version: 66.04
glider: 30
mission: 7
dive: 8
start: 9 16 108 9 11 42
data:
$ID,30
$MISSION,7
$DIVE,8
$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,-72694.359
$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
$GPS1,090338,4659.298,-12506.064,33,2.0,33,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.8
$GPS2,091048,4659.289,-12506.104,12,8.1,31,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.256,-0.041
$KALMAN_X,1659.8,-58.0,142.0,-11998.2,470.7
$KALMAN_Y,-78.9,738.1,-171.2,1024.4,833.4
$MHEAD_RNG_PITCHd_Wd,242.6,219645,-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,-82.72,0.000,2,0.000,0.000,658,2298,1559
$GC,101,-1.43,-146.6,3.4,-5.1,8,145,8.30,3.25,-27.25,0.000,4,0.191,0.191,2133,3714,2201
$GC,397,-1.35,-146.6,61.4,-16.2,45,404,0.12,2.80,0.00,0.000,6,0.146,0.132,2155,2298,2200
$GC,729,-1.35,-146.6,106.6,-13.0,87,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2297,2200
$GC,1049,-1.41,-146.6,142.9,-9.8,117,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2297,2200
$GC,1360,-1.48,-146.6,174.7,-10.8,136,1365,0.12,3.22,0.00,0.000,4,0.087,0.204,2119,3714,2200
$GC,1437,-1.44,-146.6,185.0,-13.4,139,1442,0.00,2.80,0.00,0.000,6,0.000,0.134,2119,2300,2200
$GC,1758,-1.44,-146.6,225.5,-12.5,155,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2300,2200
$GC,2067,-1.44,-146.6,260.1,-10.7,170,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2300,2200
$GC,2376,-1.44,-146.6,292.3,-10.2,185,2381,0.00,3.22,0.00,0.000,4,0.000,0.199,2120,3714,2200
$GC,2481,-1.44,-146.6,303.9,-11.8,189,2486,0.00,2.85,0.00,0.000,6,0.000,0.137,2119,2301,2200
$GC,2807,-1.44,-146.6,335.3,-9.6,195,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2301,2200
$GC,3111,-1.48,-146.6,361.5,-8.5,200,3116,0.00,3.25,0.00,0.000,4,0.000,0.199,2120,3717,2200
$GC,3176,-1.48,-146.6,368.1,-9.2,201,3181,0.00,2.85,0.00,0.000,6,0.000,0.139,2120,2297,2200
$GC,3543,-1.53,-146.6,401.4,-9.1,207,3548,0.00,3.03,0.00,0.000,4,0.000,0.174,2120,882,2200
$GC,3636,-1.58,-146.6,409.9,-9.2,208,3641,0.00,3.20,0.00,0.000,6,0.000,0.191,2120,2300,2200
$GC,3968,-1.63,-146.6,437.4,-8.2,214,3973,0.12,3.22,0.00,0.000,4,0.089,0.201,2084,3716,2200
$GC,4108,-1.57,-146.6,450.7,-9.8,216,4113,0.12,2.85,0.00,0.000,6,0.142,0.139,2106,2296,2199
$GC,4461,-1.57,-146.6,479.7,-8.2,222,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2296,2199
$GC,4764,-1.57,-146.6,507.0,-9.0,227,4768,0.00,3.03,0.00,0.000,4,0.000,0.174,2106,883,2199
$GC,4829,-1.57,-146.6,512.9,-9.0,228,4834,0.00,3.20,0.00,0.000,6,0.000,0.191,2106,2300,2199
$GC,5195,-1.61,-146.6,543.8,-8.4,234,5200,0.00,3.22,0.00,0.000,4,0.000,0.206,2106,3713,2198
$GC,5283,-1.61,-146.6,551.6,-9.0,235,5287,0.00,2.85,0.00,0.000,6,0.000,0.142,2106,2296,2198
$GC,5627,-1.66,-146.6,576.7,-7.2,241,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2296,2198
$GC,5931,-1.72,-146.6,597.5,-6.9,246,5932,0.15,0.00,0.00,0.000,6,0.087,0.000,2065,2296,2198
$GC,6232,-1.72,-146.6,621.8,-8.0,251,6237,0.00,3.03,0.00,0.000,4,0.000,0.176,2065,883,2198
$GC,6308,-1.72,-146.6,628.7,-9.0,252,6313,0.00,3.20,0.00,0.000,6,0.000,0.191,2065,2301,2197
$GC,6662,-1.72,-146.6,659.9,-8.9,258,6667,0.00,3.22,0.00,0.000,4,0.000,0.209,2065,3713,2197
$GC,6784,-1.64,-146.6,671.3,-10.1,259,6792,0.12,2.88,0.00,0.000,6,0.142,0.144,2088,2293,2197
$GC,7093,-1.64,-146.6,695.7,-7.7,265,7098,0.00,3.05,0.00,0.000,4,0.000,0.181,2088,886,2197
$GC,7158,-1.64,-146.6,700.9,-7.1,266,7163,0.00,3.20,0.00,0.000,6,0.000,0.194,2088,2302,2197
$GC,7524,-1.69,-146.6,724.1,-6.1,272,7529,0.00,3.25,0.00,0.000,4,0.000,0.209,2088,3714,2197
$GC,7654,-1.69,-146.6,732.3,-6.5,274,7659,0.00,2.88,0.00,0.000,6,0.000,0.146,2087,2297,2197
$GC,8019,-1.74,-146.6,751.4,-5.1,280,8024,0.00,3.03,0.00,0.000,4,0.000,0.179,2087,886,2196
$GC,8158,-1.78,-146.6,759.2,-5.2,282,8164,0.12,3.22,0.00,0.000,6,0.089,0.196,2053,2303,2196
$GC,8512,-1.78,-146.6,779.5,-5.8,288,8517,0.00,3.25,0.00,0.000,4,0.000,0.211,2052,3718,2196
$GC,8605,-1.70,-146.6,785.7,-6.1,289,8611,0.15,2.88,0.00,0.000,6,0.142,0.146,2080,2300,2196
$GC,8937,-1.74,-146.6,804.3,-5.6,295,8942,0.00,3.08,0.00,0.000,4,0.000,0.184,2080,886,2195
$GC,9031,-1.74,-146.6,809.9,-5.8,296,9035,0.00,3.22,0.00,0.000,6,0.000,0.196,2080,2300,2195
$GC,9368,-1.78,-146.6,830.3,-6.1,302,9373,0.00,3.28,0.00,0.000,4,0.000,0.211,2080,3717,2195
$GC,9507,-1.78,-146.6,839.4,-5.9,304,9512,0.00,2.90,0.00,0.000,6,0.000,0.149,2080,2296,2195
$GC,9867,-1.83,-146.6,856.9,-4.7,310,9873,0.15,3.05,0.00,0.000,4,0.087,0.181,2039,886,2194
$GC,10007,-1.77,-146.6,864.4,-5.2,312,10013,0.12,3.22,0.00,0.000,6,0.142,0.196,2062,2301,2194
$GC,10360,-1.77,-146.6,878.3,-3.8,318,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2301,2194
$GC,10665,-1.77,-146.6,889.6,-3.7,323,10670,0.00,3.08,0.00,0.000,4,0.000,0.176,2062,884,2194
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10815,-0.32,0.0,896.2,4.8,325,10934,1.50,0.00,115.43,1.450,6,0.129,0.000,2373,2301,1801
$STATE,10935,end apogee,CONTROL_FINISHED_OK
$STATE,10935,begin climb
$GC,10937,1.43,146.6,894.9,0.0,327,11064,1.77,3.58,118.00,1.413,4,0.092,0.233,2764,3713,1402
$GC,11102,1.08,146.6,869.2,20.1,329,11108,0.43,3.05,0.00,0.000,6,0.149,0.164,2685,2299,1402
$GC,11422,0.97,146.6,824.4,13.7,335,11428,0.12,3.47,0.00,0.000,4,0.151,0.223,2663,3713,1402
$GC,11444,0.86,146.6,821.3,13.8,335,11449,0.15,2.97,0.00,0.000,6,0.144,0.159,2636,2301,1402
$GC,11786,0.86,146.6,786.1,10.0,341,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2301,1402
$GC,12089,0.86,146.6,753.6,10.8,346,12094,0.00,3.45,0.00,0.000,4,0.000,0.223,2636,3715,1402
$GC,12098,0.86,146.6,752.5,11.0,346,12103,0.00,2.97,0.00,0.000,6,0.000,0.156,2636,2299,1402
$GC,12452,0.86,146.6,712.3,11.3,352,12457,0.00,3.45,0.00,0.000,4,0.000,0.223,2636,3713,1402
$GC,12478,0.86,146.6,709.1,11.8,352,12483,0.00,3.00,0.00,0.000,6,0.000,0.156,2636,2300,1402
$GC,12816,0.90,146.6,673.1,10.6,358,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2300,1402
$GC,13119,0.95,146.6,640.8,10.6,363,13124,0.00,3.42,0.00,0.000,4,0.000,0.221,2636,3712,1402
$GC,13139,0.95,146.6,638.5,10.6,363,13144,0.00,2.97,0.00,0.000,6,0.000,0.156,2636,2302,1402
$GC,13483,1.03,162.0,605.8,9.3,369,13499,0.17,0.00,13.90,1.172,6,0.084,0.000,2682,2302,1360
$GC,13787,1.03,162.0,572.2,11.1,374,13792,0.00,3.42,0.00,0.000,4,0.000,0.219,2682,3712,1360
$GC,13807,0.98,162.0,569.5,11.8,374,13812,0.00,2.95,0.00,0.000,6,0.000,0.156,2682,2300,1360
$GC,14150,0.98,162.0,529.5,11.6,380,14151,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2300,1360
$GC,14453,0.98,162.0,496.8,10.8,385,14458,0.00,3.40,0.00,0.000,4,0.000,0.219,2682,3716,1360
$GC,14507,0.92,162.0,490.3,12.4,385,14515,0.17,2.95,0.00,0.000,6,0.139,0.154,2650,2295,1360
$GC,14818,1.02,178.2,461.2,9.2,391,14839,0.00,3.50,14.48,1.100,4,0.000,0.221,2649,3712,1316
$GC,14877,1.02,178.2,455.1,10.2,392,14882,0.00,2.95,0.00,0.000,6,0.000,0.154,2650,2301,1316
$GC,15243,1.16,207.1,422.7,8.6,398,15270,0.22,0.00,24.48,1.107,6,0.079,0.000,2708,2301,1238
$GC,15546,1.16,207.1,385.9,12.4,403,15551,0.00,3.40,0.00,0.000,4,0.000,0.216,2707,3712,1238
$GC,15561,1.11,207.1,383.7,12.2,403,15565,0.00,2.95,0.00,0.000,6,0.000,0.154,2708,2301,1238
$GC,15909,1.11,207.1,344.6,11.1,409,15914,0.00,3.38,0.00,0.000,4,0.000,0.216,2708,3713,1238
$GC,15923,1.11,207.1,342.7,11.3,409,15929,0.00,2.95,0.00,0.000,6,0.000,0.151,2708,2307,1238
$GC,16272,1.11,207.1,307.0,10.0,415,16273,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2307,1238
$GC,16579,1.15,229.2,277.1,9.0,426,16605,0.00,3.47,20.17,1.008,4,0.000,0.216,2707,3715,1179
$GC,16626,1.15,229.2,272.4,10.0,428,16639,0.00,3.00,4.32,0.693,6,0.000,0.151,2708,2299,1179
$GC,16947,1.15,229.2,238.9,10.8,444,16957,0.00,3.40,4.22,0.690,4,0.000,0.214,2707,3712,1178
$GC,17007,1.15,229.2,231.7,12.3,447,17011,0.00,2.92,0.00,0.000,6,0.000,0.149,2708,2299,1180
$GC,17332,1.20,229.2,196.8,10.7,463,17337,0.00,3.35,0.00,0.000,4,0.000,0.211,2707,3712,1180
$GC,17348,1.20,229.2,195.0,10.3,464,17352,0.00,2.90,0.00,0.000,6,0.000,0.149,2707,2299,1181
$GC,17674,1.26,232.5,161.7,9.8,480,17682,0.00,0.00,5.78,0.770,6,0.000,0.000,2708,2299,1169
$GC,17989,1.37,253.2,131.8,9.0,504,18016,0.17,3.47,17.90,0.906,4,0.082,0.214,2755,3711,1112
$GC,18128,1.31,253.2,115.3,12.5,516,18135,0.12,2.90,0.00,0.000,6,0.144,0.146,2733,2299,1112
$GC,18452,1.40,261.9,84.3,9.6,547,18467,0.00,3.20,8.38,0.802,4,0.000,0.189,2733,887,1089
$GC,18489,1.49,267.2,81.2,9.8,550,18501,0.20,3.33,6.07,0.725,6,0.082,0.204,2783,2300,1074
$GC,18838,1.56,304.8,49.4,8.2,610,18878,0.00,3.42,30.05,0.867,4,0.000,0.214,2783,3711,972
$GC,18911,1.56,304.8,42.4,10.4,623,18918,0.00,2.90,0.00,0.000,6,0.000,0.144,2784,2300,972
$GC,19240,1.92,426.5,17.0,4.3,656,19341,0.38,0.00,93.65,0.847,6,0.074,0.000,2876,2299,641
$STATE,19391,end climb,SURFACE_DEPTH_REACHED
$STATE,19391,begin surface coast
$FINISH,0.4,1.023834
$STATE,19403,end surface coast,CONTROL_FINISHED_OK
$STATE,19404,begin surface
$SM_CCo,19419,19.23,0.780,0,0,578,450.00
$SM_GC,0.75,0.00,0.00,19.23,0.000,0.000,0.780,657,2299,578,-8.25,-0.03,450.00
$IRIDIUM_FIX,4641.78,-12503.66,111297,090937
$TT8_MAMPS,0.021476
$HUMID,2273
$INTERNAL_PRESSURE,9.18345
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,22.8,13.389
$10V_AH,10.2,3.354
$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,25.025,213.475,476.825,19.225,0.000,47.588,64.251,156.658,7.750,0.000,0.000,33.175,1429.671,15463.156,681.526,1933.379,368.276,33.347,1727.514,0.000,1845.435,0.000,50.389,0.000
$DEVICE_MAMPS,191.191,233.402,1450.072,779.662,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22138,672
$CAP_FILE_SIZE,148028,0
$CFSIZE,260165632,258633728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
$GPS,160908,143707,4659.499,-12509.304,42,1.6,53,18.4