version: 66.02
glider: 30
mission: 5
dive: 27
start: 1 19 108 13 40 4
data:
$ID,30
$MISSION,5
$DIVE,27
$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,-58755.707
$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,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
$GPS1,133351,4801.379,-12543.468,60,2.4,79,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-44.0
$GPS2,133911,4801.363,-12543.431,32,2.5,51,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.199,0.166
$KALMAN_X,3232.4,1081.1,352.8,-7475.2,1993.7
$KALMAN_Y,-22472.1,240.2,-103.7,20789.5,-4602.8
$MHEAD_RNG_PITCHd_Wd,291.0,206566,-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,16,-1.43,-146.6,0.0,0.0,0,231,0.00,0.00,-210.77,0.000,2,0.000,0.000,709,2297,1976
$GC,233,-1.43,-146.6,3.3,-2.4,21,305,9.43,3.22,-53.60,0.000,4,0.747,0.718,2333,3707,2862
$GC,316,-1.43,-146.6,16.5,-21.4,29,321,0.00,2.92,0.00,0.000,6,0.000,0.675,2334,2297,2861
$GC,655,-1.43,-146.6,88.9,-19.2,76,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2298,2859
$GC,974,-1.43,-146.6,144.5,-15.7,106,979,0.00,3.05,0.00,0.000,4,0.000,0.690,2334,886,2858
$GC,1061,-1.43,-146.6,158.0,-14.7,111,1066,0.00,3.20,0.00,0.000,6,0.000,0.700,2334,2305,2858
$GC,1388,-1.43,-146.6,208.1,-14.7,127,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2305,2858
$GC,1697,-1.43,-146.6,254.1,-14.6,142,1702,0.00,3.20,0.00,0.000,4,0.000,0.713,2334,3711,2858
$GC,1723,-1.43,-146.6,258.1,-15.5,143,1728,0.00,3.00,0.00,0.000,6,0.000,0.660,2334,2303,2858
$GC,2045,-1.43,-146.6,301.4,-13.0,159,2050,0.00,3.28,0.00,0.000,4,0.000,0.708,2334,3711,2859
$GC,2161,-1.43,-146.6,317.4,-13.1,160,2166,0.00,3.03,0.00,0.000,6,0.000,0.670,2334,2300,2859
$GC,2476,-1.43,-146.6,356.7,-12.5,166,2481,0.00,3.30,0.00,0.000,4,0.000,0.715,2334,3714,2859
$GC,2513,-1.43,-146.6,362.0,-13.7,166,2518,0.00,3.00,0.00,0.000,6,0.000,0.673,2334,2300,2859
$GC,2840,-1.43,-146.6,401.2,-11.9,172,2845,0.00,3.30,0.00,0.000,4,0.000,0.718,2334,3711,2859
$GC,2854,-1.43,-146.6,403.3,-11.9,172,2859,0.00,3.03,0.00,0.000,6,0.000,0.675,2334,2305,2859
$GC,3203,-1.43,-146.6,443.1,-11.2,178,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2305,2859
$GC,3506,-1.43,-146.6,474.8,-10.4,183,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2305,2859
$GC,3809,-1.43,-146.6,507.6,-10.9,188,3814,0.00,3.30,0.00,0.000,4,0.000,0.725,2334,3711,2859
$GC,3852,-1.43,-146.6,512.7,-11.3,188,3857,0.00,3.05,0.00,0.000,6,0.000,0.675,2334,2299,2859
$GC,4173,-1.43,-146.6,544.9,-9.9,194,4178,0.00,3.33,0.00,0.000,4,0.000,0.735,2334,3711,2859
$GC,4199,-1.43,-146.6,547.7,-10.5,194,4204,0.00,3.05,0.00,0.000,6,0.000,0.685,2334,2305,2859
$GC,4537,-1.43,-146.6,578.6,-9.2,200,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2305,2859
$GC,4842,-1.43,-146.6,605.0,-8.7,205,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2305,2858
$GC,5143,-1.43,-146.6,631.7,-8.7,210,5148,0.00,3.35,0.00,0.000,4,0.000,0.757,2334,3714,2858
$GC,5203,-1.43,-146.6,637.2,-8.7,211,5208,0.00,3.05,0.00,0.000,6,0.000,0.693,2334,2300,2858
$GC,5567,-1.43,-146.6,666.4,-7.9,217,5572,0.00,3.35,0.00,0.000,4,0.000,0.742,2334,3711,2858
$GC,5605,-1.43,-146.6,669.7,-9.4,217,5609,0.00,3.05,0.00,0.000,6,0.000,0.685,2334,2300,2858
$GC,5931,-1.43,-146.6,695.4,-8.0,223,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2858
$GC,6235,-1.43,-146.6,720.2,-8.2,228,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2858
$GC,6537,-1.43,-146.6,745.7,-8.4,233,6542,0.00,3.40,0.00,0.000,4,0.000,0.765,2334,3710,2858
$GC,6586,-1.43,-146.6,750.5,-10.2,233,6591,0.00,3.08,0.00,0.000,6,0.000,0.700,2333,2300,2857
$GC,6897,-1.43,-146.6,777.6,-8.9,238,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2857
$GC,7199,-1.43,-146.6,800.6,-7.4,243,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2857
$GC,7501,-1.43,-146.6,822.4,-7.2,248,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2856
$GC,7805,-1.43,-146.6,843.9,-7.1,253,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2855
$GC,8107,-1.43,-146.6,865.1,-6.9,258,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2853
$GC,8410,-1.43,-146.6,886.0,-7.0,263,8415,0.00,3.42,0.00,0.000,4,0.000,0.767,2334,3714,2851
$GC,8476,-1.43,-146.6,890.9,-7.2,264,8481,0.00,3.08,0.00,0.000,6,0.000,0.708,2334,2300,2850
$GC,8841,-1.43,-146.6,913.7,-6.2,270,8846,0.00,3.42,0.00,0.000,4,0.000,0.757,2334,3711,2848
$GC,8862,-1.43,-146.6,915.3,-7.6,270,8866,0.00,3.12,0.00,0.000,6,0.000,0.705,2334,2296,2848
$GC,9205,-1.43,-146.6,938.4,-6.7,276,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2296,2844
$GC,9508,-1.43,-146.6,957.9,-6.4,281,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2296,2841
$GC,9812,-1.43,-146.6,976.7,-6.2,286,9817,0.00,3.45,0.00,0.000,4,0.000,0.752,2334,3710,2840
$GC,9832,-1.43,-146.6,978.3,-7.1,286,9837,0.00,3.12,0.00,0.000,6,0.000,0.698,2334,2301,2839
$STATE,10053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10053,begin apogee
$GC,10056,-0.32,0.0,992.1,6.2,290,10205,1.20,0.00,139.98,1.264,6,0.663,0.000,2575,2300,2463
$STATE,10205,end apogee,CONTROL_FINISHED_OK
$STATE,10205,begin climb
$GC,10207,1.43,146.6,995.3,0.0,292,10342,1.77,3.60,123.78,1.403,4,1.348,1.482,2962,3711,2049
$GC,10408,1.43,146.6,965.3,22.4,295,10413,0.00,3.28,0.00,0.000,6,0.000,1.348,2962,2301,1861
$GC,10762,1.43,146.6,856.7,32.9,301,10767,0.00,3.25,0.00,0.000,4,0.000,0.876,2962,880,1409
$GC,10810,1.43,146.6,839.0,34.9,301,10816,0.00,3.42,0.00,0.000,6,0.000,0.899,2962,2297,1387
$GC,11125,1.43,146.6,727.1,35.9,307,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2297,1262
$GC,11428,1.43,146.6,618.1,36.0,312,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2297,1137
$GC,11731,1.43,146.6,509.2,36.0,317,11737,0.00,3.42,0.00,0.000,4,0.000,0.842,2962,3716,999
$GC,11763,1.43,146.6,497.2,36.6,317,11768,0.00,3.15,0.00,0.000,6,0.000,0.800,2962,2299,985
$GC,12095,1.43,146.6,376.8,36.6,323,12100,0.00,3.20,0.00,0.000,4,0.000,0.834,2962,881,784
$GC,12137,1.43,146.6,361.8,32.6,323,12142,0.00,3.40,0.00,0.000,6,0.000,0.847,2962,2301,741
$GC,12460,1.43,146.6,245.2,38.4,333,12465,0.00,3.38,0.00,0.000,4,0.000,0.822,2962,3717,472
$GC,12537,1.43,146.6,217.7,32.7,336,12544,0.00,3.10,0.00,0.000,6,0.000,0.757,2962,2298,437
$GC,12856,1.43,146.6,102.8,33.9,358,12861,0.00,3.38,0.00,0.000,4,0.000,0.747,2962,3714,354
$GC,12883,1.43,146.6,93.6,36.6,360,12887,0.00,3.08,0.00,0.000,6,0.000,0.703,2962,2297,354
$STATE,13208,end climb,SURFACE_DEPTH_REACHED
$STATE,13208,begin surface coast
$FINISH,-0.3,1.024627
$STATE,13220,end surface coast,CONTROL_FINISHED_OK
$STATE,13220,begin surface
$SM_CCo,13296,0.00,0.000,0,0,354,776.01
$SM_GC,0.69,10.50,0.00,0.00,0.648,0.000,0.000,710,2295,354,-8.86,-0.14,776.01
$IRIDIUM_FIX,4745.30,-12540.12,190108,141441
$TT8_MAMPS,0.021476
$HUMID,2882
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,18.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.2,20.7
$24V_AH,23.4,3.498
$10V_AH,10.2,0.872
$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,22.900,128.800,263.750,0.000,0.000,32.783,83.822,93.523,9.750,0.000,0.000,52.672,838.807,10888.792,569.471,1050.314,278.426,33.337,1161.548,0.000,969.461,0.000,57.547
$DEVICE_MAMPS,1348.269,1482.351,1402.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12718,403
$CFSIZE,260165632,258269184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,47,0
$GPS,190108,172257,4802.358,-12545.667,27,3.0,46,18.9