version: 66.02
glider: 30
mission: 5
dive: 12
start: 1 18 108 16 2 49
data:
$ID,30
$MISSION,5
$DIVE,12
$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,-58160.215
$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,5
$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
$GPS1,155802,4805.828,-12540.893,39,1.3,39,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-53.1
$GPS2,160147,4805.815,-12540.921,13,2.7,32,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.058,0.253
$KALMAN_X,-3424.7,769.5,125.6,2828.9,-181.2
$KALMAN_Y,-8174.2,41.4,-112.3,14942.3,-746.2
$MHEAD_RNG_PITCHd_Wd,354.0,6007,-17.9,-10.000
$D_GRID,204
$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,-146.6,0.0,0.0,0,220,0.00,0.00,-200.35,0.000,2,0.000,0.000,708,2298,1955
$GC,222,-1.43,-146.6,3.7,-3.2,20,294,9.30,3.12,-51.55,0.000,4,0.730,0.713,2335,3719,2861
$GC,387,-1.43,-146.6,41.2,-22.7,35,394,0.00,2.90,0.00,0.000,6,0.000,0.665,2335,2300,2859
$GC,728,-1.43,-146.6,111.3,-20.3,83,732,0.00,3.15,0.00,0.000,4,0.000,0.705,2335,3714,2859
$GC,788,-1.43,-146.6,123.6,-20.5,88,793,0.00,2.88,0.00,0.000,6,0.000,0.658,2335,2294,2859
$GC,1118,-1.43,-146.6,173.9,-14.1,111,1123,0.00,3.17,0.00,0.000,4,0.000,0.708,2335,3714,2859
$GC,1194,-1.43,-146.6,185.4,-13.8,114,1201,0.00,2.90,0.00,0.000,6,0.000,0.658,2335,2306,2860
$STATE,1324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1324,begin apogee
$GC,1327,-0.32,0.0,204.1,14.5,121,1767,1.23,0.00,373.90,0.678,6,0.646,0.000,2579,2305,2462
$STATE,1767,end apogee,CONTROL_FINISHED_OK
$STATE,1767,begin climb
$GC,1769,1.43,146.6,245.9,0.0,143,1892,1.75,3.30,114.53,0.857,4,0.777,0.944,2962,3714,2058
$GC,1981,1.43,146.6,242.8,13.8,153,1986,0.00,2.95,0.00,0.000,6,0.000,0.884,2962,2298,1785
$GC,2306,1.43,146.6,184.1,20.9,169,2311,0.00,3.08,0.00,0.000,4,0.000,0.790,2963,883,1170
$GC,2445,1.43,146.6,151.2,24.5,175,2450,0.00,3.28,0.00,0.000,6,0.000,0.822,2962,2304,929
$GC,2772,1.43,146.6,73.2,28.2,207,2778,0.00,3.20,0.00,0.000,4,0.000,0.770,2962,3714,483
$GC,2845,1.43,146.6,53.6,22.5,220,2851,0.00,2.92,0.00,0.000,6,0.000,0.723,2962,2297,401
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FINISH,-0.0,1.023983
$STATE,3093,end surface coast,CONTROL_FINISHED_OK
$STATE,3093,begin surface
$SM_CCo,3169,0.00,0.000,0,0,354,775.64
$SM_GC,1.27,10.25,0.00,0.00,0.633,0.000,0.000,707,2296,354,-8.87,-0.08,775.64
$IRIDIUM_FIX,4748.51,-12539.38,180108,181826
$TT8_MAMPS,0.020709
$HUMID,2819
$INTERNAL_PRESSURE,9.27066
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.6,2.009
$10V_AH,10.2,0.442
$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,22.525,36.850,488.425,0.000,0.000,38.158,33.807,72.297,0.750,0.000,0.000,33.360,394.848,1557.389,747.114,529.449,185.530,33.342,1074.714,0.000,500.781,0.000,5.779
$DEVICE_MAMPS,777.179,943.540,856.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,165.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,248
$CFSIZE,260165632,258723840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,52,0
$GPS,180108,165609,4805.876,-12540.622,9,1.6,9,18.9