version: 66.02
glider: 30
mission: 5
dive: 4
start: 1 18 108 2 6 19
data:
$ID,30
$MISSION,5
$DIVE,4
$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,-57925.496
$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,7
$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
$GPS1,020059,4802.618,-12541.455,10,5.3,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.0
$GPS2,020518,4802.616,-12541.542,39,1.8,50,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAPE_FLATTERY
$TGT_LATLONG,4809.000,-12540.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,0.259
$KALMAN_X,-782.6,-939.8,-529.8,1778.0,533.2
$KALMAN_Y,-833.0,-649.7,-29.5,2298.7,-904.8
$MHEAD_RNG_PITCHd_Wd,336.5,11976,-17.9,-10.000
$D_GRID,538
$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,-146.6,0.0,0.0,0,131,0.00,0.00,-111.65,0.000,2,0.000,0.000,708,2308,1881
$GC,133,-1.43,-146.6,3.3,-2.2,11,208,9.15,3.00,-59.50,0.000,4,0.196,0.169,2333,3716,2862
$GC,320,-1.43,-146.6,37.3,-19.5,28,326,0.00,2.75,0.00,0.000,6,0.000,0.122,2334,2297,2862
$GC,661,-1.43,-146.6,98.4,-16.5,79,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2297,2862
$GC,979,-1.43,-146.6,144.6,-13.8,109,984,0.00,3.03,0.00,0.000,4,0.000,0.171,2334,3714,2862
$GC,1062,-1.43,-146.6,155.9,-13.8,115,1067,0.00,2.75,0.00,0.000,6,0.000,0.124,2334,2293,2861
$GC,1388,-1.43,-146.6,197.5,-13.0,131,1392,0.00,3.05,0.00,0.000,4,0.000,0.174,2334,3715,2862
$GC,1441,-1.43,-146.6,205.2,-13.9,133,1448,0.00,2.78,0.00,0.000,6,0.000,0.124,2334,2300,2862
$GC,1757,-1.43,-146.6,245.9,-12.8,149,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2862
$GC,2066,-1.43,-146.6,284.9,-12.1,164,2071,0.00,3.03,0.00,0.000,4,0.000,0.176,2334,3713,2862
$GC,2082,-1.43,-146.6,286.9,-12.1,165,2086,0.00,2.75,0.00,0.000,6,0.000,0.127,2334,2300,2862
$GC,2444,-1.43,-146.6,329.7,-11.9,175,2449,0.00,3.05,0.00,0.000,4,0.000,0.179,2334,3713,2862
$GC,2459,-1.43,-146.6,331.7,-11.7,175,2464,0.00,2.78,0.00,0.000,6,0.000,0.129,2334,2306,2862
$GC,2807,-1.43,-146.6,371.2,-11.3,181,2812,0.00,3.05,0.00,0.000,4,0.000,0.179,2334,3714,2862
$GC,2822,-1.43,-146.6,373.0,-10.8,181,2827,0.00,2.80,0.00,0.000,6,0.000,0.129,2334,2298,2862
$GC,3170,-1.43,-146.6,408.4,-10.0,187,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2298,2862
$GC,3473,-1.43,-146.6,438.8,-10.1,192,3478,0.00,3.08,0.00,0.000,4,0.000,0.179,2334,3716,2862
$GC,3483,-1.43,-146.6,439.9,-9.9,192,3488,0.00,2.80,0.00,0.000,6,0.000,0.132,2334,2302,2862
$GC,3837,-1.43,-146.6,474.7,-9.7,198,3842,0.00,3.05,0.00,0.000,4,0.000,0.186,2334,3711,2861
$GC,3874,-1.43,-146.6,478.8,-10.5,198,3879,0.00,2.80,0.00,0.000,6,0.000,0.132,2334,2300,2861
$GC,4206,-1.43,-146.6,508.5,-8.9,204,4211,0.00,3.08,0.00,0.000,4,0.000,0.181,2334,3714,2861
$GC,4237,-1.43,-146.6,511.4,-9.7,204,4242,0.00,2.80,0.00,0.000,6,0.000,0.132,2334,2287,2861
$STATE,4568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4568,begin apogee
$GC,4571,-0.32,0.0,539.1,8.2,210,4691,1.17,0.00,116.22,1.189,6,0.117,0.000,2580,2287,2462
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4692,begin climb
$GC,4693,1.43,146.6,542.1,0.0,212,4819,1.70,3.12,115.18,1.167,4,0.087,0.179,2963,875,2063
$GC,4974,1.43,146.6,516.9,15.2,216,4979,0.00,3.28,0.00,0.000,6,0.000,0.196,2962,2299,2063
$GC,5317,1.43,146.6,470.3,13.3,222,5322,0.00,3.12,0.00,0.000,4,0.000,0.191,2962,3711,2063
$GC,5416,1.43,146.6,455.7,14.0,223,5421,0.00,2.85,0.00,0.000,6,0.000,0.139,2962,2304,2063
$GC,5748,1.43,146.6,414.3,12.0,229,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2304,2063
$GC,6051,1.43,146.6,381.2,10.8,234,6056,0.00,3.12,0.00,0.000,4,0.000,0.189,2962,3711,2062
$GC,6133,1.43,146.6,371.4,11.8,235,6138,0.00,2.85,0.00,0.000,6,0.000,0.139,2962,2307,2062
$GC,6482,1.45,158.7,337.2,9.4,241,6498,0.00,3.10,10.75,0.929,4,0.000,0.184,2963,886,2030
$GC,6643,1.45,158.7,320.4,10.6,243,6648,0.00,3.17,0.00,0.000,6,0.000,0.191,2962,2299,2029
$GC,6957,1.49,181.5,290.6,8.9,252,6978,0.00,0.00,19.17,0.966,6,0.000,0.000,2962,2299,1968
$GC,7286,1.49,181.5,256.5,10.6,268,7290,0.00,3.00,0.00,0.000,4,0.000,0.166,2962,886,1968
$GC,7407,1.49,181.5,243.3,10.2,273,7414,0.00,3.17,0.00,0.000,6,0.000,0.191,2962,2300,1968
$GC,7723,1.50,188.8,212.2,9.7,289,7737,0.00,3.12,7.57,0.802,4,0.000,0.186,2962,3711,1948
$GC,7826,1.50,188.8,200.7,11.4,293,7833,0.00,2.83,0.00,0.000,6,0.000,0.137,2962,2306,1947
$GC,8141,1.51,189.6,168.5,10.0,309,8146,0.00,3.08,0.00,0.000,4,0.000,0.184,2962,3711,1947
$GC,8213,1.51,192.2,161.3,9.9,312,8225,0.00,2.80,4.20,0.613,6,0.000,0.137,2962,2299,1939
$GC,8539,1.60,241.2,133.5,7.7,337,8584,0.15,3.08,39.22,0.904,4,0.094,0.176,3005,884,1806
$GC,8802,1.65,267.0,105.3,8.8,360,8830,0.00,3.17,21.17,0.847,6,0.000,0.186,3005,2304,1736
$GC,9150,1.66,273.4,74.2,9.7,398,9162,0.00,3.12,6.85,0.695,4,0.000,0.184,3005,3713,1718
$GC,9285,1.68,284.4,62.0,9.5,422,9302,0.00,2.80,9.80,0.740,6,0.000,0.134,3005,2296,1689
$GC,9634,1.75,323.0,33.1,8.2,477,9675,0.12,3.05,31.08,0.804,4,0.097,0.171,3038,886,1583
$GC,9753,1.75,323.0,20.7,11.5,488,9758,0.00,3.17,0.00,0.000,6,0.000,0.186,3037,2303,1583
$STATE,9970,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.4,1.023860
$STATE,10015,end surface coast,CONTROL_FINISHED_OK
$STATE,10015,begin surface
$SM_CCo,10031,172.75,0.797,0,0,967,550.09
$SM_GC,1.37,0.00,0.00,172.75,0.000,0.000,0.797,709,2306,967,-8.93,0.17,550.09
$IRIDIUM_FIX,4745.30,-12540.12,180108,040413
$TT8_MAMPS,0.022243
$HUMID,2657
$INTERNAL_PRESSURE,9.25128
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.7,0.929
$10V_AH,10.2,0.203
$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,22.850,113.425,381.225,172.750,0.000,37.160,39.927,81.434,4.000,0.000,0.000,50.140,952.728,7318.485,735.601,1257.470,225.734,32.331,1414.728,0.000,1186.668,0.000,26.809
$DEVICE_MAMPS,196.157,196.157,1189.357,797.043,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15910,512
$CFSIZE,260165632,258928640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,25,0
$GPS,180108,045737,4803.688,-12540.815,36,1.8,43,18.9