version: 66.04
glider: 30
mission: 7
dive: 12
start: 9 17 108 6 56 58
data:
$ID,30
$MISSION,7
$DIVE,12
$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,-72777.492
$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,6
$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
$GPS1,065207,4700.073,-12517.128,36,1.5,42,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-56.0
$GPS2,065603,4700.088,-12517.146,13,1.6,13,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.244,-0.087
$KALMAN_X,7467.9,84.6,223.5,-31987.9,877.5
$KALMAN_Y,4807.9,-235.1,-180.9,-1389.7,1725.9
$MHEAD_RNG_PITCHd_Wd,231.9,205695,-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,-92.82,0.000,2,0.000,0.000,656,2298,1677
$GC,111,-1.43,-146.6,4.3,-5.8,9,147,8.32,3.10,-20.52,0.000,4,0.191,0.171,2134,887,2201
$GC,271,-1.29,-146.6,41.3,-18.7,24,278,0.17,3.22,0.00,0.000,6,0.137,0.191,2167,2305,2199
$GC,615,-1.29,-146.6,91.0,-11.8,78,620,0.00,3.17,0.00,0.000,4,0.000,0.199,2167,3713,2199
$GC,687,-1.29,-146.6,100.1,-11.9,84,692,0.00,2.83,0.00,0.000,6,0.000,0.137,2167,2301,2199
$GC,1011,-1.35,-146.6,138.0,-10.7,114,1016,0.00,3.05,0.00,0.000,4,0.000,0.179,2167,887,2198
$GC,1106,-1.42,-146.6,148.1,-10.3,122,1111,0.12,3.20,0.00,0.000,6,0.087,0.191,2132,2300,2197
$GC,1420,-1.42,-146.6,182.6,-10.8,138,1425,0.00,3.17,0.00,0.000,4,0.000,0.199,2132,3712,2197
$GC,1542,-1.42,-146.6,197.4,-11.9,143,1549,0.00,2.85,0.00,0.000,6,0.000,0.137,2131,2301,2197
$GC,1859,-1.42,-146.6,231.7,-10.8,159,1863,0.00,3.08,0.00,0.000,4,0.000,0.181,2132,884,2196
$GC,1929,-1.42,-146.6,239.6,-10.9,162,1934,0.00,3.22,0.00,0.000,6,0.000,0.191,2132,2296,2196
$GC,2250,-1.42,-146.6,273.8,-10.6,178,2255,0.00,3.20,0.00,0.000,4,0.000,0.201,2132,3711,2195
$GC,2388,-1.42,-146.6,289.0,-10.7,184,2393,0.00,2.85,0.00,0.000,6,0.000,0.139,2132,2305,2195
$GC,2746,-1.42,-146.6,323.3,-9.5,194,2751,0.00,3.08,0.00,0.000,4,0.000,0.179,2132,880,2194
$GC,2817,-1.46,-146.6,330.2,-10.1,195,2822,0.00,3.22,0.00,0.000,6,0.000,0.194,2132,2305,2194
$GC,3177,-1.50,-146.6,364.4,-9.5,201,3182,0.00,3.20,0.00,0.000,4,0.000,0.204,2132,3717,2194
$GC,3293,-1.50,-146.6,376.8,-10.5,202,3298,0.00,2.88,0.00,0.000,6,0.000,0.142,2132,2304,2194
$GC,3609,-1.56,-146.6,405.8,-9.1,208,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2304,2194
$GC,3912,-1.63,-146.6,432.4,-8.7,213,3913,0.17,0.00,0.00,0.000,6,0.079,0.000,2084,2304,2194
$GC,4215,-1.58,-146.6,460.6,-9.3,218,4220,0.10,3.05,0.00,0.000,4,0.144,0.179,2102,886,2193
$GC,4292,-1.58,-146.6,467.8,-8.9,219,4297,0.00,3.20,0.00,0.000,6,0.000,0.194,2102,2299,2193
$GC,4640,-1.58,-146.6,495.6,-8.0,225,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2299,2193
$GC,4943,-1.58,-146.6,518.7,-7.6,230,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2299,2193
$GC,5246,-1.58,-146.6,541.1,-7.4,235,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2299,2193
$GC,5549,-1.58,-146.6,562.9,-7.2,240,5554,0.00,3.22,0.00,0.000,4,0.000,0.206,2102,3716,2193
$GC,5614,-1.58,-146.6,568.1,-8.2,241,5619,0.00,2.85,0.00,0.000,6,0.000,0.142,2102,2298,2193
$GC,5980,-1.58,-146.6,594.1,-7.1,247,5985,0.00,3.05,0.00,0.000,4,0.000,0.181,2102,883,2192
$GC,6041,-1.58,-146.6,598.6,-8.2,248,6046,0.00,3.22,0.00,0.000,6,0.000,0.196,2102,2299,2192
$GC,6406,-1.62,-146.6,623.8,-6.9,254,6411,0.00,3.25,0.00,0.000,4,0.000,0.209,2102,3713,2192
$GC,6539,-1.62,-146.6,633.5,-6.8,256,6544,0.00,2.85,0.00,0.000,6,0.000,0.144,2102,2300,2192
$GC,6905,-1.67,-146.6,657.1,-6.5,262,6910,0.00,3.08,0.00,0.000,4,0.000,0.184,2102,885,2191
$GC,7004,-1.72,-146.6,663.7,-6.8,263,7010,0.12,3.25,0.00,0.000,6,0.089,0.199,2066,2303,2191
$GC,7330,-1.72,-146.6,686.0,-7.0,269,7335,0.00,3.25,0.00,0.000,4,0.000,0.209,2066,3714,2191
$GC,7407,-1.64,-146.6,691.8,-6.9,270,7412,0.12,2.88,0.00,0.000,6,0.144,0.146,2088,2297,2191
$GC,7754,-1.64,-146.6,713.6,-6.3,276,7759,0.00,3.05,0.00,0.000,4,0.000,0.184,2089,887,2190
$GC,7887,-1.64,-146.6,722.6,-6.6,278,7892,0.00,3.22,0.00,0.000,6,0.000,0.199,2089,2299,2190
$GC,8248,-1.64,-146.6,745.3,-6.2,284,8253,0.00,3.28,0.00,0.000,4,0.000,0.211,2089,3716,2190
$GC,8398,-1.64,-146.6,755.5,-6.3,286,8403,0.00,2.88,0.00,0.000,6,0.000,0.146,2089,2301,2189
$GC,8741,-1.69,-146.6,774.0,-5.3,292,8746,0.00,3.10,0.00,0.000,4,0.000,0.184,2089,881,2189
$GC,8941,-1.73,-146.6,784.1,-5.2,295,8946,0.00,3.25,0.00,0.000,6,0.000,0.199,2089,2299,2189
$GC,9301,-1.78,-146.6,799.1,-4.0,301,9306,0.12,3.28,0.00,0.000,4,0.089,0.214,2053,3711,2188
$GC,9384,-1.68,-146.6,802.8,-4.3,302,9389,0.15,2.88,0.00,0.000,6,0.142,0.149,2081,2300,2189
$GC,9726,-1.68,-146.6,815.1,-3.6,308,9731,0.00,3.10,0.00,0.000,4,0.000,0.189,2081,887,2188
$GC,9954,-1.68,-146.6,824.7,-5.3,311,9959,0.00,3.25,0.00,0.000,6,0.000,0.199,2081,2303,2188
$GC,10291,-1.68,-146.6,839.4,-4.5,317,10296,0.00,3.28,0.00,0.000,4,0.000,0.214,2081,3714,2188
$GC,10458,-1.68,-146.6,847.2,-4.7,319,10463,0.00,2.90,0.00,0.000,6,0.000,0.149,2081,2298,2188
$GC,10784,-1.73,-146.6,860.1,-3.9,325,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2298,2188
$STATE,10842,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10843,begin apogee
$GC,10846,-0.32,0.0,862.6,3.9,326,10966,1.45,0.00,114.75,1.420,6,0.124,0.000,2379,2298,1801
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10967,begin climb
$GC,10968,1.43,146.6,860.2,0.0,328,11096,1.75,3.65,118.35,1.373,4,0.092,0.231,2763,3711,1402
$GC,11146,1.06,146.6,832.5,20.6,330,11153,0.45,3.05,0.00,0.000,6,0.151,0.164,2681,2302,1402
$GC,11456,0.95,146.6,788.0,14.2,336,11458,0.12,0.00,0.00,0.000,6,0.146,0.000,2658,2302,1402
$GC,11758,0.90,146.6,748.2,13.1,341,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2302,1402
$GC,12061,0.90,146.6,710.7,12.3,346,12066,0.00,3.42,0.00,0.000,4,0.000,0.221,2658,3711,1402
$GC,12076,0.85,146.6,708.7,12.3,346,12081,0.12,2.97,0.00,0.000,6,0.149,0.159,2636,2298,1402
$GC,12423,0.85,146.6,670.7,10.7,352,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2298,1402
$GC,12726,0.85,146.6,639.2,10.3,357,12731,0.00,3.42,0.00,0.000,4,0.000,0.221,2636,3713,1402
$GC,12741,0.85,146.6,637.6,10.3,357,12746,0.00,3.00,0.00,0.000,6,0.000,0.159,2636,2298,1402
$GC,13090,0.90,154.8,603.3,9.6,363,13105,0.00,3.50,8.43,1.075,4,0.000,0.223,2636,3711,1380
$GC,13115,0.92,166.9,600.8,9.4,363,13132,0.00,3.00,11.25,1.112,6,0.000,0.156,2637,2295,1347
$GC,13452,0.99,167.3,567.5,10.0,369,13454,0.12,0.00,0.00,0.000,6,0.092,0.000,2670,2295,1347
$GC,13754,0.99,167.3,533.3,11.2,374,13760,0.00,3.42,0.00,0.000,4,0.000,0.219,2670,3711,1347
$GC,13775,0.99,167.3,530.8,11.5,374,13780,0.00,2.97,0.00,0.000,6,0.000,0.154,2670,2302,1347
$GC,14118,0.99,167.3,493.4,10.8,380,14119,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2302,1347
$GC,14421,0.99,167.3,461.4,10.5,385,14426,0.00,3.38,0.00,0.000,4,0.000,0.219,2670,3711,1347
$GC,14435,0.99,167.3,459.7,10.2,385,14441,0.00,2.95,0.00,0.000,6,0.000,0.154,2670,2307,1347
$GC,14784,1.00,173.3,425.3,9.7,391,14799,0.00,3.42,6.72,0.941,4,0.000,0.219,2670,3709,1330
$GC,14815,1.04,198.1,422.3,8.8,391,14842,0.00,2.95,21.40,1.088,6,0.000,0.154,2670,2296,1262
$GC,15145,1.04,198.1,389.2,10.0,396,15150,0.00,3.40,0.00,0.000,4,0.000,0.216,2670,3711,1265
$GC,15166,1.05,200.4,386.8,9.9,396,15176,0.00,2.95,4.85,0.802,6,0.000,0.154,2670,2297,1257
$GC,15508,1.12,211.4,354.1,9.5,402,15527,0.10,3.45,10.52,0.986,4,0.094,0.219,2700,3711,1226
$GC,15536,1.12,211.4,350.8,11.4,402,15542,0.00,3.00,0.00,0.000,6,0.000,0.154,2700,2307,1226
$GC,15874,1.12,211.4,311.2,11.7,408,15879,0.00,3.38,0.00,0.000,4,0.000,0.214,2700,3715,1226
$GC,15883,1.12,211.4,310.0,11.6,408,15888,0.00,2.97,0.00,0.000,6,0.000,0.154,2700,2292,1226
$GC,16201,1.12,211.4,276.5,10.2,420,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2292,1226
$GC,16510,1.12,211.4,244.7,10.6,435,16515,0.00,3.38,0.00,0.000,4,0.000,0.214,2700,3712,1226
$GC,16542,1.12,211.4,241.1,11.2,436,16549,0.00,2.95,0.00,0.000,6,0.000,0.151,2700,2302,1226
$GC,16857,1.14,221.8,209.9,9.5,452,16873,0.00,3.42,10.07,0.904,4,0.000,0.216,2700,3711,1198
$GC,16878,1.17,239.7,207.8,9.2,452,16900,0.00,2.95,17.05,0.936,6,0.000,0.151,2700,2299,1149
$GC,17222,1.26,254.6,175.7,9.3,469,17244,0.10,3.45,13.75,0.909,4,0.094,0.216,2729,3711,1109
$GC,17266,1.26,254.6,170.7,12.4,471,17271,0.00,2.95,0.00,0.000,6,0.000,0.151,2729,2298,1109
$GC,17586,1.26,254.6,135.6,11.4,492,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2299,1109
$GC,17906,1.33,269.3,103.7,9.3,522,17928,0.00,3.45,13.23,0.862,4,0.000,0.214,2729,3708,1069
$GC,17943,1.33,270.2,99.7,10.0,525,17950,0.00,2.92,0.00,0.000,6,0.000,0.149,2729,2301,1069
$GC,18274,1.59,365.0,73.2,5.6,565,18359,0.28,3.50,74.53,0.884,4,0.077,0.214,2801,3711,808
$GC,18371,1.51,365.0,62.5,13.3,582,18377,0.12,2.95,0.00,0.000,6,0.146,0.149,2780,2301,808
$GC,18707,1.60,383.8,25.8,9.1,630,18727,0.00,0.00,16.08,0.804,6,0.000,0.000,2780,2301,757
$STATE,19011,end climb,SURFACE_DEPTH_REACHED
$STATE,19011,begin surface coast
$FINISH,0.3,1.023811
$STATE,19034,end surface coast,CONTROL_FINISHED_OK
$STATE,19034,begin surface
$SM_CCo,19050,51.50,0.817,0,0,578,450.00
$SM_GC,0.77,0.00,0.00,51.50,0.000,0.000,0.817,656,2301,578,-8.25,0.03,450.00
$IRIDIUM_FIX,4644.93,-12512.45,121297,010154
$TT8_MAMPS,0.021476
$HUMID,2277
$INTERNAL_PRESSURE,9.19314
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,22.8,14.094
$10V_AH,10.2,3.593
$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,23.725,220.125,440.975,51.500,0.000,25.794,27.127,103.724,7.500,0.000,0.000,13.868,1411.390,15082.123,692.307,1906.127,253.771,33.350,1735.638,0.000,1838.264,0.000,48.779,0.000
$DEVICE_MAMPS,191.191,230.919,1420.276,816.907,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22162,661
$CAP_FILE_SIZE,144547,0
$CFSIZE,260165632,258400256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,62,0,0
$GPS,170908,121651,4659.475,-12519.591,38,2.4,57,18.4