version: 66.02
glider: 30
mission: 5
dive: 17
start: 1 18 108 20 51 23
data:
$ID,30
$MISSION,5
$DIVE,17
$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,-58397.613
$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,8
$R_STBD_OVSHOOT,7
$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,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,204229,4806.005,-12540.109,10,9.3,29,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-52.9
$GPS2,205021,4806.019,-12540.146,40,2.6,59,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.204
$KALMAN_X,-3447.0,-41.8,521.1,4225.2,-626.6
$KALMAN_Y,-12803.7,4.4,195.7,19674.0,-1219.1
$MHEAD_RNG_PITCHd_Wd,19.4,5525,-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,-146.6,0.0,0.0,0,220,0.00,0.00,-200.32,0.000,2,0.000,0.000,709,2296,1966
$GC,222,-1.43,-146.6,3.3,-2.8,20,295,9.40,2.97,-53.67,0.000,4,0.737,0.663,2332,886,2861
$GC,485,-1.43,-146.6,54.5,-21.9,50,491,0.00,3.10,0.00,0.000,6,0.000,0.680,2332,2299,2861
$GC,821,-1.43,-146.6,123.3,-18.4,92,826,0.00,3.10,0.00,0.000,4,0.000,0.695,2332,3711,2860
$GC,864,-1.43,-146.6,131.8,-19.4,95,871,0.00,2.90,0.00,0.000,6,0.000,0.653,2332,2302,2860
$GC,1186,-1.43,-146.6,182.2,-15.9,116,1190,0.00,3.15,0.00,0.000,4,0.000,0.685,2332,3711,2860
$STATE,1233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1233,begin apogee
$GC,1240,-0.32,0.0,190.6,16.6,118,1380,1.20,0.00,131.38,0.787,6,0.648,0.000,2573,2295,2462
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1382,1.43,146.6,198.8,0.0,125,1505,1.83,3.28,114.47,0.814,4,0.782,0.901,2966,3716,2054
$GC,1616,1.43,146.6,196.3,13.4,136,1623,0.00,2.97,0.00,0.000,6,0.000,0.817,2966,2306,1701
$GC,1933,1.43,146.6,142.5,16.7,154,1938,0.00,3.05,0.00,0.000,4,0.000,0.762,2966,884,1238
$GC,2010,1.43,146.6,129.5,15.0,160,2017,0.00,3.20,0.00,0.000,6,0.000,0.770,2966,2299,1144
$GC,2337,1.43,146.6,69.3,20.1,195,2343,0.00,3.17,0.00,0.000,4,0.000,0.767,2966,3711,749
$GC,2399,1.43,146.6,57.4,19.8,206,2405,0.00,2.92,0.00,0.000,6,0.000,0.725,2966,2299,668
$STATE,2641,end climb,SURFACE_DEPTH_REACHED
$STATE,2642,begin surface coast
$FINISH,-0.0,1.006387
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2729,0.00,0.000,0,0,354,775.64
$SM_GC,1.11,10.25,0.00,0.00,0.646,0.000,0.000,708,2298,354,-8.86,-0.06,775.64
$IRIDIUM_FIX,4748.51,-12539.38,190108,000046
$TT8_MAMPS,0.021476
$HUMID,2755
$INTERNAL_PRESSURE,9.28035
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,23.6,2.629
$10V_AH,10.2,0.561
$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,22.675,36.775,245.850,0.000,0.000,78.632,65.366,152.308,2.500,0.000,0.000,60.837,398.978,1484.031,484.357,516.253,345.483,33.355,771.416,0.000,455.024,0.000,18.173
$DEVICE_MAMPS,782.145,901.329,814.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,237
$CFSIZE,260165632,258613248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,40,0
$GPS,180108,213807,4805.935,-12539.816,31,2.0,46,18.9