version: 66.02
glider: 30
mission: 5
dive: 7
start: 1 18 108 8 55 13
data:
$ID,30
$MISSION,5
$DIVE,7
$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,-58007.512
$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,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
$GPS1,085005,4804.565,-12541.092,15,4.0,35,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.2
$GPS2,085411,4804.566,-12541.114,15,2.2,34,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,0.218
$KALMAN_X,-1996.5,-108.2,418.2,1746.2,-805.6
$KALMAN_Y,-4023.3,-138.8,49.9,8503.1,-797.6
$MHEAD_RNG_PITCHd_Wd,14.1,8326,-17.9,-10.000
$D_GRID,321
$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,-146.6,0.0,0.0,0,130,0.00,0.00,-110.97,0.000,2,0.000,0.000,710,2303,1877
$GC,132,-1.43,-146.6,3.2,-1.6,11,207,9.18,2.90,-59.47,0.000,4,0.196,0.151,2335,883,2863
$GC,329,-1.43,-146.6,38.6,-19.1,29,336,0.00,3.08,0.00,0.000,6,0.000,0.169,2334,2296,2862
$GC,670,-1.43,-146.6,104.4,-18.6,78,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2296,2862
$GC,987,-1.43,-146.6,157.6,-16.5,106,992,0.00,3.00,0.00,0.000,4,0.000,0.171,2334,3716,2862
$GC,1003,-1.43,-146.6,159.8,-15.0,107,1007,0.00,2.75,0.00,0.000,6,0.000,0.122,2334,2297,2862
$GC,1328,-1.43,-146.6,206.7,-13.3,123,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2297,2862
$GC,1638,-1.43,-146.6,248.9,-13.7,138,1642,0.00,3.03,0.00,0.000,4,0.000,0.171,2334,3713,2863
$GC,1653,-1.43,-146.6,251.1,-13.5,139,1658,0.00,2.72,0.00,0.000,6,0.000,0.122,2334,2301,2862
$GC,1979,-1.43,-146.6,290.3,-11.8,155,1983,0.00,2.90,0.00,0.000,4,0.000,0.159,2334,887,2863
$GC,1989,-1.43,-146.6,291.5,-11.3,155,1996,0.00,3.05,0.00,0.000,6,0.000,0.171,2334,2306,2862
$STATE,2259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2259,begin apogee
$GC,2262,-0.32,0.0,325.0,13.1,163,2381,1.17,0.00,115.53,1.023,6,0.119,0.000,2578,2306,2462
$STATE,2382,end apogee,CONTROL_FINISHED_OK
$STATE,2382,begin climb
$GC,2383,1.43,146.6,330.2,0.0,165,2506,1.73,3.12,113.97,1.006,4,0.089,0.184,2963,3711,2063
$GC,2589,1.43,146.6,322.6,11.5,168,2594,0.00,2.83,0.00,0.000,6,0.000,0.129,2963,2305,2063
$GC,2903,1.45,161.4,292.7,9.3,174,2925,0.00,3.03,12.90,0.872,4,0.000,0.166,2964,887,2023
$GC,3070,1.49,181.8,278.4,9.0,181,3094,0.00,3.12,17.35,0.899,6,0.000,0.181,2964,2298,1967
$GC,3410,1.55,213.9,246.3,8.5,198,3445,0.10,3.10,26.52,0.919,4,0.099,0.161,2991,881,1880
$GC,3541,1.55,213.9,230.5,12.7,204,3546,0.00,3.15,0.00,0.000,6,0.000,0.184,2991,2300,1879
$GC,3865,1.55,213.9,192.8,10.7,220,3870,0.00,3.05,0.00,0.000,4,0.000,0.179,2991,3716,1879
$GC,3904,1.55,213.9,188.6,12.3,222,3908,0.00,2.80,0.00,0.000,6,0.000,0.132,2991,2298,1879
$GC,4229,1.55,213.9,151.0,11.5,238,4234,0.00,3.08,0.00,0.000,4,0.000,0.179,2991,3713,1879
$GC,4485,1.57,224.4,126.6,9.5,260,4503,0.00,2.80,9.38,0.772,6,0.000,0.132,2991,2307,1852
$GC,4820,1.68,287.5,99.6,7.0,292,4872,0.12,0.00,49.67,0.857,6,0.094,0.000,3025,2307,1680
$GC,5199,1.70,295.2,63.3,9.6,343,5215,0.00,3.03,7.47,0.688,4,0.000,0.166,3025,890,1659
$GC,5288,1.72,307.6,55.1,9.4,359,5305,0.00,3.12,11.20,0.740,6,0.000,0.181,3025,2305,1625
$GC,5630,1.73,312.9,19.7,9.8,404,5642,0.00,3.05,5.72,0.611,4,0.000,0.179,3025,3714,1611
$GC,5698,1.73,312.9,12.4,11.5,410,5702,0.00,2.78,0.00,0.000,6,0.000,0.132,3025,2299,1610
$STATE,5825,end climb,SURFACE_DEPTH_REACHED
$STATE,5825,begin surface coast
$FINISH,-0.1,1.024345
$STATE,5857,end surface coast,CONTROL_FINISHED_OK
$STATE,5857,begin surface
$SM_CCo,5873,179.95,0.787,0,0,967,550.09
$SM_GC,1.38,0.00,0.00,179.95,0.000,0.000,0.787,708,2299,967,-8.93,-0.03,550.09
$IRIDIUM_FIX,4748.51,-12546.49,180108,111100
$TT8_MAMPS,0.022243
$HUMID,2968
$INTERNAL_PRESSURE,9.29004
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.7,1.379
$10V_AH,10.2,0.306
$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,22.450,65.475,369.725,179.950,0.000,41.350,34.413,83.681,2.000,0.000,0.000,35.280,736.424,3776.078,690.435,910.528,212.332,33.329,1200.421,0.000,866.113,0.000,13.867
$DEVICE_MAMPS,196.157,183.742,1022.996,787.111,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12712,425
$CFSIZE,260165632,258846720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,24,0
$GPS,180108,103710,4804.904,-12540.790,30,1.7,33,18.9