version: 66.04
glider: 30
mission: 7
dive: 13
start: 9 17 108 12 21 27
data:
$ID,30
$MISSION,7
$DIVE,13
$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,-72794.07
$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
$GPS1,121651,4659.475,-12519.591,38,2.4,57,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-55.5
$GPS2,122032,4659.484,-12519.568,9,1.9,15,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.255,-0.050
$KALMAN_X,9505.6,5.7,21.8,-36805.7,1745.4
$KALMAN_Y,5155.7,-57.6,-69.4,-3145.8,1009.4
$MHEAD_RNG_PITCHd_Wd,240.4,202637,-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,-92.72,0.000,2,0.000,0.000,656,2301,1670
$GC,111,-1.43,-146.6,4.1,-5.3,9,147,8.25,3.08,-21.33,0.000,4,0.189,0.171,2132,893,2202
$GC,344,-1.33,-146.6,49.7,-16.0,35,351,0.15,3.17,0.00,0.000,6,0.139,0.186,2160,2303,2198
$GC,681,-1.33,-146.6,95.7,-12.7,85,685,0.00,3.17,0.00,0.000,4,0.000,0.196,2159,3713,2198
$GC,746,-1.33,-146.6,104.4,-12.6,90,753,0.00,2.85,0.00,0.000,6,0.000,0.134,2160,2284,2198
$GC,1071,-1.37,-146.6,140.7,-11.6,121,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2284,2197
$GC,1394,-1.42,-146.6,172.8,-9.5,141,1398,0.00,3.03,0.00,0.000,4,0.000,0.176,2159,880,2196
$GC,1442,-1.49,-146.6,177.7,-9.9,143,1448,0.17,3.20,0.00,0.000,6,0.079,0.191,2114,2302,2196
$GC,1759,-1.45,-146.6,213.8,-11.7,158,1764,0.10,3.17,0.00,0.000,4,0.144,0.196,2132,3711,2195
$GC,1836,-1.45,-146.6,223.1,-11.3,161,1843,0.00,2.83,0.00,0.000,6,0.000,0.137,2132,2297,2195
$GC,2152,-1.45,-146.6,253.0,-9.2,177,2156,0.00,3.05,0.00,0.000,4,0.000,0.179,2132,884,2195
$GC,2228,-1.45,-146.6,260.2,-8.9,180,2235,0.00,3.20,0.00,0.000,6,0.000,0.191,2132,2299,2195
$GC,2543,-1.45,-146.6,291.1,-10.2,196,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2299,2195
$GC,2890,-1.45,-146.6,326.5,-10.3,205,2894,0.00,3.08,0.00,0.000,4,0.000,0.174,2132,880,2195
$GC,2972,-1.49,-146.6,335.1,-10.7,206,2977,0.00,3.20,0.00,0.000,6,0.000,0.191,2132,2300,2195
$GC,3315,-1.54,-146.6,367.4,-9.2,212,3320,0.00,3.20,0.00,0.000,4,0.000,0.201,2132,3713,2195
$GC,3443,-1.54,-146.6,380.1,-9.9,214,3448,0.00,2.83,0.00,0.000,6,0.000,0.139,2132,2299,2195
$GC,3808,-1.60,-146.6,411.5,-8.6,220,3814,0.15,3.05,0.00,0.000,4,0.082,0.179,2089,887,2195
$GC,3870,-1.56,-146.6,417.4,-10.1,221,3875,0.10,3.20,0.00,0.000,6,0.144,0.191,2107,2302,2194
$GC,4234,-1.56,-146.6,448.2,-8.4,227,4239,0.00,3.20,0.00,0.000,4,0.000,0.201,2108,3714,2195
$GC,4297,-1.56,-146.6,453.7,-9.1,228,4301,0.00,2.85,0.00,0.000,6,0.000,0.139,2107,2292,2195
$GC,4660,-1.56,-146.6,483.3,-7.9,234,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2292,2194
$GC,4963,-1.56,-146.6,507.2,-7.9,239,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2292,2194
$GC,5266,-1.56,-146.6,530.8,-7.7,244,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2292,2194
$GC,5571,-1.60,-146.6,552.3,-7.1,249,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2292,2193
$GC,5874,-1.64,-146.6,573.5,-7.0,254,5879,0.00,3.28,0.00,0.000,4,0.000,0.204,2107,3713,2194
$GC,5946,-1.64,-146.6,579.0,-7.1,255,5950,0.00,2.85,0.00,0.000,6,0.000,0.144,2107,2301,2193
$GC,6307,-1.69,-146.6,604.1,-6.9,261,6308,0.12,0.00,0.00,0.000,6,0.089,0.000,2072,2300,2193
$GC,6611,-1.69,-146.6,628.4,-8.1,266,6615,0.00,3.08,0.00,0.000,4,0.000,0.184,2072,888,2193
$GC,6687,-1.69,-146.6,635.3,-9.6,267,6692,0.00,3.20,0.00,0.000,6,0.000,0.194,2072,2298,2192
$GC,7041,-1.69,-146.6,662.4,-7.6,273,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2299,2192
$GC,7344,-1.69,-146.6,683.2,-6.8,278,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2299,2193
$GC,7650,-1.69,-146.6,700.3,-5.5,283,7654,0.00,3.08,0.00,0.000,4,0.000,0.176,2072,884,2192
$GC,7720,-1.69,-146.6,704.1,-5.0,284,7725,0.00,3.22,0.00,0.000,6,0.000,0.196,2072,2302,2191
$GC,8080,-1.69,-146.6,722.3,-5.1,290,8085,0.00,3.22,0.00,0.000,4,0.000,0.209,2072,3711,2192
$GC,8169,-1.63,-146.6,727.7,-6.0,291,8174,0.12,2.85,0.00,0.000,6,0.144,0.144,2094,2300,2191
$GC,8506,-1.68,-146.6,744.2,-4.9,297,8510,0.00,3.08,0.00,0.000,4,0.000,0.184,2094,888,2191
$GC,8599,-1.73,-146.6,749.2,-5.1,298,8604,0.00,3.22,0.00,0.000,6,0.000,0.199,2094,2298,2191
$GC,8930,-1.78,-146.6,765.0,-4.7,304,8936,0.15,3.28,0.00,0.000,4,0.084,0.211,2053,3713,2191
$GC,9003,-1.68,-146.6,769.2,-5.3,305,9008,0.15,2.88,0.00,0.000,6,0.142,0.146,2080,2301,2190
$GC,9356,-1.68,-146.6,784.9,-4.2,311,9361,0.00,3.08,0.00,0.000,4,0.000,0.184,2081,887,2190
$GC,9427,-1.68,-146.6,788.4,-5.2,312,9432,0.00,3.25,0.00,0.000,6,0.000,0.199,2080,2305,2190
$GC,9780,-1.68,-146.6,803.5,-4.2,318,9785,0.00,3.25,0.00,0.000,4,0.000,0.214,2081,3711,2189
$GC,9891,-1.68,-146.6,808.9,-4.7,319,9896,0.00,2.88,0.00,0.000,6,0.000,0.146,2080,2298,2190
$GC,10211,-1.68,-146.6,821.5,-3.9,325,10216,0.00,3.08,0.00,0.000,4,0.000,0.184,2081,887,2189
$GC,10294,-1.68,-146.6,825.3,-4.4,326,10299,0.00,3.25,0.00,0.000,6,0.000,0.199,2080,2299,2189
$GC,10636,-1.68,-146.6,839.9,-4.3,332,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2299,2189
$STATE,10816,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10816,begin apogee
$GC,10820,-0.32,0.0,847.9,4.4,335,10940,1.45,0.00,114.93,1.403,6,0.124,0.000,2378,2299,1801
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10942,1.43,146.6,846.5,0.0,337,11069,1.75,3.58,118.40,1.358,4,0.092,0.233,2763,3711,1402
$GC,11159,1.07,146.6,811.9,20.4,340,11165,0.43,3.00,0.00,0.000,6,0.154,0.161,2685,2302,1402
$GC,11490,0.94,146.6,765.6,13.7,346,11492,0.15,0.00,0.00,0.000,6,0.146,0.000,2657,2302,1402
$GC,11793,0.90,146.6,728.2,12.3,351,11799,0.00,3.45,0.00,0.000,4,0.000,0.223,2657,3711,1402
$GC,11820,0.83,146.6,724.7,13.6,351,11825,0.15,2.97,0.00,0.000,6,0.149,0.159,2630,2296,1402
$GC,12156,0.83,146.6,688.8,10.7,357,12161,0.00,3.45,0.00,0.000,4,0.000,0.223,2630,3712,1402
$GC,12165,0.83,146.6,687.7,10.6,357,12170,0.00,2.97,0.00,0.000,6,0.000,0.156,2630,2296,1402
$GC,12520,0.88,146.6,649.3,10.8,363,12525,0.00,3.45,0.00,0.000,4,0.000,0.221,2630,3712,1402
$GC,12546,0.88,146.6,646.0,11.4,363,12551,0.00,3.00,0.00,0.000,6,0.000,0.159,2630,2299,1402
$GC,12884,0.93,146.6,610.3,10.6,369,12889,0.00,3.42,0.00,0.000,4,0.000,0.221,2630,3711,1402
$GC,12932,0.93,146.6,605.0,10.4,369,12937,0.00,2.95,0.00,0.000,6,0.000,0.156,2630,2299,1402
$GC,13248,1.01,160.9,575.6,9.3,375,13267,0.17,3.53,13.05,1.127,4,0.084,0.223,2676,3711,1363
$GC,13289,0.93,160.9,570.8,11.2,375,13294,0.12,3.00,0.00,0.000,6,0.146,0.156,2654,2295,1363
$GC,13615,0.93,160.9,536.5,10.4,381,13620,0.00,3.42,0.00,0.000,4,0.000,0.219,2654,3711,1363
$GC,13629,0.93,160.9,534.6,10.4,381,13634,0.00,2.97,0.00,0.000,6,0.000,0.154,2654,2302,1363
$GC,13978,0.95,172.8,501.1,9.4,387,13997,0.00,3.47,11.30,1.070,4,0.000,0.221,2654,3711,1330
$GC,14003,0.96,174.8,498.7,9.9,387,14008,0.00,2.97,0.00,0.000,6,0.000,0.154,2654,2298,1331
$GC,14346,1.04,194.5,467.4,9.1,393,14371,0.10,3.53,18.60,1.102,4,0.094,0.221,2683,3714,1272
$GC,14398,0.98,194.5,461.6,11.6,393,14405,0.00,3.00,0.00,0.000,6,0.000,0.156,2683,2295,1272
$GC,14708,0.98,194.5,428.1,10.8,399,14714,0.00,3.40,0.00,0.000,4,0.000,0.216,2683,3711,1272
$GC,14723,0.98,194.5,426.2,10.5,399,14728,0.00,2.97,0.00,0.000,6,0.000,0.154,2683,2302,1272
$GC,15072,0.98,194.5,390.3,10.3,405,15077,0.00,3.38,0.00,0.000,4,0.000,0.216,2683,3711,1272
$GC,15092,0.98,194.5,387.9,10.4,405,15097,0.00,2.97,0.00,0.000,6,0.000,0.154,2683,2299,1272
$GC,15435,1.00,206.1,354.7,9.5,411,15454,0.00,3.45,11.20,0.991,4,0.000,0.216,2683,3711,1240
$GC,15465,1.00,206.1,351.6,10.1,411,15470,0.00,3.00,0.00,0.000,6,0.000,0.154,2683,2301,1240
$GC,15802,1.00,206.1,318.1,10.2,417,15808,0.00,3.38,0.00,0.000,4,0.000,0.214,2683,3714,1240
$GC,15834,1.00,206.1,314.6,11.4,417,15839,0.00,2.97,0.00,0.000,6,0.000,0.151,2683,2282,1240
$GC,16151,1.05,206.1,282.3,10.8,428,16156,0.00,3.40,0.00,0.000,4,0.000,0.214,2683,3710,1240
$GC,16171,1.10,207.1,280.0,10.0,429,16176,0.00,2.92,0.00,0.000,6,0.000,0.151,2683,2296,1240
$GC,16498,1.16,207.4,247.4,10.0,445,16499,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2296,1240
$GC,16807,1.26,221.8,218.4,9.3,460,16830,0.17,3.45,13.77,0.936,4,0.082,0.214,2731,3711,1198
$GC,16845,1.20,221.8,214.1,11.2,461,16853,0.12,2.95,0.00,0.000,6,0.144,0.151,2709,2298,1200
$GC,17161,1.20,221.8,181.9,10.0,477,17162,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2298,1203
$GC,17470,1.24,221.8,151.4,10.2,492,17475,0.00,3.35,0.00,0.000,4,0.000,0.209,2709,3713,1203
$GC,17553,1.24,221.8,142.3,10.3,499,17558,0.00,2.90,0.00,0.000,6,0.000,0.149,2709,2298,1203
$GC,17878,1.37,255.3,112.5,8.4,529,17910,0.17,0.00,29.85,0.906,6,0.082,0.000,2757,2298,1107
$GC,18228,1.37,255.3,76.1,10.4,565,18233,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2298,1107
$GC,18570,1.59,338.0,51.1,6.1,626,18644,0.17,3.45,65.00,0.864,4,0.082,0.211,2803,3712,882
$GC,18722,1.53,338.0,33.4,14.1,649,18729,0.00,2.92,0.00,0.000,6,0.000,0.146,2803,2298,882
$GC,19047,1.76,408.6,5.5,6.7,680,19094,0.12,0.00,43.78,0.819,2,0.087,0.000,2839,2298,729
$STATE,19095,end climb,SURFACE_DEPTH_REACHED
$STATE,19095,begin surface coast
$FINISH,-0.4,1.023844
$STATE,19121,end surface coast,CONTROL_FINISHED_OK
$STATE,19121,begin surface
$SM_CCo,19136,43.75,0.800,0,0,578,450.00
$SM_GC,0.96,0.00,0.00,43.75,0.000,0.000,0.800,657,2297,578,-8.25,-0.08,450.00
$IRIDIUM_FIX,4641.78,-12515.03,121297,070702
$TT8_MAMPS,0.02301
$HUMID,2257
$INTERNAL_PRESSURE,9.17376
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,22.8,14.266
$10V_AH,10.2,3.653
$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,24.450,220.375,439.875,43.750,0.000,23.228,27.030,90.680,7.250,0.000,0.000,15.949,1427.922,15229.857,683.112,1828.728,240.342,33.349,1696.229,0.000,1759.305,0.000,47.191,0.000
$DEVICE_MAMPS,188.708,233.402,1402.895,799.526,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22123,687
$CAP_FILE_SIZE,144087,0
$CFSIZE,260165632,258334720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,61,0,0
$GPS,170908,174208,4658.426,-12522.011,27,1.1,27,18.4