version: 66.02
glider: 30
mission: 5
dive: 14
start: 1 18 108 17 55 49
data:
$ID,30
$MISSION,5
$DIVE,14
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58233.59
$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,5
$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,20
$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,2
$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
$GPS1,174621,4805.993,-12540.354,12,1.5,12,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-53.5
$GPS2,175447,4806.024,-12540.279,14,2.4,33,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.031,0.258
$KALMAN_X,-3295.4,473.2,683.1,3227.7,-116.6
$KALMAN_Y,-9964.0,41.8,44.7,16961.4,-984.9
$MHEAD_RNG_PITCHd_Wd,347.9,5522,-17.9,-10.000
$D_GRID,190
$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,-146.6,0.0,0.0,0,210,0.00,0.00,-190.48,0.000,2,0.000,0.000,705,2307,1886
$GC,212,-1.43,-146.6,3.0,-1.8,19,295,9.43,3.08,-63.33,0.000,4,0.720,0.673,2335,885,2861
$GC,468,-1.43,-146.6,49.9,-20.1,46,475,0.00,3.12,0.00,0.000,6,0.000,0.685,2335,2303,2860
$GC,805,-1.43,-146.6,118.0,-19.2,90,810,0.00,3.03,0.00,0.000,4,0.000,0.668,2335,880,2860
$GC,848,-1.43,-146.6,126.5,-19.0,93,855,0.00,3.15,0.00,0.000,6,0.000,0.683,2335,2300,2860
$GC,1179,-1.43,-146.6,176.7,-13.8,116,1183,0.00,3.12,0.00,0.000,4,0.000,0.695,2335,3711,2860
$GC,1187,-1.43,-146.6,178.4,-14.0,116,1195,0.00,2.88,0.00,0.000,6,0.000,0.643,2335,2297,2860
$STATE,1295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1295,begin apogee
$GC,1299,-0.32,0.0,192.5,12.9,122,1428,1.23,0.00,125.20,0.782,6,0.636,0.000,2577,2297,2462
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1430,1.43,146.6,195.3,0.0,128,1554,1.80,3.25,115.20,0.809,4,0.678,0.896,2963,3714,2060
$GC,1805,1.43,146.6,168.5,16.2,145,1810,0.00,2.95,0.00,0.000,6,0.000,0.770,2964,2296,1390
$GC,2127,1.43,146.6,110.3,19.4,170,2132,0.00,3.08,0.00,0.000,4,0.000,0.750,2964,881,969
$GC,2165,1.43,146.6,102.8,20.1,173,2170,0.00,3.25,0.00,0.000,6,0.000,0.775,2964,2298,908
$GC,2497,1.43,146.6,22.5,27.2,217,2502,0.00,3.17,0.00,0.000,4,0.000,0.715,2964,3714,354
$GC,2558,1.43,146.6,8.4,20.1,222,2563,0.00,2.92,0.00,0.000,6,0.000,0.673,2964,2297,354
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2594,begin surface coast
$FINISH,-0.0,1.005534
$STATE,2606,end surface coast,CONTROL_FINISHED_OK
$STATE,2606,begin surface
$SM_CCo,2682,0.00,0.000,0,0,354,775.64
$SM_GC,1.30,10.32,0.00,0.00,0.618,0.000,0.000,706,2297,354,-8.88,-0.08,775.64
$IRIDIUM_FIX,4751.72,-12543.14,180108,212143
$TT8_MAMPS,0.021476
$HUMID,2748
$INTERNAL_PRESSURE,9.28035
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,23.5,2.164
$10V_AH,10.2,0.485
$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,22.775,37.000,240.400,0.000,0.000,79.070,94.228,176.810,0.750,0.000,0.000,34.728,394.606,1448.118,459.907,509.587,404.116,33.329,764.299,0.000,478.514,0.000,5.788
$DEVICE_MAMPS,720.070,896.363,809.458,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,151.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,226
$CFSIZE,260165632,258678784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,36,0
$GPS,180108,184158,4806.146,-12540.376,38,3.1,57,18.9