version: 66.04
glider: 30
mission: 7
dive: 10
start: 9 16 108 20 5 22
data:
$ID,30
$MISSION,7
$DIVE,10
$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,-72748
$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
$GPS1,200028,4700.869,-12511.932,41,2.9,60,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-54.4
$GPS2,200429,4700.881,-12511.929,16,2.9,35,18.4
$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,-0.039
$KALMAN_X,4169.6,257.4,72.3,-22114.6,920.8
$KALMAN_Y,3064.1,-49.9,102.6,1339.7,745.3
$MHEAD_RNG_PITCHd_Wd,242.9,212290,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.43,-146.6,0.0,0.0,0,109,0.00,0.00,-92.10,0.000,2,0.000,0.000,657,2306,1652
$GC,111,-1.43,-146.6,4.1,-6.3,9,147,8.23,3.17,-22.15,0.000,4,0.189,0.191,2132,3714,2202
$GC,377,-1.29,-146.6,61.1,-17.2,43,385,0.17,2.80,0.00,0.000,6,0.139,0.132,2164,2298,2202
$GC,710,-1.29,-146.6,102.1,-10.9,86,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2298,2202
$GC,1029,-1.35,-146.6,138.0,-10.3,116,1034,0.00,3.25,0.00,0.000,4,0.000,0.196,2164,3718,2202
$GC,1117,-1.35,-146.6,147.7,-10.4,123,1124,0.00,2.85,0.00,0.000,6,0.000,0.137,2164,2307,2202
$GC,1434,-1.43,-146.6,178.9,-10.0,140,1439,0.12,3.05,0.00,0.000,4,0.089,0.174,2128,884,2201
$GC,1511,-1.43,-146.6,188.2,-12.9,143,1518,0.00,3.20,0.00,0.000,6,0.000,0.186,2128,2307,2201
$GC,1826,-1.43,-146.6,222.5,-11.0,159,1831,0.00,3.15,0.00,0.000,4,0.000,0.199,2128,3711,2201
$GC,1914,-1.43,-146.6,232.8,-12.0,163,1919,0.00,2.85,0.00,0.000,6,0.000,0.134,2128,2296,2201
$GC,2241,-1.43,-146.6,265.7,-9.8,179,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2297,2201
$GC,2552,-1.43,-146.6,294.2,-9.2,194,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2296,2200
$GC,2854,-1.43,-146.6,324.0,-9.8,201,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2296,2199
$GC,3160,-1.43,-146.6,352.1,-9.3,206,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2296,2199
$GC,3461,-1.47,-146.6,380.9,-9.5,211,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2297,2198
$GC,3764,-1.53,-146.6,407.7,-8.7,216,3769,0.00,3.25,0.00,0.000,4,0.000,0.199,2128,3715,2198
$GC,3863,-1.53,-146.6,417.5,-10.3,217,3868,0.00,2.85,0.00,0.000,6,0.000,0.139,2128,2307,2197
$GC,4195,-1.60,-146.6,445.6,-8.4,223,4197,0.12,0.00,0.00,0.000,6,0.087,0.000,2091,2307,2197
$GC,4498,-1.60,-146.6,470.7,-8.2,228,4503,0.00,3.22,0.00,0.000,4,0.000,0.199,2091,3711,2196
$GC,4561,-1.53,-146.6,475.7,-8.1,229,4566,0.12,2.83,0.00,0.000,6,0.142,0.139,2114,2298,2195
$GC,4926,-1.57,-146.6,503.6,-7.7,235,4931,0.00,3.03,0.00,0.000,4,0.000,0.181,2114,887,2194
$GC,4998,-1.62,-146.6,510.0,-8.4,236,5003,0.00,3.20,0.00,0.000,6,0.000,0.191,2114,2299,2194
$GC,5352,-1.67,-146.6,538.6,-8.1,242,5357,0.12,3.22,0.00,0.000,4,0.087,0.204,2078,3713,2193
$GC,5498,-1.58,-146.6,552.8,-9.1,244,5503,0.12,2.83,0.00,0.000,6,0.142,0.142,2101,2299,2193
$GC,5845,-1.58,-146.6,582.3,-8.3,250,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2300,2192
$GC,6148,-1.58,-146.6,604.7,-7.2,255,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2299,2192
$GC,6453,-1.63,-146.6,622.8,-5.8,260,6458,0.00,3.05,0.00,0.000,4,0.000,0.181,2101,887,2191
$GC,6502,-1.68,-146.6,625.8,-5.5,260,6507,0.00,3.20,0.00,0.000,6,0.000,0.194,2101,2301,2191
$GC,6812,-1.72,-146.6,643.9,-5.9,265,6818,0.12,3.25,0.00,0.000,4,0.089,0.206,2065,3714,2191
$GC,6924,-1.63,-146.6,653.0,-7.7,266,6930,0.15,2.85,0.00,0.000,6,0.139,0.142,2093,2299,2191
$GC,7238,-1.63,-146.6,672.5,-6.2,272,7243,0.00,3.05,0.00,0.000,4,0.000,0.179,2093,888,2191
$GC,7376,-1.63,-146.6,681.7,-6.5,274,7382,0.00,3.22,0.00,0.000,6,0.000,0.194,2093,2302,2191
$GC,7731,-1.63,-146.6,702.9,-6.0,280,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2301,2191
$GC,8035,-1.68,-146.6,721.3,-6.1,285,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2302,2190
$GC,8337,-1.73,-146.6,739.3,-5.8,290,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2302,2190
$GC,8640,-1.78,-146.6,754.1,-4.7,295,8642,0.15,0.00,0.00,0.000,6,0.084,0.000,2052,2302,2190
$GC,8945,-1.73,-146.6,770.3,-5.4,300,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2302,2189
$GC,9246,-1.69,-146.6,786.3,-5.3,305,9252,0.15,3.08,0.00,0.000,4,0.137,0.176,2080,887,2189
$GC,9329,-1.69,-146.6,790.8,-5.2,306,9334,0.00,3.22,0.00,0.000,6,0.000,0.196,2080,2302,2189
$GC,9678,-1.69,-146.6,808.3,-5.1,312,9683,0.00,3.25,0.00,0.000,4,0.000,0.211,2080,3714,2189
$GC,9782,-1.69,-146.6,814.3,-5.7,313,9787,0.00,2.88,0.00,0.000,6,0.000,0.146,2080,2301,2188
$GC,10109,-1.69,-146.6,829.7,-4.7,319,10113,0.00,3.10,0.00,0.000,4,0.000,0.186,2080,887,2188
$GC,10174,-1.69,-146.6,833.3,-5.7,320,10179,0.00,3.22,0.00,0.000,6,0.000,0.196,2080,2297,2188
$GC,10540,-1.69,-146.6,851.2,-5.0,326,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2297,2188
$STATE,10842,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10842,begin apogee
$GC,10845,-0.32,0.0,867.0,5.3,331,10964,1.45,0.00,114.20,1.428,6,0.124,0.000,2379,2297,1801
$STATE,10965,end apogee,CONTROL_FINISHED_OK
$STATE,10965,begin climb
$GC,10966,1.43,146.6,866.4,0.0,333,11093,1.73,3.58,117.95,1.390,4,0.092,0.231,2760,3712,1402
$GC,11182,1.07,146.6,833.1,19.5,336,11188,0.40,3.03,0.00,0.000,6,0.154,0.161,2686,2302,1402
$GC,11519,0.95,146.6,783.7,14.5,342,11521,0.15,0.00,0.00,0.000,6,0.146,0.000,2659,2302,1402
$GC,11822,0.91,146.6,745.1,12.5,347,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2302,1402
$GC,12126,0.91,146.6,708.8,11.9,352,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2302,1402
$GC,12428,0.91,146.6,675.1,11.0,357,12433,0.00,3.42,0.00,0.000,4,0.000,0.219,2658,3715,1402
$GC,12454,0.86,146.6,672.0,10.7,357,12460,0.12,2.97,0.00,0.000,6,0.149,0.156,2637,2294,1402
$GC,12792,0.87,150.2,638.9,9.8,363,12802,0.00,3.47,4.95,0.906,4,0.000,0.221,2637,3713,1392
$GC,12823,0.87,151.3,635.7,9.9,363,12828,0.00,2.97,0.00,0.000,6,0.000,0.156,2637,2295,1392
$GC,13156,0.95,167.3,605.5,9.2,369,13177,0.00,3.53,15.12,1.172,4,0.000,0.223,2637,3712,1346
$GC,13187,1.01,178.7,602.4,9.5,369,13204,0.15,3.00,10.68,1.100,6,0.089,0.154,2675,2297,1315
$GC,13512,1.01,178.7,563.7,12.2,375,13517,0.00,3.45,0.00,0.000,4,0.000,0.219,2675,3715,1315
$GC,13532,1.01,178.7,561.0,12.9,375,13537,0.00,2.97,0.00,0.000,6,0.000,0.154,2675,2307,1315
$GC,13875,1.01,178.7,519.7,11.8,381,13880,0.00,3.40,0.00,0.000,4,0.000,0.219,2675,3713,1315
$GC,13907,0.97,178.7,515.9,12.0,381,13912,0.00,2.95,0.00,0.000,6,0.000,0.154,2675,2298,1315
$GC,14238,0.97,178.7,478.5,11.3,387,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2298,1316
$GC,14541,0.97,178.7,445.0,10.9,392,14547,0.00,3.40,0.00,0.000,4,0.000,0.216,2675,3714,1316
$GC,14579,0.97,178.7,440.3,12.9,392,14584,0.00,2.95,0.00,0.000,6,0.000,0.151,2675,2307,1315
$GC,14905,0.97,178.7,405.0,10.7,398,14910,0.00,3.38,0.00,0.000,4,0.000,0.216,2675,3715,1315
$GC,14948,0.97,181.2,400.4,9.9,398,14958,0.00,2.92,4.25,0.760,6,0.000,0.151,2675,2298,1308
$GC,15267,1.06,204.8,371.6,8.9,404,15293,0.00,3.53,19.90,1.065,4,0.000,0.219,2675,3717,1244
$GC,15343,1.09,221.9,364.4,9.2,405,15364,0.00,2.95,15.52,1.023,6,0.000,0.149,2675,2302,1197
$GC,15689,1.16,227.2,331.2,9.8,411,15704,0.12,3.45,8.12,0.921,4,0.089,0.216,2710,3712,1183
$GC,15742,1.10,227.2,324.6,12.2,411,15747,0.00,2.97,0.00,0.000,6,0.000,0.154,2710,2296,1186
$GC,16058,1.10,227.2,287.8,11.2,419,16063,0.00,3.40,0.00,0.000,4,0.000,0.214,2710,3717,1186
$GC,16074,1.10,227.2,286.1,11.1,420,16078,0.00,2.95,0.00,0.000,6,0.000,0.151,2710,2299,1187
$GC,16399,1.10,227.2,251.7,10.7,436,16404,0.00,3.38,0.00,0.000,4,0.000,0.211,2710,3717,1186
$GC,16414,1.10,227.2,249.8,11.7,437,16419,0.00,2.92,0.00,0.000,6,0.000,0.151,2710,2298,1187
$GC,16739,1.10,227.2,215.2,10.9,453,16745,0.00,3.35,0.00,0.000,4,0.000,0.211,2710,3713,1187
$GC,16755,1.10,227.2,213.6,10.6,454,16760,0.00,2.92,0.00,0.000,6,0.000,0.149,2710,2295,1187
$GC,17081,1.11,232.4,180.4,9.8,470,17095,0.00,3.42,7.43,0.837,4,0.000,0.211,2710,3706,1169
$GC,17117,1.11,232.4,176.4,11.0,471,17125,0.00,2.95,0.00,0.000,6,0.000,0.149,2710,2299,1170
$GC,17434,1.17,238.9,146.4,9.7,488,17448,0.00,3.42,7.45,0.814,4,0.000,0.211,2710,3709,1151
$GC,17460,1.20,253.3,143.9,9.3,490,17479,0.00,2.92,12.93,0.874,6,0.000,0.149,2710,2299,1112
$GC,17795,1.33,279.8,113.4,8.8,522,17820,0.12,0.00,22.10,0.894,6,0.089,0.000,2746,2299,1040
$GC,18134,1.42,302.6,81.0,8.9,554,18155,0.00,0.00,19.02,0.862,6,0.000,0.000,2746,2299,978
$GC,18492,1.53,306.6,45.5,9.8,616,18505,0.17,3.35,5.05,0.660,4,0.082,0.206,2793,3712,967
$GC,18556,1.49,306.6,37.9,12.1,625,18562,0.00,2.90,0.00,0.000,6,0.000,0.146,2792,2301,967
$GC,18880,1.77,397.6,14.8,5.7,656,18959,0.20,3.45,70.28,0.844,4,0.082,0.206,2848,3712,720
$GC,18987,1.82,424.7,5.7,8.7,666,19019,0.00,2.92,22.27,0.790,6,0.000,0.144,2848,2297,646
$STATE,19027,end climb,SURFACE_DEPTH_REACHED
$STATE,19027,begin surface coast
$FINISH,0.1,1.023786
$STATE,19039,end surface coast,CONTROL_FINISHED_OK
$STATE,19039,begin surface
$SM_CCo,19055,20.60,0.777,0,0,578,450.00
$SM_GC,0.07,0.00,0.00,20.60,0.000,0.000,0.777,657,2296,578,-8.25,-0.11,450.00
$IRIDIUM_FIX,4641.78,-12515.03,111297,141455
$TT8_MAMPS,0.021476
$HUMID,2270
$INTERNAL_PRESSURE,9.18345
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.8,13.742
$10V_AH,10.2,3.471
$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,24.025,194.700,477.225,20.600,0.000,30.590,24.690,85.863,7.500,0.000,0.000,36.750,1375.451,15338.296,672.129,1704.984,232.808,33.351,1620.138,0.000,1622.978,0.000,48.772,0.000
$DEVICE_MAMPS,188.708,230.919,1427.725,777.179,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22095,671
$CAP_FILE_SIZE,138823,0
$CFSIZE,260165632,258523136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,170908,012437,4700.869,-12514.905,46,1.7,46,18.4