version: 66.02
glider: 30
mission: 5
dive: 9
start: 1 18 108 12 14 55
data:
$ID,30
$MISSION,5
$DIVE,9
$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,-58081.078
$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,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
$GPS1,120953,4805.071,-12540.594,14,4.7,33,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.9
$GPS2,121353,4805.063,-12540.601,16,2.4,35,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,0.259
$KALMAN_X,-2184.2,513.7,-764.3,3129.2,108.4
$KALMAN_Y,-5749.3,-25.1,-148.8,11234.5,-611.0
$MHEAD_RNG_PITCHd_Wd,339.2,7328,-17.9,-10.000
$D_GRID,242
$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,-110.88,0.000,2,0.000,0.000,710,2294,1884
$GC,132,-1.43,-146.6,3.3,-1.9,11,204,9.15,3.05,-55.22,0.000,4,0.194,0.166,2336,3716,2862
$GC,231,-1.43,-146.6,22.6,-22.8,20,238,0.00,2.80,0.00,0.000,6,0.000,0.122,2336,2297,2862
$GC,572,-1.43,-146.6,87.7,-17.4,70,577,0.00,3.03,0.00,0.000,4,0.000,0.166,2335,3717,2862
$GC,581,-1.43,-146.6,89.6,-18.1,70,588,0.00,2.78,0.00,0.000,6,0.000,0.122,2336,2303,2862
$GC,906,-1.43,-146.6,145.7,-14.5,101,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2303,2862
$GC,1226,-1.43,-146.6,194.7,-14.7,118,1231,0.00,3.03,0.00,0.000,4,0.000,0.171,2336,3714,2862
$GC,1303,-1.43,-146.6,205.6,-13.4,121,1310,0.00,2.78,0.00,0.000,6,0.000,0.127,2336,2306,2862
$STATE,1617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1617,begin apogee
$GC,1620,-0.32,0.0,244.2,11.8,137,1740,1.17,0.00,114.62,0.956,6,0.119,0.000,2579,2306,2462
$STATE,1741,end apogee,CONTROL_FINISHED_OK
$STATE,1741,begin climb
$GC,1742,1.43,146.6,249.5,0.0,143,1865,1.73,3.05,112.97,0.941,4,0.092,0.169,2962,886,2063
$GC,2117,1.45,156.6,230.5,9.5,160,2134,0.00,3.12,9.40,0.785,6,0.000,0.176,2962,2307,2036
$GC,2442,1.51,189.4,202.5,8.5,176,2476,0.00,3.10,26.73,0.872,4,0.000,0.184,2962,3711,1946
$GC,2628,1.51,192.1,182.7,9.9,184,2640,0.00,2.83,3.85,0.539,6,0.000,0.129,2962,2298,1939
$GC,2948,1.59,236.6,156.9,7.9,200,2991,0.15,3.15,35.75,0.862,4,0.089,0.181,3002,3709,1819
$GC,3141,1.59,236.6,130.8,14.7,213,3148,0.00,2.83,0.00,0.000,6,0.000,0.132,3003,2300,1818
$GC,3467,1.68,284.0,97.5,7.8,244,3508,0.00,0.00,37.22,0.827,6,0.000,0.000,3002,2299,1690
$GC,3835,1.69,289.5,63.3,9.7,293,3846,0.00,3.00,5.82,0.626,4,0.000,0.166,3002,880,1675
$GC,3942,1.69,289.5,51.7,11.4,312,3949,0.00,3.12,0.00,0.000,6,0.000,0.179,3002,2299,1675
$GC,4278,1.74,321.9,20.7,8.5,353,4311,0.12,3.10,26.05,0.767,4,0.087,0.181,3037,3712,1587
$GC,4382,1.74,321.9,7.4,12.1,362,4389,0.00,2.83,0.00,0.000,6,0.000,0.132,3037,2304,1587
$STATE,4451,end climb,SURFACE_DEPTH_REACHED
$STATE,4451,begin surface coast
$FINISH,0.4,1.023904
$STATE,4473,end surface coast,CONTROL_FINISHED_OK
$STATE,4473,begin surface
$SM_CCo,4490,173.45,0.775,0,0,967,550.09
$SM_GC,1.38,0.00,0.00,173.45,0.000,0.000,0.775,706,2304,967,-8.94,0.11,550.09
$IRIDIUM_FIX,4748.51,-12537.50,180108,141429
$TT8_MAMPS,0.021476
$HUMID,2989
$INTERNAL_PRESSURE,9.29973
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.7,1.664
$10V_AH,10.2,0.367
$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,22.975,47.575,372.425,173.450,0.000,39.309,34.141,80.386,1.000,0.000,0.000,35.950,624.258,2634.956,678.964,788.753,203.037,33.327,1126.000,0.000,751.459,0.000,7.396
$DEVICE_MAMPS,193.674,183.742,955.955,774.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9608,371
$CFSIZE,260165632,258793472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,25,0
$GPS,180108,133358,4805.290,-12540.719,29,2.1,48,18.9