC,2373,-1.43,-146.6,262.1,-0.1,184,2378,0.00,2.95,0.00,0.000,4,0.000,0.164,2135,881,2197
$GC,2630,-1.43,-146.6,261.9,-0.1,195,2637,0.00,3.15,0.00,0.000,6,0.000,0.189,2135,2300,2197
$STATE,2780,end dive,NO_VERTICAL_VELOCITY
$STATE,2780,begin apogee
$GC,2783,-0.32,0.0,261.9,0.0,203,2896,1.12,0.00,108.93,0.968,6,0.099,0.000,2381,2300,1801
$STATE,2897,end apogee,CONTROL_FINISHED_OK
$STATE,2897,begin climb
$GC,2898,1.43,146.6,261.8,0.0,208,3018,1.70,3.10,110.95,0.944,4,0.092,0.169,2761,886,1401
$GC,3117,1.61,245.4,248.0,5.4,217,3201,0.17,3.28,75.32,0.924,6,0.084,0.196,2806,2300,1134
$GC,3522,1.61,245.4,199.4,17.4,237,3527,0.00,3.28,0.00,0.000,4,0.000,0.209,2806,3715,1134
$GC,3632,1.61,245.4,180.0,15.5,242,3637,0.00,2.88,0.00,0.000,6,0.000,0.139,2806,2307,1134
$GC,3951,1.61,245.4,135.9,12.9,262,3956,0.00,3.03,0.00,0.000,4,0.000,0.171,2806,884,1134
$GC,3994,1.61,245.4,130.4,12.6,265,4001,0.00,3.25,0.00,0.000,6,0.000,0.196,2806,2300,1134
$GC,4319,1.61,245.4,88.0,11.3,296,4324,0.00,3.03,0.00,0.000,4,0.000,0.166,2806,880,1133
$GC,4357,1.61,245.4,83.8,11.4,299,4362,0.00,3.25,0.00,0.000,6,0.000,0.194,2806,2303,1133
$GC,4698,1.61,248.3,53.8,9.9,356,4710,0.00,3.28,3.78,0.534,4,0.000,0.209,2806,3706,1126
$GC,4861,1.68,287.0,37.8,8.2,383,4900,0.00,2.83,30.55,0.814,6,0.000,0.139,2806,2295,1020
$GC,5217,1.88,396.0,12.0,4.9,417,5306,0.25,3.38,82.28,0.807,4,0.079,0.206,2870,3712,724
$STATE,5345,end climb,SURFACE_DEPTH_REACHED
$STATE,5345,begin surface coast
$FINISH,0.3,1.023686
$STATE,5356,end surface coast,CONTROL_FINISHED_OK
$STATE,5356,begin surface
$SM_CCo,5375,41.58,0.770,0,0,578,450.00
$SM_GC,1.29,0.00,0.00,41.58,0.000,0.000,0.770,657,2298,578,-8.25,-0.06,450.00
$IRIDIUM_FIX,4641.78,-12501.85,101297,212121
$TT8_MAMPS,0.021476
$HUMID,2247
$INTERNAL_PRESSURE,9.26097
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,89.4
$24V_AH,23.4,12.644
$10V_AH,10.3,3.137
$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,21.250,55.350,411.800,41.575,0.000,0.000,0.000,0.000,1.250,0.000,0.000,33.620,727.259,3328.200,515.198,903.810,31.660,31.420,1011.123,0.000,859.792,0.000,10.453,0.000
$DEVICE_MAMPS,188.708,208.572,968.370,769.730,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,430
$CAP_FILE_SIZE,74581,0
$CFSIZE,260165632,258908160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,150908,222844,4658.028,-12459.319,13,1.3,31,18.4