version: 66.02
glider: 30
mission: 5
dive: 23
start: 1 19 108 1 48 19
data:
$ID,30
$MISSION,5
$DIVE,23
$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,-58606.074
$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,7
$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
$GPS1,014323,4805.349,-12540.027,29,1.7,44,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-49.4
$GPS2,014717,4805.307,-12539.966,16,2.9,35,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.214,-0.147
$KALMAN_X,-851.4,-481.8,-408.5,3229.5,1729.0
$KALMAN_Y,-14968.2,-606.5,-237.3,21561.4,-704.8
$MHEAD_RNG_PITCHd_Wd,216.6,214271,-17.9,-10.000
$D_GRID,274
$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,-200.15,0.000,2,0.000,0.000,710,2302,1956
$GC,222,-1.43,-146.6,3.7,-3.0,20,294,9.38,3.10,-53.30,0.000,4,0.732,0.695,2332,3713,2861
$GC,473,-1.43,-146.6,54.8,-22.1,49,480,0.00,2.88,0.00,0.000,6,0.000,0.653,2332,2296,2861
$GC,811,-1.43,-146.6,121.0,-18.7,91,815,0.00,2.97,0.00,0.000,4,0.000,0.698,2333,880,2857
$GC,876,-1.43,-146.6,133.6,-17.9,96,883,0.00,3.12,0.00,0.000,6,0.000,0.700,2332,2300,2856
$GC,1193,-1.43,-146.6,186.2,-15.2,116,1199,0.00,3.12,-0.15,0.000,4,0.000,0.708,2333,3713,2876
$GC,1371,-1.43,-146.6,215.7,-15.5,124,1376,0.00,2.90,0.00,0.000,6,0.000,0.673,2333,2295,2856
$GC,1698,-1.43,-146.6,258.8,-13.3,140,1702,0.00,2.95,0.00,0.000,4,0.000,0.710,2333,884,2777
$GC,1759,-1.43,-146.6,267.2,-13.0,143,1764,0.00,3.10,0.00,0.000,6,0.000,0.683,2333,2300,2773
$STATE,1815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1816,begin apogee
$GC,1819,-0.32,0.0,274.7,13.3,146,1913,1.23,0.00,90.18,0.842,6,0.683,0.000,2576,2300,2463
$STATE,1913,end apogee,CONTROL_FINISHED_OK
$STATE,1913,begin climb
$GC,1915,1.43,146.6,278.1,0.0,150,2040,1.75,3.08,116.95,0.872,4,0.740,0.934,2962,883,2055
$GC,2117,1.43,146.6,276.4,10.8,159,2124,0.00,3.22,0.00,0.000,6,0.000,0.944,2962,2300,1792
$GC,2432,1.43,146.6,220.2,20.1,175,2437,0.00,3.05,0.00,0.000,4,0.000,0.775,2962,884,1317
$GC,2448,1.43,146.6,216.9,20.1,176,2453,0.00,3.25,0.00,0.000,6,0.000,0.797,2962,2305,1299
$GC,2764,1.43,146.6,145.5,23.2,192,2769,0.00,3.20,0.00,0.000,4,0.000,0.785,2961,3714,932
$GC,2784,1.43,146.6,140.9,21.1,193,2791,0.00,2.97,0.00,0.000,6,0.000,0.735,2962,2302,906
$GC,3111,1.43,146.6,67.0,23.0,228,3117,0.00,3.05,0.00,0.000,4,0.000,0.750,2961,885,505
$GC,3144,1.43,146.6,59.9,21.5,234,3151,0.00,3.22,0.00,0.000,6,0.000,0.765,2962,2300,450
$STATE,3392,end climb,SURFACE_DEPTH_REACHED
$STATE,3393,begin surface coast
$FINISH,0.1,1.003733
$STATE,3404,end surface coast,CONTROL_FINISHED_OK
$STATE,3405,begin surface
$SM_CCo,3480,0.00,0.000,0,0,353,776.01
$SM_GC,0.85,10.20,0.00,0.00,0.623,0.000,0.000,707,2301,353,-8.87,0.03,776.01
$IRIDIUM_FIX,4748.51,-12539.38,190108,040433
$TT8_MAMPS,0.021476
$HUMID,2725
$INTERNAL_PRESSURE,9.27066
$TCM_TEMP,19.00
$XPDR_PINGS,7
$ALTIM_TOP_PING,17.6,18.7
$ALTIM_BOTTOM_PING,250.7,74.1
$24V_AH,23.5,3.142
$10V_AH,10.2,0.689
$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,22.550,49.200,207.125,0.000,0.000,40.528,36.212,74.636,3.500,0.000,0.000,36.299,456.692,2059.923,456.646,565.375,197.113,33.340,779.721,0.000,528.167,0.000,13.653
$DEVICE_MAMPS,739.934,943.540,871.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,266
$CFSIZE,260165632,258486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,42,0
$GPS,190108,024746,4804.722,-12540.506,45,2.4,64,18.9