version: 66.02
glider: 30
mission: 5
dive: 31
start: 1 20 108 4 42 23
data:
$ID,30
$MISSION,5
$DIVE,31
$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,-59065.504
$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
$GPS1,043721,4757.589,-12551.365,41,3.6,60,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-45.5
$GPS2,044129,4757.651,-12551.449,14,4.0,33,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.223,-0.132
$KALMAN_X,14082.3,-1456.8,-889.6,-24454.7,8585.1
$KALMAN_Y,-29847.9,1683.9,952.5,18766.9,-7363.4
$MHEAD_RNG_PITCHd_Wd,220.6,194327,-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,-230.27,0.000,2,0.000,0.000,708,2304,1980
$GC,252,-1.43,-146.6,3.1,-2.5,23,325,9.55,3.22,-54.03,0.000,4,0.730,0.720,2334,3717,2861
$GC,577,-1.43,-146.6,73.0,-20.4,66,583,0.00,2.97,0.00,0.000,6,0.000,0.673,2334,2296,2856
$GC,903,-1.43,-146.6,129.5,-15.8,100,905,0.00,0.00,-0.15,0.000,6,0.000,0.000,2334,2296,2872
$GC,1216,-1.43,-146.6,180.5,-15.5,121,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2296,2868
$GC,1525,-1.43,-146.6,224.0,-13.5,136,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2296,2863
$GC,1834,-1.43,-146.6,267.4,-14.0,151,1839,0.00,3.30,0.00,0.000,4,0.000,0.755,2334,3711,2852
$GC,1922,-1.43,-146.6,280.1,-14.3,155,1927,0.00,3.03,0.00,0.000,6,0.000,0.685,2334,2305,2850
$GC,2266,-1.43,-146.6,325.5,-13.1,166,2271,0.00,3.10,0.00,0.000,4,0.000,0.708,2335,882,2805
$GC,2337,-1.43,-146.6,335.1,-13.3,167,2342,0.00,3.20,0.00,0.000,6,0.000,0.698,2334,2299,2789
$GC,2699,-1.43,-146.6,381.2,-12.8,173,2704,0.00,3.28,0.00,0.000,4,0.000,0.718,2334,3713,2787
$GC,2792,-1.43,-146.6,393.6,-11.9,174,2797,0.00,3.03,0.00,0.000,6,0.000,0.680,2335,2296,2787
$GC,3129,-1.43,-146.6,433.3,-11.6,180,3134,0.00,3.08,0.00,0.000,4,0.000,0.690,2335,884,2787
$GC,3172,-1.43,-146.6,438.5,-11.9,180,3177,0.00,3.22,0.00,0.000,6,0.000,0.700,2335,2303,2787
$GC,3492,-1.43,-146.6,473.8,-10.9,186,3497,0.00,3.28,0.00,0.000,4,0.000,0.723,2334,3711,2788
$GC,3563,-1.43,-146.6,482.3,-11.6,187,3568,0.00,3.03,0.00,0.000,6,0.000,0.678,2334,2301,2787
$GC,3923,-1.43,-146.6,520.3,-10.4,193,3928,0.00,3.12,0.00,0.000,4,0.000,0.708,2335,879,2787
$GC,3989,-1.43,-146.6,527.3,-10.4,194,3994,0.00,3.25,0.00,0.000,6,0.000,0.708,2334,2300,2787
$GC,4354,-1.43,-146.6,564.4,-10.1,200,4359,0.00,3.33,0.00,0.000,4,0.000,0.730,2335,3713,2787
$GC,4470,-1.43,-146.6,576.9,-10.2,201,4475,0.00,3.10,0.00,0.000,6,0.000,0.685,2335,2302,2787
$GC,4785,-1.43,-146.6,605.8,-9.1,207,4790,0.00,3.15,0.00,0.000,4,0.000,0.708,2335,882,2787
$GC,4839,-1.43,-146.6,610.9,-9.4,207,4846,0.00,3.28,0.00,0.000,6,0.000,0.718,2335,2302,2787
$GC,5148,-1.43,-146.6,638.0,-8.7,213,5153,0.00,3.35,0.00,0.000,4,0.000,0.735,2334,3711,2787
$GC,5276,-1.43,-146.6,649.6,-8.8,215,5282,0.00,3.08,0.00,0.000,6,0.000,0.698,2335,2301,2787
$GC,5648,-1.43,-146.6,679.2,-8.1,221,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2301,2787
$GC,5950,-1.43,-146.6,703.7,-8.2,226,5955,0.00,3.42,0.00,0.000,4,0.000,0.740,2334,3711,2787
$GC,6060,-1.43,-146.6,714.0,-8.2,227,6065,0.00,3.12,0.00,0.000,6,0.000,0.700,2334,2298,2787
$GC,6381,-1.43,-146.6,738.2,-7.3,233,6386,0.00,3.12,0.00,0.000,4,0.000,0.710,2335,882,2787
$GC,6446,-1.43,-146.6,742.4,-6.0,234,6451,0.00,3.28,0.00,0.000,6,0.000,0.715,2334,2299,2787
$GC,6812,-1.43,-146.6,763.0,-5.6,240,6817,0.00,3.40,0.00,0.000,4,0.000,0.742,2334,3711,2787
$GC,6940,-1.43,-146.6,771.6,-6.6,242,6945,0.00,3.15,0.00,0.000,6,0.000,0.720,2334,2295,2787
$GC,7304,-1.43,-146.6,794.5,-6.5,248,7309,0.00,3.45,0.00,0.000,4,0.000,0.747,2334,3711,2787
$GC,7375,-1.43,-146.6,799.8,-7.0,249,7381,0.00,3.15,0.00,0.000,6,0.000,0.708,2335,2299,2787
$GC,7736,-1.43,-146.6,825.5,-7.1,255,7741,0.00,3.17,0.00,0.000,4,0.000,0.720,2335,880,2787
$GC,7818,-1.43,-146.6,832.1,-7.6,256,7823,0.00,3.30,0.00,0.000,6,0.000,0.780,2335,2299,2787
$GC,8160,-1.43,-146.6,856.8,-7.1,262,8165,0.00,3.42,0.00,0.000,4,0.000,0.752,2334,3711,2787
$GC,8254,-1.43,-146.6,864.2,-8.2,263,8259,0.00,3.17,0.00,0.000,6,0.000,0.723,2334,2299,2787
$GC,8585,-1.43,-146.6,887.6,-7.1,269,8590,0.00,3.20,0.00,0.000,4,0.000,0.718,2335,883,2787
$GC,8701,-1.43,-146.6,895.7,-7.1,270,8706,0.00,3.30,0.00,0.000,6,0.000,0.725,2334,2299,2787
$GC,9011,-1.43,-146.6,914.6,-6.1,275,9016,0.00,3.45,0.00,0.000,4,0.000,0.765,2334,3711,2787
$GC,9188,-1.43,-146.6,926.3,-6.4,277,9194,0.00,3.20,0.00,0.000,6,0.000,0.715,2334,2298,2786
$GC,9510,-1.43,-146.6,944.1,-5.6,283,9514,0.00,3.20,0.00,0.000,4,0.000,0.725,2335,883,2787
$GC,9632,-1.43,-146.6,951.2,-6.1,284,9638,0.00,3.33,0.00,0.000,6,0.000,0.730,2334,2303,2786
$GC,9941,-1.43,-146.6,967.2,-5.2,290,9947,0.00,3.45,0.00,0.000,4,0.000,0.755,2334,3711,2786
$GC,10063,-1.43,-146.6,974.2,-6.3,291,10070,0.00,3.22,0.00,0.000,6,0.000,0.720,2334,2295,2786
$GC,10372,-1.43,-146.6,989.4,-5.0,297,10377,0.00,3.17,0.00,0.000,4,0.000,0.723,2335,883,2786
$STATE,10386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10386,begin apogee
$GC,10392,-0.32,0.0,990.3,4.7,297,10601,1.20,0.00,184.85,1.053,6,0.663,0.000,2575,2299,2462
$STATE,10602,end apogee,CONTROL_FINISHED_OK
$STATE,10602,begin climb
$GC,10603,1.43,146.6,994.7,0.0,300,10738,1.77,3.65,123.55,1.415,4,1.341,1.517,2967,3710,2049
$GC,10832,1.43,146.6,953.6,28.4,303,10837,0.00,3.38,0.00,0.000,6,0.000,1.388,2967,2299,1778
$GC,11158,1.43,146.6,849.9,32.8,309,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2299,1477
$GC,11461,1.43,146.6,747.2,34.0,314,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2299,1350
$GC,11764,1.43,146.6,642.3,34.7,319,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2299,1219
$GC,12069,1.43,146.6,535.5,35.1,324,12074,0.00,3.55,0.00,0.000,4,0.000,0.894,2967,3712,1070
$GC,12084,1.43,146.6,529.3,35.3,324,12089,0.00,3.25,0.00,0.000,6,0.000,0.837,2966,2299,1063
$GC,12432,1.43,146.6,404.4,36.2,330,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2299,900
$GC,12737,1.43,146.6,298.6,34.8,335,12742,0.00,3.47,0.00,0.000,4,0.000,0.817,2967,3711,745
$GC,12757,1.43,146.6,290.8,34.8,336,12762,0.00,3.17,0.00,0.000,6,0.000,0.777,2967,2298,735
$GC,13084,1.43,146.6,174.1,36.0,352,13089,0.00,3.47,0.00,0.000,4,0.000,0.807,2967,3711,580
$GC,13115,1.43,146.6,161.6,37.0,353,13122,0.00,3.15,0.00,0.000,6,0.000,0.777,2967,2298,567
$GC,13443,1.43,146.6,52.3,28.6,390,13450,0.00,3.45,0.00,0.000,4,0.000,0.757,2967,3715,354
$GC,13515,1.43,146.6,32.7,25.0,400,13523,0.00,3.12,0.00,0.000,6,0.000,0.710,2967,2292,354
$STATE,13637,end climb,SURFACE_DEPTH_REACHED
$STATE,13637,begin surface coast
$FINISH,-0.2,1.024777
$STATE,13649,end surface coast,CONTROL_FINISHED_OK
$STATE,13649,begin surface
$SM_CCo,13726,0.00,0.000,0,0,354,775.64
$SM_GC,0.61,10.45,0.00,0.00,0.648,0.000,0.000,706,2291,354,-8.87,-0.25,775.64
$IRIDIUM_FIX,4742.09,-12551.71,200108,040450
$TT8_MAMPS,0.021476
$HUMID,2955
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,18.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.9,18.8
$24V_AH,23.3,4.066
$10V_AH,10.2,1.057
$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,22.975,169.125,308.400,0.000,0.000,37.328,35.941,84.593,9.000,0.000,0.000,34.532,930.968,10761.698,664.879,1398.291,230.331,33.358,1431.526,0.000,1321.884,0.000,57.575
$DEVICE_MAMPS,1340.820,1517.113,1415.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12700,413
$CFSIZE,260165632,258088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,56,0
$GPS,200108,083207,4756.536,-12553.603,28,1.7,28,18.8