version: 66.02
glider: 30
mission: 5
dive: 34
start: 1 20 108 15 9 45
data:
$ID,30
$MISSION,5
$DIVE,34
$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,-59183.852
$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,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
$GPS1,150437,4753.555,-12556.866,36,1.7,42,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.4
$GPS2,150851,4753.572,-12556.913,35,1.9,35,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.245,0.085
$KALMAN_X,17267.6,-126.6,-497.1,-36126.8,6281.1
$KALMAN_Y,-25360.0,-47.3,63.8,9359.2,-751.9
$MHEAD_RNG_PITCHd_Wd,270.3,184427,-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,-146.6,0.0,0.0,0,270,0.00,0.00,-249.93,0.000,2,0.000,0.000,710,2301,2061
$GC,273,-1.43,-146.6,3.1,-3.0,25,345,9.40,3.33,-52.30,0.000,4,0.728,0.732,2334,3710,2862
$GC,597,-1.43,-146.6,73.5,-20.3,67,603,0.00,3.08,0.00,0.000,6,0.000,0.693,2334,2295,2861
$GC,928,-1.43,-146.6,132.8,-15.8,101,933,0.00,3.38,0.00,0.000,4,0.000,0.728,2334,3711,2861
$GC,1027,-1.43,-146.6,149.2,-17.1,109,1034,0.00,3.10,0.00,0.000,6,0.000,0.690,2334,2301,2861
$GC,1353,-1.43,-146.6,199.3,-15.1,126,1358,0.00,3.38,0.00,0.000,4,0.000,0.772,2334,3704,2862
$GC,1407,-1.43,-146.6,208.3,-16.4,128,1412,0.00,3.12,0.00,0.000,6,0.000,0.745,2334,2300,2861
$GC,1728,-1.43,-146.6,255.9,-15.0,144,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2862
$GC,2038,-1.43,-146.6,300.3,-14.1,159,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2299,2862
$GC,2341,-1.43,-146.6,341.0,-13.4,164,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2300,2862
$GC,2646,-1.43,-146.6,381.4,-13.3,169,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2299,2862
$GC,2947,-1.43,-146.6,420.6,-12.8,174,2952,0.00,3.47,0.00,0.000,4,0.000,0.750,2334,3711,2863
$GC,2973,-1.43,-146.6,424.0,-13.7,174,2978,0.00,3.22,0.00,0.000,6,0.000,0.723,2334,2301,2862
$GC,3310,-1.43,-146.6,462.6,-11.2,180,3315,0.00,3.10,0.00,0.000,4,0.000,0.700,2334,880,2863
$GC,3353,-1.43,-146.6,467.5,-11.4,180,3358,0.00,3.25,0.00,0.000,6,0.000,0.705,2334,2303,2863
$GC,3674,-1.43,-146.6,502.2,-10.9,186,3679,0.00,3.45,0.00,0.000,4,0.000,0.742,2334,3711,2863
$GC,3706,-1.43,-146.6,506.2,-12.4,186,3711,0.00,3.25,0.00,0.000,6,0.000,0.725,2334,2302,2863
$GC,4037,-1.43,-146.6,543.8,-11.3,192,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2302,2863
$GC,4342,-1.43,-146.6,577.1,-10.9,197,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2301,2863
$GC,4643,-1.43,-146.6,609.3,-10.6,202,4648,0.00,3.15,0.00,0.000,4,0.000,0.713,2334,882,2863
$GC,4692,-1.43,-146.6,614.7,-11.1,202,4697,0.00,3.28,0.00,0.000,6,0.000,0.725,2334,2299,2863
$GC,5006,-1.43,-146.6,647.7,-10.5,208,5012,0.00,3.50,0.00,0.000,4,0.000,0.760,2334,3711,2863
$GC,5060,-1.43,-146.6,653.7,-11.0,208,5068,0.00,3.30,0.00,0.000,6,0.000,0.728,2334,2299,2863
$GC,5370,-1.43,-146.6,683.9,-9.7,214,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2299,2863
$GC,5673,-1.43,-146.6,711.8,-9.1,219,5678,0.00,3.20,0.00,0.000,4,0.000,0.708,2334,883,2862
$GC,5704,-1.43,-146.6,714.9,-10.0,219,5709,0.00,3.33,0.00,0.000,6,0.000,0.728,2334,2302,2862
$GC,6036,-1.43,-146.6,742.0,-8.1,225,6042,0.00,3.53,0.00,0.000,4,0.000,0.757,2334,3713,2862
$GC,6074,-1.43,-146.6,745.3,-9.4,225,6079,0.00,3.35,0.00,0.000,6,0.000,0.728,2334,2297,2862
$GC,6394,-1.43,-146.6,768.2,-7.1,231,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2297,2862
$GC,6698,-1.43,-146.6,790.1,-7.3,236,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2297,2862
$GC,7001,-1.43,-146.6,813.2,-7.6,241,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2297,2862
$GC,7304,-1.43,-146.6,835.6,-7.5,246,7309,0.00,3.60,0.00,0.000,4,0.000,0.757,2334,3711,2862
$GC,7347,-1.43,-146.6,839.0,-8.3,246,7352,0.00,3.40,0.00,0.000,6,0.000,0.728,2334,2296,2862
$GC,7662,-1.43,-146.6,860.3,-6.7,252,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2296,2862
$GC,7965,-1.43,-146.6,879.4,-6.1,257,7971,0.00,3.62,0.00,0.000,4,0.000,0.765,2334,3711,2862
$GC,8014,-1.43,-146.6,882.9,-7.3,257,8019,0.00,3.42,0.00,0.000,6,0.000,0.735,2334,2295,2862
$GC,8326,-1.43,-146.6,902.8,-6.5,262,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2295,2862
$GC,8626,-1.43,-146.6,923.3,-6.7,267,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2295,2861
$GC,8930,-1.43,-146.6,944.7,-7.0,272,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2295,2861
$GC,9233,-1.43,-146.6,963.8,-6.2,277,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2295,2861
$GC,9536,-1.43,-146.6,979.3,-5.0,282,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2295,2861
$STATE,9777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9777,begin apogee
$GC,9780,-0.32,0.0,990.9,4.8,286,9936,1.23,0.00,147.12,1.284,6,0.660,0.000,2577,2295,2462
$STATE,9936,end apogee,CONTROL_FINISHED_OK
$STATE,9936,begin climb
$GC,9938,1.43,146.6,992.4,0.0,288,10070,1.77,3.85,123.00,1.418,4,1.336,1.522,2964,3710,2055
$GC,10148,1.43,146.6,955.8,25.6,291,10153,0.00,3.65,0.00,0.000,6,0.000,1.522,2964,2299,1828
$GC,10491,1.43,146.6,850.0,32.0,297,10496,0.00,3.35,0.00,0.000,4,0.000,0.956,2964,884,1352
$GC,10517,1.43,146.6,840.7,33.9,297,10522,0.00,3.53,0.00,0.000,6,0.000,0.996,2964,2297,1333
$GC,10854,1.43,146.6,719.2,36.7,303,10860,0.00,3.67,0.00,0.000,4,0.000,0.993,2964,3714,1103
$GC,10869,1.43,146.6,713.0,37.4,303,10874,0.00,3.50,0.00,0.000,6,0.000,0.891,2964,2298,1094
$GC,11218,1.43,146.6,575.7,40.3,309,11223,0.00,3.70,0.00,0.000,4,0.000,0.976,2964,3714,648
$GC,11249,1.43,146.6,560.9,46.8,309,11254,0.00,3.47,0.00,0.000,6,0.000,0.976,2964,2300,600
$GC,11581,1.43,146.6,409.8,46.7,315,11586,0.00,3.62,0.00,0.000,4,0.000,0.800,2964,3714,354
$GC,11680,1.43,146.6,365.6,40.1,316,11685,0.00,3.38,0.00,0.000,6,0.000,0.760,2964,2299,354
$GC,11994,1.43,146.6,233.2,41.1,325,11999,0.00,3.58,0.00,0.000,4,0.000,0.772,2964,3714,354
$GC,12081,1.43,146.6,199.8,34.4,329,12087,0.00,3.30,0.00,0.000,6,0.000,0.757,2964,2298,354
$GC,12403,1.43,146.6,81.3,35.0,353,12409,0.00,3.53,0.00,0.000,4,0.000,0.757,2964,3715,354
$GC,12464,1.43,146.6,63.0,26.4,363,12470,0.00,3.25,0.00,0.000,6,0.000,0.723,2964,2299,354
$STATE,12701,end climb,SURFACE_DEPTH_REACHED
$STATE,12701,begin surface coast
$FINISH,-0.2,1.025186
$STATE,12715,end surface coast,CONTROL_FINISHED_OK
$STATE,12715,begin surface
$SM_CCo,12791,0.00,0.000,0,0,354,775.64
$SM_GC,0.58,10.40,0.00,0.00,0.641,0.000,0.000,710,2298,354,-8.86,-0.06,775.64
$IRIDIUM_FIX,4735.69,-12557.63,200108,151551
$TT8_MAMPS,0.021476
$HUMID,2986
$INTERNAL_PRESSURE,9.20283
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.6,18.9
$24V_AH,23.2,4.443
$10V_AH,10.2,1.176
$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,22.800,129.175,270.125,0.000,0.000,38.059,33.353,90.615,8.750,0.000,0.000,35.691,803.729,10424.919,613.940,983.312,231.645,33.358,1184.032,0.000,921.798,0.000,57.788
$DEVICE_MAMPS,1335.854,1522.079,1417.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12694,394
$CFSIZE,260165632,257990656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,57,0
$GPS,200108,184427,4754.050,-12600.549,41,2.7,60,18.8