version: 66.02
glider: 30
mission: 5
dive: 28
start: 1 19 108 17 28 52
data:
$ID,30
$MISSION,5
$DIVE,28
$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,-58843.176
$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,6
$R_STBD_OVSHOOT,4
$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
$GPS1,172257,4802.358,-12545.667,27,3.0,46,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-47.1
$GPS2,172758,4802.315,-12545.647,66,2.8,85,18.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.252,0.062
$KALMAN_X,5042.2,901.1,-110.1,-11385.0,1730.8
$KALMAN_Y,-23595.5,-473.5,353.9,23927.1,-3481.8
$MHEAD_RNG_PITCHd_Wd,264.8,205221,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.43,-146.6,0.0,0.0,0,260,0.00,0.00,-240.27,0.000,2,0.000,0.000,710,2295,2066
$GC,262,-1.43,-146.6,4.1,-4.8,24,325,9.43,3.25,-44.88,0.000,4,0.740,0.713,2334,3714,2862
$GC,481,-1.43,-146.6,50.1,-23.0,47,488,0.00,2.97,0.00,0.000,6,0.000,0.668,2335,2297,2862
$GC,813,-1.43,-146.6,117.2,-18.5,90,818,0.00,3.08,0.00,0.000,4,0.000,0.723,2335,878,2861
$GC,879,-1.43,-146.6,128.7,-16.9,95,886,0.00,3.20,0.00,0.000,6,0.000,0.718,2335,2302,2861
$GC,1198,-1.43,-146.6,180.8,-15.9,117,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2302,2857
$GC,1508,-1.43,-146.6,226.5,-14.1,132,1513,0.00,3.25,0.00,0.000,4,0.000,0.735,2335,3714,2850
$GC,1546,-1.43,-146.6,232.3,-14.3,134,1551,0.00,3.00,0.00,0.000,6,0.000,0.688,2335,2299,2849
$GC,1872,-1.43,-146.6,276.6,-13.6,150,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2841
$GC,2178,-1.43,-146.6,317.3,-13.0,161,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2828
$GC,2483,-1.43,-146.6,354.8,-12.3,166,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2810
$GC,2784,-1.43,-146.6,391.8,-12.3,171,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2776
$GC,3090,-1.43,-146.6,427.0,-11.4,176,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2734
$GC,3391,-1.43,-146.6,455.8,-9.3,181,3396,0.00,3.35,0.00,0.000,4,0.000,0.807,2335,3716,2669
$GC,3440,-1.43,-146.6,460.4,-9.6,181,3444,0.00,3.05,0.00,0.000,6,0.000,0.755,2335,2297,2659
$GC,3754,-1.43,-146.6,489.6,-9.4,187,3759,0.00,3.35,0.00,0.000,4,0.000,0.785,2335,3712,2623
$GC,3825,-1.43,-146.6,497.0,-10.6,188,3830,0.00,3.05,0.00,0.000,6,0.000,0.700,2335,2297,2612
$GC,4187,-1.43,-146.6,525.4,-7.3,194,4192,0.00,3.05,0.00,0.000,4,0.000,0.713,2335,885,2464
$GC,4248,-1.43,-146.6,529.5,-6.2,195,4253,0.00,3.20,0.00,0.000,6,0.000,0.740,2335,2302,2459
$GC,4613,-1.43,-146.6,548.9,-5.0,201,4618,0.00,3.30,0.00,0.000,4,0.000,0.827,2335,3713,2347
$GC,4871,-1.43,-146.6,549.9,3.1,204,4877,0.00,3.05,0.00,0.000,6,0.000,0.775,2334,2299,2230
$GC,5180,-1.43,-146.6,537.7,4.2,210,5185,0.00,3.35,0.00,0.000,4,0.000,0.814,2334,3714,2092
$GC,5263,-1.43,-146.6,533.0,5.3,211,5267,0.00,3.10,0.00,0.000,6,0.000,0.780,2334,2301,2059
$GC,5611,-1.43,-146.6,510.5,6.8,217,5616,0.00,3.15,0.00,0.000,4,0.000,0.795,2335,880,1898
$GC,5682,-1.43,-146.6,505.1,8.9,218,5687,0.00,3.22,0.00,0.000,6,0.000,0.991,2335,2303,1844
$GC,6036,-1.43,-146.6,478.0,7.7,224,6041,0.00,3.42,0.00,0.000,4,0.000,0.939,2335,3714,1523
$GC,6074,-1.43,-146.6,475.4,7.6,224,6078,0.00,3.17,0.00,0.000,6,0.000,0.864,2335,2298,1494
$GC,6400,-1.43,-146.6,452.7,6.9,230,6405,0.00,3.12,0.00,0.000,4,0.000,0.797,2335,879,1220
$GC,6409,-1.43,-146.6,452.1,6.5,230,6414,0.00,3.38,0.00,0.000,6,0.000,0.876,2335,2298,1215
$GC,6757,-1.43,-146.6,422.9,8.8,236,6762,0.00,3.20,0.00,0.000,4,0.000,0.837,2335,884,995
$GC,6811,-1.43,-146.6,417.5,11.3,236,6818,0.00,3.25,0.00,0.000,6,0.000,0.809,2334,2301,954
$GC,7121,-1.43,-146.6,386.1,10.3,242,7126,0.00,3.17,0.00,0.000,4,0.000,0.824,2335,884,766
$GC,7136,-1.43,-146.6,384.2,10.9,242,7141,0.00,3.30,0.00,0.000,6,0.000,0.879,2334,2306,751
$GC,7485,-1.43,-146.6,344.6,11.6,248,7490,0.00,3.38,0.00,0.000,4,0.000,0.847,2335,3710,543
$GC,7528,-1.43,-146.6,338.8,14.4,248,7532,0.00,3.05,0.00,0.000,6,0.000,0.844,2335,2300,513
$GC,7848,-1.43,-146.6,298.3,12.7,254,7853,0.00,3.42,0.00,0.000,4,0.000,0.782,2334,3715,353
$GC,7902,-1.43,-146.6,291.6,13.6,256,7909,0.00,3.03,0.00,0.000,6,0.000,0.713,2335,2300,353
$GC,8218,-1.43,-146.6,254.1,11.4,272,8223,0.00,3.40,0.00,0.000,4,0.000,0.747,2334,3711,353
$GC,8261,-1.43,-146.6,248.4,14.0,274,8266,0.00,3.05,0.00,0.000,6,0.000,0.698,2335,2300,353
$GC,8588,-1.43,-146.6,211.4,11.6,290,8593,0.00,3.40,0.00,0.000,4,0.000,0.755,2335,3711,353
$GC,8637,-1.43,-146.6,204.9,13.6,292,8641,0.00,3.05,0.00,0.000,6,0.000,0.713,2334,2299,353
$GC,8958,-1.43,-146.6,164.7,12.5,308,8982,0.00,3.20,-19.12,0.000,4,0.000,0.720,2335,3713,2872
$GC,9009,-1.43,-146.6,165.3,-10.4,310,9014,0.00,3.00,0.00,0.000,6,0.000,0.685,2335,2307,2868
$GC,9330,-1.43,-146.6,211.1,-14.2,326,9335,0.00,3.12,0.00,0.000,4,0.000,0.740,2335,879,2857
$GC,9378,-1.43,-146.6,218.2,-13.9,328,9383,0.00,3.22,0.00,0.000,6,0.000,0.730,2335,2299,2854
$GC,9699,-1.43,-146.6,260.9,-13.3,344,9704,0.00,3.28,0.00,0.000,4,0.000,0.745,2335,3716,2783
$GC,9731,-1.43,-146.6,265.6,-14.8,345,9738,0.00,3.00,0.00,0.000,6,0.000,0.690,2334,2298,2778
$GC,10087,-1.43,-146.6,308.1,-11.2,361,10091,0.00,3.10,0.00,0.000,4,0.000,0.742,2335,881,2681
$GC,10129,-1.43,-146.6,312.9,-10.7,361,10134,0.00,3.20,0.00,0.000,6,0.000,0.718,2335,2299,2675
$GC,10450,-1.43,-146.6,347.3,-10.8,367,10455,0.00,3.30,0.00,0.000,4,0.000,0.867,2334,3715,2641
$GC,10492,-1.43,-146.6,352.6,-12.5,367,10497,0.00,3.05,0.00,0.000,6,0.000,0.894,2334,2307,2637
$STATE,10812,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10812,begin apogee
$GC,10815,-0.32,0.0,386.1,10.2,373,10843,1.25,0.00,24.95,0.914,6,0.732,0.000,2578,2306,2462
$STATE,10844,end apogee,CONTROL_FINISHED_OK
$STATE,10844,begin climb
$GC,10846,1.43,146.6,386.1,0.0,373,10969,1.80,3.42,114.85,0.973,4,0.881,1.073,2961,3712,2059
$GC,11035,1.43,146.6,378.2,13.4,376,11040,0.00,3.12,0.00,0.000,6,0.000,1.003,2961,2299,1848
$GC,11361,1.43,146.6,311.8,21.6,382,11366,0.00,3.22,0.00,0.000,4,0.000,0.926,2962,878,1297
$GC,11415,1.43,146.6,298.3,24.7,382,11422,0.00,3.35,0.00,0.000,6,0.000,0.916,2962,2299,1207
$GC,11731,1.43,146.6,212.2,29.9,398,11736,0.00,3.38,0.00,0.000,4,0.000,0.916,2961,3714,830
$GC,11751,1.43,146.6,205.8,30.0,399,11756,0.00,3.10,0.00,0.000,6,0.000,0.770,2961,2307,811
$GC,12073,1.43,146.6,105.6,28.5,421,12078,0.00,3.20,0.00,0.000,4,0.000,0.765,2962,883,471
$GC,12099,1.43,146.6,98.3,28.1,423,12104,0.00,3.33,0.00,0.000,6,0.000,0.780,2961,2298,443
$GC,12436,1.43,146.6,6.7,23.0,466,12441,0.00,3.30,0.00,0.000,4,0.000,0.740,2961,3715,354
$STATE,12462,end climb,SURFACE_DEPTH_REACHED
$STATE,12462,begin surface coast
$FINISH,0.1,1.024576
$STATE,12474,end surface coast,CONTROL_FINISHED_OK
$STATE,12474,begin surface
$SM_CCo,12554,0.00,0.000,0,0,353,776.01
$SM_GC,0.67,10.32,0.00,0.00,0.633,0.000,0.000,707,2298,353,-8.87,-0.06,776.01
$IRIDIUM_FIX,4738.89,-12814.49,190108,171758
$TT8_MAMPS,0.021476
$HUMID,2824
$INTERNAL_PRESSURE,9.24159
$TCM_TEMP,18.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,23.4,3.586
$10V_AH,10.2,0.916
$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,22.800,172.675,139.800,0.000,0.000,38.355,31.710,89.361,4.750,0.000,0.000,86.840,961.936,9868.527,519.186,1286.547,232.412,33.358,1209.297,0.000,1176.924,0.000,30.058
$DEVICE_MAMPS,881.465,1072.656,973.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15852,469
$CFSIZE,260165632,258224128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,53,0
$GPS,190108,205927,4801.175,-12547.026,31,3.4,50,18.8