version: 66.04
glider: 30
mission: 7
dive: 11
start: 9 17 108 1 29 34
data:
$ID,30
$MISSION,7
$DIVE,11
$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,-72762.992
$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,8
$R_STBD_OVSHOOT,4
$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
$GPS1,012437,4700.869,-12514.905,46,1.7,46,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-52.2
$GPS2,012839,4700.860,-12514.901,14,1.7,14,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.239,-0.101
$KALMAN_X,5514.4,261.5,66.6,-27214.0,651.5
$KALMAN_Y,4338.8,-320.5,-155.0,562.5,1963.1
$MHEAD_RNG_PITCHd_Wd,228.8,208535,-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,-82.72,0.000,2,0.000,0.000,657,2296,1531
$GC,101,-1.43,-146.6,3.2,-5.0,8,148,8.30,3.22,-32.50,0.000,4,0.191,0.186,2134,3714,2200
$GC,372,-1.29,-146.6,58.1,-16.3,41,379,0.17,2.83,0.00,0.000,6,0.144,0.132,2166,2294,2199
$GC,706,-1.29,-146.6,99.4,-11.1,86,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2294,2198
$GC,1025,-1.34,-146.6,133.2,-10.8,116,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2294,2197
$GC,1339,-1.40,-146.6,168.3,-10.5,138,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2294,2196
$GC,1649,-1.48,-146.6,199.2,-10.1,153,1655,0.20,3.22,0.00,0.000,4,0.079,0.194,2111,3714,2195
$GC,1767,-1.40,-146.6,213.7,-12.4,158,1772,0.17,2.83,0.00,0.000,6,0.134,0.137,2143,2298,2195
$GC,2081,-1.40,-146.6,241.9,-8.3,173,2086,0.00,3.05,0.00,0.000,4,0.000,0.179,2143,887,2194
$GC,2148,-1.44,-146.6,247.7,-8.3,176,2153,0.00,3.20,0.00,0.000,6,0.000,0.189,2143,2301,2194
$GC,2469,-1.49,-146.6,274.4,-8.4,192,2474,0.00,3.20,0.00,0.000,4,0.000,0.199,2143,3717,2194
$GC,2552,-1.49,-146.6,282.0,-9.6,196,2557,0.00,2.85,0.00,0.000,6,0.000,0.139,2143,2294,2194
$GC,2917,-1.54,-146.6,311.5,-8.1,210,2918,0.15,0.00,0.00,0.000,6,0.084,0.000,2103,2293,2194
$GC,3219,-1.54,-146.6,342.2,-10.2,215,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2294,2194
$GC,3522,-1.54,-146.6,373.1,-10.1,220,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2294,2194
$GC,3826,-1.54,-146.6,402.4,-9.6,225,3831,0.00,3.25,0.00,0.000,4,0.000,0.199,2103,3714,2193
$GC,3948,-1.49,-146.6,416.1,-11.7,226,3955,0.12,2.83,0.00,0.000,6,0.142,0.139,2125,2301,2193
$GC,4257,-1.54,-146.6,444.9,-9.2,232,4262,0.00,3.08,0.00,0.000,4,0.000,0.179,2125,880,2193
$GC,4340,-1.59,-146.6,452.6,-8.9,233,4345,0.00,3.22,0.00,0.000,6,0.000,0.194,2125,2302,2192
$GC,4682,-1.65,-146.6,481.4,-8.3,239,4688,0.15,3.22,0.00,0.000,4,0.084,0.204,2084,3715,2192
$GC,4788,-1.56,-146.6,492.3,-10.8,240,4793,0.12,2.85,0.00,0.000,6,0.144,0.139,2106,2296,2192
$GC,5113,-1.56,-146.6,518.8,-7.9,246,5118,0.00,3.08,0.00,0.000,4,0.000,0.184,2107,881,2192
$GC,5196,-1.56,-146.6,525.3,-7.5,247,5201,0.00,3.22,0.00,0.000,6,0.000,0.194,2107,2299,2191
$GC,5539,-1.60,-146.6,550.2,-7.3,253,5544,0.00,3.22,0.00,0.000,4,0.000,0.206,2107,3713,2191
$GC,5627,-1.60,-146.6,556.8,-7.2,254,5632,0.00,2.85,0.00,0.000,6,0.000,0.142,2106,2299,2191
$GC,5971,-1.64,-146.6,579.0,-6.4,260,5975,0.00,3.08,0.00,0.000,4,0.000,0.181,2107,881,2191
$GC,6070,-1.68,-146.6,585.8,-6.7,261,6076,0.12,3.25,0.00,0.000,6,0.087,0.196,2070,2303,2191
$GC,6396,-1.64,-146.6,611.1,-7.8,267,6401,0.10,3.25,0.00,0.000,4,0.144,0.206,2089,3717,2191
$GC,6536,-1.60,-146.6,622.4,-7.3,269,6541,0.00,2.88,0.00,0.000,6,0.000,0.146,2089,2299,2190
$GC,6889,-1.60,-146.6,648.3,-7.3,275,6893,0.00,3.08,0.00,0.000,4,0.000,0.184,2089,887,2190
$GC,6965,-1.60,-146.6,654.1,-7.7,276,6970,0.00,3.22,0.00,0.000,6,0.000,0.196,2089,2300,2190
$GC,7320,-1.60,-146.6,677.0,-6.1,282,7325,0.00,3.25,0.00,0.000,4,0.000,0.209,2089,3712,2190
$GC,7408,-1.60,-146.6,683.2,-7.6,283,7413,0.00,2.88,0.00,0.000,6,0.000,0.146,2089,2301,2190
$GC,7752,-1.60,-146.6,703.4,-5.8,289,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2301,2189
$GC,8054,-1.60,-146.6,718.7,-5.0,294,8059,0.00,3.30,0.00,0.000,4,0.000,0.209,2089,3713,2189
$GC,8131,-1.60,-146.6,723.1,-5.3,295,8135,0.00,2.88,0.00,0.000,6,0.000,0.149,2089,2301,2189
$GC,8485,-1.64,-146.6,742.0,-5.2,301,8490,0.00,3.12,0.00,0.000,4,0.000,0.189,2089,885,2189
$GC,8681,-1.64,-146.6,754.0,-6.4,304,8686,0.00,3.25,0.00,0.000,6,0.000,0.199,2089,2299,2188
$GC,9047,-1.69,-146.6,774.5,-5.6,310,9052,0.00,3.28,0.00,0.000,4,0.000,0.214,2089,3711,2188
$GC,9214,-1.69,-146.6,784.7,-5.9,312,9218,0.00,2.88,0.00,0.000,6,0.000,0.149,2089,2301,2188
$GC,9540,-1.74,-146.6,799.9,-4.5,318,9545,0.00,3.10,0.00,0.000,4,0.000,0.184,2089,880,2188
$GC,9707,-1.79,-146.6,807.2,-4.3,320,9713,0.12,3.25,0.00,0.000,6,0.087,0.199,2053,2299,2188
$GC,10033,-1.79,-146.6,820.0,-3.9,326,10038,0.00,3.28,0.00,0.000,4,0.000,0.211,2053,3713,2188
$GC,10167,-1.69,-146.6,825.6,-3.8,328,10172,0.15,2.88,0.00,0.000,6,0.142,0.149,2081,2301,2188
$GC,10526,-1.73,-146.6,837.2,-3.3,334,10531,0.00,3.10,0.00,0.000,4,0.000,0.184,2081,880,2188
$GC,10647,-1.73,-146.6,842.1,-4.2,335,10654,0.00,3.28,0.00,0.000,6,0.000,0.201,2081,2302,2187
$STATE,10834,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10834,begin apogee
$GC,10837,-0.32,0.0,848.9,3.7,339,10957,1.45,0.00,114.03,1.410,6,0.124,0.000,2380,2302,1801
$STATE,10958,end apogee,CONTROL_FINISHED_OK
$STATE,10958,begin climb
$GC,10959,1.43,146.6,846.5,0.0,341,11087,1.77,3.60,118.65,1.373,4,0.089,0.233,2766,3712,1402
$GC,11097,1.07,146.6,827.5,19.1,343,11103,0.45,3.08,0.00,0.000,6,0.154,0.164,2684,2304,1402
$GC,11439,0.95,146.6,781.4,13.1,349,11441,0.15,0.00,0.00,0.000,6,0.144,0.000,2656,2304,1402
$GC,11742,0.90,146.6,745.1,11.9,354,11748,0.00,3.45,0.00,0.000,4,0.000,0.223,2656,3712,1402
$GC,11769,0.83,146.6,741.6,12.1,354,11774,0.12,3.00,0.00,0.000,6,0.149,0.159,2634,2292,1402
$GC,12105,0.83,146.6,705.1,10.8,360,12110,0.00,3.45,0.00,0.000,4,0.000,0.223,2634,3711,1402
$GC,12137,0.83,146.6,701.5,11.2,360,12142,0.00,3.00,0.00,0.000,6,0.000,0.159,2634,2305,1402
$GC,12469,0.83,146.6,666.6,10.5,366,12474,0.00,3.42,0.00,0.000,4,0.000,0.223,2634,3711,1402
$GC,12483,0.83,146.6,664.9,10.4,366,12488,0.00,3.00,0.00,0.000,6,0.000,0.159,2634,2305,1402
$GC,12832,0.83,148.0,629.7,9.9,372,12837,0.00,3.40,0.00,0.000,4,0.000,0.221,2634,3711,1402
$GC,12858,0.83,148.0,626.9,10.4,372,12863,0.00,3.00,0.00,0.000,6,0.000,0.159,2634,2284,1402
$GC,13196,0.88,148.0,592.8,10.3,378,13201,0.00,3.45,0.00,0.000,4,0.000,0.221,2634,3711,1402
$GC,13227,0.88,148.0,589.1,10.7,378,13232,0.00,2.97,0.00,0.000,6,0.000,0.156,2634,2306,1402
$GC,13560,0.95,148.0,555.6,10.1,384,13561,0.10,0.00,0.00,0.000,6,0.097,0.000,2662,2306,1402
$GC,13862,0.95,148.0,522.8,10.9,389,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2306,1402
$GC,14167,0.96,153.0,492.9,9.8,394,14181,0.00,3.42,6.78,0.976,4,0.000,0.221,2662,3705,1385
$GC,14208,0.96,154.7,488.4,9.9,394,14213,0.00,2.95,0.00,0.000,6,0.000,0.154,2662,2298,1385
$GC,14535,0.98,164.9,457.7,9.5,400,14548,0.00,0.00,11.40,1.063,6,0.000,0.000,2662,2298,1352
$GC,14839,1.02,164.9,427.2,10.1,405,14840,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2298,1352
$GC,15141,1.10,181.7,399.0,9.2,410,15158,0.12,0.00,14.60,1.058,6,0.092,0.000,2697,2298,1307
$GC,15445,1.10,182.0,368.7,10.0,415,15450,0.00,3.40,0.00,0.000,4,0.000,0.216,2697,3712,1307
$GC,15460,1.10,182.0,367.1,10.1,415,15465,0.00,2.97,0.00,0.000,6,0.000,0.154,2697,2302,1307
$GC,15809,1.10,183.9,332.6,9.9,421,15814,0.00,0.00,3.78,0.670,6,0.000,0.000,2697,2301,1301
$GC,16113,1.10,183.9,302.2,10.1,426,16118,0.00,3.38,0.00,0.000,4,0.000,0.216,2697,3711,1301
$GC,16150,1.10,183.9,297.8,10.7,426,16155,0.00,2.95,0.00,0.000,6,0.000,0.154,2697,2289,1301
$GC,16483,1.12,194.3,266.0,9.5,442,16499,0.00,3.47,10.15,0.941,4,0.000,0.219,2697,3714,1272
$GC,16508,1.12,194.3,263.1,11.1,442,16513,0.00,3.00,0.00,0.000,6,0.000,0.154,2697,2301,1272
$GC,16830,1.15,211.1,232.0,9.2,458,16852,0.00,3.47,14.68,0.956,4,0.000,0.219,2697,3714,1227
$GC,16889,1.15,211.1,225.9,10.4,460,16897,0.00,2.97,0.00,0.000,6,0.000,0.151,2697,2307,1227
$GC,17206,1.23,224.1,196.1,9.4,476,17220,0.00,0.00,12.50,0.914,6,0.000,0.000,2697,2307,1191
$GC,17514,1.33,243.1,167.1,9.1,491,17536,0.20,0.00,18.83,0.921,6,0.079,0.000,2749,2306,1140
$GC,17849,1.33,243.1,128.0,11.2,515,17854,0.00,3.35,0.00,0.000,4,0.000,0.211,2750,3714,1140
$GC,17870,1.27,243.1,125.4,12.8,516,17878,0.12,2.92,0.00,0.000,6,0.144,0.151,2728,2298,1140
$GC,18195,1.40,286.7,95.8,8.0,547,18239,0.12,3.47,35.00,0.894,4,0.089,0.214,2762,3714,1021
$GC,18266,1.36,286.7,88.4,11.1,553,18273,0.00,2.95,0.00,0.000,6,0.000,0.149,2762,2297,1021
$GC,18604,1.44,303.9,54.5,9.2,606,18628,0.00,3.25,14.50,0.827,4,0.000,0.194,2762,885,975
$GC,18639,1.50,306.8,51.2,9.9,612,18651,0.00,3.38,4.03,0.569,6,0.000,0.206,2762,2303,967
$GC,18981,1.76,371.4,22.5,7.0,654,19039,0.32,3.40,50.75,0.842,4,0.074,0.214,2842,3715,791
$GC,19055,1.82,404.1,17.1,8.5,661,19089,0.00,2.92,26.08,0.804,6,0.000,0.146,2842,2298,702
$STATE,19213,end climb,SURFACE_DEPTH_REACHED
$STATE,19213,begin surface coast
$FINISH,0.5,1.023799
$STATE,19225,end surface coast,CONTROL_FINISHED_OK
$STATE,19225,begin surface
$SM_CCo,19241,36.33,0.802,0,0,578,450.00
$SM_GC,1.07,0.00,0.00,36.33,0.000,0.000,0.802,655,2298,578,-8.25,-0.08,450.00
$IRIDIUM_FIX,4641.78,-12512.45,111297,202027
$TT8_MAMPS,0.022243
$HUMID,2267
$INTERNAL_PRESSURE,9.18345
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,22.8,13.916
$10V_AH,10.2,3.532
$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,24.725,214.150,455.725,36.325,0.000,27.506,44.666,91.255,7.250,0.000,0.000,14.362,1438.390,15235.253,714.858,1869.975,269.504,33.341,1725.873,0.000,1807.175,0.000,47.187,0.000
$DEVICE_MAMPS,191.191,233.402,1410.344,802.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22142,677
$CAP_FILE_SIZE,145533,0
$CFSIZE,260165632,258457600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
$GPS,170908,065207,4700.073,-12517.128,36,1.5,42,18.4