version: 66.04
glider: 30
mission: 7
dive: 9
start: 9 16 108 14 42 58
data:
$ID,30
$MISSION,7
$DIVE,9
$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,-72710.617
$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
$GPS1,143707,4659.499,-12509.304,42,1.6,53,18.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-51.9
$GPS2,144203,4659.501,-12509.295,15,1.6,15,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.250,0.069
$KALMAN_X,2790.8,46.4,-17.6,-17106.6,1020.3
$KALMAN_Y,544.5,920.2,244.9,197.5,-1344.8
$MHEAD_RNG_PITCHd_Wd,267.0,215613,-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,-146.6,0.0,0.0,0,109,0.00,0.00,-92.70,0.000,2,0.000,0.000,657,2299,1661
$GC,111,-1.43,-146.6,3.8,-5.2,9,147,8.35,3.28,-21.65,0.000,4,0.194,0.191,2134,3713,2201
$GC,271,-1.29,-146.6,41.4,-20.1,24,278,0.17,2.80,0.00,0.000,6,0.142,0.132,2166,2298,2200
$GC,610,-1.29,-146.6,89.1,-11.6,78,615,0.00,3.03,0.00,0.000,4,0.000,0.171,2166,883,2199
$GC,687,-1.33,-146.6,98.4,-11.5,84,694,0.00,3.20,0.00,0.000,6,0.000,0.189,2166,2300,2199
$GC,1013,-1.38,-146.6,135.3,-9.9,115,1018,0.00,3.17,0.00,0.000,4,0.000,0.199,2166,3713,2198
$GC,1078,-1.38,-146.6,142.6,-10.3,120,1085,0.00,2.83,0.00,0.000,6,0.000,0.132,2166,2302,2198
$GC,1409,-1.47,-146.6,175.2,-9.7,140,1411,0.17,0.00,0.00,0.000,6,0.079,0.000,2118,2302,2198
$GC,1715,-1.47,-146.6,210.4,-11.4,155,1720,0.00,3.22,0.00,0.000,4,0.000,0.196,2118,3717,2198
$GC,1776,-1.42,-146.6,217.9,-12.6,158,1782,0.12,2.80,0.00,0.000,6,0.142,0.134,2141,2298,2197
$GC,2104,-1.46,-146.6,248.5,-8.7,174,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2298,2197
$GC,2412,-1.52,-146.6,274.8,-8.4,189,2417,0.00,3.22,0.00,0.000,4,0.000,0.199,2141,3712,2197
$GC,2494,-1.52,-146.6,283.0,-9.7,192,2501,0.00,2.83,0.00,0.000,6,0.000,0.137,2141,2294,2197
$GC,2807,-1.58,-146.6,312.3,-9.3,204,2813,0.17,3.00,0.00,0.000,4,0.082,0.171,2093,887,2197
$GC,2845,-1.54,-146.6,316.5,-11.2,204,2851,0.12,3.17,0.00,0.000,6,0.139,0.189,2116,2300,2197
$GC,3166,-1.54,-146.6,347.8,-9.7,210,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2300,2196
$GC,3470,-1.54,-146.6,375.3,-9.1,215,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2300,2195
$GC,3774,-1.54,-146.6,401.9,-8.8,220,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2300,2195
$GC,4076,-1.54,-146.6,427.5,-8.3,225,4081,0.00,3.20,0.00,0.000,4,0.000,0.201,2116,3714,2194
$GC,4129,-1.54,-146.6,432.7,-10.0,225,4137,0.00,2.85,0.00,0.000,6,0.000,0.137,2116,2301,2194
$GC,4439,-1.54,-146.6,458.2,-8.1,231,4444,0.00,3.03,0.00,0.000,4,0.000,0.176,2117,886,2193
$GC,4516,-1.59,-146.6,464.6,-8.5,232,4521,0.00,3.20,0.00,0.000,6,0.000,0.191,2116,2300,2193
$GC,4864,-1.63,-146.6,491.0,-7.7,238,4869,0.00,3.22,0.00,0.000,4,0.000,0.204,2116,3714,2192
$GC,4918,-1.63,-146.6,495.6,-8.2,238,4925,0.00,2.83,0.00,0.000,6,0.000,0.139,2116,2300,2192
$GC,5228,-1.68,-146.6,519.5,-7.6,244,5230,0.15,0.00,0.00,0.000,6,0.084,0.000,2075,2300,2192
$GC,5531,-1.68,-146.6,545.2,-8.4,249,5535,0.00,3.03,0.00,0.000,4,0.000,0.174,2075,883,2192
$GC,5584,-1.68,-146.6,549.7,-8.2,249,5595,0.00,3.20,0.00,0.000,6,0.000,0.191,2075,2302,2192
$GC,5894,-1.68,-146.6,572.5,-7.2,255,5899,0.00,3.22,0.00,0.000,4,0.000,0.206,2075,3714,2192
$GC,5931,-1.61,-146.6,575.6,-8.2,255,5937,0.12,2.85,0.00,0.000,6,0.144,0.139,2098,2293,2192
$GC,6252,-1.61,-146.6,594.8,-5.9,261,6257,0.00,3.03,0.00,0.000,4,0.000,0.179,2098,885,2191
$GC,6396,-1.61,-146.6,604.1,-6.1,263,6401,0.00,3.22,0.00,0.000,6,0.000,0.194,2098,2306,2191
$GC,6745,-1.65,-146.6,626.7,-6.6,269,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2306,2191
$GC,7048,-1.65,-146.6,648.4,-7.3,274,7053,0.00,3.22,0.00,0.000,4,0.000,0.206,2098,3714,2191
$GC,7147,-1.65,-146.6,656.6,-7.7,275,7152,0.00,2.85,0.00,0.000,6,0.000,0.142,2098,2297,2191
$GC,7479,-1.70,-146.6,681.9,-7.6,281,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2297,2191
$GC,7783,-1.76,-146.6,701.9,-6.5,286,7785,0.15,0.00,0.00,0.000,6,0.087,0.000,2057,2297,2190
$GC,8087,-1.72,-146.6,721.8,-6.6,291,8092,0.00,3.05,0.00,0.000,4,0.000,0.179,2057,886,2190
$GC,8148,-1.68,-146.6,725.5,-6.1,292,8154,0.15,3.22,0.00,0.000,6,0.137,0.194,2085,2303,2190
$GC,8514,-1.68,-146.6,741.6,-4.2,298,8519,0.00,3.25,0.00,0.000,4,0.000,0.209,2085,3714,2189
$GC,8643,-1.68,-146.6,747.6,-5.0,300,8647,0.00,2.85,0.00,0.000,6,0.000,0.144,2085,2299,2190
$GC,9007,-1.68,-146.6,762.6,-4.1,306,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2299,2189
$GC,9311,-1.72,-146.6,777.1,-4.9,311,9316,0.00,3.30,0.00,0.000,4,0.000,0.209,2085,3714,2189
$GC,9427,-1.72,-146.6,783.8,-5.5,312,9432,0.00,2.88,0.00,0.000,6,0.000,0.144,2085,2293,2188
$GC,9742,-1.77,-146.6,798.5,-4.6,318,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2293,2188
$GC,10045,-1.82,-146.6,812.2,-4.5,323,10051,0.15,3.08,0.00,0.000,4,0.087,0.181,2044,880,2188
$GC,10095,-1.76,-146.6,814.9,-5.6,323,10101,0.12,3.25,0.00,0.000,6,0.139,0.196,2067,2303,2188
$GC,10404,-1.76,-146.6,829.9,-4.8,328,10409,0.00,3.28,0.00,0.000,4,0.000,0.211,2067,3716,2188
$GC,10498,-1.71,-146.6,835.3,-5.6,329,10503,0.00,2.88,0.00,0.000,6,0.000,0.146,2067,2299,2188
$STATE,10829,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10829,begin apogee
$GC,10832,-0.32,0.0,850.8,4.6,335,10951,1.50,0.00,113.88,1.418,6,0.122,0.000,2376,2299,1801
$STATE,10952,end apogee,CONTROL_FINISHED_OK
$STATE,10952,begin climb
$GC,10953,1.43,146.6,849.3,0.0,337,11080,1.75,3.62,117.70,1.381,4,0.092,0.231,2762,3714,1402
$GC,11220,1.10,146.6,804.4,19.9,341,11226,0.38,3.03,0.00,0.000,6,0.154,0.161,2694,2298,1402
$GC,11574,0.98,146.6,752.9,14.2,347,11576,0.17,0.00,0.00,0.000,6,0.146,0.000,2662,2298,1402
$GC,11878,0.98,146.6,716.4,11.9,352,11883,0.00,3.45,0.00,0.000,4,0.000,0.221,2661,3715,1402
$GC,11927,0.90,146.6,710.2,11.8,352,11931,0.00,2.97,0.00,0.000,6,0.000,0.159,2661,2301,1402
$GC,12241,0.90,146.6,674.9,11.1,358,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2301,1402
$GC,12544,0.90,146.6,642.0,10.7,363,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2301,1402
$GC,12847,0.90,146.6,611.0,10.1,368,12853,0.00,3.42,0.00,0.000,4,0.000,0.221,2661,3716,1402
$GC,12879,0.86,146.6,607.1,11.9,368,12885,0.12,2.95,0.00,0.000,6,0.149,0.154,2639,2299,1402
$GC,13211,0.92,146.7,573.5,10.0,374,13216,0.00,3.15,0.00,0.000,4,0.000,0.191,2639,884,1402
$GC,13237,0.98,146.7,570.3,12.2,374,13243,0.10,3.38,0.00,0.000,6,0.097,0.211,2666,2303,1402
$GC,13568,0.98,146.7,534.5,10.7,380,13573,0.00,3.35,0.00,0.000,4,0.000,0.221,2666,3712,1402
$GC,13645,0.93,146.7,525.1,13.0,381,13650,0.00,2.92,0.00,0.000,6,0.000,0.151,2666,2297,1402
$GC,13999,0.93,146.7,486.9,10.6,387,14004,0.00,3.15,0.00,0.000,4,0.000,0.194,2667,882,1402
$GC,14025,0.93,146.7,484.0,10.3,387,14030,0.00,3.38,0.00,0.000,6,0.000,0.211,2667,2301,1402
$GC,14362,0.96,162.3,451.9,9.3,393,14383,0.00,3.45,14.12,1.090,4,0.000,0.223,2667,3712,1359
$GC,14421,0.96,162.3,446.2,10.4,394,14426,0.00,2.95,0.00,0.000,6,0.000,0.149,2667,2295,1359
$GC,14787,1.05,191.6,414.6,8.6,400,14813,0.00,0.00,24.48,1.100,6,0.000,0.000,2666,2295,1280
$GC,15090,1.12,201.0,386.0,9.6,405,15106,0.12,3.50,9.52,0.983,4,0.089,0.219,2701,3714,1254
$GC,15139,1.06,201.0,380.1,12.4,405,15144,0.00,2.95,0.00,0.000,6,0.000,0.151,2701,2301,1255
$GC,15453,1.06,201.0,346.1,10.8,411,15458,0.00,3.15,0.00,0.000,4,0.000,0.189,2701,884,1255
$GC,15485,1.06,201.0,342.5,11.0,411,15490,0.00,3.38,0.00,0.000,6,0.000,0.209,2701,2300,1254
$GC,15817,1.06,201.0,305.4,11.3,417,15818,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2300,1255
$GC,16125,1.06,201.0,272.5,10.8,430,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2300,1254
$GC,16434,1.08,209.1,241.8,9.6,445,16444,0.00,0.00,8.25,0.891,6,0.000,0.000,2701,2300,1232
$GC,16743,1.11,228.2,213.3,9.1,460,16765,0.00,0.00,17.38,0.956,6,0.000,0.000,2701,2300,1181
$GC,17073,1.20,244.6,181.9,9.2,476,17099,0.00,3.47,17.33,0.931,4,0.000,0.216,2701,3712,1136
$GC,17132,1.20,244.6,175.9,11.6,478,17139,0.00,2.95,0.00,0.000,6,0.000,0.146,2702,2301,1136
$GC,17449,1.28,244.6,144.5,10.2,496,17455,0.12,3.38,0.00,0.000,4,0.089,0.214,2737,3714,1136
$GC,17488,1.23,244.6,139.7,11.7,499,17493,0.00,2.90,0.00,0.000,6,0.000,0.146,2737,2300,1136
$GC,17812,1.23,246.0,105.1,9.9,529,17817,0.00,3.35,0.00,0.000,4,0.000,0.211,2737,3712,1136
$GC,17889,1.26,261.0,96.9,9.3,535,17910,0.00,2.90,14.32,0.867,6,0.000,0.144,2737,2294,1091
$GC,18239,1.41,296.5,68.9,8.3,581,18274,0.00,3.22,28.58,0.874,4,0.000,0.191,2737,887,995
$GC,18319,1.56,323.5,61.7,8.7,595,18349,0.25,3.38,22.50,0.844,6,0.077,0.206,2800,2304,921
$GC,18676,1.70,374.2,21.5,7.6,643,18722,0.00,3.22,40.12,0.837,4,0.000,0.181,2800,886,783
$GC,18738,1.97,452.2,17.8,6.3,648,18809,0.35,3.38,60.62,0.824,6,0.077,0.201,2884,2305,570
$STATE,18869,end climb,SURFACE_DEPTH_REACHED
$STATE,18869,begin surface coast
$FINISH,0.1,1.023781
$STATE,18882,end surface coast,CONTROL_FINISHED_OK
$STATE,18882,begin surface
$SM_CCo,18958,0.00,0.000,0,0,570,452.95
$SM_GC,0.92,9.98,0.00,0.00,0.074,0.000,0.000,657,2306,570,-8.24,0.17,452.95
$IRIDIUM_FIX,4641.78,-12503.66,111297,090927
$TT8_MAMPS,0.021476
$HUMID,2257
$INTERNAL_PRESSURE,9.18345
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,22.8,13.566
$10V_AH,10.2,3.412
$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,24.825,200.825,488.800,0.000,0.000,22.872,80.956,111.675,7.500,0.000,0.000,15.623,1358.822,15207.067,686.535,1696.345,311.388,33.349,1634.332,0.000,1634.490,0.000,48.804,0.000
$DEVICE_MAMPS,193.674,230.919,1417.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22159,662
$CAP_FILE_SIZE,138699,0
$CFSIZE,260165632,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
$GPS,160908,200028,4700.869,-12511.932,41,2.9,60,18.4