version: 66.02
glider: 30
mission: 5
dive: 30
start: 1 20 108 0 49 26
data:
$ID,30
$MISSION,5
$DIVE,30
$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,-59030.34
$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
$GPS1,004426,4759.282,-12549.305,42,1.7,61,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-43.8
$GPS2,004832,4759.301,-12549.358,15,1.7,32,18.8
$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,-0.137
$KALMAN_X,11794.4,-1272.5,-199.6,-20457.4,6092.5
$KALMAN_Y,-28810.1,1139.9,369.1,21920.9,-5533.5
$MHEAD_RNG_PITCHd_Wd,219.4,198216,-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,-240.07,0.000,2,0.000,0.000,708,2300,2058
$GC,263,-1.43,-146.6,3.6,-3.6,24,325,9.40,3.28,-46.25,0.000,4,0.730,0.718,2333,3714,2861
$GC,577,-1.43,-146.6,74.4,-21.9,65,584,0.00,3.03,0.00,0.000,6,0.000,0.700,2333,2298,2860
$GC,904,-1.43,-146.6,132.3,-16.9,98,909,0.00,3.12,0.00,0.000,4,0.000,0.690,2333,884,2860
$GC,1010,-1.43,-146.6,149.3,-16.0,107,1017,0.00,3.22,0.00,0.000,6,0.000,0.713,2333,2297,2860
$GC,1332,-1.43,-146.6,200.3,-15.6,123,1337,0.00,3.28,0.00,0.000,4,0.000,0.713,2333,3714,2860
$GC,1380,-1.43,-146.6,208.4,-16.6,125,1385,0.00,3.00,0.00,0.000,6,0.000,0.663,2333,2300,2861
$GC,1701,-1.43,-146.6,255.4,-14.4,141,1706,0.00,3.12,0.00,0.000,4,0.000,0.710,2333,881,2861
$GC,1778,-1.43,-146.6,266.2,-13.7,144,1785,0.00,3.25,0.00,0.000,6,0.000,0.708,2333,2300,2861
$GC,2113,-1.43,-146.6,310.4,-13.1,159,2118,0.00,3.25,0.00,0.000,4,0.000,0.718,2333,3714,2862
$GC,2223,-1.43,-146.6,325.2,-13.4,160,2228,0.00,3.00,0.00,0.000,6,0.000,0.673,2333,2301,2861
$GC,2537,-1.43,-146.6,362.5,-12.0,166,2542,0.00,3.12,0.00,0.000,4,0.000,0.698,2333,883,2862
$GC,2631,-1.43,-146.6,374.1,-11.9,167,2636,0.00,3.25,0.00,0.000,6,0.000,0.708,2333,2302,2862
$GC,2968,-1.43,-146.6,412.4,-11.2,173,2973,0.00,3.25,0.00,0.000,4,0.000,0.730,2333,3712,2862
$GC,3067,-1.43,-146.6,424.6,-11.6,174,3073,0.00,3.00,0.00,0.000,6,0.000,0.688,2333,2301,2862
$GC,3398,-1.43,-146.6,461.4,-11.1,180,3403,0.00,3.12,0.00,0.000,4,0.000,0.708,2333,884,2862
$GC,3480,-1.43,-146.6,470.1,-10.4,181,3485,0.00,3.25,0.00,0.000,6,0.000,0.718,2333,2299,2863
$GC,3831,-1.43,-146.6,505.8,-10.3,187,3836,0.00,3.33,0.00,0.000,4,0.000,0.718,2333,3714,2863
$GC,3907,-1.43,-146.6,514.9,-12.5,188,3912,0.00,3.08,0.00,0.000,6,0.000,0.688,2333,2300,2863
$GC,4264,-1.43,-146.6,551.1,-10.1,194,4269,0.00,3.15,0.00,0.000,4,0.000,0.698,2333,885,2863
$GC,4335,-1.43,-146.6,558.5,-9.9,195,4340,0.00,3.28,0.00,0.000,6,0.000,0.713,2333,2300,2863
$GC,4688,-1.43,-146.6,590.0,-8.8,201,4693,0.00,3.30,0.00,0.000,4,0.000,0.747,2333,3711,2863
$GC,4776,-1.43,-146.6,598.2,-9.2,202,4781,0.00,3.05,0.00,0.000,6,0.000,0.693,2333,2301,2863
$GC,5120,-1.43,-146.6,628.7,-9.0,208,5125,0.00,3.15,0.00,0.000,4,0.000,0.802,2333,882,2863
$GC,5185,-1.43,-146.6,635.5,-10.5,209,5190,0.00,3.33,0.00,0.000,6,0.000,0.720,2333,2299,2863
$GC,5551,-1.43,-146.6,668.9,-9.0,215,5556,0.00,3.35,0.00,0.000,4,0.000,0.730,2333,3711,2863
$GC,5684,-1.43,-146.6,681.5,-9.3,217,5689,0.00,3.08,0.00,0.000,6,0.000,0.725,2333,2301,2863
$GC,6043,-1.43,-146.6,710.2,-7.8,223,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2301,2862
$GC,6347,-1.43,-146.6,735.2,-8.2,228,6352,0.00,3.40,0.00,0.000,4,0.000,0.742,2333,3711,2863
$GC,6408,-1.43,-146.6,740.6,-8.5,229,6412,0.00,3.10,0.00,0.000,6,0.000,0.695,2333,2300,2862
$GC,6771,-1.43,-146.6,770.2,-8.0,235,6776,0.00,3.17,0.00,0.000,4,0.000,0.713,2333,880,2862
$GC,6826,-1.43,-146.6,774.7,-8.4,235,6832,0.00,3.30,0.00,0.000,6,0.000,0.740,2333,2299,2862
$GC,7135,-1.43,-146.6,798.3,-7.6,241,7140,0.00,3.40,0.00,0.000,4,0.000,0.750,2333,3713,2862
$GC,7223,-1.43,-146.6,805.3,-7.8,242,7227,0.00,3.12,0.00,0.000,6,0.000,0.708,2333,2298,2862
$GC,7567,-1.43,-146.6,827.3,-6.3,248,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2298,2862
$GC,7870,-1.43,-146.6,845.2,-5.9,253,7875,0.00,3.45,0.00,0.000,4,0.000,0.742,2333,3714,2862
$GC,7948,-1.43,-146.6,850.1,-6.8,254,7952,0.00,3.15,0.00,0.000,6,0.000,0.703,2333,2301,2862
$GC,8295,-1.43,-146.6,868.8,-5.3,260,8300,0.00,3.22,0.00,0.000,4,0.000,0.720,2333,885,2862
$GC,8371,-1.43,-146.6,873.6,-6.1,261,8376,0.00,3.30,0.00,0.000,6,0.000,0.723,2333,2299,2861
$GC,8720,-1.43,-146.6,894.3,-6.0,267,8725,0.00,3.42,0.00,0.000,4,0.000,0.750,2333,3711,2862
$GC,8802,-1.43,-146.6,899.8,-6.8,268,8808,0.00,3.15,0.00,0.000,6,0.000,0.708,2333,2299,2862
$GC,9151,-1.43,-146.6,919.5,-5.6,274,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2861
$GC,9454,-1.43,-146.6,936.6,-5.6,279,9459,0.00,3.22,0.00,0.000,4,0.000,0.720,2333,883,2861
$GC,9530,-1.43,-146.6,941.3,-5.3,280,9535,0.00,3.33,0.00,0.000,6,0.000,0.728,2333,2302,2861
$GC,9879,-1.43,-146.6,960.8,-5.7,286,9884,0.00,3.40,0.00,0.000,4,0.000,0.752,2333,3711,2861
$GC,10035,-1.43,-146.6,970.7,-5.9,288,10040,0.00,3.20,0.00,0.000,6,0.000,1.112,2333,2301,2861
$GC,10371,-1.43,-146.6,989.7,-5.6,294,10376,0.00,3.22,0.00,0.000,4,0.000,0.872,2333,886,2861
$STATE,10385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10385,begin apogee
$GC,10391,-0.32,0.0,990.6,5.5,294,10543,1.20,0.00,142.57,1.445,6,0.807,0.000,2575,2299,2462
$STATE,10543,end apogee,CONTROL_FINISHED_OK
$STATE,10543,begin climb
$GC,10545,1.43,146.6,992.6,0.0,296,10680,1.80,3.60,124.55,1.532,4,1.445,1.626,2967,3711,2049
$GC,10707,1.43,146.6,968.9,23.4,298,10712,0.00,3.35,0.00,0.000,6,0.000,1.549,2967,2302,1958
$GC,11034,1.43,146.6,873.9,30.8,304,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2301,1563
$GC,11336,1.43,146.6,776.9,32.0,309,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2301,1420
$GC,11640,1.43,146.6,674.6,34.0,314,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2301,1285
$GC,11944,1.43,146.6,569.9,34.5,319,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2301,1130
$GC,12246,1.43,146.6,457.9,37.1,324,12251,0.00,3.47,0.00,0.000,4,0.000,0.881,2967,3711,960
$GC,12255,1.43,146.6,454.0,36.9,324,12260,0.00,3.15,0.00,0.000,6,0.000,0.837,2967,2298,955
$GC,12609,1.43,146.6,319.9,38.4,330,12614,0.00,3.47,0.00,0.000,4,0.000,0.879,2967,3714,743
$GC,12624,1.43,146.6,313.9,37.4,330,12629,0.00,3.17,0.00,0.000,6,0.000,0.817,2967,2292,734
$GC,12958,1.43,146.6,181.3,41.7,345,12963,0.00,3.47,0.00,0.000,4,0.000,0.881,2967,3714,424
$GC,12996,1.43,146.6,164.9,42.0,347,13001,0.00,3.12,0.00,0.000,6,0.000,0.822,2967,2301,389
$GC,13324,1.43,146.6,44.2,29.1,384,13331,0.00,3.40,0.00,0.000,4,0.000,0.782,2967,3711,354
$GC,13374,1.43,146.6,29.8,26.1,390,13381,0.00,3.10,0.00,0.000,6,0.000,0.737,2967,2305,354
$STATE,13495,end climb,SURFACE_DEPTH_REACHED
$STATE,13496,begin surface coast
$FINISH,0.1,1.024561
$STATE,13507,end surface coast,CONTROL_FINISHED_OK
$STATE,13508,begin surface
$SM_CCo,13584,0.00,0.000,0,0,353,775.64
$SM_GC,0.41,10.43,0.00,0.00,0.663,0.000,0.000,708,2304,353,-8.86,0.11,775.64
$IRIDIUM_FIX,4742.09,-12547.22,200108,010153
$TT8_MAMPS,0.021476
$HUMID,2927
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,18.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,20.6
$24V_AH,23.2,3.914
$10V_AH,10.2,1.010
$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,22.825,174.925,267.125,0.000,0.000,40.356,33.959,83.693,9.500,0.000,0.000,33.244,916.968,10713.942,615.869,1361.572,234.336,33.354,1368.977,0.000,1287.321,0.000,57.587
$DEVICE_MAMPS,1445.106,1626.365,1532.011,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,403
$CFSIZE,260165632,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,55,0
$GPS,200108,043721,4757.589,-12551.365,41,3.6,60,18.8