version: 66.02
glider: 30
mission: 5
dive: 6
start: 1 18 108 7 8 24
data:
$ID,30
$MISSION,5
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$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
$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,-57971.602
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,714
$PITCH_MAX,3990
$C_PITCH,2650
$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,133
$ROLL_MAX,3750
$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,8
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,410
$VBD_MAX,4000
$C_VBD,2462
$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
$PRESSURE_YINT,-31.539675
$PRESSURE_SLOPE,0.0003358523
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043891054
$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
$GPS1,070338,4804.240,-12541.360,35,1.4,36,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.7
$GPS2,070721,4804.235,-12541.377,13,1.3,13,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.103,0.238
$KALMAN_X,-1745.9,-431.2,840.2,1081.0,-444.6
$KALMAN_Y,-2793.9,-368.9,-49.6,6991.8,-400.1
$MHEAD_RNG_PITCHd_Wd,4.5,8987,-17.9,-10.000
$D_GRID,321
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.43,-146.6,0.0,0.0,0,136,0.00,0.00,-116.68,0.000,2,0.000,0.000,707,2310,1915
$GC,138,-1.43,-146.6,3.5,-2.1,12,206,9.25,0.00,-53.00,0.000,6,0.199,0.000,2335,2313,2861
$GC,534,-1.43,-146.6,80.1,-19.8,67,539,0.00,2.97,0.00,0.000,4,0.000,0.169,2334,3717,2861
$GC,543,-1.43,-146.6,82.1,-19.4,67,551,0.00,2.78,0.00,0.000,6,0.000,0.119,2335,2297,2861
$GC,868,-1.43,-146.6,135.8,-15.1,98,873,0.00,3.03,0.00,0.000,4,0.000,0.171,2335,3711,2861
$GC,929,-1.43,-146.6,145.3,-15.6,103,934,0.00,2.72,0.00,0.000,6,0.000,0.124,2335,2300,2861
$GC,1255,-1.43,-146.6,193.9,-14.4,120,1259,0.00,3.03,0.00,0.000,4,0.000,0.174,2334,3711,2861
$GC,1264,-1.43,-146.6,195.6,-14.5,120,1271,0.00,2.78,0.00,0.000,6,0.000,0.124,2335,2300,2861
$GC,1580,-1.43,-146.6,235.7,-11.8,136,1584,0.00,3.03,0.00,0.000,4,0.000,0.174,2335,3711,2861
$GC,1589,-1.43,-146.6,237.0,-11.1,136,1596,0.00,2.78,0.00,0.000,6,0.000,0.124,2335,2300,2861
$GC,1905,-1.43,-146.6,272.7,-12.1,152,1909,0.00,2.88,0.00,0.000,4,0.000,0.154,2335,886,2861
$GC,1920,-1.43,-146.6,274.7,-12.1,153,1925,0.00,3.05,0.00,0.000,6,0.000,0.171,2335,2302,2862
$GC,2269,-1.43,-146.6,317.2,-12.6,166,2274,0.00,2.90,0.00,0.000,4,0.000,0.151,2335,886,2862
$GC,2290,-1.43,-146.6,319.9,-12.4,166,2295,0.00,3.08,0.00,0.000,6,0.000,0.174,2335,2295,2862
$STATE,2305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2305,begin apogee
$GC,2308,-0.32,0.0,321.6,10.8,166,2427,1.15,0.00,115.32,1.018,6,0.119,0.000,2577,2296,2462
$STATE,2428,end apogee,CONTROL_FINISHED_OK
$STATE,2428,begin climb
$GC,2429,1.43,146.6,323.7,0.0,168,2552,1.73,3.15,114.18,1.001,4,0.092,0.186,2960,3713,2063
$GC,2759,1.43,146.6,301.8,11.7,173,2763,0.00,2.83,0.00,0.000,6,0.000,0.129,2960,2300,2063
$GC,3089,1.48,177.6,272.0,8.5,187,3120,0.00,3.03,25.12,0.919,4,0.000,0.169,2960,887,1979
$GC,3372,1.48,177.6,242.4,10.5,200,3377,0.00,3.12,0.00,0.000,6,0.000,0.181,2960,2301,1978
$GC,3698,1.53,201.4,212.1,8.9,216,3724,0.10,3.03,20.02,0.881,4,0.099,0.164,2987,886,1914
$GC,3773,1.53,201.4,204.0,11.1,219,3780,0.00,3.17,0.00,0.000,6,0.000,0.184,2987,2305,1915
$GC,4088,1.53,201.4,169.9,10.2,235,4093,0.00,2.97,0.00,0.000,4,0.000,0.161,2987,886,1914
$GC,4228,1.53,201.4,155.2,11.6,241,4233,0.00,3.12,0.00,0.000,6,0.000,0.181,2986,2300,1914
$GC,4550,1.68,286.0,128.8,6.0,268,4623,0.12,3.17,66.35,0.872,4,0.097,0.184,3020,3712,1684
$GC,4874,1.68,286.0,91.6,11.7,297,4881,0.00,2.80,0.00,0.000,6,0.000,0.129,3020,2305,1684
$GC,5212,1.68,286.0,57.7,10.2,348,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2305,1684
$GC,5550,1.75,323.6,25.8,8.2,395,5582,0.00,0.00,30.05,0.782,6,0.000,0.000,3020,2305,1582
$STATE,5813,end climb,SURFACE_DEPTH_REACHED
$STATE,5813,begin surface coast
$FINISH,0.7,1.023888
$STATE,5846,end surface coast,CONTROL_FINISHED_OK
$STATE,5846,begin surface
$SM_CCo,5862,171.95,0.785,0,0,968,550.09
$SM_GC,1.37,0.00,0.00,171.95,0.000,0.000,0.785,710,2304,968,-8.92,0.11,550.09
$IRIDIUM_FIX,4745.30,-12544.61,180108,080800
$TT8_MAMPS,0.022243
$HUMID,2920
$INTERNAL_PRESSURE,9.28035
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.7,1.230
$10V_AH,10.2,0.272
$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
$DEVICE_SECS,23.050,65.400,371.050,171.950,0.000,37.461,36.389,83.910,1.750,0.000,0.000,13.302,743.777,3705.277,683.390,939.738,211.527,33.354,1215.320,0.000,917.996,0.000,12.259
$DEVICE_MAMPS,198.640,186.225,1018.030,784.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12714,423
$CFSIZE,260165632,258875392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,26,0
$GPS,180108,085005,4804.565,-12541.092,15,4.0,35,18.9