version: 66.02
glider: 30
mission: 5
dive: 3
start: 1 18 108 0 29 32
data:
$ID,30
$MISSION,5
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$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,-57874.727
$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,0
$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,3
$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
$GPS1,002036,4802.403,-12541.820,24,1.3,36,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.0
$GPS2,002832,4802.410,-12541.962,16,1.9,27,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.119,0.231
$KALMAN_X,-662.3,-746.3,-625.0,1040.2,-486.0
$KALMAN_Y,-162.2,-288.5,-120.6,980.2,-253.2
$MHEAD_RNG_PITCHd_Wd,8.4,12443,-17.9,-10.000
$D_GRID,497
$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,14,begin dive
$GC,16,-1.43,-146.6,0.0,0.0,0,140,0.00,0.00,-121.07,0.000,2,0.000,0.000,708,2307,1935
$GC,142,-1.43,-146.6,3.2,-1.8,12,214,9.10,2.97,-55.30,0.000,4,0.194,0.166,2336,3716,2862
$GC,241,-1.43,-146.6,20.5,-20.3,21,248,0.00,2.78,0.00,0.000,6,0.000,0.122,2336,2301,2862
$GC,583,-1.43,-146.6,84.8,-18.6,72,587,0.00,3.00,0.00,0.000,4,0.000,0.169,2336,3717,2862
$GC,611,-1.43,-146.6,90.0,-19.4,74,616,0.00,2.78,0.00,0.000,6,0.000,0.124,2336,2294,2862
$GC,935,-1.43,-146.6,140.7,-15.0,104,939,0.00,3.03,0.00,0.000,4,0.000,0.171,2336,3714,2862
$GC,973,-1.43,-146.6,146.5,-15.9,107,977,0.00,2.75,0.00,0.000,6,0.000,0.127,2336,2297,2862
$GC,1288,-1.43,-146.6,190.5,-13.5,123,1292,0.00,3.03,0.00,0.000,4,0.000,0.171,2336,3714,2862
$GC,1308,-1.43,-146.6,193.4,-13.4,124,1313,0.00,2.78,0.00,0.000,6,0.000,0.127,2336,2306,2862
$GC,1635,-1.43,-146.6,235.3,-12.1,140,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2306,2862
$GC,1946,-1.43,-146.6,275.1,-13.0,155,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2306,2862
$STATE,2150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2150,begin apogee
$GC,2153,-0.32,0.0,301.2,12.4,165,2272,1.15,0.00,114.12,1.008,6,0.119,0.000,2575,2306,2462
$STATE,2272,end apogee,CONTROL_FINISHED_OK
$STATE,2272,begin climb
$GC,2274,1.43,146.6,306.8,0.0,167,2395,1.75,3.17,113.68,0.991,4,0.089,0.186,2962,3713,2063
$GC,2433,1.54,208.3,306.5,7.1,169,2489,0.05,2.85,47.88,0.958,6,0.092,0.134,2991,2307,1896
$GC,2805,1.54,208.3,256.0,13.5,185,2810,0.00,3.05,0.00,0.000,4,0.000,0.176,2992,883,1896
$GC,2927,1.54,208.3,239.1,13.3,190,2934,0.00,3.20,0.00,0.000,6,0.000,0.189,2992,2312,1895
$GC,3244,1.54,208.3,198.3,12.9,206,3248,0.00,3.05,0.00,0.000,4,0.000,0.171,2991,884,1895
$GC,3342,1.54,208.3,185.2,13.1,210,3349,0.00,3.20,0.00,0.000,6,0.000,0.186,2992,2315,1895
$GC,3657,1.54,208.3,147.9,11.0,226,3662,0.00,3.03,0.00,0.000,4,0.000,0.166,2992,883,1895
$GC,3734,1.54,208.3,139.4,11.5,232,3741,0.00,3.15,0.00,0.000,6,0.000,0.186,2992,2300,1895
$GC,4059,1.60,243.8,108.3,8.3,263,4093,0.00,3.10,28.55,0.837,4,0.000,0.184,2992,3711,1799
$GC,4347,1.70,297.1,85.9,7.5,289,4399,0.12,2.78,41.75,0.834,6,0.097,0.129,3023,2291,1654
$GC,4733,1.71,303.5,47.6,9.7,352,4745,0.00,3.03,6.47,0.648,4,0.000,0.169,3024,881,1637
$GC,4868,1.71,303.5,33.5,10.8,371,4873,0.00,3.15,0.00,0.000,6,0.000,0.184,3023,2304,1637
$GC,5192,1.90,410.1,7.2,5.0,401,5277,0.15,0.00,81.65,0.795,2,0.092,0.000,3067,2305,1348
$STATE,5278,end climb,SURFACE_DEPTH_REACHED
$STATE,5278,begin surface coast
$FINISH,0.0,1.023929
$STATE,5304,end surface coast,CONTROL_FINISHED_OK
$STATE,5304,begin surface
$SM_CCo,5320,105.88,0.775,0,0,967,550.09
$SM_GC,1.09,0.00,0.00,105.88,0.000,0.000,0.775,708,2307,967,-8.93,0.20,550.09
$IRIDIUM_FIX,4748.51,-12546.49,180108,040458
$TT8_MAMPS,0.021476
$HUMID,2460
$INTERNAL_PRESSURE,9.26097
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.8,0.765
$10V_AH,10.2,0.160
$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,22.750,59.850,434.100,105.875,0.000,78.701,72.182,178.392,1.750,0.000,0.000,27.329,697.282,3316.781,697.666,829.726,386.948,31.418,1163.173,0.000,796.825,0.000,12.248
$DEVICE_MAMPS,193.674,188.708,1008.098,774.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,279.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12715,412
$CFSIZE,260165632,258990080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,27,0
$GPS,180108,020059,4802.618,-12541.455,10,5.3,29,18.8