version: 66.02
glider: 30
mission: 5
dive: 40
start: 1 21 108 19 16 11
data:
$ID,30
$MISSION,5
$DIVE,40
$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,-59911.574
$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,9
$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
$GPS1,190845,4753.343,-12609.218,41,4.9,60,18.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-39.1
$GPS2,191517,4753.336,-12609.264,34,6.6,53,18.8
$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,-0.014
$KALMAN_X,30552.3,-495.9,118.8,-64985.3,5326.4
$KALMAN_Y,-24820.2,-500.0,441.5,8449.0,411.5
$MHEAD_RNG_PITCHd_Wd,248.2,171230,-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,-146.6,0.0,0.0,0,250,0.00,0.00,-230.15,0.000,2,0.000,0.000,709,2303,2089
$GC,253,-1.43,-146.6,3.3,-2.8,23,315,9.50,3.12,-44.22,0.000,4,0.817,0.780,2332,3717,2862
$GC,567,-1.43,-146.6,73.7,-21.3,64,573,0.00,2.88,0.00,0.000,6,0.000,0.718,2332,2300,2860
$GC,898,-1.43,-146.6,133.7,-16.7,98,903,0.00,3.17,0.00,0.000,4,0.000,0.720,2332,3712,2860
$GC,1008,-1.43,-146.6,152.4,-15.9,107,1013,0.00,2.88,0.00,0.000,6,0.000,0.653,2332,2297,2860
$GC,1336,-1.43,-146.6,202.2,-15.7,123,1341,0.00,3.03,0.00,0.000,4,0.000,0.683,2333,886,2861
$GC,1389,-1.43,-146.6,211.0,-15.5,125,1396,0.00,3.15,0.00,0.000,6,0.000,0.688,2332,2300,2861
$GC,1705,-1.43,-146.6,258.1,-14.7,141,1710,0.00,3.15,0.00,0.000,4,0.000,0.708,2332,3713,2861
$GC,1748,-1.43,-146.6,264.7,-15.2,143,1753,0.00,2.90,0.00,0.000,6,0.000,0.656,2333,2305,2861
$GC,2074,-1.43,-146.6,308.4,-13.3,157,2078,0.00,3.05,0.00,0.000,4,0.000,0.683,2333,884,2861
$GC,2116,-1.43,-146.6,314.2,-12.7,157,2121,0.00,3.17,0.00,0.000,6,0.000,0.690,2332,2299,2862
$GC,2438,-1.43,-146.6,355.9,-13.0,163,2443,0.00,3.20,0.00,0.000,4,0.000,0.797,2333,3713,2862
$GC,2480,-1.43,-146.6,361.6,-12.0,163,2485,0.00,2.92,0.00,0.000,6,0.000,0.698,2333,2302,2862
$GC,2801,-1.43,-146.6,400.5,-12.2,169,2806,0.00,3.05,0.00,0.000,4,0.000,0.710,2333,884,2862
$GC,2855,-1.43,-146.6,407.2,-11.5,169,2862,0.00,3.20,0.00,0.000,6,0.000,0.730,2333,2300,2862
$GC,3164,-1.43,-146.6,444.0,-11.9,175,3169,0.00,3.20,0.00,0.000,4,0.000,0.715,2332,3714,2862
$GC,3235,-1.43,-146.6,453.0,-12.2,176,3240,0.00,2.95,0.00,0.000,6,0.000,0.658,2332,2299,2861
$GC,3595,-1.43,-146.6,492.3,-10.9,182,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2862
$GC,3898,-1.43,-146.6,524.7,-10.6,187,3903,0.00,3.25,0.00,0.000,4,0.000,0.715,2333,3713,2861
$GC,3957,-1.43,-146.6,531.7,-11.5,187,3964,0.00,2.95,0.00,0.000,6,0.000,0.658,2332,2301,2862
$GC,4267,-1.43,-146.6,566.5,-11.3,193,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2301,2862
$GC,4571,-1.43,-146.6,600.6,-11.2,198,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2301,2862
$GC,4873,-1.43,-146.6,634.3,-11.1,203,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2301,2861
$GC,5176,-1.43,-146.6,665.6,-10.3,208,5181,0.00,3.28,0.00,0.000,4,0.000,0.782,2333,3712,2861
$GC,5224,-1.43,-146.6,671.0,-11.1,208,5229,0.00,2.95,0.00,0.000,6,0.000,0.737,2332,2301,2861
$GC,5540,-1.43,-146.6,701.6,-9.7,214,5545,0.00,3.08,0.00,0.000,4,0.000,0.770,2333,884,2861
$GC,5583,-1.43,-146.6,706.0,-10.0,214,5588,0.00,3.22,0.00,0.000,6,0.000,0.760,2332,2304,2861
$GC,5903,-1.43,-146.6,735.3,-9.1,220,5908,0.00,3.25,0.00,0.000,4,0.000,0.780,2332,3713,2860
$GC,5952,-1.43,-146.6,740.3,-10.1,220,5956,0.00,2.95,0.00,0.000,6,0.000,0.732,2332,2301,2860
$GC,6267,-1.43,-146.6,769.5,-9.3,226,6272,0.00,3.08,0.00,0.000,4,0.000,0.782,2333,884,2859
$GC,6330,-1.43,-146.6,775.4,-9.9,227,6335,0.00,3.25,0.00,0.000,6,0.000,0.772,2332,2300,2860
$GC,6694,-1.43,-146.6,807.1,-8.5,233,6699,0.00,3.28,0.00,0.000,4,0.000,0.777,2332,3713,2858
$GC,6759,-1.43,-146.6,813.1,-9.4,234,6764,0.00,2.97,0.00,0.000,6,0.000,0.720,2333,2306,2858
$GC,7125,-1.43,-146.6,841.4,-7.6,240,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2305,2858
$GC,7428,-1.43,-146.6,863.1,-7.1,245,7432,0.00,3.10,0.00,0.000,4,0.000,0.804,2333,880,2856
$GC,7482,-1.43,-146.6,867.3,-7.2,245,7489,0.00,3.25,0.00,0.000,6,0.000,0.814,2332,2303,2857
$GC,7791,-1.43,-146.6,889.1,-7.1,251,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2303,2854
$GC,8094,-1.43,-146.6,910.6,-7.0,256,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,2852
$GC,8397,-1.43,-146.6,928.5,-5.8,261,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,2849
$GC,8701,-1.43,-146.6,945.7,-5.7,266,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,2840
$GC,9003,-1.43,-146.6,964.3,-6.1,271,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2303,2834
$GC,9306,-1.43,-146.6,983.8,-6.4,276,9311,0.00,3.28,0.00,0.000,4,0.000,0.809,2332,3713,2776
$GC,9367,-1.43,-146.6,988.2,-7.3,277,9372,0.00,3.00,0.00,0.000,6,0.000,0.834,2332,2299,2761
$STATE,9397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9397,begin apogee
$GC,9401,-0.32,0.0,990.3,6.7,277,9506,1.20,0.00,101.80,1.356,6,0.742,0.000,2573,2299,2462
$STATE,9507,end apogee,CONTROL_FINISHED_OK
$STATE,9507,begin climb
$GC,9508,1.43,146.6,991.2,0.0,279,9649,1.80,3.50,131.10,1.438,4,1.259,1.522,2963,3715,2055
$GC,9715,1.43,146.6,961.5,23.8,282,9720,0.00,3.12,0.00,0.000,6,0.000,1.395,2963,2300,1867
$GC,10064,1.43,146.6,858.6,31.4,288,10069,0.00,3.17,0.00,0.000,4,0.000,0.951,2963,884,1321
$GC,10089,1.43,146.6,849.3,33.4,288,10095,0.00,3.38,0.00,0.000,6,0.000,0.839,2963,2299,1295
$GC,10427,1.43,146.6,720.3,39.2,294,10432,0.00,3.42,0.00,0.000,4,0.000,1.309,2963,3715,805
$GC,10447,1.43,146.6,711.3,44.9,294,10452,0.00,3.08,0.00,0.000,6,0.000,0.782,2963,2302,760
$GC,10790,1.43,146.6,555.6,46.6,300,10795,0.00,3.40,0.00,0.000,4,0.000,0.785,2963,3716,354
$GC,10861,1.43,146.6,522.6,41.9,301,10866,0.00,3.03,0.00,0.000,6,0.000,0.732,2962,2298,354
$GC,11221,1.43,146.6,364.1,43.9,307,11226,0.00,3.38,0.00,0.000,4,0.000,0.814,2963,3717,354
$GC,11297,1.43,146.6,332.4,38.6,308,11302,0.00,3.03,0.00,0.000,6,0.000,0.762,2963,2296,354
$GC,11615,1.43,146.6,209.6,37.2,320,11620,0.00,3.33,0.00,0.000,4,0.000,0.750,2963,3713,353
$GC,11658,1.43,146.6,193.3,35.1,322,11663,0.00,3.00,0.00,0.000,6,0.000,0.703,2963,2305,354
$GC,11980,1.43,146.6,85.8,31.8,346,11985,0.00,3.30,0.00,0.000,4,0.000,0.723,2963,3718,354
$GC,12012,1.43,146.6,76.6,28.1,349,12018,0.00,2.97,0.00,0.000,6,0.000,0.683,2963,2298,354
$STATE,12338,end climb,SURFACE_DEPTH_REACHED
$STATE,12338,begin surface coast
$FINISH,-0.0,1.004728
$STATE,12350,end surface coast,CONTROL_FINISHED_OK
$STATE,12350,begin surface
$SM_CCo,12427,0.00,0.000,0,0,353,776.01
$SM_GC,0.67,10.43,0.00,0.00,0.628,0.000,0.000,708,2298,353,-8.87,-0.06,776.01
$IRIDIUM_FIX,4735.69,-12604.71,210108,191923
$TT8_MAMPS,0.021476
$HUMID,2860
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.0
$24V_AH,23.2,6.650
$10V_AH,10.2,1.527
$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,22.925,144.250,232.900,0.000,0.000,40.365,32.341,198.813,8.750,0.000,0.000,54.647,831.534,9955.627,549.644,1138.369,352.660,33.354,1187.386,0.000,1053.461,0.000,57.566
$DEVICE_MAMPS,1258.881,1522.079,1437.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12709,394
$CFSIZE,260165632,257740800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,51,0
$GPS,210108,224437,4752.866,-12612.312,38,1.7,49,18.8