version: 66.02
glider: 30
mission: 5
dive: 11
start: 1 18 108 15 1 48
data:
$ID,30
$MISSION,5
$DIVE,11
$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,-58126.227
$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,8
$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
$GPS1,145708,4805.478,-12541.016,34,1.3,34,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.5
$GPS2,150045,4805.474,-12541.035,15,1.8,15,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,0.259
$KALMAN_X,-3094.9,776.9,-379.6,2862.1,130.7
$KALMAN_Y,-7512.9,55.6,-166.7,13693.6,-751.3
$MHEAD_RNG_PITCHd_Wd,339.5,6655,-17.9,-10.000
$D_GRID,240
$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,-146.6,0.0,0.0,0,135,0.00,0.00,-115.82,0.000,2,0.000,0.000,705,2307,1938
$GC,137,-1.43,-146.6,3.8,-3.5,12,200,9.18,3.00,-47.67,0.000,4,0.194,0.169,2334,3712,2863
$GC,323,-1.43,-146.6,40.7,-18.3,29,329,0.00,2.75,0.00,0.000,6,0.000,0.124,2334,2300,2863
$GC,659,-1.43,-146.6,96.7,-15.6,80,664,0.00,3.03,0.00,0.000,4,0.000,0.169,2334,3717,2863
$GC,709,-1.43,-146.6,104.4,-15.3,84,713,0.00,2.78,0.00,0.000,6,0.000,0.127,2334,2301,2863
$GC,1034,-1.43,-146.6,151.5,-14.4,114,1038,0.00,3.03,0.00,0.000,4,0.000,0.171,2334,3717,2863
$GC,1087,-1.43,-146.6,159.8,-15.4,116,1094,0.00,2.80,0.00,0.000,6,0.000,0.129,2334,2306,2863
$GC,1403,-1.43,-146.6,199.6,-11.9,132,1408,0.00,3.00,0.00,0.000,4,0.000,0.174,2334,3705,2863
$GC,1417,-1.43,-146.6,201.7,-12.5,132,1424,0.00,2.80,0.00,0.000,6,0.000,0.129,2334,2298,2863
$STATE,1732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1732,begin apogee
$GC,1735,-0.32,0.0,242.4,13.5,148,1864,1.17,0.00,125.78,0.929,6,0.119,0.000,2577,2298,2462
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1866,1.43,146.6,249.3,0.0,154,1995,1.80,3.12,117.60,0.924,4,0.924,0.986,2966,892,2044
$GC,2050,1.48,173.8,251.1,8.7,163,2055,0.00,3.22,0.00,0.000,6,0.000,0.973,2966,2298,1869
$GC,2371,1.48,173.8,193.5,20.6,179,2376,0.00,3.22,0.00,0.000,4,0.000,0.854,2965,3716,1323
$GC,2414,1.48,173.8,183.9,21.6,181,2419,0.00,2.97,0.00,0.000,6,0.000,0.790,2965,2301,1276
$GC,2736,1.48,173.8,110.3,26.5,203,2741,0.00,3.25,0.00,0.000,4,0.000,0.807,2965,3714,905
$GC,2774,1.48,173.8,100.4,24.8,206,2778,0.00,2.95,0.00,0.000,6,0.000,0.755,2966,2297,863
$GC,3112,1.48,173.8,24.5,24.9,252,3117,0.00,3.25,0.00,0.000,4,0.000,0.780,2965,3717,380
$GC,3162,1.48,173.8,12.0,24.3,256,3166,0.00,2.92,0.00,0.000,6,0.000,0.703,2965,2298,354
$STATE,3219,end climb,SURFACE_DEPTH_REACHED
$STATE,3219,begin surface coast
$FINISH,-0.0,1.021713
$STATE,3231,end surface coast,CONTROL_FINISHED_OK
$STATE,3231,begin surface
$SM_CCo,3306,0.00,0.000,0,0,354,775.64
$SM_GC,1.12,10.27,0.00,0.00,0.651,0.000,0.000,708,2298,354,-8.87,-0.06,775.64
$IRIDIUM_FIX,4748.51,-12548.37,180108,171731
$TT8_MAMPS,0.021476
$HUMID,2889
$INTERNAL_PRESSURE,9.25128
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,23.5,1.892
$10V_AH,10.2,0.418
$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,22.425,48.100,243.375,0.000,0.000,39.671,36.417,75.055,2.000,0.000,0.000,15.321,466.345,1972.245,417.254,500.845,193.024,33.328,713.240,0.000,490.341,0.000,7.405
$DEVICE_MAMPS,923.676,985.751,928.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6427,262
$CFSIZE,260165632,258744320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,22,0
$GPS,180108,155802,4805.828,-12540.893,39,1.3,39,18.9