version: 66.04
glider: 30
mission: 7
dive: 6
start: 9 16 108 1 53 46
data:
$ID,30
$MISSION,7
$DIVE,6
$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,-72628.57
$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,6
$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
$GPS1,014931,4657.994,-12501.672,37,1.8,37,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-51.4
$GPS2,015251,4657.977,-12501.666,13,1.8,13,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,-0.008
$KALMAN_X,549.4,170.5,-38.3,-5324.2,78.7
$KALMAN_Y,-1226.0,-516.0,356.0,473.9,75.1
$MHEAD_RNG_PITCHd_Wd,249.7,225278,-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,14,-1.43,-146.6,0.0,0.0,0,99,0.00,0.00,-82.62,0.000,2,0.000,0.000,657,2303,1551
$GC,101,-1.43,-146.6,3.3,-4.2,8,145,8.23,3.17,-28.23,0.000,4,0.189,0.191,2132,3714,2202
$GC,324,-1.43,-146.6,49.2,-19.7,32,331,0.00,2.80,0.00,0.000,6,0.000,0.132,2132,2297,2202
$GC,659,-1.43,-146.6,98.7,-13.7,80,664,0.00,3.22,0.00,0.000,4,0.000,0.194,2132,3718,2202
$GC,877,-1.43,-146.6,130.6,-13.3,99,881,0.00,2.80,0.00,0.000,6,0.000,0.134,2132,2301,2202
$GC,1201,-1.43,-146.6,169.7,-11.8,122,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2300,2202
$GC,1511,-1.43,-146.6,203.4,-10.1,137,1516,0.00,3.22,0.00,0.000,4,0.000,0.196,2132,3717,2202
$GC,1571,-1.43,-146.6,210.1,-11.5,140,1576,0.00,2.83,0.00,0.000,6,0.000,0.137,2132,2295,2202
$GC,1902,-1.43,-146.6,247.7,-11.3,156,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2295,2202
$GC,2212,-1.43,-146.6,279.3,-10.5,171,2217,0.00,3.25,0.00,0.000,4,0.000,0.199,2132,3717,2202
$GC,2288,-1.43,-146.6,287.6,-9.5,174,2295,0.00,2.85,0.00,0.000,6,0.000,0.139,2132,2293,2202
$STATE,2417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2418,begin apogee
$GC,2421,-0.32,0.0,300.0,9.5,181,2540,1.17,0.00,112.00,1.001,6,0.117,0.000,2377,2293,1801
$STATE,2540,end apogee,CONTROL_FINISHED_OK
$STATE,2540,begin climb
$GC,2542,1.43,146.6,303.0,0.0,183,2665,1.73,3.50,111.95,0.976,4,0.094,0.214,2760,3717,1402
$GC,2748,1.43,146.6,285.9,11.9,188,2755,0.00,2.97,0.00,0.000,6,0.000,0.149,2759,2299,1402
$GC,3064,1.43,146.6,253.7,10.0,204,3069,0.00,3.35,0.00,0.000,4,0.000,0.211,2759,3713,1402
$GC,3106,1.43,146.6,249.0,11.3,206,3111,0.00,2.95,0.00,0.000,6,0.000,0.149,2760,2301,1402
$GC,3433,1.43,149.3,217.3,9.9,222,3439,0.00,0.00,4.03,0.601,6,0.000,0.000,2760,2301,1395
$GC,3742,1.45,156.6,187.3,9.7,237,3757,0.00,3.40,7.18,0.772,4,0.000,0.209,2759,3711,1375
$GC,3840,1.45,156.6,176.5,11.1,241,3845,0.00,2.92,0.00,0.000,6,0.000,0.146,2760,2301,1375
$GC,4163,1.47,167.5,144.3,9.5,259,4179,0.00,3.38,10.12,0.812,4,0.000,0.209,2759,3712,1345
$GC,4201,1.48,174.7,140.6,9.7,262,4214,0.00,2.92,6.95,0.735,6,0.000,0.146,2759,2296,1326
$GC,4530,1.51,193.7,110.3,9.1,293,4553,0.00,3.40,16.17,0.839,4,0.000,0.209,2759,3713,1273
$GC,4591,1.56,221.2,104.9,8.7,298,4621,0.15,2.90,23.67,0.849,6,0.084,0.146,2799,2301,1200
$GC,4942,1.61,245.5,70.6,8.9,340,4972,0.00,3.40,22.75,0.829,4,0.000,0.209,2799,3712,1133
$GC,5078,1.61,245.5,57.0,10.5,364,5085,0.00,2.88,0.00,0.000,6,0.000,0.144,2799,2300,1133
$GC,5419,1.74,317.9,30.4,6.6,413,5484,0.12,3.15,55.70,0.829,4,0.089,0.181,2835,885,936
$GC,5652,1.79,349.7,12.8,8.5,434,5685,0.00,3.25,25.40,0.790,6,0.000,0.196,2835,2301,850
$STATE,5799,end climb,SURFACE_DEPTH_REACHED
$STATE,5799,begin surface coast
$FINISH,-0.3,1.013272
$STATE,5821,end surface coast,CONTROL_FINISHED_OK
$STATE,5821,begin surface
$SM_CCo,5837,76.68,0.787,0,0,578,450.00
$SM_GC,0.97,0.00,0.00,76.68,0.000,0.000,0.787,658,2301,578,-8.24,0.03,450.00
$IRIDIUM_FIX,4641.78,-12459.26,111297,000040
$TT8_MAMPS,0.021476
$HUMID,2277
$INTERNAL_PRESSURE,9.25128
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.3,13.027
$10V_AH,10.2,3.231
$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,21.125,68.525,395.925,76.675,0.000,22.402,27.506,84.030,2.000,0.000,0.000,13.208,773.353,3696.677,569.630,912.187,181.039,33.336,1081.897,0.000,887.910,0.000,14.200,0.000
$DEVICE_MAMPS,188.708,213.538,1000.649,787.111,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.551,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12727,450
$CAP_FILE_SIZE,57401,0
$CFSIZE,260165632,258830336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,160908,033323,4658.138,-12502.841,11,5.9,30,18.4