version: 66.02
glider: 30
mission: 5
dive: 22
start: 1 19 108 1 1 4
data:
$ID,30
$MISSION,5
$DIVE,22
$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,-58569.148
$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,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,150
$ALTIM_PING_DELTA,25
$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
$GPS1,005620,4805.774,-12539.737,44,1.5,56,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-52.3
$GPS2,010002,4805.745,-12539.663,12,1.5,30,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.214,-0.147
$KALMAN_X,-856.2,-741.7,-749.1,4204.2,1263.5
$KALMAN_Y,-15297.5,-374.4,-116.7,22347.6,-1044.2
$MHEAD_RNG_PITCHd_Wd,216.5,215045,-17.9,-10.000
$D_GRID,240
$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,-146.6,0.0,0.0,0,221,0.00,0.00,-201.07,0.000,2,0.000,0.000,709,2305,1979
$GC,223,-1.43,-146.6,4.0,-3.9,20,286,9.38,3.10,-45.60,0.000,4,0.715,0.698,2333,3713,2861
$GC,449,-1.43,-146.6,50.9,-20.8,44,455,0.00,2.88,0.00,0.000,6,0.000,0.663,2333,2297,2856
$GC,785,-1.43,-146.6,119.9,-19.3,87,791,0.00,2.95,-0.30,0.000,4,0.000,0.678,2334,886,2872
$GC,846,-1.43,-146.6,131.4,-19.2,92,851,0.00,3.10,0.00,0.000,6,0.000,0.683,2333,2306,2869
$GC,1174,-1.43,-146.6,189.8,-16.9,112,1180,0.00,3.15,-0.38,0.000,4,0.000,0.728,2333,3716,2876
$STATE,1374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1374,begin apogee
$GC,1380,-0.32,0.0,219.2,14.2,121,1497,1.20,0.00,111.82,0.795,6,0.685,0.000,2572,2301,2462
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1498,begin climb
$GC,1499,1.43,146.6,224.9,0.0,127,1624,1.77,3.10,115.53,0.832,4,0.752,0.899,2960,892,2050
$GC,1629,1.90,406.3,229.3,-2.2,133,1836,0.47,3.22,196.30,0.834,6,0.817,0.911,3067,2302,1352
$GC,2156,1.90,406.3,84.9,38.9,167,2160,0.00,3.05,0.00,0.000,4,0.000,0.740,3067,884,646
$GC,2177,1.90,406.3,77.1,36.0,169,2183,0.00,3.25,0.00,0.000,6,0.000,0.770,3067,2300,609
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2378,begin surface coast
$FINISH,-0.1,1.024046
$STATE,2390,end surface coast,CONTROL_FINISHED_OK
$STATE,2390,begin surface
$SM_CCo,2466,0.00,0.000,0,0,353,776.01
$SM_GC,1.00,10.62,0.00,0.00,0.623,0.000,0.000,710,2300,353,-8.86,0.00,776.01
$IRIDIUM_FIX,4748.51,-12536.76,190108,040439
$TT8_MAMPS,0.021476
$HUMID,2658
$INTERNAL_PRESSURE,9.28035
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.2,18.9
$ALTIM_BOTTOM_PING,150.2,79.0
$24V_AH,23.5,3.071
$10V_AH,10.2,0.666
$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,23.450,30.750,423.650,0.000,0.000,39.503,37.228,68.124,0.750,0.000,0.000,30.966,335.130,1137.665,581.249,478.612,184.334,33.349,899.923,0.000,448.807,0.000,7.192
$DEVICE_MAMPS,816.907,911.261,834.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6452,198
$CFSIZE,260165632,258514944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,39,0
$GPS,190108,014323,4805.349,-12540.027,29,1.7,44,18.9