version: 66.02
glider: 30
mission: 5
dive: 5
start: 1 18 108 5 2 43
data:
$ID,30
$MISSION,5
$DIVE,5
$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,-57957.672
$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,10
$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
$GPS1,045737,4803.688,-12540.815,36,1.8,43,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.2
$GPS2,050141,4803.698,-12540.854,11,3.6,30,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,0.253
$KALMAN_X,-706.3,-983.1,500.2,1568.1,602.9
$KALMAN_Y,-1557.9,-673.8,-76.7,5085.9,-361.0
$MHEAD_RNG_PITCHd_Wd,328.6,9876,-17.9,-10.000
$D_GRID,384
$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,-146.6,0.0,0.0,0,130,0.00,0.00,-110.93,0.000,2,0.000,0.000,709,2307,1863
$GC,132,-1.43,-146.6,3.3,-2.2,11,211,9.32,2.95,-60.12,0.000,4,0.201,0.149,2336,893,2862
$GC,266,-1.43,-146.6,26.7,-20.5,24,271,0.00,3.05,0.00,0.000,6,0.000,0.174,2336,2305,2862
$GC,606,-1.43,-146.6,91.7,-18.2,73,611,0.00,2.92,0.00,0.000,4,0.000,0.151,2337,882,2862
$GC,622,-1.43,-146.6,94.5,-18.5,74,627,0.00,3.08,0.00,0.000,6,0.000,0.176,2336,2297,2862
$GC,946,-1.43,-146.6,144.2,-14.6,104,951,0.00,3.00,0.00,0.000,4,0.000,0.174,2336,3712,2862
$GC,977,-1.43,-146.6,149.1,-15.0,106,985,0.00,2.75,0.00,0.000,6,0.000,0.122,2336,2306,2862
$GC,1303,-1.43,-146.6,195.8,-14.2,123,1308,0.00,3.03,0.00,0.000,4,0.000,0.171,2336,3718,2862
$GC,1324,-1.43,-146.6,199.1,-15.2,124,1329,0.00,2.80,0.00,0.000,6,0.000,0.124,2336,2297,2862
$GC,1650,-1.43,-146.6,241.5,-13.2,140,1655,0.00,3.03,0.00,0.000,4,0.000,0.171,2336,3713,2862
$GC,1688,-1.43,-146.6,246.7,-13.1,142,1693,0.00,2.75,0.00,0.000,6,0.000,0.127,2336,2300,2863
$GC,2014,-1.43,-146.6,288.5,-12.8,158,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2300,2863
$GC,2360,-1.43,-146.6,329.0,-11.4,167,2365,0.00,2.92,0.00,0.000,4,0.000,0.166,2336,887,2863
$GC,2374,-1.43,-146.6,330.9,-11.4,167,2379,0.00,3.10,0.00,0.000,6,0.000,0.176,2336,2299,2863
$GC,2723,-1.43,-146.6,369.5,-11.4,173,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2299,2863
$STATE,2843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2843,begin apogee
$GC,2846,-0.32,0.0,384.0,11.6,175,2966,1.15,0.00,116.22,1.073,6,0.117,0.000,2576,2299,2462
$STATE,2967,end apogee,CONTROL_FINISHED_OK
$STATE,2967,begin climb
$GC,2968,1.43,146.6,388.8,0.0,177,3091,1.73,3.17,114.38,1.055,4,0.089,0.186,2962,3715,2063
$GC,3275,1.43,146.6,372.0,10.9,181,3280,0.00,2.85,0.00,0.000,6,0.000,0.134,2962,2303,2062
$GC,3596,1.43,146.9,340.6,10.0,187,3601,0.00,3.00,0.00,0.000,4,0.000,0.171,2962,884,2063
$GC,3768,1.46,163.9,324.3,9.2,189,3790,0.00,3.17,14.65,0.919,6,0.000,0.186,2962,2302,2017
$GC,4093,1.46,163.9,291.3,10.5,197,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2302,2017
$GC,4402,1.46,163.9,259.3,10.2,212,4407,0.00,3.00,0.00,0.000,4,0.000,0.166,2962,884,2016
$GC,4659,1.46,163.9,233.0,10.6,223,4666,0.00,3.15,0.00,0.000,6,0.000,0.186,2962,2301,2016
$GC,4974,1.50,187.1,204.3,8.9,239,4999,0.00,3.08,19.45,0.891,4,0.000,0.169,2962,883,1953
$GC,5061,1.50,187.1,195.7,10.2,243,5066,0.00,3.17,0.00,0.000,6,0.000,0.184,2962,2303,1953
$GC,5380,1.55,215.4,164.9,8.7,259,5410,0.12,3.10,23.75,0.876,4,0.094,0.186,2994,3713,1876
$GC,5661,1.55,215.4,133.5,12.3,277,5669,0.00,2.83,0.00,0.000,6,0.000,0.134,2994,2302,1876
$GC,5987,1.74,320.1,104.5,5.1,308,6079,0.15,3.22,81.22,0.872,4,0.092,0.181,3038,3712,1591
$GC,6146,1.74,320.1,87.6,13.7,323,6150,0.00,2.83,0.00,0.000,6,0.000,0.134,3038,2299,1591
$GC,6484,1.74,320.1,48.4,10.5,377,6491,0.00,2.97,0.00,0.000,4,0.000,0.169,3038,883,1591
$GC,6541,1.74,320.1,42.0,11.8,387,6547,0.00,3.15,0.00,0.000,6,0.000,0.184,3038,2300,1591
$GC,6871,1.74,320.1,6.5,10.9,420,6876,0.00,2.97,0.00,0.000,4,0.000,0.161,3038,883,1591
$STATE,6947,end climb,SURFACE_DEPTH_REACHED
$STATE,6947,begin surface coast
$FINISH,0.2,1.023856
$STATE,6993,end surface coast,CONTROL_FINISHED_OK
$STATE,6993,begin surface
$SM_CCo,7012,175.05,0.795,0,0,967,550.09
$SM_GC,1.26,0.00,0.00,175.05,0.000,0.000,0.795,707,2309,967,-8.93,0.25,550.09
$IRIDIUM_FIX,4745.30,-12453.72,180108,060621
$TT8_MAMPS,0.021476
$HUMID,2834
$INTERNAL_PRESSURE,9.27066
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.7,1.083
$10V_AH,10.2,0.239
$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,22.675,84.175,369.675,175.050,0.000,40.713,31.465,85.334,2.500,0.000,0.000,31.547,781.897,4731.628,703.052,1023.372,214.699,33.345,1270.304,0.000,978.946,0.000,17.094
$DEVICE_MAMPS,201.123,186.225,1072.656,794.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12723,430
$CFSIZE,260165632,258908160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,25,0
$GPS,180108,070338,4804.240,-12541.360,35,1.4,36,18.9