version: 66.02
glider: 30
mission: 5
dive: 37
start: 1 21 108 5 13 58
data:
$ID,30
$MISSION,5
$DIVE,37
$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,-59386.426
$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
$GPS1,050745,4753.025,-12603.194,76,4.9,95,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-38.6
$GPS2,051305,4753.023,-12603.288,18,4.7,37,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,0.008
$KALMAN_X,22632.3,159.9,-106.7,-50086.3,5184.8
$KALMAN_Y,-26269.5,667.9,163.9,8439.8,-116.3
$MHEAD_RNG_PITCHd_Wd,252.9,177127,-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,-146.6,0.0,0.0,0,262,0.00,0.00,-240.25,0.000,2,0.000,0.000,708,2296,2125
$GC,264,-1.43,-146.6,3.3,-1.7,24,326,9.43,3.22,-44.28,0.000,4,0.725,0.710,2335,3714,2862
$GC,578,-1.43,-146.6,71.9,-22.1,65,585,0.00,2.92,-0.15,0.000,6,0.000,0.742,2335,2295,2867
$GC,910,-1.43,-146.6,131.9,-16.1,100,915,0.00,3.20,0.00,0.000,4,0.000,0.698,2334,3712,2867
$GC,1038,-1.43,-146.6,153.6,-18.0,111,1043,0.00,2.90,0.00,0.000,6,0.000,0.660,2335,2299,2868
$GC,1364,-1.43,-146.6,205.7,-15.6,127,1369,0.00,3.05,0.00,0.000,4,0.000,0.685,2335,879,2868
$GC,1413,-1.43,-146.6,213.2,-15.5,129,1418,0.00,3.17,0.00,0.000,6,0.000,0.690,2335,2299,2868
$GC,1734,-1.43,-146.6,260.0,-14.4,145,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2300,2867
$GC,2045,-1.43,-146.6,302.2,-13.1,160,2050,0.00,3.20,0.00,0.000,4,0.000,0.782,2335,3716,2867
$GC,2082,-1.43,-146.6,307.6,-13.2,160,2087,0.00,2.95,0.00,0.000,6,0.000,0.804,2335,2304,2866
$GC,2408,-1.43,-146.6,349.1,-12.8,166,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2304,2867
$GC,2711,-1.43,-146.6,386.1,-12.2,171,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2304,2867
$GC,3014,-1.43,-146.6,421.1,-11.5,176,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2304,2867
$GC,3320,-1.43,-146.6,455.6,-11.2,181,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2304,2867
$GC,3621,-1.43,-146.6,488.5,-10.9,186,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2304,2867
$GC,3924,-1.43,-146.6,520.2,-10.4,191,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2304,2867
$GC,4228,-1.43,-146.6,551.6,-10.3,196,4233,0.00,3.22,0.00,0.000,4,0.000,0.710,2335,3711,2867
$GC,4276,-1.43,-146.6,557.2,-11.6,196,4281,0.00,2.97,0.00,0.000,6,0.000,0.685,2335,2304,2867
$GC,4591,-1.43,-146.6,589.8,-10.2,202,4595,0.00,3.08,0.00,0.000,4,0.000,0.688,2335,883,2867
$GC,4633,-1.43,-146.6,594.1,-10.3,202,4638,0.00,3.20,0.00,0.000,6,0.000,0.698,2335,2300,2867
$GC,4954,-1.43,-146.6,624.6,-9.6,208,4959,0.00,3.20,0.00,0.000,4,0.000,0.747,2335,3711,2866
$GC,4991,-1.43,-146.6,628.6,-10.4,208,4996,0.00,2.97,0.00,0.000,6,0.000,0.705,2335,2300,2866
$GC,5323,-1.43,-146.6,659.3,-9.1,214,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2866
$GC,5626,-1.43,-146.6,687.4,-9.4,219,5631,0.00,3.08,0.00,0.000,4,0.000,0.703,2335,883,2866
$GC,5688,-1.43,-146.6,693.2,-9.3,220,5693,0.00,3.22,0.00,0.000,6,0.000,0.708,2335,2299,2866
$GC,6052,-1.43,-146.6,726.4,-9.0,226,6057,0.00,3.25,0.00,0.000,4,0.000,0.777,2335,3711,2864
$GC,6106,-1.43,-146.6,731.8,-9.8,226,6113,0.00,2.95,0.00,0.000,6,0.000,0.668,2335,2300,2865
$GC,6416,-1.43,-146.6,757.9,-8.3,232,6421,0.00,3.10,0.00,0.000,4,0.000,0.698,2335,880,2865
$GC,6459,-1.43,-146.6,761.5,-8.2,232,6464,0.00,3.22,0.00,0.000,6,0.000,0.705,2335,2299,2864
$GC,6773,-1.43,-146.6,787.1,-8.1,238,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2863
$GC,7076,-1.43,-146.6,811.2,-7.9,243,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2861
$GC,7379,-1.43,-146.6,833.5,-7.3,248,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2859
$GC,7683,-1.43,-146.6,854.6,-6.9,253,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2857
$GC,7986,-1.43,-146.6,875.8,-7.0,258,7991,0.00,3.28,0.00,0.000,4,0.000,0.757,2335,3711,2853
$GC,8063,-1.43,-146.6,881.8,-8.0,259,8068,0.00,2.97,0.00,0.000,6,0.000,0.703,2335,2300,2851
$GC,8417,-1.43,-146.6,906.2,-6.8,265,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2300,2841
$GC,8722,-1.43,-146.6,926.6,-6.8,270,8727,0.00,3.30,0.00,0.000,4,0.000,0.735,2335,3711,2835
$GC,8788,-1.43,-146.6,931.4,-6.7,271,8793,0.00,3.03,0.00,0.000,6,0.000,0.695,2335,2301,2834
$GC,9156,-1.43,-146.6,953.1,-5.5,277,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2301,2747
$GC,9456,-1.43,-146.6,967.5,-4.6,282,9461,0.00,3.30,0.00,0.000,4,0.000,0.829,2335,3711,2628
$GC,9533,-1.43,-146.6,970.8,-4.1,283,9538,0.00,3.00,0.00,0.000,6,0.000,0.827,2335,2300,2598
$GC,9887,-1.43,-146.6,967.6,2.6,289,9892,0.00,3.35,0.00,0.000,4,0.000,0.889,2335,3713,2234
$GC,9913,-1.43,-146.6,966.5,3.8,289,9918,0.00,3.05,0.00,0.000,6,0.000,1.142,2335,2299,2205
$GC,10251,-1.43,-146.6,950.8,4.6,295,10256,0.00,3.20,0.00,0.000,4,0.000,0.949,2336,885,1872
$GC,10299,-1.43,-146.6,948.1,6.5,295,10304,0.00,3.28,0.00,0.000,6,0.000,1.063,2335,2299,1816
$GC,10610,-1.43,-146.6,926.6,7.0,300,10615,0.00,3.33,0.00,0.000,4,0.000,0.924,2335,3711,1441
$GC,10681,-1.43,-146.6,920.5,8.6,301,10686,0.00,3.00,0.00,0.000,6,0.000,0.904,2335,2300,1368
$STATE,10851,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10851,begin apogee
$GC,10854,-0.32,0.0,905.1,-9.0,304,10857,1.17,0.00,0.00,0.000,6,0.683,0.000,2578,2300,1208
$STATE,10858,end apogee,CONTROL_FINISHED_OK
$STATE,10858,begin climb
$GC,10859,1.43,146.6,905.1,0.0,304,10863,1.75,0.00,0.00,0.000,6,0.665,0.000,2970,2300,1204
$GC,11157,1.43,146.6,787.9,42.7,309,11162,0.00,3.38,0.00,0.000,4,0.000,1.058,2971,3711,1091
$GC,11205,1.43,146.6,765.0,42.5,309,11210,0.00,3.05,0.00,0.000,6,0.000,0.961,2971,2305,1062
$GC,11520,1.43,146.6,624.1,45.5,315,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2305,864
$GC,11823,1.43,146.6,481.6,47.1,320,11828,0.00,3.30,0.00,0.000,4,0.000,0.800,2971,3712,649
$GC,11855,1.43,146.6,465.9,47.9,320,11860,0.00,3.03,0.00,0.000,6,0.000,0.817,2971,2298,628
$GC,12186,1.43,146.6,304.1,49.8,326,12191,0.00,3.30,0.00,0.000,4,0.000,0.807,2971,3712,432
$GC,12218,1.43,146.6,288.2,48.7,326,12223,0.00,3.00,0.00,0.000,6,0.000,0.785,2971,2300,416
$GC,12536,1.43,146.6,139.3,44.6,342,12541,0.00,3.28,0.00,0.000,4,0.000,0.819,2971,3712,354
$GC,12598,1.43,146.6,113.4,41.0,347,12603,0.00,2.95,0.00,0.000,6,0.000,0.708,2970,2297,354
$GC,12928,1.43,146.6,5.2,27.4,388,12933,0.00,3.28,0.00,0.000,4,0.000,0.732,2971,3712,354
$STATE,12942,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,-0.2,1.025264
$STATE,12948,end surface coast,CONTROL_FINISHED_OK
$STATE,12948,begin surface
$SM_CCo,13028,0.00,0.000,0,0,353,776.01
$SM_GC,0.75,10.43,0.00,0.00,0.643,0.000,0.000,708,2300,353,-8.86,0.00,776.01
$IRIDIUM_FIX,4738.89,-12602.11,210108,050515
$TT8_MAMPS,0.021476
$HUMID,2997
$INTERNAL_PRESSURE,9.19314
$TCM_TEMP,18.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,20.3
$24V_AH,23.3,5.471
$10V_AH,10.2,1.348
$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,22.775,131.650,0.000,0.000,0.000,40.254,34.974,141.903,9.000,0.000,0.000,38.610,832.984,10847.544,361.142,1019.018,295.227,33.352,921.969,0.000,953.492,0.000,55.948
$DEVICE_MAMPS,725.036,1142.180,0.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12704,389
$CFSIZE,260165632,257863680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,54,0
$GPS,210108,085257,4753.006,-12606.354,61,3.8,80,18.8