version: 66.02
glider: 30
mission: 5
dive: 21
start: 1 19 108 0 14 31
data:
$ID,30
$MISSION,5
$DIVE,21
$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,-58537.559
$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,6
$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,1
$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
$GPS1,000925,4806.251,-12539.514,33,1.9,41,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-52.3
$GPS2,001329,4806.228,-12539.472,16,2.6,35,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.213,-0.148
$KALMAN_X,-1528.6,-701.8,-748.6,5075.5,595.0
$KALMAN_Y,-15298.4,-232.5,-14.1,23002.2,-1084.1
$MHEAD_RNG_PITCHd_Wd,216.3,215752,-17.9,-10.000
$D_GRID,204
$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,14,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,-200.35,0.000,2,0.000,0.000,710,2298,1978
$GC,222,-1.43,-146.6,3.7,-3.4,20,288,9.43,3.12,-50.33,0.000,4,0.720,0.690,2334,3713,2861
$GC,451,-1.43,-146.6,48.4,-21.2,43,457,0.00,2.85,0.00,0.000,6,0.000,0.643,2334,2300,2860
$GC,788,-1.43,-146.6,119.4,-20.0,87,793,0.00,2.95,0.00,0.000,4,0.000,0.670,2335,882,2857
$GC,859,-1.43,-146.6,133.5,-19.3,93,866,0.00,3.12,0.00,0.000,6,0.000,0.678,2334,2291,2857
$GC,1187,-1.43,-146.6,189.4,-16.5,114,1193,0.00,3.15,-0.10,0.000,4,0.000,0.698,2334,3717,2877
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1286,-0.32,0.0,204.2,15.4,118,1419,1.20,0.00,128.98,0.792,6,0.651,0.000,2573,2299,2462
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1421,1.43,146.6,210.2,0.0,125,1547,1.77,3.30,115.95,0.822,4,0.708,0.914,2962,3712,2052
$GC,1557,1.78,340.9,214.6,0.9,131,1706,0.35,2.95,138.70,0.827,6,0.824,0.881,3044,2300,1529
$GC,2017,1.78,340.9,108.4,31.4,160,2022,0.00,3.25,0.00,0.000,4,0.000,0.780,3044,3712,799
$GC,2037,1.78,340.9,101.4,34.7,161,2044,0.00,2.97,0.00,0.000,6,0.000,0.732,3044,2306,771
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,0.0,1.012164
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2424,0.00,0.000,0,0,353,776.01
$SM_GC,1.01,10.52,0.00,0.00,0.638,0.000,0.000,709,2305,353,-8.86,0.14,776.01
$IRIDIUM_FIX,4751.72,-12538.64,190108,030359
$TT8_MAMPS,0.021476
$HUMID,2692
$INTERNAL_PRESSURE,9.29004
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,16.5,17.2
$ALTIM_BOTTOM_PING,140.1,73.4
$24V_AH,23.6,2.956
$10V_AH,10.2,0.645
$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,23.275,30.625,383.625,0.000,0.000,39.944,34.348,86.467,1.250,0.000,0.000,36.776,334.978,1141.240,558.245,462.235,200.085,33.323,860.544,0.000,427.088,0.000,10.359
$DEVICE_MAMPS,824.356,913.744,826.839,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,133.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6466,201
$CFSIZE,260165632,258535424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,38,0
$GPS,190108,005620,4805.774,-12539.737,44,1.5,56,18.9