version: 66.04
glider: 30
mission: 7
dive: 7
start: 9 16 108 3 37 59
data:
$ID,30
$MISSION,7
$DIVE,7
$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,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-72660.562
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3990
$C_PITCH,2450
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,172
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,5
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,100
$VBD_MAX,3750
$C_VBD,1801
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-31.903648
$PRESSURE_SLOPE,0.0003358523
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043891016
$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
$GPS1,033323,4658.138,-12502.841,11,5.9,30,18.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-51.6
$GPS2,033705,4658.128,-12502.813,11,5.3,30,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.257,0.033
$KALMAN_X,694.4,130.3,-40.0,-6879.7,214.5
$KALMAN_Y,-1207.7,-361.1,499.0,432.8,-575.7
$MHEAD_RNG_PITCHd_Wd,258.9,223824,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.43,-146.6,0.0,0.0,0,99,0.00,0.00,-82.68,0.000,2,0.000,0.000,658,2302,1549
$GC,101,-1.43,-146.6,3.2,-4.4,8,145,8.20,3.17,-29.40,0.000,4,0.186,0.189,2135,3713,2201
$GC,284,-1.35,-146.6,39.8,-17.2,24,292,0.10,2.80,0.00,0.000,6,0.149,0.132,2153,2299,2201
$GC,625,-1.35,-146.6,88.2,-12.6,79,630,0.00,3.20,0.00,0.000,4,0.000,0.194,2153,3714,2201
$GC,701,-1.35,-146.6,98.8,-13.0,85,708,0.00,2.85,0.00,0.000,6,0.000,0.134,2152,2298,2201
$GC,1027,-1.41,-146.6,137.4,-12.0,116,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2298,2201
$GC,1351,-1.48,-146.6,171.7,-9.6,137,1353,0.12,0.00,0.00,0.000,6,0.087,0.000,2117,2298,2201
$GC,1658,-1.48,-146.6,205.9,-11.1,152,1663,0.00,3.22,0.00,0.000,4,0.000,0.196,2117,3716,2201
$GC,1751,-1.48,-146.6,217.2,-11.7,156,1756,0.00,2.85,0.00,0.000,6,0.000,0.137,2117,2300,2201
$GC,2072,-1.48,-146.6,252.4,-11.3,172,2077,0.00,3.00,0.00,0.000,4,0.000,0.169,2117,880,2201
$GC,2115,-1.48,-146.6,257.7,-12.0,174,2120,0.00,3.20,0.00,0.000,6,0.000,0.186,2117,2306,2201
$GC,2442,-1.48,-146.6,294.8,-11.4,190,2447,0.00,3.17,0.00,0.000,4,0.000,0.201,2117,3714,2201
$GC,2546,-1.48,-146.6,308.4,-12.7,193,2551,0.00,2.85,0.00,0.000,6,0.000,0.137,2117,2298,2201
$GC,2872,-1.48,-146.6,343.9,-10.8,199,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2297,2201
$GC,3178,-1.53,-146.6,372.6,-9.4,204,3182,0.00,3.00,0.00,0.000,4,0.000,0.171,2117,883,2200
$GC,3232,-1.57,-146.6,377.7,-9.0,204,3239,0.00,3.20,0.00,0.000,6,0.000,0.189,2117,2302,2200
$GC,3543,-1.62,-146.6,404.5,-8.8,210,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2302,2200
$GC,3844,-1.67,-146.6,432.1,-9.3,215,3846,0.15,0.00,0.00,0.000,6,0.084,0.000,2076,2302,2200
$GC,4147,-1.62,-146.6,464.4,-10.6,220,4152,0.00,3.17,0.00,0.000,4,0.000,0.201,2076,3713,2199
$GC,4195,-1.54,-146.6,470.1,-12.5,220,4201,0.20,2.83,0.00,0.000,6,0.134,0.139,2114,2297,2199
$GC,4511,-1.59,-146.6,498.9,-9.1,226,4515,0.00,3.03,0.00,0.000,4,0.000,0.176,2114,886,2199
$GC,4588,-1.66,-146.6,505.9,-9.1,227,4593,0.12,3.20,0.00,0.000,6,0.089,0.191,2079,2300,2199
$GC,4935,-1.66,-146.6,537.1,-8.6,233,4940,0.00,3.20,0.00,0.000,4,0.000,0.204,2079,3713,2199
$GC,5001,-1.59,-146.6,543.1,-8.7,234,5006,0.12,2.85,0.00,0.000,6,0.144,0.142,2101,2294,2199
$GC,5362,-1.64,-146.6,568.1,-6.7,240,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2294,2198
$GC,5663,-1.68,-146.6,589.4,-7.1,245,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2294,2198
$GC,5967,-1.75,-146.6,611.0,-7.2,250,5968,0.15,0.00,0.00,0.000,6,0.087,0.000,2059,2294,2198
$GC,6269,-1.75,-146.6,635.7,-8.1,255,6274,0.00,3.28,0.00,0.000,4,0.000,0.201,2059,3716,2197
$GC,6357,-1.65,-146.6,643.1,-8.4,256,6363,0.15,2.85,0.00,0.000,6,0.139,0.142,2087,2298,2197
$GC,6695,-1.65,-146.6,664.5,-6.2,262,6699,0.00,3.03,0.00,0.000,4,0.000,0.174,2087,886,2197
$GC,6844,-1.65,-146.6,674.8,-7.6,264,6850,0.00,3.20,0.00,0.000,6,0.000,0.194,2087,2300,2197
$GC,7193,-1.65,-146.6,698.0,-6.7,270,7198,0.00,3.25,0.00,0.000,4,0.000,0.209,2087,3715,2197
$GC,7255,-1.65,-146.6,702.2,-7.8,271,7260,0.00,2.88,0.00,0.000,6,0.000,0.144,2087,2293,2197
$GC,7619,-1.70,-146.6,724.3,-5.8,277,7624,0.00,3.03,0.00,0.000,4,0.000,0.179,2087,885,2196
$GC,7667,-1.70,-146.6,727.6,-6.5,277,7672,0.00,3.22,0.00,0.000,6,0.000,0.194,2087,2303,2196
$GC,7983,-1.74,-146.6,747.3,-6.4,283,7988,0.00,3.25,0.00,0.000,4,0.000,0.209,2087,3714,2196
$GC,8037,-1.74,-146.6,751.1,-7.1,283,8044,0.00,2.88,0.00,0.000,6,0.000,0.146,2087,2297,2196
$GC,8347,-1.80,-146.6,770.1,-6.0,289,8349,0.15,0.00,0.00,0.000,6,0.087,0.000,2046,2297,2196
$GC,8650,-1.76,-146.6,789.5,-6.5,294,8655,0.00,3.30,0.00,0.000,4,0.000,0.206,2046,3715,2195
$GC,8727,-1.66,-146.6,795.7,-8.1,295,8732,0.20,2.88,0.00,0.000,6,0.137,0.146,2084,2301,2195
$GC,9075,-1.72,-146.6,816.2,-5.7,301,9080,0.00,3.30,0.00,0.000,4,0.000,0.209,2084,3713,2195
$GC,9129,-1.72,-146.6,820.2,-7.1,301,9136,0.00,2.90,0.00,0.000,6,0.000,0.149,2084,2294,2195
$GC,9439,-1.79,-146.6,838.2,-5.7,307,9445,0.12,3.35,0.00,0.000,4,0.089,0.211,2049,3714,2194
$GC,9522,-1.70,-146.6,843.3,-5.7,308,9528,0.15,2.90,0.00,0.000,6,0.142,0.149,2077,2299,2194
$GC,9865,-1.75,-146.6,860.0,-5.0,314,9870,0.00,3.05,0.00,0.000,4,0.000,0.179,2077,886,2194
$GC,10054,-1.79,-146.6,868.9,-4.2,316,10061,0.00,3.22,0.00,0.000,6,0.000,0.196,2077,2300,2194
$GC,10363,-1.84,-146.6,878.3,-2.9,322,10369,0.12,3.30,0.00,0.000,4,0.089,0.214,2041,3716,2194
$GC,10531,-1.74,-146.6,887.7,-6.5,324,10536,0.15,2.90,0.00,0.000,6,0.142,0.149,2069,2299,2194
$STATE,10855,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10855,begin apogee
$GC,10858,-0.32,0.0,903.7,4.9,330,10978,1.50,0.00,114.93,1.455,6,0.124,0.000,2377,2299,1801
$STATE,10979,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10980,1.43,146.6,901.5,0.0,332,11107,1.73,3.65,117.50,1.413,4,0.092,0.231,2760,3705,1402
$GC,11225,1.10,146.6,858.1,20.5,335,11230,0.38,3.03,0.00,0.000,6,0.146,0.164,2690,2296,1402
$GC,11535,0.99,146.6,812.5,14.7,340,11537,0.12,0.00,0.00,0.000,6,0.149,0.000,2668,2296,1402
$GC,11837,0.94,146.6,773.6,12.7,345,11842,0.00,3.47,0.00,0.000,4,0.000,0.223,2668,3714,1402
$GC,11898,0.85,146.6,765.4,14.2,346,11904,0.17,2.97,0.00,0.000,6,0.144,0.159,2636,2299,1402
$GC,12264,0.85,146.6,726.3,10.6,352,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2298,1402
$GC,12565,0.85,146.6,693.7,10.9,357,12570,0.00,3.45,0.00,0.000,4,0.000,0.223,2636,3714,1402
$GC,12591,0.85,146.6,690.8,11.2,357,12596,0.00,3.00,0.00,0.000,6,0.000,0.156,2636,2299,1402
$GC,12929,0.90,146.6,655.3,10.5,363,12934,0.00,3.15,0.00,0.000,4,0.000,0.189,2636,880,1402
$GC,12961,0.94,146.6,651.6,10.6,363,12966,0.00,3.38,0.00,0.000,6,0.000,0.209,2636,2302,1402
$GC,13287,1.02,156.5,619.8,9.5,369,13303,0.17,3.45,9.77,1.122,4,0.084,0.226,2682,3712,1375
$GC,13330,0.92,156.5,614.7,11.8,369,13335,0.17,2.97,0.00,0.000,6,0.142,0.154,2650,2296,1375
$GC,13650,0.92,156.5,581.4,10.4,375,13655,0.00,3.12,0.00,0.000,4,0.000,0.191,2650,884,1375
$GC,13682,0.92,156.5,578.1,10.6,375,13687,0.00,3.38,0.00,0.000,6,0.000,0.209,2650,2302,1375
$GC,14014,0.97,156.5,543.8,10.5,381,14019,0.00,3.38,0.00,0.000,4,0.000,0.221,2650,3717,1375
$GC,14051,0.97,156.5,539.6,10.8,381,14056,0.00,2.97,0.00,0.000,6,0.000,0.154,2650,2301,1375
$GC,14378,1.04,163.1,507.7,9.7,387,14387,0.12,0.00,6.80,0.983,6,0.089,0.000,2684,2301,1357
$GC,14682,1.04,163.1,476.8,10.2,392,14683,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2301,1358
$GC,14983,1.04,163.1,443.3,11.1,397,14989,0.00,3.40,0.00,0.000,4,0.000,0.219,2684,3712,1357
$GC,15027,1.00,163.1,438.7,11.6,397,15031,0.00,2.92,0.00,0.000,6,0.000,0.154,2684,2298,1357
$GC,15347,1.03,180.8,408.8,9.2,403,15368,0.00,3.22,15.70,1.075,4,0.000,0.194,2684,887,1308
$GC,15395,1.03,181.0,404.2,10.0,403,15400,0.00,3.40,0.00,0.000,6,0.000,0.209,2684,2303,1308
$GC,15706,1.04,184.1,374.1,9.9,408,15716,0.00,3.38,4.43,0.762,4,0.000,0.219,2684,3713,1300
$GC,15770,1.04,184.1,366.9,11.1,409,15775,0.00,2.95,0.00,0.000,6,0.000,0.151,2684,2308,1300
$GC,16137,1.09,209.9,333.9,8.8,415,16161,0.00,0.00,21.85,1.048,6,0.000,0.000,2684,2308,1230
$GC,16441,1.19,237.6,307.5,8.7,420,16475,0.12,3.47,25.40,1.033,4,0.089,0.219,2720,3712,1155
$GC,16519,1.13,237.6,298.3,14.4,421,16524,0.15,2.97,0.00,0.000,6,0.139,0.151,2692,2294,1155
$GC,16838,1.20,241.5,264.6,9.8,435,16845,0.00,0.00,5.20,0.777,6,0.000,0.000,2692,2294,1144
$GC,17146,1.28,241.5,233.5,10.3,450,17152,0.15,3.40,0.00,0.000,4,0.087,0.214,2733,3714,1144
$GC,17202,1.21,241.5,226.1,13.9,452,17209,0.00,2.92,0.00,0.000,6,0.000,0.149,2733,2300,1144
$GC,17517,1.21,241.5,187.9,11.5,468,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2300,1144
$GC,17826,1.21,241.5,150.5,12.2,483,17827,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2299,1144
$GC,18144,1.21,241.5,115.3,10.9,512,18145,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2299,1144
$GC,18465,1.37,284.9,86.8,8.0,542,18504,0.00,0.00,34.78,0.901,6,0.000,0.000,2733,2299,1026
$GC,18838,1.60,346.3,55.9,7.1,602,18895,0.25,3.45,48.47,0.879,4,0.079,0.214,2800,3712,859
$GC,18952,1.56,346.3,43.5,12.1,622,18958,0.00,2.90,0.00,0.000,6,0.000,0.144,2800,2300,859
$GC,19285,1.80,417.8,14.7,6.7,656,19350,0.17,3.45,55.12,0.847,4,0.084,0.209,2847,3709,665
$STATE,19416,end climb,SURFACE_DEPTH_REACHED
$STATE,19416,begin surface coast
$FINISH,0.2,1.023766
$STATE,19428,end surface coast,CONTROL_FINISHED_OK
$STATE,19428,begin surface
$SM_CCo,19447,25.88,0.800,0,0,579,450.00
$SM_GC,0.32,0.00,0.00,25.88,0.000,0.000,0.800,658,2298,579,-8.24,-0.06,450.00
$IRIDIUM_FIX,4641.78,-12459.26,111297,020211
$TT8_MAMPS,0.021476
$HUMID,2326
$INTERNAL_PRESSURE,9.19314
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,22.9,13.203
$10V_AH,10.2,3.291
$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,Compass2
$DEVICE_SECS,25.300,206.850,459.950,25.875,0.000,28.302,26.697,83.281,8.000,0.000,0.000,31.362,1414.747,15555.363,684.858,1827.049,230.610,33.338,1679.079,0.000,1743.072,0.000,51.993,0.000
$DEVICE_MAMPS,186.225,230.919,1455.038,799.526,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22141,669
$CAP_FILE_SIZE,144227,0
$CFSIZE,260165632,258695168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,160908,090338,4659.298,-12506.064,33,2.0,33,18.4