version: 66.02
glider: 30
mission: 5
dive: 26
start: 1 19 108 10 6 19
data:
$ID,30
$MISSION,5
$DIVE,26
$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,0
$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,-58702.406
$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
$GPS1,095702,4802.864,-12542.162,36,1.5,36,18.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-47.2
$GPS2,100526,4802.949,-12542.277,36,2.0,47,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.258,0.029
$KALMAN_X,928.5,128.6,-94.3,-2348.7,2106.8
$KALMAN_Y,-19466.4,705.5,-64.3,20213.6,-2616.9
$MHEAD_RNG_PITCHd_Wd,257.4,209405,-17.9,-10.000
$D_GRID,990
$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,-146.6,0.0,0.0,0,221,0.00,0.00,-200.68,0.000,2,0.000,0.000,708,2301,1928
$GC,223,-1.43,-146.6,3.8,-4.0,20,290,9.38,3.08,-50.55,0.000,4,0.730,0.698,2333,880,2861
$GC,424,-1.43,-146.6,45.1,-20.3,40,430,0.00,3.17,0.00,0.000,6,0.000,0.713,2332,2300,2858
$GC,762,-1.43,-146.6,115.1,-19.6,86,768,0.00,3.05,-0.28,0.000,4,0.000,0.710,2333,881,2872
$GC,823,-1.43,-146.6,126.0,-17.3,91,828,0.00,3.20,0.00,0.000,6,0.000,0.720,2333,2305,2869
$GC,1152,-1.43,-146.6,180.4,-15.0,113,1154,0.00,0.00,-0.30,0.000,6,0.000,0.000,2332,2305,2877
$GC,1462,-1.43,-146.6,225.4,-13.8,128,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2305,2808
$GC,1771,-1.43,-146.6,266.2,-13.2,143,1775,0.00,3.17,0.00,0.000,4,0.000,0.742,2332,3711,2741
$GC,1887,-1.43,-146.6,283.0,-13.6,148,1892,0.00,2.97,0.00,0.000,6,0.000,0.728,2332,2301,2740
$GC,2218,-1.43,-146.6,323.7,-11.9,158,2223,0.00,3.25,0.00,0.000,4,0.000,0.723,2332,3711,2728
$GC,2266,-1.43,-146.6,329.5,-11.5,158,2271,0.00,3.03,0.00,0.000,6,0.000,0.700,2332,2302,2727
$GC,2581,-1.43,-146.6,364.5,-11.4,164,2586,0.00,3.28,0.00,0.000,4,0.000,0.747,2332,3712,2675
$GC,2618,-1.43,-146.6,368.8,-10.9,164,2623,0.00,3.03,0.00,0.000,6,0.000,0.728,2332,2290,2667
$GC,2946,-1.43,-146.6,401.5,-9.9,170,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2290,2541
$GC,3249,-1.43,-146.6,426.6,-8.1,175,3253,0.00,3.08,0.00,0.000,4,0.000,0.750,2333,881,2419
$GC,3303,-1.43,-146.6,430.4,-7.5,175,3310,0.00,3.20,0.00,0.000,6,0.000,0.849,2332,2298,2406
$GC,3613,-1.43,-146.6,446.6,-4.8,181,3618,0.00,3.22,0.00,0.000,4,0.000,0.800,2332,3714,2284
$GC,3830,-1.43,-146.6,445.7,2.4,184,3835,0.00,3.00,0.00,0.000,6,0.000,0.750,2332,2297,2186
$GC,4179,-1.43,-146.6,431.9,4.3,190,4184,0.00,3.28,0.00,0.000,4,0.000,0.787,2332,3717,2036
$GC,4199,-1.43,-146.6,430.6,6.9,190,4204,0.00,3.00,0.00,0.000,6,0.000,0.732,2332,2301,2031
$GC,4542,-1.43,-146.6,406.8,7.2,196,4547,0.00,3.12,0.00,0.000,4,0.000,0.800,2333,886,1899
$GC,4618,-1.43,-146.6,401.6,7.6,197,4623,0.00,3.20,0.00,0.000,6,0.000,0.896,2333,2302,1863
$GC,4967,-1.43,-146.6,378.7,6.6,203,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,1738
$GC,5271,-1.43,-146.6,358.0,6.6,208,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,1592
$GC,5573,-1.43,-146.6,332.9,8.0,213,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2303,1358
$GC,5876,-1.43,-146.6,312.9,6.5,218,5881,0.00,3.35,0.00,0.000,4,0.000,0.809,2333,3714,1151
$GC,5891,-1.43,-146.6,311.9,6.9,218,5896,0.00,3.03,0.00,0.000,6,0.000,0.755,2332,2300,1143
$GC,6223,-1.43,-146.6,283.5,8.9,229,6227,0.00,3.08,0.00,0.000,4,0.000,0.762,2332,882,959
$GC,6283,-1.43,-146.6,278.3,9.9,232,6289,0.00,3.25,0.00,0.000,6,0.000,0.742,2332,2301,925
$GC,6609,-1.43,-146.6,247.6,9.4,248,6613,0.00,3.12,0.00,0.000,4,0.000,0.747,2332,884,832
$GC,6647,-1.43,-146.6,243.7,11.0,250,6652,0.00,3.25,0.00,0.000,6,0.000,0.772,2332,2300,807
$GC,6972,-1.43,-146.6,211.7,10.2,266,6977,0.00,3.30,0.00,0.000,4,0.000,0.735,2332,3717,684
$GC,7021,-1.43,-146.6,206.4,12.8,268,7025,0.00,3.08,0.00,0.000,6,0.000,0.737,2332,2301,674
$GC,7342,-1.43,-146.6,172.8,10.4,284,7364,0.00,3.12,-16.50,0.000,4,0.000,0.891,2333,881,2870
$GC,7396,-1.43,-146.6,174.7,-11.2,286,7401,0.00,3.20,-0.25,0.000,6,0.000,0.819,2332,2302,2876
$GC,7717,-1.43,-146.6,218.1,-12.3,302,7722,0.00,3.22,0.00,0.000,4,0.000,0.790,2332,3714,2581
$GC,7760,-1.43,-146.6,223.4,-12.7,304,7765,0.00,2.97,0.00,0.000,6,0.000,0.730,2332,2300,2556
$GC,8087,-1.43,-146.6,255.4,-7.3,320,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2300,2315
$GC,8396,-1.43,-146.6,269.2,-2.3,335,8401,0.00,3.25,0.00,0.000,4,0.000,0.735,2332,3717,2158
$GC,8614,-1.43,-146.6,263.9,5.2,345,8619,0.00,3.00,0.00,0.000,6,0.000,0.740,2332,2297,2073
$GC,8939,-1.43,-146.6,247.1,5.9,361,8944,0.00,3.28,0.00,0.000,4,0.000,0.775,2332,3716,1930
$GC,8960,-1.43,-146.6,245.5,7.0,362,8964,0.00,3.03,0.00,0.000,6,0.000,0.705,2332,2296,1924
$GC,9286,-1.43,-146.6,217.1,9.6,378,9291,0.00,3.30,0.00,0.000,4,0.000,0.735,2332,3717,1819
$GC,9416,-1.43,-146.6,204.8,9.1,384,9421,0.00,3.05,0.00,0.000,6,0.000,0.703,2332,2301,1792
$GC,9741,-1.43,-146.6,176.6,8.2,400,9755,0.00,3.05,-7.95,0.000,4,0.000,0.757,2332,892,2875
$GC,9788,-1.43,-146.6,179.6,-11.3,402,9793,0.00,3.17,0.00,0.000,6,0.000,0.725,2332,2303,2866
$GC,10115,-1.43,-146.6,226.5,-13.9,418,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,2556
$GC,10424,-1.43,-146.6,258.1,-8.1,433,10429,0.00,3.20,0.00,0.000,4,0.000,0.802,2332,3714,2303
$GC,10681,-1.43,-146.6,271.6,-2.6,444,10687,0.00,2.97,0.00,0.000,6,0.000,0.745,2332,2297,2171
$STATE,10809,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10809,begin apogee
$GC,10812,-0.32,0.0,270.4,-1.9,451,10815,1.25,0.00,0.00,0.000,6,0.685,0.000,2573,2297,2114
$STATE,10815,end apogee,CONTROL_FINISHED_OK
$STATE,10816,begin climb
$GC,10817,1.43,146.6,270.4,0.0,451,10841,1.80,0.00,20.08,0.790,6,0.653,0.000,2961,2297,2063
$GC,11146,1.43,146.6,233.1,15.0,467,11151,0.00,3.38,0.00,0.000,4,0.000,0.822,2961,3714,1596
$GC,11184,1.43,146.6,226.3,18.2,469,11189,0.00,3.08,0.00,0.000,6,0.000,0.785,2961,2300,1550
$GC,11510,1.43,146.6,164.1,20.3,485,11514,0.00,3.12,0.00,0.000,4,0.000,0.924,2961,883,1164
$GC,11535,1.43,146.6,158.7,20.2,486,11540,0.00,3.33,0.00,0.000,6,0.000,0.844,2961,2300,1133
$GC,11865,1.43,146.6,89.5,22.6,515,11870,0.00,3.15,0.00,0.000,4,0.000,0.747,2961,881,740
$GC,11920,1.43,146.6,77.8,20.1,520,11926,0.00,3.33,0.00,0.000,6,0.000,0.787,2961,2300,653
$GC,12253,1.43,146.6,2.4,22.8,566,12257,0.00,2.47,0.00,0.000,3,0.000,0.757,2961,3380,353
$STATE,12258,end climb,SURFACE_DEPTH_REACHED
$STATE,12258,begin surface coast
$FINISH,0.2,1.024336
$STATE,12264,end surface coast,CONTROL_FINISHED_OK
$STATE,12264,begin surface
$SM_CCo,12342,0.00,0.000,0,0,354,776.01
$SM_GC,0.63,10.27,0.00,0.00,0.651,0.000,0.000,709,2297,354,-8.86,-0.08,776.01
$IRIDIUM_FIX,4745.30,-12541.99,190108,131329
$TT8_MAMPS,0.021476
$HUMID,2782
$INTERNAL_PRESSURE,9.25128
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,20.1
$24V_AH,23.5,3.356
$10V_AH,10.2,0.830
$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,22.700,149.775,20.075,0.000,0.000,79.581,67.019,187.548,3.750,0.000,0.000,47.349,1098.825,9615.915,374.330,1354.564,411.840,33.337,1085.845,0.000,1288.775,0.000,21.975
$DEVICE_MAMPS,730.002,923.676,789.594,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18965,567
$CFSIZE,260165632,258293760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,44,40,0
$GPS,190108,133351,4801.379,-12543.468,60,2.4,79,18.8