version: 66.02
glider: 30
mission: 5
dive: 25
start: 1 19 108 6 28 48
data:
$ID,30
$MISSION,5
$DIVE,25
$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,-58654.43
$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,5
$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,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
$GPS1,062337,4804.055,-12541.349,60,1.7,60,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-52.5
$GPS2,062745,4804.011,-12541.332,15,1.9,15,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.253,-0.057
$KALMAN_X,-1722.6,577.7,772.9,163.1,-1211.2
$KALMAN_Y,-18289.7,314.3,559.3,20776.2,-2058.4
$MHEAD_RNG_PITCHd_Wd,238.4,211494,-17.9,-10.000
$D_GRID,519
$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,-200.15,0.000,2,0.000,0.000,708,2303,1916
$GC,222,-1.43,-146.6,3.5,-3.1,20,295,9.38,3.17,-57.30,0.000,4,0.752,0.735,2332,3714,2862
$GC,519,-1.43,-146.6,64.8,-22.4,56,526,0.00,2.95,-0.12,0.000,6,0.000,0.713,2332,2292,2867
$GC,848,-1.43,-146.6,130.7,-17.3,93,853,0.00,3.00,-0.25,0.000,4,0.000,0.693,2333,884,2871
$GC,909,-1.43,-146.6,140.7,-15.4,98,914,0.00,3.15,0.00,0.000,6,0.000,0.708,2332,2302,2872
$GC,1235,-1.43,-146.6,192.1,-15.5,116,1240,0.00,3.20,0.00,0.000,4,0.000,0.819,2332,3711,2866
$GC,1352,-1.43,-146.6,210.7,-15.5,121,1357,0.00,2.95,0.00,0.000,6,0.000,0.688,2332,2300,2865
$GC,1666,-1.43,-146.6,254.2,-12.7,136,1671,0.00,3.25,0.00,0.000,4,0.000,0.718,2332,3712,2850
$GC,1733,-1.43,-146.6,263.2,-14.0,139,1737,0.00,2.97,0.00,0.000,6,0.000,0.723,2332,2301,2848
$GC,2092,-1.43,-146.6,308.8,-12.3,155,2096,0.00,3.05,0.00,0.000,4,0.000,0.747,2333,882,2776
$GC,2129,-1.43,-146.6,313.5,-12.1,155,2134,0.00,3.17,0.00,0.000,6,0.000,0.723,2332,2298,2772
$GC,2456,-1.43,-146.6,351.4,-11.6,161,2461,0.00,3.22,0.00,0.000,4,0.000,0.760,2332,3714,2752
$GC,2538,-1.43,-146.6,359.6,-10.3,162,2543,0.00,3.00,0.00,0.000,6,0.000,0.715,2332,2302,2742
$GC,2886,-1.43,-146.6,394.3,-10.3,168,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2301,2645
$GC,3190,-1.43,-146.6,421.5,-8.8,173,3194,0.00,3.05,0.00,0.000,4,0.000,0.752,2333,881,2531
$GC,3252,-1.43,-146.6,426.5,-8.3,174,3256,0.00,3.20,0.00,0.000,6,0.000,0.755,2332,2302,2506
$GC,3617,-1.43,-146.6,446.0,-4.4,180,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2302,2320
$GC,3919,-1.43,-146.6,441.9,2.3,185,3923,0.00,3.08,0.00,0.000,4,0.000,0.767,2332,883,2161
$GC,3961,-1.43,-146.6,439.7,4.7,185,3966,0.00,3.17,0.00,0.000,6,0.000,0.715,2332,2302,2138
$GC,4282,-1.43,-146.6,421.4,5.9,191,4286,0.00,3.10,0.00,0.000,4,0.000,0.767,2332,883,1996
$GC,4296,-1.43,-146.6,420.8,6.0,191,4301,0.00,3.17,0.00,0.000,6,0.000,0.723,2332,2299,1993
$GC,4645,-1.43,-146.6,397.4,6.6,197,4650,0.00,3.17,0.00,0.000,4,0.000,0.747,2332,3712,1941
$GC,4721,-1.43,-146.6,391.6,6.6,198,4726,0.00,3.03,0.00,0.000,6,0.000,0.792,2332,2297,1921
$GC,5076,-1.43,-146.6,368.0,6.7,204,5081,0.00,3.25,0.00,0.000,4,0.000,0.785,2332,3716,1764
$GC,5180,-1.43,-146.6,360.3,6.9,205,5185,0.00,3.05,0.00,0.000,6,0.000,0.708,2332,2298,1735
$GC,5506,-1.43,-146.6,339.7,6.5,211,5511,0.00,3.10,0.00,0.000,4,0.000,0.710,2333,885,1626
$GC,5583,-1.43,-146.6,333.9,9.7,212,5588,0.00,3.15,0.00,0.000,6,0.000,0.760,2332,2303,1597
$GC,5932,-1.43,-146.6,307.2,7.9,218,5936,0.00,3.15,0.00,0.000,4,0.000,0.730,2333,881,1463
$GC,5969,-1.43,-146.6,304.3,10.1,218,5974,0.00,3.20,0.00,0.000,6,0.000,0.785,2332,2298,1448
$GC,6300,-1.43,-146.6,276.9,8.2,232,6305,0.00,3.10,0.00,0.000,4,0.000,0.762,2332,879,1307
$GC,6343,-1.43,-146.6,273.0,10.3,234,6347,0.00,3.25,0.00,0.000,6,0.000,0.770,2332,2300,1286
$GC,6669,-1.43,-146.6,246.8,7.5,250,6674,0.00,3.28,0.00,0.000,4,0.000,0.780,2332,3714,1149
$GC,6730,-1.43,-146.6,241.1,9.8,253,6735,0.00,3.00,0.00,0.000,6,0.000,0.740,2332,2298,1130
$GC,7055,-1.43,-146.6,217.5,7.6,269,7060,0.00,3.12,0.00,0.000,4,0.000,0.760,2333,886,1003
$GC,7093,-1.43,-146.6,214.3,9.5,271,7098,0.00,3.30,0.00,0.000,6,0.000,0.770,2333,2300,985
$GC,7419,-1.43,-146.6,187.1,9.7,287,7434,0.00,0.00,-13.15,0.000,6,0.000,0.000,2333,2301,2876
$GC,7743,-1.43,-146.6,227.2,-13.5,302,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2301,2711
$GC,8052,-1.43,-146.6,262.3,-9.9,317,8057,0.00,3.20,0.00,0.000,4,0.000,0.755,2332,3714,2568
$GC,8292,-1.43,-146.6,286.7,-10.0,328,8297,0.00,2.97,0.00,0.000,6,0.000,0.725,2333,2297,2474
$GC,8635,-1.43,-146.6,312.6,-7.1,339,8639,0.00,3.08,0.00,0.000,4,0.000,0.790,2332,880,2302
$GC,8706,-1.43,-146.6,316.9,-6.4,340,8711,0.00,3.17,0.00,0.000,6,0.000,0.757,2332,2302,2281
$GC,9059,-1.43,-146.6,323.7,-0.8,346,9064,0.00,3.20,0.00,0.000,4,0.000,0.792,2332,3714,2155
$GC,9255,-1.43,-146.6,313.5,5.6,349,9260,0.00,2.97,0.00,0.000,6,0.000,0.718,2332,2301,2081
$GC,9580,-1.43,-146.6,293.0,6.8,357,9585,0.00,3.20,0.00,0.000,4,0.000,0.777,2332,3715,1951
$GC,9611,-1.43,-146.6,290.8,6.5,358,9618,0.00,3.00,0.00,0.000,6,0.000,0.735,2332,2301,1938
$GC,9927,-1.43,-146.6,267.2,7.9,374,9932,0.00,3.17,0.00,0.000,4,0.000,0.782,2332,3713,1813
$GC,9988,-1.43,-146.6,262.2,7.9,377,9992,0.00,3.00,0.00,0.000,6,0.000,0.735,2332,2301,1797
$GC,10313,-1.43,-146.6,237.3,7.5,393,10318,0.00,3.35,0.00,0.000,4,0.000,0.780,2332,3711,1671
$GC,10401,-1.43,-146.6,229.5,8.6,397,10405,0.00,3.05,0.00,0.000,6,0.000,0.747,2332,2299,1642
$GC,10727,-1.43,-146.6,203.4,7.7,413,10732,0.00,3.10,0.00,0.000,4,0.000,0.742,2333,881,1563
$GC,10788,-1.43,-146.6,198.4,8.7,416,10802,0.00,3.25,-8.30,0.000,6,0.000,0.782,2332,2297,2878
$STATE,10807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10807,begin apogee
$GC,10811,-0.32,0.0,197.3,-5.2,417,10934,1.23,0.00,120.03,0.809,6,0.715,0.000,2574,2297,2462
$STATE,10935,end apogee,CONTROL_FINISHED_OK
$STATE,10935,begin climb
$GC,10936,1.43,146.6,205.1,0.0,423,11060,1.77,3.12,114.25,0.837,4,0.735,0.901,2962,885,2054
$GC,11198,1.43,146.6,200.9,12.2,435,11204,0.00,3.30,0.00,0.000,6,0.000,0.864,2962,2302,1736
$GC,11525,1.43,146.6,150.9,16.9,451,11530,0.00,3.12,0.00,0.000,4,0.000,0.772,2961,886,1357
$GC,11541,1.43,146.6,148.3,16.3,452,11546,0.00,3.33,0.00,0.000,6,0.000,0.792,2961,2304,1339
$GC,11865,1.43,146.6,90.7,17.0,482,11870,0.00,3.15,0.00,0.000,4,0.000,0.770,2961,884,990
$GC,11942,1.43,146.6,77.2,16.8,489,11949,0.00,3.30,0.00,0.000,6,0.000,0.804,2961,2299,860
$GC,12277,1.43,146.6,11.5,21.2,537,12278,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2298,353
$STATE,12339,end climb,SURFACE_DEPTH_REACHED
$STATE,12339,begin surface coast
$FINISH,0.2,1.024022
$STATE,12351,end surface coast,CONTROL_FINISHED_OK
$STATE,12351,begin surface
$SM_CCo,12427,0.00,0.000,0,0,354,775.64
$SM_GC,0.69,10.32,0.00,0.00,0.646,0.000,0.000,709,2301,354,-8.86,0.00,775.64
$IRIDIUM_FIX,4748.51,-12539.38,190108,060601
$TT8_MAMPS,0.021476
$HUMID,2785
$INTERNAL_PRESSURE,9.25128
$TCM_TEMP,19.00
$XPDR_PINGS,11
$ALTIM_TOP_PING,18.3,19.3
$24V_AH,23.5,3.299
$10V_AH,10.2,0.784
$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,22.700,163.075,234.275,0.000,0.000,39.991,33.780,99.048,6.000,0.000,0.000,15.497,1083.330,9369.902,559.691,1423.834,257.037,33.333,1340.872,0.000,1384.258,0.000,21.973
$DEVICE_MAMPS,752.349,901.329,836.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19011,544
$CFSIZE,260165632,258338816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,43,0
$GPS,190108,095702,4802.864,-12542.162,36,1.5,36,18.9