version: 66.02
glider: 30
mission: 5
dive: 24
start: 1 19 108 2 52 46
data:
$ID,30
$MISSION,5
$DIVE,24
$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,-58638.305
$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,7
$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,150
$ALTIM_PING_DELTA,25
$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
$GPS1,024746,4804.722,-12540.506,45,2.4,64,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-49.0
$GPS2,025144,4804.679,-12540.484,22,1.3,31,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,0.003
$KALMAN_X,-1865.1,247.2,312.3,2153.4,1010.4
$KALMAN_Y,-15547.2,-517.7,-71.2,20728.0,-708.0
$MHEAD_RNG_PITCHd_Wd,251.9,213075,-17.9,-10.000
$D_GRID,384
$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,17,-1.43,-146.6,0.0,0.0,0,231,0.00,0.00,-210.75,0.000,2,0.000,0.000,707,2302,1958
$GC,233,-1.43,-146.6,3.6,-2.5,21,306,9.35,3.12,-55.55,0.000,4,0.713,0.698,2334,3718,2861
$GC,485,-1.43,-146.6,53.8,-22.0,49,492,0.00,2.90,-0.60,0.000,6,0.000,0.663,2334,2295,2867
$GC,823,-1.43,-146.6,119.5,-16.6,91,834,0.00,3.00,-3.08,0.000,4,0.000,0.752,2334,884,2864
$GC,894,-1.43,-146.6,132.2,-16.7,97,902,0.00,3.12,-1.00,0.000,6,0.000,0.775,2334,2300,2870
$GC,1214,-1.43,-146.6,181.8,-13.5,118,1223,0.00,3.03,-3.25,0.000,4,0.000,0.765,2334,890,2869
$GC,1245,-1.43,-146.6,186.7,-15.1,119,1250,0.00,3.12,-0.30,0.000,6,0.000,0.787,2334,2300,2871
$GC,1566,-1.43,-146.6,229.4,-11.5,135,1571,0.00,3.12,0.00,0.000,4,0.000,0.797,2334,3713,2469
$GC,1822,-1.43,-146.6,247.6,-1.8,146,1829,0.00,2.90,0.00,0.000,6,0.000,0.752,2334,2293,2150
$GC,2138,-1.43,-146.6,231.3,7.0,162,2143,0.00,3.17,0.00,0.000,4,0.000,0.770,2334,3715,1905
$GC,2158,-1.43,-146.6,229.8,7.4,163,2163,0.00,2.90,0.00,0.000,6,0.000,0.710,2334,2293,1893
$GC,2485,-1.43,-146.6,204.6,7.3,179,2490,0.00,3.15,0.00,0.000,4,0.000,0.747,2334,3714,1732
$GC,2539,-1.43,-146.6,199.1,8.5,181,2551,0.00,2.95,-7.00,0.000,6,0.000,0.680,2334,2298,2877
$GC,2871,-1.43,-146.6,237.5,-12.7,198,2876,0.00,3.20,0.00,0.000,4,0.000,0.775,2334,3713,2708
$GC,3004,-1.43,-146.6,254.7,-12.0,204,3009,0.00,2.95,0.00,0.000,6,0.000,0.713,2334,2300,2646
$GC,3331,-1.43,-146.6,287.4,-8.7,220,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2460
$GC,3638,-1.43,-146.6,306.7,-5.5,231,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2281
$GC,3941,-1.43,-146.6,307.1,0.8,236,3946,0.00,3.20,0.00,0.000,4,0.000,0.752,2334,3714,2121
$GC,4002,-1.43,-146.6,304.1,5.0,237,4006,0.00,2.92,0.00,0.000,6,0.000,0.713,2334,2297,2099
$GC,4329,-1.43,-146.6,286.5,6.5,249,4334,0.00,3.15,0.00,0.000,4,0.000,0.750,2334,3713,1951
$GC,4345,-1.43,-146.6,285.0,7.4,250,4350,0.00,2.92,0.00,0.000,6,0.000,0.685,2334,2293,1946
$GC,4671,-1.43,-146.6,258.4,8.7,266,4676,0.00,3.17,0.00,0.000,4,0.000,0.737,2334,3718,1825
$GC,4737,-1.43,-146.6,251.9,11.2,269,4742,0.00,2.92,0.00,0.000,6,0.000,0.688,2334,2297,1808
$GC,5057,-1.43,-146.6,224.8,8.4,285,5062,0.00,3.28,0.00,0.000,4,0.000,0.732,2334,3712,1752
$GC,5167,-1.43,-146.6,214.9,9.2,290,5172,0.00,2.97,0.00,0.000,6,0.000,0.705,2334,2300,1730
$GC,5494,-1.43,-146.6,188.1,8.0,306,5508,0.00,3.15,-8.07,0.000,4,0.000,0.752,2334,3714,2872
$GC,5756,-1.43,-146.6,222.6,-12.9,317,5762,0.00,2.92,0.00,0.000,6,0.000,0.710,2334,2299,2745
$GC,6070,-1.43,-146.6,260.7,-11.3,333,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2299,2602
$GC,6380,-1.43,-146.6,291.0,-8.9,348,6384,0.00,3.20,0.00,0.000,4,0.000,0.752,2334,3712,2450
$GC,6467,-1.43,-146.6,299.5,-9.1,352,6472,0.00,2.92,0.00,0.000,6,0.000,0.708,2334,2299,2419
$GC,6788,-1.43,-146.6,320.1,-6.2,358,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2299,2266
$GC,7091,-1.43,-146.6,318.1,1.6,363,7096,0.00,3.20,0.00,0.000,4,0.000,0.750,2334,3712,2116
$GC,7229,-1.43,-146.6,311.0,5.3,365,7234,0.00,2.95,0.00,0.000,6,0.000,0.728,2334,2294,2065
$GC,7550,-1.43,-146.6,291.6,6.7,373,7555,0.00,3.28,0.00,0.000,4,0.000,0.772,2334,3712,1927
$GC,7599,-1.43,-146.6,287.6,8.8,375,7603,0.00,2.95,0.00,0.000,6,0.000,0.730,2334,2299,1913
$GC,7920,-1.43,-146.6,262.5,7.4,391,7925,0.00,3.30,0.00,0.000,4,0.000,0.742,2334,3712,1797
$GC,8053,-1.43,-146.6,250.6,9.2,397,8058,0.00,3.00,0.00,0.000,6,0.000,0.715,2334,2300,1765
$GC,8374,-1.43,-146.6,225.2,7.8,413,8378,0.00,3.03,0.00,0.000,4,0.000,0.747,2334,881,1672
$GC,8461,-1.43,-146.6,217.6,8.4,417,8466,0.00,3.15,0.00,0.000,6,0.000,0.740,2334,2300,1650
$GC,8788,-1.43,-146.6,193.4,7.1,433,8802,0.00,3.20,-8.27,0.000,4,0.000,0.787,2334,3707,2872
$GC,8937,-1.43,-146.6,210.1,-15.1,439,8944,0.00,2.95,0.00,0.000,6,0.000,0.742,2334,2294,2808
$GC,9252,-1.43,-146.6,250.8,-12.6,455,9257,0.00,3.28,0.00,0.000,4,0.000,0.800,2334,3717,2662
$GC,9306,-1.43,-146.6,258.3,-13.6,457,9313,0.00,2.97,0.00,0.000,6,0.000,0.767,2334,2297,2641
$GC,9621,-1.43,-146.6,295.0,-11.0,473,9626,0.00,3.25,0.00,0.000,4,0.000,0.755,2334,3713,2508
$GC,9692,-1.43,-146.6,303.1,-11.2,476,9697,0.00,2.95,0.00,0.000,6,0.000,0.762,2334,2300,2480
$GC,10052,-1.43,-146.6,328.6,-6.1,482,10057,0.00,3.00,0.00,0.000,4,0.000,0.767,2334,879,2337
$GC,10117,-1.43,-146.6,332.2,-6.0,483,10123,0.00,3.15,0.00,0.000,6,0.000,0.728,2334,2306,2327
$GC,10484,-1.43,-146.6,341.6,-1.6,489,10489,0.00,3.17,0.00,0.000,4,0.000,0.809,2334,3711,2159
$GC,10583,-1.43,-146.6,338.1,3.8,490,10588,0.00,2.95,0.00,0.000,6,0.000,0.797,2333,2299,2117
$STATE,10853,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10853,begin apogee
$GC,10856,-0.32,0.0,326.5,-4.2,495,10859,1.27,0.00,0.00,0.000,6,0.762,0.000,2574,2299,2006
$STATE,10860,end apogee,CONTROL_FINISHED_OK
$STATE,10860,begin climb
$GC,10861,1.43,146.6,326.5,0.0,495,10869,1.77,3.05,0.00,0.000,4,0.690,0.762,2961,885,2002
$GC,10915,1.54,207.5,323.1,7.1,495,10960,0.10,3.25,36.78,0.847,6,0.673,0.757,2987,2297,1897
$GC,11275,1.54,207.5,261.0,20.7,507,11280,0.00,3.12,0.00,0.000,4,0.000,0.757,2987,884,1464
$GC,11453,1.54,207.5,222.2,23.3,515,11458,0.00,3.30,0.00,0.000,6,0.000,0.775,2987,2303,1361
$GC,11774,1.54,207.5,150.5,21.4,531,11779,0.00,3.28,0.00,0.000,4,0.000,0.770,2987,3717,1205
$GC,11794,1.54,207.5,145.9,20.9,532,11801,0.00,3.05,0.00,0.000,6,0.000,0.728,2987,2304,1195
$GC,12118,1.54,207.5,80.8,20.8,563,12123,0.00,3.10,0.00,0.000,4,0.000,0.772,2987,883,900
$GC,12179,1.54,207.5,68.5,19.4,572,12186,0.00,3.30,0.00,0.000,6,0.000,0.787,2987,2301,811
$STATE,12472,end climb,SURFACE_DEPTH_REACHED
$STATE,12472,begin surface coast
$FINISH,-0.1,1.003439
$STATE,12485,end surface coast,CONTROL_FINISHED_OK
$STATE,12486,begin surface
$SM_CCo,12561,0.00,0.000,0,0,353,776.01
$SM_GC,0.85,10.38,0.00,0.00,0.636,0.000,0.000,708,2303,353,-8.87,0.08,776.01
$IRIDIUM_FIX,4751.72,-12536.76,190108,050538
$TT8_MAMPS,0.021476
$HUMID,2804
$INTERNAL_PRESSURE,9.24159
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.5
$24V_AH,23.5,3.197
$10V_AH,10.2,0.737
$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,22.875,160.575,36.775,0.000,0.000,39.003,36.391,82.107,2.250,0.000,0.000,31.600,1192.271,9421.909,416.562,1553.708,242.030,33.306,1231.511,0.000,1499.246,0.000,15.501
$DEVICE_MAMPS,762.281,809.458,846.703,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19013,612
$CFSIZE,260165632,258383872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,47,0
$GPS,190108,062337,4804.055,-12541.349,60,1.7,60,18.9