version: 66.04
glider: 30
mission: 7
dive: 4
start: 9 15 108 22 34 0
data:
$ID,30
$MISSION,7
$DIVE,4
$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,-72579.109
$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,7
$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
$GPS1,222844,4658.028,-12459.319,13,1.3,31,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-54.1
$GPS2,223307,4657.985,-12459.352,37,2.0,47,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,-0.003
$KALMAN_X,272.1,175.9,59.6,-2230.4,64.9
$KALMAN_Y,-736.0,-561.1,-339.4,731.7,44.6
$MHEAD_RNG_PITCHd_Wd,250.9,228201,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-82.15,0.000,2,0.000,0.000,657,2298,1542
$GC,100,-1.43,-146.6,3.2,-3.6,8,144,8.20,3.20,-29.33,0.000,4,0.189,0.189,2133,3714,2201
$GC,396,-1.43,-146.6,59.4,-16.8,44,403,0.00,2.80,0.00,0.000,6,0.000,0.129,2133,2291,2201
$GC,728,-1.43,-146.6,105.0,-12.6,87,733,0.00,3.22,0.00,0.000,4,0.000,0.191,2133,3718,2201
$GC,851,-1.43,-146.6,122.4,-15.4,97,857,0.00,2.80,0.00,0.000,6,0.000,0.132,2133,2297,2201
$GC,1170,-1.43,-146.6,169.9,-12.5,121,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2296,2201
$GC,1479,-1.43,-146.6,220.7,-21.4,136,1484,0.00,2.92,0.00,0.000,4,0.000,0.161,2133,884,2201
$GC,1589,-1.43,-146.6,240.9,-15.0,141,1594,0.00,3.15,0.00,0.000,6,0.000,0.181,2133,2305,2201
$GC,1916,-1.43,-146.6,281.3,-13.1,157,1921,0.00,3.17,0.00,0.000,4,0.000,0.201,2133,3714,2201
$STATE,1953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1954,begin apogee
$GC,1960,-0.32,0.0,286.7,14.4,159,2076,1.17,0.00,110.93,0.988,6,0.122,0.000,2376,2299,1801
$STATE,2077,end apogee,CONTROL_FINISHED_OK
$STATE,2077,begin climb
$GC,2078,1.43,146.6,287.5,0.0,165,2199,1.73,3.12,111.38,0.968,4,0.092,0.174,2762,881,1402
$GC,2365,1.43,146.6,271.0,10.4,177,2371,0.00,3.30,0.00,0.000,6,0.000,0.196,2762,2304,1402
$GC,2687,1.43,146.6,237.2,12.3,193,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2304,1402
$GC,2996,1.47,171.9,219.1,8.8,208,3023,0.00,3.12,20.85,0.906,4,0.000,0.171,2762,881,1333
$GC,3038,1.47,171.9,214.4,11.6,210,3043,0.00,3.30,0.00,0.000,6,0.000,0.196,2762,2300,1333
$GC,3365,1.47,171.9,173.4,11.4,226,3370,0.00,3.28,0.00,0.000,4,0.000,0.211,2762,3712,1333
$GC,3385,1.47,171.9,171.1,10.6,227,3390,0.00,2.90,0.00,0.000,6,0.000,0.142,2762,2298,1333
$GC,3704,1.54,210.7,142.5,8.2,246,3740,0.10,3.12,30.62,0.889,4,0.097,0.181,2790,886,1228
$GC,3824,1.54,210.7,129.6,14.2,257,3829,0.00,3.28,0.00,0.000,6,0.000,0.199,2790,2300,1228
$GC,4148,1.54,210.7,91.0,10.7,287,4153,0.00,3.28,0.00,0.000,4,0.000,0.209,2790,3714,1228
$GC,4276,1.57,223.7,77.8,9.4,300,4294,0.00,2.88,11.27,0.795,6,0.000,0.142,2790,2293,1193
$GC,4631,1.59,237.3,47.5,9.4,363,4648,0.00,0.00,11.82,0.785,6,0.000,0.000,2790,2293,1156
$GC,4976,1.77,335.1,24.0,5.4,403,5061,0.20,3.40,74.45,0.832,4,0.084,0.206,2842,3713,890
$GC,5072,1.78,340.8,17.1,9.7,412,5084,0.00,2.90,6.28,0.643,6,0.000,0.142,2842,2293,874
$STATE,5283,end climb,SURFACE_DEPTH_REACHED
$STATE,5283,begin surface coast
$FINISH,-0.4,1.023723
$STATE,5306,end surface coast,CONTROL_FINISHED_OK
$STATE,5306,begin surface
$SM_CCo,5321,83.12,0.795,0,0,578,450.00
$SM_GC,1.05,0.00,0.00,83.12,0.000,0.000,0.795,656,2293,578,-8.25,-0.20,450.00
$IRIDIUM_FIX,4641.78,-12449.70,101297,212113
$TT8_MAMPS,0.022243
$HUMID,2269
$INTERNAL_PRESSURE,9.25128
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,203.2,93.1
$24V_AH,23.4,12.771
$10V_AH,10.3,3.168
$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,21.200,61.975,377.600,83.125,0.000,27.455,28.026,102.787,1.250,0.000,0.000,47.914,725.863,3301.761,546.031,898.878,204.551,32.331,1032.614,0.000,841.985,0.000,10.457,0.000
$DEVICE_MAMPS,188.708,211.055,988.234,794.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12710,434
$CAP_FILE_SIZE,54019,0
$CFSIZE,260165632,258899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,160908,000459,4658.062,-12500.389,10,4.4,29,18.4