version: 66.02
glider: 30
mission: 5
dive: 20
start: 1 18 108 23 25 37
data:
$ID,30
$MISSION,5
$DIVE,20
$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,-58500.152
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$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
$GPS1,231744,4806.137,-12539.439,36,2.0,43,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-50.8
$GPS2,232435,4806.095,-12539.383,15,2.2,34,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.073,0.249
$KALMAN_X,-1849.6,-667.2,-609.4,5327.2,287.0
$KALMAN_Y,-14810.4,-169.1,50.4,22140.8,-1088.8
$MHEAD_RNG_PITCHd_Wd,324.8,5434,-17.9,-10.000
$D_GRID,177
$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,14,begin dive
$GC,16,-1.43,-146.6,0.0,0.0,0,220,0.00,0.00,-200.85,0.000,2,0.000,0.000,708,2299,1970
$GC,222,-1.43,-146.6,3.7,-3.6,20,291,9.43,2.97,-51.12,0.000,4,0.713,0.673,2333,885,2861
$GC,335,-1.43,-146.6,23.8,-21.5,31,340,0.00,3.10,0.00,0.000,6,0.000,0.678,2333,2300,2861
$GC,674,-1.43,-146.6,98.6,-20.2,77,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2856
$GC,1002,-1.43,-146.6,161.7,-19.2,105,1007,0.00,2.97,-0.12,0.000,4,0.000,0.670,2334,886,2876
$GC,1033,-1.43,-146.6,167.5,-16.6,106,1040,0.00,3.10,0.00,0.000,6,0.000,0.675,2333,2300,2875
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1103,-0.32,0.0,178.0,15.8,110,1235,1.23,0.00,128.45,0.772,6,0.648,0.000,2575,2301,2462
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1238,1.43,146.6,183.6,0.0,116,1365,1.75,3.25,114.75,0.807,4,0.762,0.896,2964,3716,2041
$GC,1481,1.43,146.6,180.2,12.1,128,1486,0.00,2.95,0.00,0.000,6,0.000,0.804,2964,2308,1679
$GC,1800,1.43,146.6,133.3,15.1,148,1805,0.00,3.03,0.00,0.000,4,0.000,0.745,2964,887,1217
$GC,1888,1.43,146.6,119.8,15.1,155,1895,0.00,3.20,0.00,0.000,6,0.000,0.767,2964,2300,1103
$GC,2218,1.43,146.6,60.1,19.1,195,2224,0.00,3.20,0.00,0.000,4,0.000,0.765,2964,3714,630
$GC,2268,1.43,146.6,50.0,20.2,204,2275,0.00,2.92,0.00,0.000,6,0.000,0.705,2964,2298,565
$STATE,2477,end climb,SURFACE_DEPTH_REACHED
$STATE,2477,begin surface coast
$FINISH,0.1,1.011060
$STATE,2490,end surface coast,CONTROL_FINISHED_OK
$STATE,2490,begin surface
$SM_CCo,2565,0.00,0.000,0,0,353,776.01
$SM_GC,1.01,10.20,0.00,0.00,0.631,0.000,0.000,710,2298,353,-8.86,-0.06,776.01
$IRIDIUM_FIX,4748.51,-12539.38,190108,030357
$TT8_MAMPS,0.021476
$HUMID,2744
$INTERNAL_PRESSURE,9.29004
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,130.4,81.8
$24V_AH,23.5,2.850
$10V_AH,10.2,0.624
$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,22.600,30.700,243.200,0.000,0.000,71.772,120.782,76.277,1.000,0.000,0.000,34.929,378.336,1379.294,485.959,444.976,308.894,33.323,745.821,0.000,416.651,0.000,8.792
$DEVICE_MAMPS,762.281,896.363,806.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6449,229
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,40,0
$GPS,190108,000925,4806.251,-12539.514,33,1.9,41,18.9