version: 66.02
glider: 30
mission: 5
dive: 29
start: 1 19 108 21 6 52
data:
$ID,30
$MISSION,5
$DIVE,29
$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,-58996.465
$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
$GPS1,205927,4801.175,-12547.026,31,3.4,50,18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-41.2
$GPS2,210559,4801.136,-12547.039,132,5.0,151,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.220,-0.138
$KALMAN_X,9778.5,-353.8,-162.6,-16541.7,6120.3
$KALMAN_Y,-27346.7,140.2,101.7,25137.8,-5795.5
$MHEAD_RNG_PITCHd_Wd,219.0,202541,-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,-146.6,0.0,0.0,0,240,0.00,0.00,-220.00,0.000,2,0.000,0.000,707,2297,1991
$GC,242,-1.43,-146.6,3.1,-2.3,22,315,9.48,3.22,-55.50,0.000,4,0.730,0.705,2333,3714,2863
$GC,567,-1.43,-146.6,68.6,-21.6,63,573,0.00,2.97,0.00,0.000,6,0.000,0.670,2332,2295,2861
$GC,900,-1.43,-146.6,130.1,-17.0,99,905,0.00,3.08,0.00,0.000,4,0.000,0.688,2333,881,2861
$GC,960,-1.43,-146.6,139.9,-15.4,104,965,0.00,3.20,0.00,0.000,6,0.000,0.698,2332,2302,2861
$GC,1276,-1.43,-146.6,191.4,-15.0,122,1281,0.00,3.17,0.00,0.000,4,0.000,0.725,2332,3712,2862
$GC,1369,-1.43,-146.6,205.2,-14.8,126,1374,0.00,2.95,0.00,0.000,6,0.000,0.675,2332,2303,2862
$GC,1691,-1.43,-146.6,250.0,-13.6,142,1696,0.00,3.10,0.00,0.000,4,0.000,0.747,2333,884,2862
$GC,1762,-1.43,-146.6,259.7,-12.7,145,1767,0.00,3.20,0.00,0.000,6,0.000,0.698,2332,2299,2862
$GC,2077,-1.43,-146.6,297.6,-11.7,160,2082,0.00,3.22,0.00,0.000,4,0.000,0.710,2333,3713,2862
$GC,2147,-1.43,-146.6,306.9,-12.9,163,2152,0.00,2.97,0.00,0.000,6,0.000,0.660,2332,2307,2862
$GC,2507,-1.43,-146.6,349.2,-11.6,169,2512,0.00,3.10,0.00,0.000,4,0.000,0.695,2333,883,2863
$GC,2550,-1.43,-146.6,353.9,-10.5,169,2555,0.00,3.22,0.00,0.000,6,0.000,0.742,2332,2299,2862
$GC,2870,-1.43,-146.6,388.1,-10.6,175,2875,0.00,3.28,0.00,0.000,4,0.000,0.730,2332,3716,2862
$GC,2958,-1.43,-146.6,398.2,-11.2,176,2963,0.00,3.00,0.00,0.000,6,0.000,0.668,2333,2299,2862
$GC,3301,-1.43,-146.6,434.4,-10.3,182,3306,0.00,3.12,0.00,0.000,4,0.000,0.703,2333,881,2862
$GC,3367,-1.43,-146.6,441.2,-10.3,183,3372,0.00,3.28,0.00,0.000,6,0.000,0.705,2332,2299,2862
$GC,3733,-1.43,-146.6,475.2,-9.2,189,3738,0.00,3.30,0.00,0.000,4,0.000,0.772,2332,3712,2862
$GC,3866,-1.43,-146.6,489.2,-10.0,191,3871,0.00,3.03,0.00,0.000,6,0.000,0.685,2332,2301,2862
$GC,4232,-1.43,-146.6,524.4,-9.8,197,4237,0.00,3.15,0.00,0.000,4,0.000,0.718,2333,886,2862
$GC,4293,-1.43,-146.6,530.8,-10.1,198,4298,0.00,3.28,0.00,0.000,6,0.000,0.713,2332,2299,2862
$GC,4657,-1.43,-146.6,567.5,-10.0,204,4662,0.00,3.35,0.00,0.000,4,0.000,0.742,2332,3714,2862
$GC,4780,-1.43,-146.6,579.8,-10.6,205,4786,0.00,3.08,0.00,0.000,6,0.000,0.688,2332,2301,2862
$GC,5088,-1.43,-146.6,607.8,-9.0,211,5093,0.00,3.15,0.00,0.000,4,0.000,0.708,2333,885,2862
$GC,5159,-1.43,-146.6,614.5,-9.5,212,5164,0.00,3.28,0.00,0.000,6,0.000,0.718,2332,2299,2862
$GC,5513,-1.43,-146.6,645.3,-8.7,218,5518,0.00,3.38,0.00,0.000,4,0.000,0.737,2332,3711,2862
$GC,5629,-1.43,-146.6,656.5,-10.1,219,5634,0.00,3.12,0.00,0.000,6,0.000,0.705,2332,2301,2862
$GC,5944,-1.43,-146.6,682.6,-8.2,225,5949,0.00,3.20,0.00,0.000,4,0.000,0.713,2333,885,2862
$GC,6020,-1.43,-146.6,689.5,-8.5,226,6025,0.00,3.30,0.00,0.000,6,0.000,0.720,2332,2299,2862
$GC,6369,-1.43,-146.6,718.7,-8.5,232,6374,0.00,3.40,0.00,0.000,4,0.000,0.782,2332,3711,2861
$GC,6474,-1.43,-146.6,728.6,-9.8,233,6479,0.00,3.17,0.00,0.000,6,0.000,0.718,2332,2296,2861
$GC,6794,-1.43,-146.6,756.1,-8.6,239,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2296,2861
$GC,7098,-1.43,-146.6,778.1,-7.0,244,7103,0.00,3.50,0.00,0.000,4,0.000,0.745,2332,3711,2861
$GC,7186,-1.43,-146.6,784.8,-7.4,245,7191,0.00,3.20,0.00,0.000,6,0.000,0.710,2332,2301,2861
$GC,7524,-1.43,-146.6,809.9,-7.6,251,7529,0.00,3.22,0.00,0.000,4,0.000,0.732,2333,883,2861
$GC,7606,-1.43,-146.6,817.2,-8.7,252,7611,0.00,3.33,0.00,0.000,6,0.000,0.735,2332,2299,2861
$GC,7949,-1.43,-146.6,845.1,-8.2,258,7954,0.00,3.47,0.00,0.000,4,0.000,0.824,2332,3711,2861
$GC,8071,-1.43,-146.6,855.1,-7.6,259,8077,0.00,3.22,0.00,0.000,6,0.000,0.730,2332,2300,2861
$GC,8382,-1.43,-146.6,877.1,-7.1,265,8387,0.00,3.25,0.00,0.000,4,0.000,0.723,2333,883,2861
$GC,8475,-1.43,-146.6,884.5,-7.6,266,8480,0.00,3.35,0.00,0.000,6,0.000,0.730,2332,2299,2861
$GC,8807,-1.43,-146.6,907.7,-7.0,272,8812,0.00,3.47,0.00,0.000,4,0.000,0.757,2332,3711,2860
$GC,8912,-1.43,-146.6,916.2,-9.0,273,8917,0.00,3.25,0.00,0.000,6,0.000,0.718,2332,2298,2860
$GC,9232,-1.43,-146.6,940.7,-7.8,279,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2298,2860
$GC,9535,-1.43,-146.6,964.8,-7.7,284,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2297,2860
$GC,9838,-1.43,-146.6,983.2,-5.9,289,9844,0.00,3.58,0.00,0.000,4,0.000,0.812,2332,3711,2860
$GC,9927,-1.43,-146.6,989.1,-7.4,290,9932,0.00,3.30,0.00,0.000,6,0.000,0.767,2332,2300,2860
$STATE,9941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9941,begin apogee
$GC,9944,-0.32,0.0,990.2,6.1,290,10169,1.20,0.00,200.50,1.120,6,0.685,0.000,2575,2300,2463
$STATE,10169,end apogee,CONTROL_FINISHED_OK
$STATE,10170,begin climb
$GC,10171,1.43,146.6,996.2,0.0,294,10307,1.77,3.47,124.62,1.527,4,1.393,1.626,2964,886,2049
$GC,10339,1.43,146.6,971.8,22.1,296,10344,0.00,3.58,0.00,0.000,6,0.000,1.574,2963,2298,1942
$GC,10659,1.43,146.6,875.1,32.0,302,10665,0.00,3.40,0.00,0.000,4,0.000,1.038,2964,886,1420
$GC,10691,1.43,146.6,864.3,32.9,302,10696,0.00,3.53,0.00,0.000,6,0.000,1.075,2963,2300,1384
$GC,11023,1.43,146.6,742.7,37.6,308,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2300,1206
$GC,11326,1.43,146.6,623.9,39.0,313,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2300,1058
$GC,11629,1.43,146.6,504.6,39.2,318,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2300,896
$GC,11933,1.43,146.6,378.6,41.7,323,11939,0.00,3.47,0.00,0.000,4,0.000,0.852,2963,3712,692
$GC,11943,1.43,146.6,373.8,41.9,323,11947,0.00,3.20,0.00,0.000,6,0.000,0.809,2963,2301,686
$GC,12259,1.43,146.6,232.1,47.4,333,12264,0.00,3.50,0.00,0.000,4,0.000,0.862,2963,3712,384
$GC,12285,1.43,146.6,218.6,51.8,334,12290,0.00,3.20,0.00,0.000,6,0.000,0.792,2963,2301,359
$GC,12611,1.43,146.6,78.2,36.1,358,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2301,354
$STATE,12875,end climb,SURFACE_DEPTH_REACHED
$STATE,12875,begin surface coast
$FINISH,-0.2,1.012837
$STATE,12887,end surface coast,CONTROL_FINISHED_OK
$STATE,12887,begin surface
$SM_CCo,12963,0.00,0.000,0,0,354,775.64
$SM_GC,0.57,10.32,0.00,0.00,0.633,0.000,0.000,708,2301,354,-8.87,0.00,775.64
$IRIDIUM_FIX,4745.30,-12541.99,190108,212118
$TT8_MAMPS,0.021476
$HUMID,2927
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,18.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.7,19.3
$24V_AH,23.3,3.752
$10V_AH,10.2,0.964
$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,22.775,162.775,325.125,0.000,0.000,39.675,31.917,109.399,9.750,0.000,0.000,152.659,889.687,10121.027,668.421,1430.921,255.419,33.359,1391.046,0.000,1238.796,0.000,57.561
$DEVICE_MAMPS,1392.963,1626.365,1527.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12754,394
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,53,0
$GPS,200108,004426,4759.282,-12549.305,42,1.7,61,18.8